Anybus Communicator - CANopen User manual

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HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
Visiting address: Stationsgatan 37, Halmstad, Sweden
Connecting Devices
TM
E-mail: [email protected]
Web: www.anybus.com
User Manual
Anybus®Communicator CAN
CANopen
Doc.Id. SCM-1200-121
Rev. 1.00

Doc.Id. SCM-1200-121
Anybus Communicator CAN to CANopen
Doc.Rev. 1.00
Important User Information
This document is intended to provide a good understanding of the functionality offered by the Anybus Communi-
cator CAN - CANopen.
The reader of this document is expected to be familiar with high level software design, and communication
systems in general. The use of advanced CANopen specific functionality may require in-depth knowledge of
CANopen networking internals and/or information from the official CANopen specifications. In such cases, the
people responsible for the implementation of this product should either obtain the CANopen specification to gain
sufficient knowledge or limit their implementation in such a way that this is not necessary.
Liability
Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any
inaccuracies or omissions. The data and illustrations found in this document are not binding. We, HMS Industrial
Networks AB, reserve the right to modify our products in line with our policy of continuous product development.
The information in this document is subject to change without notice and should not be considered as a commit-
ment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that
may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure that all the
necessary steps have been taken to verify that the applications meet all performance and safety requirements in-
cluding any applicable laws, regulations, codes, and standards.
HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that
may arise as a result from the use of undocumented features, timing, or functional side effects found outside the
documented scope of this 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.
The examples and illustrations in this document are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular implementation, HMS Industrial Networks AB cannot
assume responsibility for actual use based on these examples and illustrations.
Intellectual Property Rights
HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product de-
scribed in this document. These intellectual property rights may include patents and pending patent applications
in the US and other countries.
The “Silk” icon set, used in the Anybus Configuration Manager tool, is created by Mark James, Birmingham, Eng-
land. The complete icon set is found at http://famfamfam.com/lab/icons/silk/. The icon set is licensed under the
Creative Commons Attribution 2.5 License (http://creativecommons.org/licenses/by/2.5).
Trademark Acknowledgements
Anybus ® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their
respective holders.
Warning: This is a class A product. in a domestic environment this product may cause radio interference in
which case the user may be required to take adequate measures.
ESD Note: This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged if ESD
control procedures are not followed. Static control precautions are required when handling the prod-
uct. Failure to observe this may cause damage to the product.
Anybus Communicator CAN - CANopen User Manual
Rev 1.00
Copyright© HMS Industrial Networks AB
June 2011 Doc Id SCM-1200-121

Anybus Communicator CAN
Doc.Rev. 1.00
Doc.Id. SCM-1200-121
Preface About This Document
Related Documents.................................................................................................................................. 1
Document History ................................................................................................................................... 1
Conventions & Terminology .................................................................................................................. 2
Sales and Support ..................................................................................................................................... 3
Chapter 1 About the Anybus Communicator CAN
Introduction .............................................................................................................................................. 4
Anybus Communicator CAN Concept.................................................................................................5
General............................................................................................................................................ 5
Data Exchange Model..................................................................................................................... 6
Chapter 2 About the Module
External view............................................................................................................................................. 8
Mounting.................................................................................................................................................... 9
Status LEDs ............................................................................................................................................ 10
Connectors .............................................................................................................................................. 11
CANopen Connector and Switches................................................................................................. 11
USB Connector.............................................................................................................................. 12
CAN Connector............................................................................................................................ 12
Power Connector.................................................................................................................................... 12
Software Installation .............................................................................................................................. 13
Anybus Configuration Manager ..................................................................................................... 13
Chapter 3 Getting Started
Chapter 4 CAN Network Communication
General..................................................................................................................................................... 15
Types of Messages.................................................................................................................................. 15
Query-Response.............................................................................................................................. 15
Produce and Consume .................................................................................................................... 16
Protocol Building Blocks....................................................................................................................... 16
Control/Status Word............................................................................................................................. 17
Transaction Live List ............................................................................................................................. 18
Chapter 5 Data Representation on CANopen
General..................................................................................................................................................... 19
Data Representation............................................................................................................................... 19
Memory Layout (Internal Memory Buffer) ........................................................................................ 20
Data Area Addresses and Object Dictionary Indices Relation ........................................................ 20
Table of Contents
Table of Contents

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Chapter 6 Configuration
Configuring the Anybus Communicator CAN.................................................................................. 22
Configuring the CANopen Network .................................................................................................. 22
CANopen EDS file ................................................................................................................................ 22
Chapter 7 Anybus Configuration Manager
Main Window.......................................................................................................................................... 23
Pull-down Menus ........................................................................................................................... 24
Chapter 8 Basic Settings
Network Settings .................................................................................................................................... 27
Communicator Settings ......................................................................................................................... 28
Subnetwork Settings............................................................................................................................... 29
Chapter 9 Groups and Transactions
General..................................................................................................................................................... 30
Groups ..................................................................................................................................................... 30
Transactions ............................................................................................................................................ 30
Produce .......................................................................................................................................... 31
Consume ........................................................................................................................................ 32
Query/Response............................................................................................................................. 32
Chapter 10 Configuration of CAN Frames
General..................................................................................................................................................... 33
CAN Identifiers ............................................................................................................................ 33
Produce/Query CAN Frame................................................................................................................ 34
Consume/Response CAN Frame........................................................................................................ 34
Chapter 11 Anybus Configuration Manager Tools
Monitor/Modify ..................................................................................................................................... 36
CAN Line Listener................................................................................................................................. 37
Address Overview .................................................................................................................................. 38
Diagnostics/Status ................................................................................................................................. 38
Chapter 12 Online

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Appendix A Technical Specification
Protective Earth (PE) Requirements................................................................................................... 42
Power Supply .......................................................................................................................................... 42
Environmental Specification ................................................................................................................ 42
Temperature................................................................................................................................... 42
Relative Humidity.......................................................................................................................... 42
EMC (CE) Compliance ......................................................................................................................... 43
Chapter B Configuration Example
Appendix C CANopen Object Dictionary
Standard Objects .................................................................................................................................... 48
General.......................................................................................................................................... 48
Object Entries................................................................................................................................48
Manufacturer Specific Objects ............................................................................................................. 50
Input Buffer, Byte Access ............................................................................................................... 50
Input Buffer, Word Access ............................................................................................................. 50
Input Buffer, Double Word Access................................................................................................. 51
Output Buffer, Byte Access............................................................................................................. 51
Output Buffer, Word Access .......................................................................................................... 52
Output Buffer, Double Word Access .............................................................................................. 52
Anybus Status & Diagnostics ....................................................................................................... 53

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Preface
P. About This Document
For more information, documentation etc., please visit the HMS website, ‘www.anybus.com’.
P.1 Related Documents
P.2 Document History
Summary of Recent Changes ( ... 1.00)
Revision List
Document Author
CiA Draft Standard 301 v4.2 CAN in Automation
CiA Draft Standard Proposal 302 Part 1-5 CAN in Automation
CiA Draft Standard 305 CAN in Automation
CAN specification CAN in Automation
Change Page(s)
- -
- -
- -
Revision Date Author(s) Chapter(s) Description
1.00 2011-06-23 KeL - First official release

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P.3 Conventions & Terminology
The following conventions are used throughout this manual:
• Numbered lists provide sequential steps
• Bulleted lists provide information, not procedural steps
• The terms ‘Anybus’ or ‘module’ refers to the Anybus Communicator CAN module.
• The terms ‘host’ or ‘host application’ refers to the device that hosts the Anybus module.
• Hexadecimal values are written in the format NNNNh or 0xNNNN, where NNNN is the hexa-
decimal value.
• A byte always consists of 8 bits.

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P.4 Sales and Support
Sales Support
HMS Sweden (Head Office)
E-mail: [email protected] E-mail: [email protected]
Phone: +46 (0) 35 - 17 29 56 Phone: +46 (0) 35 - 17 29 20
Fax: +46 (0) 35 - 17 29 09 Fax: +46 (0) 35 - 17 29 09
Online: www.anybus.com Online: www.anybus.com
HMS North America
E-mail: [email protected] E-mail: [email protected]
Phone: +1-312 - 829 - 0601 Phone: [phone]
Toll Free: +1-888-8-Anybus Toll Free: +1-888-8-Anybus
Fax: [phone] Fax: [phone]
Online: www.anybus.com Online: www.anybus.com
HMS Germany
E-mail: [email protected] E-mail: [email protected]
Phone: [phone] Phone: [phone]
Fax: [phone] Fax: [phone]
Online: www.anybus.de Online: www.anybus.de
HMS Japan
E-mail: [email protected] E-mail: [email protected]
Phone: [phone] Phone: [phone]
Fax: [phone] Fax: [phone]
Online: www.anybus.jp Online: www.anybus.jp
HMS China
E-mail: [email protected] E-mail: [email protected]
Phone: [phone] Phone: [phone]
Fax: [phone] Fax: [phone]
Online: www.anybus.cn Online: www.anybus.cn
HMS Italy
E-mail: [email protected] E-mail: [email protected]
Phone: [phone] Phone: [phone]
Fax: [phone] Fax: [phone]
Online: www.anybus.it Online: www.anybus.it
HMS France
E-mail: [email protected] E-mail: [email protected]
Phone: [phone] Phone: [phone]
Fax: [phone] Fax: [phone]
Online: www.anybus.fr Online: www.anybus.fr
HMS UK & Eire
E-mail: [email protected] E-mail: [email protected]
Phone: [phone] Phone: +46 (0) 35 - 17 29 20
Fax: [phone] Fax: +46 (0) 35 - 17 29 09
Online: www.anybus.co.uk Online: www.anybus.com
HMS Denmark
E-mail: [email protected] E-mail: [email protected]
Phone: [phone] Phone: +46 (0) 35 - 17 29 20
Fax: [phone] Fax: +46 (0) 35 - 17 29 09
Online: www.anybus.com Online: www.anybus.com
HMS India
E-mail: [email protected] E-mail: [email protected]
Phone: [phone] Phone: +46 (0) 35 - 17 29 20
Fax: [phone] Fax: +46 (0) 35 - 17 29 09
Online: www.anybus.com Online: www.anybus.com

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Chapter 1
1. About the Anybus Communicator CAN
1.1 Introduction
The Anybus Communicator CAN is a series of products that acts as a gateway between a subnetwork,
running the standard CAN protocol, and a number of popular industrial networks. Integration of indus-
trial devices is enabled without loss of functionality, control and reliability, both when retro-fitting to
existing equipment as well as when setting up new installations.
The Anybus Communicator CAN is based on patented Anybus technology, a proven industrial commu-
nication solution used all over the world by leading manufacturers of industrial automation products.
Each module offers integration of industrial CAN devices to one of these industrial networks: PROFI-
BUS, PROFINET, EtherNet/IP, DeviceNet and CANopen. The scope of this manual is the Anybus
Communicator CAN for CANopen. The manual primarily describes the functionality and the configu-
ration of the CAN network and the connection between the networks. For information about CAN-
open, please refer to official specifications.
No proprietary configuration software is needed. All necessary configuration is performed using the
Anybus Configuration Manager that accompanies the product.
Subnetwork
The Anybus Communicator CAN recognizes and supports communication that conforms to the CAN
standards 2.0A and 2.0B. The Communicator can adapt to any predefined network using CAN frames
as means for data exchange, using the Anybus Configuration Manager tool, that is included with the
product.
• 0 - 8 bytes of data in each frame
• 11-bit identifier or 29-bit identifier
• Bit rates supported: 20, 50, 100, 125, 200, 250, 500, 800 and 1000 kbit/s.
PC configuration
and monitoring
Fieldbus Control System
(e.g a PLC)
CAN communication devices
IN
IN
IN
IN
VE
VE
VE
VE
RT
RT
RT
RT
ER
ER
ER
ER
HM
HM
HM
I
I
I
Multi-Node Standard CAN NetworkSingle-Node Standard CAN Network
PC configuration
and monitoring
Fieldbus Control System
(e.g a PLC)
CAN communication
device
IN
IN
IN
IN
VE
VE
VE
VE
RT
RT
RT
RT
ER
ER
ER
ER
HM
HM
HM
I
I
I
(Fieldbus Network)
(Fieldbus Network)

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CANopen Interface
CANopen connectivity is provided through patented Anybus technology:
• Supports all standard baud rates
• Customizable PDO mapping
• Up to 512 bytes of I/O in each direction
• Up to 80 RPDO’s and 80 TPDO’s
• Transmission types: PDO Sync, Change-of-state, Event based and RTR.
• Network store/restore functionality
• Heartbeat & Node Guarding support
1.2 Anybus Communicator CAN Concept
1.2.1 General
The Anybus Communicator is designed to exchange data between a subnetwork, running CAN, and a
higher level network. The CAN protocol uses frames, that are individually configurable, offering great
flexibility.
Through the configuration of the CAN frames, the Communicator will adapt to a predefined CAN net-
work. It will be possible to send data to and receive data from the subnetwork, but also to act as a relay
for data on the CAN subnetwork.
The Communicator can issue frames cyclically, on change of data, or based on trigger events issued by
the control system of the higher level network (i.e. the fieldbus master or PLC) or by the CAN network.
It can also monitor certain aspects of the subnetwork communication and notify the higher level net-
work when data has changed.
An essential part of the Anybus Communicator package is the Anybus Configuration Manager, a Win-
dows™ application which is used to supply the Communicator with a description of the subnetwork
protocol. No programming skills are required; instead, a visual protocol description-system is used to
specify the different parts of the CAN frames.

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1.2.2 Data Exchange Model
Internally, the data exchanged on the subnetwork, and
the data exchanged on the higher level network, resides
in the same memory.
This means that in order to exchange data with the sub-
network, the higher level network simply reads and
writes data to memory locations specified using the
Anybus Configuration Manager. The very same mem-
ory locations can then be exchanged on the subnet-
work.
The internal memory buffer is divided into three areas
based on their function:
Note: the Communicator supports a maximum of
1024 bytes for the input and output data, but up to 512
bytes in one direction.
• Input Data (Up to 512 bytes)
This area can be read by the higher level net-
work.
(how this data is represented on the higher level
network will be described later in this chapter).
• Output Data (Up to 512 bytes)
This area can be written to by the higher level
network.
(how this data is represented on the higher level network will be described later in this chapter).
• General Data
This area can not be accessed from the higher level network, but may be used for transfers be-
tween individual nodes on the subnetwork, or as a general “scratch pad” for data. The size of the
General Data area is 1024 bytes. How much of the area that is used for subnetwork communi-
cation is decided by the configuration.
General Data
Anybus Communicator CAN
Internal Memory
Input Data
(512 bytes)
CAN Network
Output Data
(512 bytes)
CANopen Network

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Memory Map
When building the subnetwork configuration using the Anybus Configuration Manager, the different ar-
eas described above are mapped to the memory locations (addresses) specified below.
Input Data Output Data General Data
CAN network: CAN network: CAN network:
Fieldbus:
Write Only
Read Only
Read Only
Write Only
Read/Write
-Fieldbus: Fieldbus:
0x000 0x200
0x1FF 0x3FF
0x400
0x7FF

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Chapter 2
2. About the Module
2.1 External view
A: Status LEDs
See also...
- “Status LEDs” on page 10
B: Fieldbus Specific Connectors and Switches
This connector (connectors) and, if available,
these switches are used to connect the Anybus
Communicator CAN module to the CANopen
network. They are described in “CANopen
Connector and Switches” on page 11.
C: USB connector
This connector is used for uploading and down-
loading the configuration and for software up-
grade of the module.
See also...
- “USB Connector” on page 12
D: CAN Connector
This connector is used to connect the commu-
nicator to the CAN network.
See also...
- “CAN Connector” on page 12
E: Power Connector
This connector is used to apply power to the communicator.
See also...
- “Power Connector” on page 12
F: DIN-rail Connector
The DIN-rail mechanism connects the communicator to PE (Protective Earth).
See also...
- “Mounting” on page 9
A
B
C
D
E
F

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2.2 Mounting
Perform the following steps when physically installing the Communicator:
1. Snap the Communicator on to the DIN-rail (See “External view” on page 8)
The DIN-rail mechanism works as follows:
To snap the Communicator on, first press it downwards (1) to compress
the spring in the DIN-rail mechanism, then push it against the DIN-rail
as to make it snap on (2)
To snap the Communicator off, push it downwards (1) and pull it out from
the DIN-rail (2), as to make it snap off from the DIN-rail.
2. Connect the Communicator to the CAN network
3. Connect the Communicator to the CANopen network.
4. Set the CANopen configuration switches
5. Connect the power cable and apply power
1
2
1
2

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2.3 Status LEDs
The status LEDs on the front indicate the status of the module as shown in the table below.
Status LEDs 1 - 4 indicate the status of the CANopen network and status LEDs
5 - 6 indicate the status of the CAN subnetwork and the device.
# State Status
1 - Run Off No power
Single flash, green Stopped
Blinking green Pre-operational
Blinking red Bus initialization fault
Green Operational
2 - Error Off No error
Single flash, red Warning limit reached
Double flash, red Error Control Event
Triple flash, red Sync Error
Red Bus off
3 - Status Off Normal operation
Red Unrecoverable fault detected
4 - Power Off No power
Green Power
5 - CAN subnet-
work status
Off Power off/no CAN communication
Green Running with no transaction error/timeout
Flashing red Transaction error/timeout or subnetwork
stopped
Red Fatal error
6 - Device status Off Power off
Alternating Red/Green Invalid or missing configuration
Green Operation mode Run
Flashing green Operation mode Idle
Red Fatal error
1
3
5
2
4
6

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2.4 Connectors
2.4.1 CANopen Connector and Switches
Connector
Configuration Switches
The configuration switches are used to set the CANopen node address and baud rate.
Normally, these switches are covered by a plastic hatch. Note that the node address
can not be changed during runtime, i.e. the Anybus Communicator CAN requires a
reset for any changes to have effect.
The node address is configured using two rotary switches as follows:
Node Address = (Switch B x 10) + (Switch A x 1)
Example: To set node address 42, set switch A to ‘2’ and switch B to ‘4’.
The baudrate is set via switch C, and is interpreted as follows:
Note: When removing the hatch, avoid touching the circuit boards and components. If tools are used
when opening the hatch, be careful.
Pin no Description
2CAN_L
5 Housing, CAN cable shield
7 CAN_H
1, 4, 8, 9 (not connected)
3, 6 CAN GND
# Baud Rate # Baud Rate
0 (reserved) 5 250 kbit/s
1 10 kbit/s 6 500 kbit/s
2 20 kbit/s 7 800 kbit/s
3 50 kbit/s 8 1 Mbit/s
4 125 kbit/s 9 (reserved)
15
96 (male)
A
B
C

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2.4.2 USB Connector
At the bottom of the module you find a USB connector used for software upgrade
of the module and for uploading and downloading configurations.
Note: USB is used for configuration and software upgrade only and not for moni-
toring, modifying or exchanging data. Remove the USB cable when the configura-
tion of the module is finished.
2.4.3 CAN Connector
Next to the USB connector the CAN connector is found.
2.5 Power Connector
Notes:
• Use 60/75 or 75×C copper (CU) wire only.
• The terminal tightening torque must be between 5... 7 lbs-in (0.5... 0.8 Nm)
See also...
- “Power Supply” on page 42
Pin no. Description
1 +5 V input
2 USBDM (USB communication signals)
3 USBDP (USB communication signals)
4 Signal GND
Housing Cable Shield
Pin no. Description
2CAN_L
5 Housing, CAN cable shield
7 CAN_H
1, 4, 8, 9 (not connected)
3, 6 CAN GND
Pin no. Description
1 +24V DC
2GND
1
2
34
15
96 (male)
12

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2.6 Software Installation
2.6.1 Anybus Configuration Manager
System Requirements
• Pentium 233 MHz or higher (300 MHz recommended)
• 64 MB RAM or more (128 MB recommended)
• Microsoft Windows XP, Windows Vista, or Windows 7
Installation
• Anybus Communicator CAN resource CD
Insert the CD and follow the onscreen instructions. If the installation does not start automatically
right-click on the CD-drive icon and select Explore. Execute ‘setup.exe’ and follow the onscreen
instructions
• From website
Download and execute the self-extracting .exe file from the HMS website (www.anybus.com).

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Chapter 3
3. Getting Started
The purpose of this chapter is to give a short description of how to install the module and get it up and
running, transferring I/O data between the CAN network and the CANopen network. Before starting,
make sure that you have access to knowledge about the CAN protocol to be configured, e.g. access to
the CAN protocol specification.
Perform the following steps when installing the Communicator:
1. Download the Anybus Configuration Manager from the product pages at www.anybus.com or
copy it from the CD that accompanies the product. Install it on your PC.
2. Download the EDS file from the product pages at www.anybus.com or copy it from the CD that
accompanies the product.
3. Build your configuration in the Anybus Configuration Manager tool, for an example see “Con-
figuration Example” on page 44, for a description of the tool see chapters 7 to 11.
4. Connect the Communicator to your PC using the USB connector.
5. Connect the power cable and apply power.
6. Download the configuration from the Anybus Configuration Manager to the Communicator.
See “Online” on page 40.
7. Remove the USB cable, turn off the power and disconnect the power cable.
8. Snap the Communicator on to the DIN-rail (See “Mounting” on page 9).
9. Connect the Communicator to the CAN network.
10. If necessary, configure the other nodes in the CAN network.
11. Connect the Communicator to the CANopen network.
12. Set the baud rate and the node address on the CANopen network using the configuration switch-
es on the Communicator.
13. Connect the power cable and apply power.
14. Install the EDS file in the CANopen configuration tool.
15. Configure the CANopen network.

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Chapter 4
4. CAN Network Communication
4.1 General
The CAN protocol is message-based and offers the possibility to exchange up to 8 bytes of data in each
message. How these bytes are interpreted, is defined in each application. The CAN protocol is a trans-
parent protocol, meaning that it only acts as a data carrier, and it is up to the users (the application) to
define and interpret the data content of the messages.
Data on CAN is exchanged using frames. Each frame has a unique identifier for the data it exchanges.
The identifier also represents the message priority on the CAN network. The Anybus Communicator
CAN supports 11-bit (CAN 2.0A) and 29-bit (CAN 2.0B) identifiers.
CAN is essentially a produce-consume network, where all nodes listen to all messages. The devices rec-
ognize what data to collect by what identifier the CAN frame carries. The Communicator is also able to
act as a Master and issue queries that demand responses. It is possible to use both methods in the same
configuration of the module.
4.2 Types of Messages
The Anybus Communicator CAN features three different message types regarding the subnetwork com-
munication, called ‘Query/Response’, ‘Produce’ and ‘Consume’. Note that these messages only specify
the basic communication model, not the actual CAN protocol. All three types of messages can be used
in the same configuration.
4.2.1 Query-Response
The Communicator acts as a master on the subnetwork, and the serial communication takes place in a
query-response fashion. The Communicator sends a query and expects an answer within the specified
timeout.
Subnetwork Devices
Gateway
Control System