ADF Web HD67461 User manual

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User Manual
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/
CANopen
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User Manual
Revision 1.000
English
NMEA2000 / CANopen – Converter
(Order Code: HD67461)
For Website information:
www.adfweb.com? roduct=HD67461
For rice information:
www.adfweb.com? rice=HD67461
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 others Gateways / Bridges:
J1939 to Modbus
See also the following links:
www.adfweb.com? roduct=HD67212 (Modbus RTU)
CANopen to Modbus
See also the following links:
www.adfweb.com? roduct=HD67001 (Modbus RTU Master)
www.adfweb.com? roduct=HD67002 (Modbus RTU Slave)
www.adfweb.com? roduct=HD67004 (Modbus TC Master)
www.adfweb.com? roduct=HD67005 (Modbus TC Slave)
For others Gateways / Bridges:
For CAN bus 2 0A and/or CAN bus 2 0B to Modbus
See also the following links:
www.adfweb.com? roduct=HD67011 (Modbus RTU Slave)
www.adfweb.com? roduct=HD67012 (Modbus RTU Master)
www.adfweb.com? roduct=HD67014 (Modbus TC Slave)
www.adfweb.com? roduct=HD67015 (Modbus TC Master)
Do you have an your customer protocol?
See the following links:
www.adfweb.com? roduct=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
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CANopen
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INDEX:
age
INDEX 2
U DATED DOCUMENTATION 2
REVISION LIST 2
WARNING 2
TRADEMARKS 2
SECURITY ALERT 3
EXAM LES OF CONNECTION 4
CONNECTION SCHEME 5
CHARACTERISTICS 7
CONFIGURATION 7
OWER SU LY 8
LEDS 9
CANopen 10
NMEA2000 11
USB 12
USE OF COM OSITOR SW67461 13
NEW ROJECT / O EN ROJECT 14
SOFTWARE O TIONS 15
SET COMMUNICATION 17
RECEIVE NMEA2000 18
DEFINE SDO 19
DEFINE T DO 20
TRANSMIT NMEA2000 21
DEFINE SDO 22
DEFINE R DO 23
SET SDO CLIENT 24
SET NODEGUARDING 26
U DATE DEVICE 27
MECHANICAL DIMENSIONS 29
ORDER CODE 33
ACCESSORIES 34
DISCLAIMER 35
OTHER REGULATIONS AND STANDARDS 35
WARRANTIES AND TECHNICAL SU ORT 36
RETURN OLICY 36
Pagina 2 di 36
UPDATED 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 15/06/2020 VDB 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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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 P 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 [email protected]om or give us a call if you need it.

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EXAMPLE OF CONNECTION:

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CONNECTION SCHEME:
Figure 1a: Connection scheme for HD67461-E4x-xxx

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Figure 1b: Connection scheme for HD67461-E7x-xxx

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CHARACTERISTICS:
The “HD67461” series are rugged devices used to interface NMEA2000 devices with CANopen devices.
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 “AM SuperSeal 1.5”
connectors. If is resined, the enclosure, like the “AM SuperSeal 1.5" connectors, is waterproof (I 63).
All the four series have these characteristics:
Triple 4kV isolation between ower Supply / CANopen / NMEA2000;
Varnished / Resined (optionally);
Wide power supply input range: 8…26V AC | 10…40V DC;
Mini-Fit® / AM SuperSeal 1.5 connectors;
Metal enclosure with fixing lugs;
ossibility 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 SW67461 software on your C in order to perform the following:
Define the NMEA2000 frames that are read from CANopen;
Define the NMEA2000 frames that are written from CANopen;
Define the Receive DO;
Define the Transmit DO;
Define SDO Server in read;
Define SDO Server in write;
Define the NMEA2000 frames to send the SDO client request;
Define the NMEA2000 frames to send the state of Node Guard of the CANopen devices;
Update the device.

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POWER SUPPLY:
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
HD67461-Exx-xxx 8V 26V 10V 40V
Consumption at 24V DC:
Device W/VA
HD67461-Exx-xxx 4
Note: It is possible to use also negative tensions. In this case the polarity must be inverted.
Caution: Not reverse the polarity power
HD67461-E4x-xxx HD67461-E7x-xxx

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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: USB link (yellow) ON: USB cable inserted
OFF: USB cable not inserted
ON: USB cable inserted
OFF: USB cable not inserted
2: Device state (green) Blinks slowly (~1Hz) Blinks quickly: Boot state
Blinks very slowly (~0 5Hz): update in progress
3:CANopen communication
(green) Blinks when CANopen frames are received Blinks quickly: Boot state
Blinks very slowly (~0 5Hz): update in progress
4: NMEA2000 communication
(green) Blinks when NMEA2000 frames are received Blinks quickly: Boot state
Blinks very slowly (~0 5Hz): update in progress

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CANopen:
The connection of CANopen in the HD67461-E4x-xxx device must be made with a 3way MiniFit
Female connector. The pinout of Male Mini-Fit connector of the board is at right side of the page.
The connection of CANopen in the HD67461-E7x-xxx device must be made with a AM 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 HD67461-Exx-xxx is made internally
of the device; when the order is performed. If the device have the CANopen terminated the code is
the follow: HD67461-Exx-Yxx; otherwise is this other: HD67461-Exx-Nxx.
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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NMEA2000:
The connection of NMEA2000 in the HD67461-E4x-xxx device must be made with a 3way MiniFit
Female connector. The pinout of Male Mini-Fit connector of the board is at right side of the page.
The connection of NMEA2000 in the HD67461-E7x-xxx device must be made with a AM SuperSeal
1.5 Male connector. The pinout of Female connector of the board is at right side of the page.
The termination of NMEA2000 line, with a 120Ω resistor, in the HD67461-Exx-xxx is made internally
of the device; when the order is performed. If the device have the NMEA2000 terminated the code
is the follow: HD67461-Exx-xYx; otherwise is this other: HD67461-Exx-xNx.
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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USB:
The USB port is used to start the converter in Boot Mode and to program the converter. It is necessary to use a Micro USB type B cable.

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USE OF COMPOSITOR SW67461:
To configure the Converter, use the available software that runs with Windows called SW67461. 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 (X , Vista, Seven, 8, 10; 32/64bit).
When launching the SW67461, the window below appears (Fig. 2).
Figure 2: Main window for SW674
61

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NEW CONFIGURATION / OPEN 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 “NMEA2000 / CANopen - 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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SOFTWARE OPTIONS:
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 Program”, the
SW67461 checks automatically if there are updatings when it is launched.

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In the section “Software Settings”, it is possible to enable/disable some
keyboard’s commands for an easier navigation inside the tables contained in
the different sections of the software.

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SET COMMUNICATION:
This section define the fundamental communication parameters of two buses, NMEA2000 and CANopen.
By ressing the “Set Communication” button from the main window for SW67461 (Fig. 2) the window
“Set Communication” appears (Fig. 3).
The means of the fields for “NMEA 2000” are:
In the field “Baudrate” the data rate of CANopen is defined;
If the field “Enable Peer to Peer” is checked, the gateway will mask the Source Address of the
NMEA2000 messages received.
In the field “ID Device” the NMEA2000 ID for the converter is defined.
The means of the fields for “CANopen” are:
In the field “ID Device” the CANopen ID for the converter is defined;
In the field “Baudrate” the data rate of the CANopen is defined;
If the field “Set Operational State at Start-up” is checked, the state of the CANopen is
defined. I.e. if it is checked the board starts in Operational State, else it starts in re-
Operational;
If the field “Network Start at Start-up” is checked, 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. In the field “Delay (s)” the delay before sending the network
command for the CANopen is defined;
If the field “Enable SDO Client” is checked, the SDO Client function is enabled. In the field
“TimeOut SDO (1/10ms)” the timeout for the SDO requests is defined;
If the field “Enable NodeGuarding” is checked, the NodeGuarding function is enabled. It is
possible to send the NodeGuarding information on NMEA2000 checking the option “Send Nodes
State on NMEA2000 Network” with the defined delay in “Send Frames every (ms)”
field;
Figure
3
:
“Set Communication” window

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RECEIVE NMEA2000:
By pressing the “Receive NMEA2000” button from the main window for SW67461 (Fig. 2) the window “Receive NMEA2000 Frames”
appears (Fig. 4).
This section is used to define the NMEA2000 messages accepted by the converter.
The means of the fields are:
If the field “Enable” is checked, the NMEA2000 variable is enabled;
In the field “PGN” the GN of the NMEA 2000 message to receive is defined (in the NMEA 2000 protocol, the GN is an identifier);
In the field “Source Address” the address of the device that sends the frame is defined.
If the field “Transport Protocol” is checked, the frame can use transport protocol functions;
If the field “Fast Packet” is checked, the frame will use the Fast acket functions;
In the field “Start Byte” the starting byte to save internal memory array is defined;
In the field “N Bytes” the number of consecutive byte from the starting one is defined. For example, if the Start Byte is ‘20’ and Num
Bytes is ‘10’, it is possible to read the byte from 20 to 30;
If the field “Cancel Data” is checked, when the data is oldest of the time inserted in the “TimeOut Data”, the converter sets “0xFF” in
the bytes of the internal memory array reserved for the GN;
In the field “Mnemonic” the description for the frame is defined.
Figure 4: “Receive NMEA2000 Frames” window

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DEFINE SDO
By pressing the “Define SDO” button near “Receive
NMEA2000” from the main window for SW67461 (Fig. 2)
the window “Define Read Server SDOs for Receive
NMEA2000 Frames” appears (Fig. 5):
In the field “List of Receive NMEA2000
Frames” there is the list of NMEA2000 Frames
that you inserted in “Receive NMEA2000”
section.
In the field “List of Server SDO in Read”
there are the SDOs Objects in read.
In the field “Create/Modify a Server SDO”
you can define the Index, SubIndex and the
Dimension of the SDO Object to create and the
bytes of the NMEA2000 frame which you will
map in.
For example:
Click on the NMEA2000 frame, insert the valid
parameters in the fields “Index SDO”, “SubIndex SDO”
and “Dimension SDO”, select which bytes of the
NMEA2000 frame you want to map inside the SDO, click
the “Create” button. In the field “List of Server SDO in
Read” appears the new SDO Object created.
Figure 5: “Def
ine Read Server SDOs for Receive
NMEA2000
Frames” window

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DEFINE TPDO:
By pressing the “Define TPDO” button from the main window of SW67461 (Fig. 2) the window “Define Transmit DO” appears (Fig. 6).
This section is used to define the T DO messages sent by the converter.
The means of the fields of the table are:
In the field “CobID” the Cob-ID of the DO is defined;
In the field “NMEA200 Frame” the NMEA2000 frame to link to the T DO is defined;
In the field “Start” the starting byte of the internal array from which taking the data to map into the T DOs is defined;
If the field “Data Change” is checked, the T DO frame is sent when the data into the linked NMEA2000 frame change;
If the field “On NMEA” is checked, the T DO is transmitted when the NMEA2000 frame linked is received;
If the field “On Timer” is checked, the T DO is sent cyclically;
In the field “Timer (ms)” the cyclic delay for the “On Timer” option is defined;
In the field “Mnemonic” the description for the frame is defined.
Figure
6
: “
Define Transmit DO
” window