ADF Web HD67551 User manual

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User Manual
CANopen / PROFIBUS Slave
Document code: MN67551_ENG Revision 1.100 age 1 of 38
User Manual
Revision 1.100
English
CANopen / PROFIBUS Slave - Converter
(Order Code: HD67551)
for Website information:
www.adfweb.com? roduct=HD67551
for rice information:
www.adfweb.com? rice=HD67551
Benefits and Main Features:
Very easy to configure
ROFIBUS Baudrate up to 12M
Wide supply input range
Isolation between two buses
Industrial temperature range:
-
40°C / 85°C (
-
40°F / 1
8
5
°F)
For others Gateways / Bridges:
CANopen to Modbus
See also the following links:
www.adfweb.com? roduct=HD67001 (Modbus RTU Master)
www.adfweb.com? roduct=HD67502 (Modbus RTU Slave)
www.adfweb.com? roduct=HD67504 (Modbus TC Master)
www.adfweb.com? roduct=HD67505 (Modbus TC Slave)
For others Gateways / Bridges:
For CAN bus .0A and/or CAN bus .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=HD67514 (Modbus TC Slave)
www.adfweb.com? roduct=HD67515 (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
HD67551

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User Manual
CANopen / PROFIBUS Slave
Document code: MN67551_ENG Revision 1.100 age 2 of 38
INDEX:
age
INDEX 2
U DATED DOCUMENTATION 2
REVISION LIST 2
WARNING 2
TRADEMARKS 2
SECURITY ALERT 3
EXAM LE OF CONNECTION 4
CONNECTION SCHEME 5
CHARACTERISTICS 6
CONFIGURATION 6
CHARACTERISTICS OF TERMINAL BLOCKS LUG 6
OWER SU LY 7
FUNCTIONING MODE 8
LEDS 9
ROFIBUS 10
RS232 10
CANO EN 11
USE OF COM OSITOR SW67551 12
NEW ROJECT / O EN ROJECT 12
SET COMMUNICATION 14
SET SDO SERVER 19
SET SDO CLIENT 21
SET DO ACCESS 24
SET NODE GUARDING 28
EDS FILE 28
GSD FILE 28
TRIGGER SDO 29
CHANGE ROFIBUS ID FROM SDO 31
U DATE DEVICE 32
MECHANICAL DIMENSIONS 36
ORDER CODE 36
ACCESSORIES 36
DISCLAIMER 37
OTHER REGULATIONS AND STANDARDS 37
WARRANTIES AND TECHNICAL SU ORT 38
RETURN OLICY 38
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.
To obtain the updated documentation for the product that you own, note
the “Document Code” (Abbreviated written "Doc. Code" on the label on
the product) and download the updated from our web site
www.adfweb.com/download/
REVISION LIST:
Revision Date Author Chapter Description
1.007 14/12/2012 Dp All Change ID by SDO
1.008 14/01/2013 Nt & Fl All Added new chapters
1.009 10/09/2013 Fl All Revision
1.100 13/03/2019 Fl All Revision
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 / PROFIBUS Slave
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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 are required for
each individual application, legal and safety regulation. 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 instrument can represent a potential hazard if they are inappropriately installed and operated
by personnel untrained. These instructions refer to residual risks with the following symbol:
This symbol indicates that non-observance of the safety instructions is danger for people to serious injury or death and / or the
possibility of damage.
CE CONFORMITY
The declaration is made by us. You can send an email to [e-mail] or give us a call if you need it.

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EXAMPLE OF CONNECTION:

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CONNECTION SCHEME:
Figure 1: Connection scheme for HD67551

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CHARACTERISTICS:
The Configurable CANopen / ROFIBUS Slave - Converter allows the following characteristics:
Two-directional information between CANopen network and ROFIBUS;
Eletrical isolation between two buses;
Up to 244 bytes in reading and 244 bytes in writing on ROFIBUS;
ower Supply 8…19V AC or 12…35V DC;
Mountable on 35mm Rail DIN;
CANopen Client;
CANopen Server;
DO roducer and Consumer;
Temperature range -40°C to 85°C.
CONFIGURATION:
You need Compositor SW67551 software on your C in order to perform the following:
Define the parameter of the CANopen;
Define the parameter of the ROFIBUS;
Define SDO Server informations;
Define SDO Client informations;
Define DO informations (R DO/T DO);
Define NodeGuarding informations;
Transmit CANopen frames;
Create a GSD File;
Update the device.

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POWER SUPPLY:
The devices can be powered at 8…19V AC and 8…35V DC. The consumption depends to the code of the device. For more details see the two
tables below.
VAC
VDC
Vmin Vmax Vmin Vmax
8V 19V 8V 35V
Consumption at 24V DC:
Device Consumption [W/VA]
HD67551 3.5
HD67551
Caution: Not reverse the polarity power

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FUNCTION MODES:
The device has got two functions mode depending of the position of the ‘Dip2 of Dip-Switch A’:
The first, with ‘Dip2 of Dip-Switch A’ at “OFF” position, is used for the normal working of the device.
The second, with ‘Dip2 of Dip-Switch A’ at “ON” position, is used for upload the roject and/or Firmware.
For the operations to follow for the updating, see ‘U DATE DEVICE’ section.
According to the functioning mode, the LEDs will have specifics functions, see ‘LEDS’ section.

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LEDS:
The device has got three 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: Not used (yellow) Not used Not used
2: Not used (green) Not used Not used
3: Device State (green) Blinks slowly (~1Hz) Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress

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PROFIBUS:
The ROFIBUS uses a 9-pin D-SUB connector. The pin assignment is defined like in the right
figure.
Here some codes of cables:
Belden: p/n 183079A - Continuous Armor DataBus® ISA/S -50 ROFIBUS Cable;
RS 3 :
The connection from RS232 socket to a serial port (example one from a personal computer), must be made with a Null
Modem cable (a serial cable where the pins 2 and 3 are crossed). It is recommended that the RS232C Cable not exceed
15 meters.
The serial port is used for programming the device.

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CANOPEN:
For terminate the CANopen line with a 120Ω resistor it is necessary that the Dip1 of ‘Dip-Switch B’ is at ON position.
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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USE OF COMPOSITOR SW67551:
To configure the Converter, use the available software that runs with
Windows, called SW67551. 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 (MS 2000, X ,
Vista, Seven, 8; 32/64bit).
When launching the SW67552 the right window appears (Fig. 2).
Figure 2: Main window for SW67551

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NEW PROJECT / OPEN PROJECT:
NEW CONFIGURATION / OPEN CONFIGURATION:
The “New Project” 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 “ ROFIBUS Slave / 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 Project”.

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SET COMMUNICATION:
This section defines the fundamental communication parameter of two Buses,
CANopen and ROFIBUS.
By ressing the "Set Communication" button from the main window for
SW67551 (Fig. 2) the window "Set Communication" appears (Fig. 3).
If selected “Select Hardware” “Hardware Without Ethernet”:
The window is divided in two sections, one for the CANopen and the other for the
ROFIBUS.
The means of the fields for “CANopen” are:
In the field "ID Dev." the address for the CANopen side is defined;
In the field "Baud rate" the baudrate for the CANopen 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 reoperational;
In the field "Network Start ar Start-Up" the state of the network
CANopen 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" the delay before sending the network command for
the CANopen is defined;
If the field “Enable Send Start-up” is checked it is possible to send a
command of Network Start.
In the field “Write Start-Up” and “Read Status Start-Up” insert the
byte of ROFIBUS used for this operation. To send the Start-Up command
it is necessary to put the value “0x01” in the ROFIBUS byte defined in
“Write Start-Up”. When the command is sent the byte “Read Status Start-
Up” is set by the Gateway at 0x01. When the “Read Status Start-Up” byte
is set the “Write Start-Up” can be put at 0x00 by the master RFIBUS.
Quickly the “Read Status Start-Up” is put at 0x00 and then it is possible to
resend the Start-Up again, not before;
Figure
3
: “
Set Communication
” window

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In the field “Producer Time (mS)” insert a delay time for sending the Heartbeat in the Network. If the value of this field is zero the
gateway send only one Heartbeat when the gateway starts, otherwise it sends this every xx mS;
In the field “TimeOut SDO (1/10 ms)” insert a time. It is the maximum time that the device attends for the answer from the Slave
interrogated;
In the field “Delay between polls (ms)” insert a delay time used for the request of SDO;
If the “Write only when data change” field is checked, the CANopen frame is written only when the data change; otherwise the
CANopen frame is written after the delay indicated in the “Delay between polls (ms)” field.
If the “Cancel Data if not answer” field is checked, the gateway put to zero the data of that SDO, if it not answer for the number of
consecutive times written in the “times” field.
In the field “Enable NodeGuarding” select if enable or not the NodeGuard;
In the field “Enable Sync” select if enable or not the SYNC message. Edit box in the right is used to indicate the delay time for
sending SYNC message;
In the field “Enable Triggered SDO” select if enable or not the Triggered SDO. See the section Triggered SDO at page 29 for more
info;
In the field “ID” (Triggered SDO section) select which byte in ROFIBUS is used to indicate the ID of the SDO;
In the field “Index” (Triggered SDO section) select which bytes in ROFIBUS are used to indicate the Index of the SDO;
In the field “SubInd” (Triggered SDO section) select which byte in ROFIBUS is used to indicate the SubIndex of the SDO;
In the field “W Bytes” (Triggered SDO section) select which bytes in ROFIBUS are used to indicate the data in a write SDO;
In the field “N° Byte” (Triggered SDO section) select which byte in ROFIBUS is used to indicate the number of byte of the SDO;
In the field “R/W” (Triggered SDO section) select which byte in ROFIBUS is used to indicate if the SDO is in read or write;
In the field “Trigger” (Triggered SDO section) select which byte in ROFIBUS is used to start the operation of the SDO;
In the field “R Bytes” (Triggered SDO section) select which bytes in ROFIBUS are used to read the data in a read SDO;
In the field “Status” (Triggered SDO section) select which byte in ROFIBUS is used to indicate the status of operation with SDO;
If the “Enable TimeOut in RPDO Data” field is checked, if not arrive a R DO within the time expressed by the field TimeOut, the
Data of that R DO will set to zero;
If the field “On Data Change” (T DO Send Change section) is checked the DOs are sending on data change;
If the field “On Sync” (Send Change section) is checked the DOs are sending when arrive the SYNC messages;
In the field “Num. Sync” (Send Change section) select the number of SYNC messages have to receive the gateway before to send
the DOs. The number of SYNC have to be between 1 and 240.

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The means of the fields for “ ROFIBUS” are:
In the field "ID Dev." the address for the ROFIBUS side is defined;
In the field "N Byte IN" the number of byte from the master ROFIBUS to the gateway is defined;
In the field "N Byte OUT" the number of byte from the gateway to the master ROFIBUS is defined;
If the field “Create GSD file from PDO Map” is checked when you create the “GSD File” every DO mapped in “Set DO Access” is
inserted in a Module, otherwise a Module contains up to 64 byte;
If the field “Enable SDO Command” is checked, it is possible to change the address of ROFIBUS through CANopen SDO object;
In the field “Index SDO for change ID” the index of the SDO used to change the address of ROFIBUS is defined.

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If selected “Select Hardware” “Hardware With Ethernet”:
The window is divided in three sections, one for the CANopen, one for ROFIBUS
and the other for Ethernet.
The means of the fields for “CANopen” are:
In the field "ID Dev." the address for the CANopen side is defined;
In the field "Baud rate" the baudrate for the CANopen 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 reoperational;
In the field "Network Start ar Start-Up" the state of the network
CANopen 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" the delay before sending the network command for
the CANopen is defined;
In the field “Enable Sync” select if enable or not the SYNC message. Edit
box in the right is used to indicate the delay time for sending SYNC
message;
If the field “Enable Triggered SDO” is checked, the it is possible to send
asynchronous SDO requests directly from ROFIBUS side. The starting
input byte of the converter to write for sending the SDO requests is
defined in the field “Address Input Data TSDO” and the response is
saved starting from output byte defined in the field “Address Output
Data TDSO”. See page 30 for more info;
In the field “TimeOut SDO (1/10 ms)” insert a time. It is the maximum
time that the device attends for the answer from the Slave interrogated.

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The means of the fields for “ ROFIBUS” are:
In the field "ID Dev." the address for the ROFIBUS side is defined;
In the field "N Byte IN" the number of byte from the master ROFIBUS to the gateway is defined;
In the field "N Byte OUT" the number of byte from the gateway to the master ROFIBUS is defined;
If the field “Create GSD file from PDO Map” is checked when you create the “GSD File” every DO mapped in “Set DO Access” is
inserted in a Module, otherwise a Module contains up to 64 byte;
If the field “Enable SDO Command” is checked, it is possible to change the address of ROFIBUS through CANopen SDO object;
In the field “Index SDO for change ID” the index of the SDO used to change the address of ROFIBUS is defined.
The meaning of the fields of “Ethernet” are:
In the field “IP Address” the I address to assign to the converter is defined;
In the field “SubNet Mask” the SubNet Mask of the converter is defined;
In the field “Default 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.

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SET SDO SERVER (Hardware Without Ethernet):
By pressing the “Set SDO Server” button from the main
window for SW67551 (Fig. 2) the window “Set SDO
Server Access” appears (Fig. 4).
This window is made to create the SDO in read or write in
the CANopen side, and to indicate which bytes are
associated to these SDO.
It is divided in two parts, the "SDO in Read ( ROFIBUS
IN)" and the "SDO in Write ( ROFIBUS OUT)".
The first part " SDO in Read ( ROFIBUS IN)" is used to
read, using the SDO, the data that arrived from the
Master ROFIBUS.
The second part " SDO in Write ( ROFIBUS OUT)" is used to write, using the SDO, the data that will be sent to the Master ROFIBUS.
The fields in the two tables are the same:
In the Field "Index" the address for the SDO is defined;
In the Field "SubIndex" the second address for the SDO is defined;
In the Field "nByte" the dimension of the SDO is defined (it can be 1, 2, or 4);
In the Field "Address PROFIBUS" the first byte where the data will be saved/loaded in the
ROFIBUS arrays is defined;
In the field "Swap" if it is necessary, it is possible to swap the SDO data;
In the field "Mnemonic" the description for the SDO is defined.
By pressing the “Create SWAP” button from the “Set SDO Server Access” window, the window
“Byte Swap” appears (Fig. 5). This window helps modify the “Swap” field.
For example in the Figure 4 scenario:
If you want to read the data from the ROFIBUS that are saved in the position 0 of the array, you can create a SDO with index 0x3000,
SubIndex 0x00, nByte 4 and Address ROFIBUS 0. In this way you are able to read 4 bytes starting from address 0 of the ROFIBUS array.
Figure 4: “
Set SDO Server Access
” window
Figure
5
: “
Byte Swap
” window

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SET SDO SERVER (Hardware With Ethernet):
By pressing the “Set SDO Server” button from the main window for SW67551 (Fig. 2) the window “Set SDO Server Access” appears (Fig.
4).
This window is made to create the SDO in read or write in the CANopen side, and to indicate which byte are associated to these SDOs.
It is divided in two parts, the “SDO in read” and
the “SDO in Write”.
The first part is used to read, using the SDO, the
data arrived from the ROFIBUS Master. The
second is used to write, using SDO, the data that
will be sent to the ROFIBUS Master.
The data of the columns have the following
meanings:
In the field “Index” the address of the
SDO is defined;
In the field “SubIndex” the second
address of the SDO is defined;
If the field “N Byte” the dimension of the
SDO is defined (it can be 1, 2 or 4);
In the field “Address Byte1” insert the
address of the ROFIBUS arrays where read/write first byte of the SDO;
In the field “Address Byte ” insert the address of the ROFIBUS arrays where read/write second byte of the SDO (only if N Byte is 2
or 4);
In the field “Address Byte3” insert the address of the ROFIBUS arrays where read/write third byte of the SDO (only if N Byte is 4);
In the field “Address Byte4” insert the address of the ROFIBUS arrays where read/write fourth byte of the SDO (only if N Byte is
4);
In the field “Mnemonic” the description for the SDO is defined.
Figure 4: “Set SDO Server Access” window