ADF Web HD67423 User manual

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User Manual
CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 1 of 31
User Manual
Revision 1 000
English
CANopen / Ethernet – Converter
(Order Code: HD67423)
For Website information:
www adfweb com?Product=HD67423
For Price information:
www adfweb com?Price=HD67423
Benefits and Main Features:
Very easy to configure
Wide supply input range
Electrical isolation
Industrial temperature range:
-40°C / 105°C (-40°F / 221°F)
For other Gateways / Bridges:
CAN from/to Modbus
See also the following links:
www adfweb com?product=HD67012 (Modbus RTU Slave)
www adfweb com?product=HD67514 (Modbus TCP Master)
www adfweb com?product=HD67515 (Modbus TCP Slave)
CANopen from/to Modbus
See also the following links:
www adfweb com?product=HD67001 (Modbus RTU Master)
www adfweb com?product=HD67502 (Modbus RTU Slave)
www adfweb com?product=HD67504 (Modbus TCP Master)
www adfweb com?product=HD67505 (Modbus TCP Slave)
Do you have an your customer protocol?
See the following links:
www adfweb com?Product=HD67003
Do you need to choose a device? do you want help?
Ask it to the following link:
www adfweb com?Cmd=helpme
User Manual

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User Manual
CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 2 of 31
INDEX:
Page
INDEX 2
UPDATED DOCUMENTATION 2
REVISION LIST 2
WARNING 2
TRADEMARKS 2
SECURITY ALERT 3
EXAMPLES OF CONNECTION 4
CONNECTION SCHEME 5
CHARACTERISTICS 7
CONFIGURATION 7
POWER SUPPLY 8
LEDS 9
CAN 10
ETHERNET 11
USB 11
USE OF COMPOSITOR SW67423 12
NEW PROJECT / OPEN PROJECT 13
SOFTWARE OPTIONS 14
SET COMMUNICATION 15
SET RECEIVE PDO 16
SET TRANSMIT PDO 17
UPDATE DEVICE 18
ETHERNET PROTOCOL 20
MECHANICAL DIMENSIONS 24
ORDER CODE 28
ACCESSORIES 29
DISCLAIMER 30
OTHER REGULATIONS AND STANDARDS 30
WARRANTIES AND TECHNICAL SUPPORT 31
RETURN POLICY 31
U DATED DOCUMENTATION:
Dear customer, we thank you for your attention and we remind you that
you need to check that the following document is:
Updated
Related to the product you own
To obtain the most recently updated document, note the “document code”
that appears at the top right-hand corner of each page of this document
With this “Document Code” go to web page www adfweb com/download/
and search for the corresponding code on the page Click on the proper
“Document Code” and download the updates
REVISION LIST:
Revision
Date Author
Chapter Description
1 000 15/06/2017 Ff All First released version
WARNING:
ADFweb com reserves the right to change information in this manual about
our product without warning
ADFweb com is not responsible for any error this manual may contain
TRADEMARKS:
All trademarks mentioned in this document belong to their respective
owners

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User Manual
CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 3 of 31
SECURITY ALERT:
G ENERAL I NFORMATION
To ensure safe operation, the device must be operated according to the instructions in the manual When using the device, legal and
safety regulation are required for each individual application The same applies also when using accessories
I NTENDED U SE
Machines and systems must be designed so the faulty conditions do not lead to a dangerous situation for the operator (i e
independent limit switches, mechanical interlocks, etc )
Q UALIFIED ERSONNEL
The device can be used only by qualified personnel, strictly in accordance with the specifications
Qualified personnel are persons who are familiar with the installation, assembly, commissioning and operation of this equipment and
who have appropriate qualifications for their job
R ESIDUAL R ISKS
The device is state-of-the-art and is safe The instruments can represent a potential hazard if they are inappropriately installed and
operated by untrained personnel These instructions refer to residual risks with the following symbol:
This symbol indicates that non-observance of the safety instructions is a danger for people that could lead to serious injury or
death and / or the possibility of damage
CE CONFORMITY
The declaration is made by our company You can send an email to support@adfweb com or give us a call if you need it

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CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 4 of 31
EXAM LE OF CONNECTION:

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CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 5 of 31
CONNECTION SCHEME:
Figure 1a: Connection scheme for HD67423-E4x-xx

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CANopen / Ethernet
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Figure 1b: Connection scheme for HD67423-E7x-xx

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CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 7 of 31
CHARACTERISTICS:
The “HD67423” series are rugged devices used to interface CANopen devices with a Ethernet Client
With his particular enclosure, equipped with four fixing lugs, makes available the mounting of the device in any plane surface (horizontal,
vertical, oblique)
It is possible to have the device varnished or totally resined and also in both cases with “Mini-Fit®” connectors or “AMP SuperSeal 1 5”
connectors If is resined, the enclosure, like the “AMP SuperSeal 1 5" connectors, is waterproof
The device have these characteristics:
Triple 4kV isolation between Power Supply / Ethernet / CAN;
Varnished / Resined (optionally);
Wide power supply input range: 8…26V AC | 10…40V DC;
Mini-Fit® / AMP SuperSeal 1 5 connectors;
Metal enclosure with fixing lugs;
Possibility to use Metal hose clamps for fixing it without using lugs;
Microprocessor for data control;
Wide temperature range: -40°C / 105°C (-40°F / 221°F)
CONFIGURATION:
You need Compositor SW67423 software on your PC in order to perform the following:
Define the parameter of CANopen;
Define the parameter of Ethernet;
Define which and how the PDO of CANopen are accessible from Ethernet;
Update the device

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CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 8 of 31
OWER SU LY:
The devices can be powered between a wide range of tensions For more details see the two
tables below
VAC
VDC
Vmin Vmax Vmin Vmax
HD67423-Exx-xx 8V 26V 10V 40V
Consumption at 24V DC:
Device W/VA
HD67423-Exx-xx 4
Caution: Not reverse the polarity power
HD67423-E4x-xx
HD67423-E7x-xx

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CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 9 of 31
LEDS:
The device has got four LEDs that are used to give information of the functioning status
The various meanings of the LEDs are described in the table below
LED Normal Mode Boot Mode
1: Device state (green) Blinks slowly (~1Hz) Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress
2: CAN communication
(green) Blinks when CANopen frames are received Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress
3: USB link (yellow) ON: USB cable inserted
OFF: USB cable not inserted
ON: USB cable inserted
OFF: USB cable not inserted
4: Ethernet communication
(green) Blinks when a Ethernet request is received Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress

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User Manual
CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 10 of 31
CAN:
The connection of the CANopen in the HD67423-E4x-xx device must be made with a 3way MiniFit
Female connector The pinout of Male MiniFit connector of the board is at right side of the page
The connection of the CANopen in the HD67423-E7x-xx device must be made with a AMP SuperSeal
1 5 Male connector The pinout of Female connector of the board is at right side of the page
The termination of CANopen line, with a 120Ω resistor, in the HD67423-Exx-xx is made internally of
the device; when the order is performed If the device have the CANopen terminated the code is the
follow: HD67423-Exx-Yx; otherwise is this other: HD67423-Exx-Nx
Cable characteristics:
DC parameter: Impedance 70 Ohm/m
AC parameters: Impedance 120 Ohm/m
Delay 5 ns/m
Length Baud Rate [bps] Length MAX [m]
10 K 5000
20 K 2500
50 K 1000
100 K 650
125 K 500
250 K 250
500 K 100
800 K 50
1000 K 25

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User Manual
CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 11 of 31
ETHERNET:
The connection of Ethernet in the HD67423 device must be made with at least a Category 5E cable The maximum length of the cable should
not exceed 100m The cable has to conform to the T568 norms relative to connections in cat 5 up to 100 Mbps To connect the device to an
Hub/Switch is recommended the use of a straight cable, to connect the device to a PC/PLC/other is recommended the use of a cross cable
The connection of Ethernet in the HD67423-E4x-xx device must be made with RJ45 connector
The connection of the Ethernet in the HD67423-E7x-xx device must be made with a AMP
SuperSeal 1 5 Male connector The pinout of Female connector of the board is at right side of the
page
USB:
The USB port is used to start the converter in Boot Mode It is necessary to use a Micro USB type B cable

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User Manual
CANopen / Ethernet
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USE OF COM OSITOR SW67423:
To configure the Converter, use the available software that runs with Windows called SW67423 It is downloadable on the site
www adfweb com and its operation is described in this document (This manual is referenced to the last version of the software present on
our web site) The software works with MSWindows (XP, Vista, Seven, 8, 10; 32/64bit)
When launching the SW67423, the window below appears (Fig 2)
Note:
It is necessary to have installed Net Framework 4
Figure 2: Main window for SW67423

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NEW CONFIGURATION / O EN CONFIGURATION:
The “New Configuration” button creates the folder which contains the entire device’s configuration
A device’s configuration can also be imported or exported:
To clone the configurations of a programmable “CANopen / Ethernet - Converter” in
order to configure another device in the same manner, it is necessary to maintain the
folder and all its contents;
To clone a project in order to obtain a different version of the project, it is sufficient to
duplicate the project folder with another name and open the new folder with the
button “Open Configuration”

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CANopen / Ethernet
Document code: MN67423_ENG Revision 1 000 Page 14 of 31
SOFTWARE O TIONS:
By pressing the “Settings” ( ) button there is the possibility to change the language of the software and check the updatings for the
compositor
In the section “Language” it is possible to change the language of the
software
In the section “Connection Options”, it is possible to check if there are some
updatings of the software compositor in ADFweb com website
Checking the option “Check Software Update at Start of rogram”, the
SW67423 check automatically if there are updatings when it is launched

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CANopen / Ethernet
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Figure 3: “Set Communication”
window
SET COMMUNICATION:
This section defines the fundamental communication parameters of two Buses, CANopen and Ethernet
By pressing the “Set Communication” button from the main window for SW67423 (Fig 2) the
window “Set communication” appears (Fig 3)
The means for the fields for the “CANopen” are:
In the field “Device ID” the ID of the CANopen side is defined;
In the field “Baud Rate” the data rate of the CANopen line is defined;
In the field “Set Operational State at Start-Up” the state of the CANopen is defined I e If it
is checked the board starts in Operational State, else it starts in Pre-Operational;
In the field “Network Start at Start-Up” the state of the CANopen network is defined I e If
it is checked the board sends a command to set the Operational State of all the devices present
in the network, after the time defined in the “Delay” field;
In the field “Delay (s)” the delay before sending the “Start” command for the CANopen is
defined;
In the field “SDO Client TimeOut (1/10 ms)” the maximum time that the device attends for
the answer from the Slave interrogated is defined
The means for the fields for “Ethernet” are:
In the field “I Address”, the IP address of the Ethernet side of the converter is defined;
In the field “SubNet Mask” the SubNet Mask of the Ethernet side of the converter is defined;
In the field “Gateway”, the default gateway of the network is defined This feature can be
enabled or disabled pressing the Check Box field This feature is used for going out of the net;
In the field “ ort” the port used for Ethernet communication is defined;
In the field “ rotocol” the protocol used is defined (TCP or UDP)

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SET RECEIVE DO:
By pressing the “Set Receive DO” button from the main window for SW67423 (Fig 2) the window “Receive PDO Access Definition”
appears (Fig 4) In this section, it is possible to define the PDO frames that the converter will receive from CANopen network
The window appears like below:
In the field “Cob-ID” the Cob-ID of the PDO is defined;
In the field “Dimension” the number of bytes of the PDO (the maximum dimension is 8 Bytes) is defined;
If the field “TimeOut” the TimeOut is defined; after the TimeOut defined, if the PDO is not received, the value of the data on
Ethernet side becomes “0”;
In the field “Mnemonic” a description of the PDO is defined
Figure 4: “Receive DO Access Definition” window

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Figure 5: “Transmit DO Access Definition” window
TRANSMIT COB:
By pressing the “Set Transmit DO” button from the main window of SW67423 (Fig 2) the window “Transmit PDO Access Definition”
appears (Fig 5): in this section, it is possible to define the PDO frames that the converter will send to the CANopen network
The window appears like below:
In the field “Cob-ID” the Cob-ID of the PDO is defined;
In the field “Dimension” the number of bytes of the PDO (the maximum dimension is 8 Bytes) is defined;
If the field “On Timer” is checked, the PDO is sent cyclically;
In the field “Timer (ms)” the cyclic delay is defined;
In the field “Mnemonic” the description for the PDO is defined

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CAN / Modbus TC Slave
Document code: MN67423_ENG Revision 1 100 Page 18 of 31
Figure
6
: “
Update Device
” window
s
U DATE DEVICE:
By pressing the “Update Device” button, it is possible to load the created Configuration into the
device; and also the Firmware, if necessary
If you don’t know the actual IP address of the device you have to use this procedure:
Connect the USB cable;
Connect the Ethernet cable;
Turn ON the converter;
Insert the IP “192.168.2.205”;
Press the “ ing” button, “Device Found! must appear”;
Press the “Next” button;
Select which operations you want to do;
Press the “Execute update firmware” button to start the upload;
When all the operations are “OK”, the updating is done;
Remove the USB cable;
If you know the actual IP address of the device, you have to use this procedure:
Turn ON the Device with the Ethernet cable inserted;
Insert the actual IP of the Converter;
Press the “ ing” button, must appear “Device Found!”;
Press the “Next” button;
Select which operations you want to do;
Press the “Execute update firmware” button to start the upload;
When all the operations are “OK” the device automatically goes at Normal Mode
At this point the configuration/firmware on the device is correctly updated

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Figure 7: “Error” windows
Note:
When you install a new version of the software, if it is the first time it is better you do the update of the Firmware in the HD67423
device
Note:
When you receive the device, for the first time, you also have to update the Firmware in the HD67423 device
Warning:
If Fig 7 appears when you try to do the Update try these points before seeking
assistance:
Try to repeat the operations for the updating;
Try with another PC;
Try to restart the PC;
Check the LAN settings;
If you are using the program inside a Virtual Machine, try to use in the main
Operating System;
If you are using Windows Seven, Vista, 8 or 10 make sure that you have the
administrator privileges;
In case you have to program more than one device, using the "UDP Update", you
have to cancel the ARP table every time you connect a new device on Ethernet For
do this you have to launch the "Command Prompt" and write the command "arp -
d" Pay attention that with Windows Vista, Seven, 8, 10 you have to launch the
"Command Prompt" with Administrator Rights;
Pay attention at Firewall lock
In the case of HD67423 you have to use the software “SW67423”: www adfweb com\download\filefold\SW67423 zip

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CAN / Modbus TC Slave
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ETHERNET ROTOCOL:
For the CANopen it is possible to use two types of data: SDO and PDO It is possible to have no more than ten PDO, which must be declared in
the “SW67423 Compositor” while SDO should not be reported
Write Frames
DO
The transmission of PDO is very simple: it has a fixed structure that consist in a maximum of eleven bytes:
Byte Number Description
1 Write Identifier (0x02)
2 Type of Data (PDO=0x01)
3 Number of frame to send (number of row of
“SW67423 compositor”)
4÷n+3 Data
n=number of byte defined in the Compositor
The Byte that compose the respons is only one:
Byte Number Description
1 Ok=0x01 / Error in sending=0x02
Example:
We want to write the frame number one of SW67423 Compositor:
•Type of Data: PDO; Number of frame to send: 1; Data: 0x01020304
So the string of hexadecimal numbers is:
REQ:[02][01][01][01][02][03][04]
RES:[01]