HMS Anybus X-gateway CANopen Manuel utilisateur

AAnnyybbuuss®® XX--ggaatteewwaayy™™ CCAANNooppeenn®®

PPRROOFFIINNEETT®® IIRRTT ((22..3322))

USER MANUAL

SCM-1202-029 1.2 en-US ENGLISH

Important User Information

Disclaimer

The information in this document is for informational purposes only. Please inform HMS Industrial Networks of any

inaccuracies or omissions found in this document. HMS Industrial Networks disclaims any responsibility or liability

for any errors that may appear in this document.

HMS Industrial Networks reserves the right to modify its products in line with its policy of continuous product

development. The information in this document shall therefore not be construed as a commitment on the part of

HMS Industrial Networks and is subject to change without notice. HMS Industrial Networks makes no commitment

to update or keep current the information in this document.

The data, examples and illustrations found in this document are included for illustrative purposes and are only

intended to help improve understanding of the functionality and handling of the product. In view of the wide range

of possible applications of the product, and because of the many variables and requirements associated with any

particular implementation, HMS Industrial Networks cannot assume responsibility or liability for actual use based on

the data, examples or illustrations included in this document nor for any damages incurred during installation of the

product. Those responsible for the use of the product must acquire sufficient knowledge in order to ensure that the

product is used correctly in their specific application and that the application meets all performance and safety

requirements including any applicable laws, regulations, codes and standards. Further, HMS Industrial Networks will

under no circumstances assume liability or responsibility for any problems that may arise as a result from the use of

undocumented features or functional side effects found outside the documented scope of the product. The effects

caused by any direct or indirect use of such aspects of the product are undefined and may include e.g. compatibility

issues and stability issues.

Anybus®is a registered trademark of HMS Industrial Networks AB. All other trademarks mentioned in this document

are the property of their respective holders.

Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Table of Contents Page

1 Preface ................................................................................................................................. 3

1.1 About This Document .......................................................................................................3

1.2 Document history ............................................................................................................3

1.3 Document Conventions.....................................................................................................4

1.4 Document-Specific Conventions..........................................................................................4

2 Description .......................................................................................................................... 5

2.1 Introduction....................................................................................................................5

2.2 Data Exchange.................................................................................................................6

2.3 CANopen Functionality......................................................................................................7

3 Installation........................................................................................................................... 8

3.1 Installation Overview........................................................................................................8

3.2 DIN Rail Mounting............................................................................................................9

3.3 Power Connector .............................................................................................................9

3.4 USB Connector ................................................................................................................9

3.5 Secondary CANopen Network Interface ............................................................................. 10

3.6 PROFINET IRT Network Interface....................................................................................... 11

3.7 LED Indicators ............................................................................................................... 12

4 Configuration..................................................................................................................... 14

4.1 Configuration Overview................................................................................................... 14

4.2 Configuring the Secondary CANopen Network..................................................................... 15

4.3 Configuring the PROFINET IRT (2.32) Interface..................................................................... 16

4.4 Enabling Data Exchange .................................................................................................. 22

5 PROFINET Asset Management.......................................................................................... 23

5.1 Asset Management Record .............................................................................................. 23

5.2 Recording and Reading Data ............................................................................................ 23

5.3 Supported File Formats................................................................................................... 24

5.4 Supported Asset Management Records.............................................................................. 24

5.5 XML Based Asset Management......................................................................................... 25

5.6 Binary Based Asset Management...................................................................................... 28

5.7 Uploading the Asset Management File to the FTP Server....................................................... 32

Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

6 CANopen Module Specification........................................................................................ 34

6.1 NMT State Machine........................................................................................................ 34

6.2 CANopen Data Exchange ................................................................................................. 35

6.3 LSS Services .................................................................................................................. 39

6.4 Error Control................................................................................................................. 40

6.5 CANopen Emergency Messages ........................................................................................ 41

6.6 CANopen Live List Functionality........................................................................................ 42

7 CANopen Object Implementation .................................................................................... 44

7.1 Static Data Types ........................................................................................................... 44

7.2 Communication Profile Area ............................................................................................ 44

7.3 Manufacturer Specific Objects.......................................................................................... 52

A Technical Data ................................................................................................................... 59

A.1 General Specifications..................................................................................................... 59

A.2 Secondary CANopen Network Interface ............................................................................. 59

A.3 Primary PROFINET IRT (2.32) Network Interface .................................................................. 59

Preface 3 (60)

1 Preface

1.1 About This Document

This document describes Anybus X-gateway CANopen PROFINET IRT (2.32).

For additional related documentation and file downloads, please visit www.anybus.com/support.

1.2 Document history

Version Date Description

1.0 2017-01-23 First release

1.1 2017-11-22 Updated for new firmware

1.2 2019-04-11 Added section about PROFINET Asset Management

Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Preface 4 (60)

1.3 Document Conventions

Ordered lists are used for instructions that must be carried out in sequence:

1. First do this

2. Then do this

Unordered (bulleted) lists are used for:

• Itemized information

• Instructions that can be carried out in any order

...and for action-result type instructions:

►This action...

→ leads to this result

Bold typeface indicates interactive parts such as connectors and switches on the hardware, or

menus and buttons in a graphical user interface.

Monospaced text is used to indicate program code and other

kinds of data input/output such as configuration scripts.

This is a cross-reference within this document: Document Conventions, p. 4

This is an external link (URL): www.hms-networks.com

This is additional information which may facilitate installation and/or operation.

This instruction must be followed to avoid a risk of reduced functionality and/or damage

to the equipment, or to avoid a network security risk.

Caution

This instruction must be followed to avoid a risk of personal injury.

WARNING

This instruction must be followed to avoid a risk of death or serious injury.

1.4 Document-Specific Conventions

• Hexadecimal values are represented with the suffix hand a leading zero where needed, e.g.

the hexadecimal value 1F4 is written 01F4h.

• A byte always consists of 8 bits.

Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Description 5 (60)

2 Description

2.1 Introduction

Anybus X-gateway CANopen is designed to provide a seamless connection between a primary

fieldbus or Ethernet network and a secondary CANopen sub-network.

The X-gateway transmits I/O data transparently between the two networks. Data from the

primary network is written into CANopen objects that can be mapped into CANopen PDOs or

read via CANopen SDOs, and vice versa. This makes it possible to integrate CANopen devices into

almost any other PLC system and their supported networks.

No proprietary configuration software is needed for Anybus X-gateway CANopen, although

dedicated tools may be required when configuring the primary network. Any standard CANopen

configuration tool can be used to configure the secondary CANopen network interface.

Fig. 1 Networking example

Secondary CANopen network

Primary fieldbus or Ethernet network

SlaveMaster Slave Slave Slave

SlaveSlave Slave Slave Slave

Secondary CANopen network interface

(master or slave)

Primary network interface

Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Description 6 (60)

2.2 Data Exchange

The terminology and definitions used for different types of data vary between network types. All data

transported through the Anybus X-gateway CANopen are fast, cyclic data, and will in this document

simply be referred to as “I/O data”.

Primary Network InterfaceSecondary Network Interface

Primary Network

Secondary CANopen Network

Data From

Primary

Network

Data From

Secondary

Network

Data To

Primary

Network

Data To

Secondary

Network

Status Word

Control Word

Fig. 2 Data exchange example

Each of the two network interfaces exchanges data on its network through its own buffer, which

can hold up to 512 bytes of data. The first two bytes in the primary network buffer are reserved

for the Control Word and Status Word, leaving 510 bytes available for I/O data.

The actual amount of data that can be exchanged depend on the application and network used

and may therefore be less than 510 bytes, which is only the maximum size of the buffer.

The Control Word can be used by the master on the primary network to start and stop the

exchange of data, and to reset the X-gateway if needed. The Status Word can be used by the

master to read the status of the secondary CANopen network.

The I/O data exchange is separated from the network data exchange. While the gateway ensures

data consistency (where applicable), it does not feature any mechanisms for synchronisation

between the primary and secondary networks.

Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Description 7 (60)

2.3 CANopen Functionality

The functionality of the secondary CANopen network interface is defined by the following

CANopen specifications:

• KGB Draft Standard 301 version 4.2.0 (Rev. 4.2)

• CiA Draft Standard Proposal 302 Part 1–5.

Supported CANopen Services

Communication and parameters in the CANopen protocol are built around åbject. Different

services are used for communication with the objects and for other tasks such as supervising the

network. Which services are available depend on whether the secondary CANopen network

interface is operating as a master or as a slave.

The secondary CANopen network will start up as a slave by default.

Service Available in Description

NMT (Network Management) Master NMT messages are used to configure, initialize and

monitor the network,and for error handling.

CMT (Configuration Management) Master CMT messages are used for configuring CANopen devices.

This primarily involves PDO parameters and mapping of

information.

PDO (Process Data Objects) Master/Slave Used for I/O communication.

128 Receive PDOs and 128 Transmit PDOs are

implemented, each being able to transfer up to 8 bytes.

The total number of PDOs that can be used is limited by

the data buffer size.

Supported PDO message types are COS (Change of state),

Cyclic Synchronous, and Acyclic Synchronous.

SDO (Service Data Objects) Master/Slave Used to access and configure objects in the X-gateway and

other network nodes without mapping them to an I/O

(PDO) connection.

SDOs use asynchronous data transmission and can transfer

more than 8 bytes (the limit for a PDO).

Supported SDO message types are Expedited Upload/

Download Protocol and Segmented Upload/Download

Protocol.

SYNC (Synchronization Object) Master/Slave Used for synchronizing PDO communication. A master can

be either a producer or a consumer of the synchronization.

A slave can only be a consumer.

EMCY (Emergency Object) Master/Slave Used for error reporting when a fatal error has occurred in

the X-gateway or in other monitored or supervised

modules.

LSS (Layer Setting Services) Master Used by a CANopen master to configure the baud rate and

NodeID of slaves that support LSS.

Heartbeat Mechanism Master/Slave Allows a device to monitor the status of another node. The

X-gateway can appear both as heartbeat producer and

consumer.

Node Guarding Protocol Master/Slave Provides active surveillance of a slave by the master.

Slaves can be configured to expect a node guarding

request from the master.

Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Installation 8 (60)

3 Installation

This product contains parts that can be damaged by electrostatic discharge (ESD). Use

ESD prevention measures to avoid damage.

3.1 Installation Overview

Basic steps when installing the Anybus X-gateway CANopen:

1. Set the node address and baud rate for the secondary CANopen interface.

2. Set the hardware configuration switches for the primary network interface (if applicable).

3. Mount the gateway on the DIN rail.

4. Connect the primary and secondary networks.

5. Connect the power cable and apply power.

6. Continue to Configuration, p. 14.

Fig. 3 Connectors, switches and indicators

ALED indicators

BPrimary network interface

CUSB connector

DCANopen connector

EPower connector

FDIN rail mount

Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

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