Anybus CompactCom 30 Installation and maintenance instructions

Anybus
®CompactCom™30
CANopen
NETWORK GUIDE
HMSI-168-78 EN 4.1 ENGLISH

Important User Information
Liability
Every care has been taken in the preparation of this document. 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 as-
sume 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 USA and other countries.
Anybus®CompactCom™30 Network Guide HMSI-168-78 EN 4.1

Anybus®CompactCom™30 Network Guide HMSI-168-78 EN 4.1
Table of Contents Page
1 Preface ............................................................................................................................... 3
1.1 About this document ......................................................................................................3
1.2 Related Documents .......................................................................................................3
1.3 Document History ..........................................................................................................3
1.4 Document Conventions ..................................................................................................4
1.5 Terminology...................................................................................................................4
1.6 Trademark Information ...................................................................................................5
2 About the Anybus CompactCom 30 CANopen........................................................ 6
2.1 General.........................................................................................................................6
2.2 Features .......................................................................................................................6
3 Tutorial ............................................................................................................................... 7
3.1 Introduction ...................................................................................................................7
3.2 Fieldbus Conformance Notes..........................................................................................7
3.3 Certification ...................................................................................................................7
4 Basic Operation............................................................................................................... 9
4.1 General Information .......................................................................................................9
4.2 Data Exchange............................................................................................................10
4.3 Device Address & Baud Rate Configuration ...................................................................13
4.4 Network Reset Handling...............................................................................................13
5 Object Dictionary (CANopen)..................................................................................... 14
5.1 Standard Objects .........................................................................................................14
5.2 Manufacturer Specific Objects ......................................................................................16
6 Anybus Module Objects .............................................................................................. 19
6.1 General Information .....................................................................................................19
6.2 Anybus Object (01h) ....................................................................................................20
6.3 Diagnostic Object (02h) ................................................................................................21
6.4 Network Object (03h) ...................................................................................................23
6.5 Network Configuration Object (04h)...............................................................................24
7 Host Application Objects ............................................................................................ 26
7.1 CANopen Object (FBh).................................................................................................26
A Categorization of Functionality ................................................................................. 29
A.1 Basic...........................................................................................................................29
A.2 Extended.....................................................................................................................29

Anybus®CompactCom™30 Network Guide HMSI-168-78 EN 4.1
Table of Contents
B Implementation Details................................................................................................ 30
B.1 SUP-Bit Definition ........................................................................................................30
B.2 Anybus State Machine .................................................................................................30
B.3 Application Watchdog Timeout Handling........................................................................31
C Technical Specification ............................................................................................... 32
C.1 Front View...................................................................................................................32
C.2 Functional Earth (FE) Requirements.............................................................................. 33
C.3 Power Supply ..............................................................................................................33
C.4 Environmental Specification..........................................................................................33
C.5 EMC Compliance.........................................................................................................33
D Timing & Performance ................................................................................................. 34
D.1 General Information .....................................................................................................34
D.2 Process Data...............................................................................................................34

Preface 3 (36)
1 Preface
1.1 About this document
This document is intended to provide a good understanding of the functionality offered by the
Anybus CompactCom 30 CANopen. The document describes the features that are specific to
Anybus CompactCom 30 CANopen. For general information regarding Anybus CompactCom
30, consult the Anybus CompactCom 30 design guides.
The reader of this document is expected to be familiar with high level software design and com-
munication systems in general. The information in this network guide should normally be suffi-
cient to implement a design. However if advanced CANopen specific functionality is to be used,
in-depth knowledge of CANopen networking internals and/or information from the official CAN-
open specifications may be required. In such cases, the persons responsible for the implemen-
tation 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.
For additional related documentation and file downloads, please visit the support website at
www.anybus.com/support.
1.2 Related Documents
Document Author Document ID
Anybus CompactCom 30 Software Design Guide HMS HMSI-168-97
Anybus CompactCom 30 Hardware Design Guide HMS HMSI-168-31
Anybus CompactCom Host Application Implementation
Guide
HMS HMSI-27-334
IEC 61158-6 IEC
CiA Draft Standard 301 v4.02 CAN in Automation
1.3 Document History
Version Date Description
2.00 2007-05-30 First official version
2.01 2007-07-09 Minor update
2.02 2008-06-30 Minor update
3.00 2010-04-14 Change of concept, updates
3.01 2011-02-10 Minor updates
3.02 2012-01-26 Updated certification instructions
3.03 2012-09-24 Minor update
4.0 2017-05-11 First version in DOX, updated
4.1 2018-06–29 Corrected default pdo mapping scheme
Minor corrections
Anybus®CompactCom™30 Network Guide HMSI-168-78 EN 4.1

Preface 4 (36)
1.4 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.
1.5 Terminology
• The terms “Anybus” or “module” refers to the Anybus CompactCom module.
• The terms “host” or “host application” refer to the device that hosts the Anybus.
• Hexadecimal values are written in the format NNNNh or 0xNNNN, where NNNN is the hex-
adecimal value.
• A byte always consists of 8 bits.
• The terms “basic” and “extended” are used to classify objects, instances and attributes.
Anybus®CompactCom™30 Network Guide HMSI-168-78 EN 4.1

Preface 5 (36)
1.6 Trademark Information
Anybus®is a registered trademark of HMS Industrial Networks AB.
All other trademarks are the property of their respective holders.
Anybus®CompactCom™30 Network Guide HMSI-168-78 EN 4.1

About the Anybus CompactCom 30 CANopen 6 (36)
2 About the Anybus CompactCom 30 CANopen
2.1 General
The Anybus CompactCom 30 CANopen communication module provides instant CANopen
connectivity via the patented Anybus CompactCom host interface. Any device that supports this
standard can take advantage of the features provided by the module, allowing seamless net-
work integration regardless of network type.
This product conforms to all aspects of the host interface for Active modules defined in the
Anybus CompactCom Hardware- and Software Design Guides, making it fully interchangeable
with any other device following that specification. Generally, no additional network related soft-
ware support is needed, however in order to take advantage of advanced network specific func-
tionality, a certain degree of dedicated software support may be necessary.
The functionality of the module is described in two categories: Basic and Extended, see Cate-
gorization of Functionality, p. 29.
2.2 Features
• DS301 v4.02 compliant
• Galvanically isolated bus electronics
• Supports all standard baud rates
• Automatic baud rate detection
• Supports LSS
• Customizable Identity Information
• Up to 36 TPDO’s & 36 RPDO’s (Corresponds to a total of 288 bytes of Process Data)
• PDO mapping can be customized via network configuration tool
• Up to 16383 ADIs can be accessed from the network as Manufacturer Specific Objects.
• Diagnostic support
• Supports Expedited- and Segmented SDO Transfer (Block Transfer not supported)
Anybus®CompactCom™30 Network Guide HMSI-168-78 EN 4.1

Tutorial 7 (36)
3 Tutorial
3.1 Introduction
This chapter is a complement to the Anybus CompactCom Implementation Tutorial. The Any-
bus CompactCom tutorial describes and explains a simple example of an implementation with
Anybus CompactCom. This chapter includes network specific settings that are needed for a
host application to be up and running and possible to certify for use on CANopen networks.
3.2 Fieldbus Conformance Notes
• This product is pre-certified for network compliance. While this is done to ensure that the fi-
nal product can be certified, it does not necessarily mean that the final product will not re-
quire recertification. Contact HMS Industrial Networks AB for further information.
• The .EDS-file associated with this product must be altered to match the final implementa-
tion. See also Electronic Data Sheet (EDS), p. 9.
• HMS recommends that the device identity information is customized to ensure interoper-
ability. CiA (CAN in Automation) members should apply for a unique Vendor ID; non-mem-
bers may contact HMS Industrial Networks AB to obtain a custom Product ID. Note
however that a unique Vendor ID is required when certifying the final product.
• The module supports CAN Standard Frames with 11-bit Identifier Field, see CiA Draft
Standard 301 v4.02. 29-bit Identifier Fields are not allowed.
3.3 Certification
When using the default settings of all parameters, the Anybus CompactCom 30 CANopen is
precertified for network compliance. This precertification is done to ensure that your product
can be certified, but it does not mean that your product will not require certification.
Any change in the parameters in the EDS file, supplied by HMS Industrial Networks AB, will re-
quire a certification. A Vendor ID can be obtained from CiA (CAN in Automation) and is compul-
sory for certification. This section provides a guide for a successful conformance testing of your
product, containing the Anybus CompactCom 30 CANopen, to comply with the demands for
network certification set by CiA (CAN in Automation).
Independent of selected operation mode, the actions described in this section have to be ac-
counted for in the certification process. The identity of the product needs to be changed to
match your company and device.
This section provides guidelines and examples of what is needed for certification.
Depending on the functionality of your application, there may be additional steps to
take. Please contact HMS Industrial Networks AB at www.anybus.com for more
information.
Anybus®CompactCom™30 Network Guide HMSI-168-78 EN 4.1

Tutorial 8 (36)
3.3.1 Reidentifying Your Product
After successful setting of attribute #5 (Setup Complete) in the Anybus Object (01h), the Any-
bus CompactCom 30 asks for identification data from the CANopen Object (FBh). Therefore,
the attributes listed below shall be implemented and proper values returned.
Object/Instance Attribute Explanation Default
Customer
sample Comment
CANopen Object
(FBh), Instance 1
#1, Vendor
ID
With this at-
tribute you set
the Vendor ID
of the device.
Vendor ID:
001Bh
Vendor ID:
1111h
This information must
match the keyword values
of the “Device” section in
the EDS file.
CANopen Object
(FBh), Instance 1
#2, Prod-
uct Code
With this at-
tribute you set
the Product
Code of the
device
0000 000Ah 0000 2222h
CANopen Object
(FBh), Instance 1
#3, Major
Revision
With this at-
tribute you set
the Major Re-
vision of the
device.
0001
CANopen Object
(FBh), Instance 1
#4, Minor
Revision
With this at-
tribute you set
the Minor Re-
vision of the
device.
0001
CANopen Object
(FBh), Instance 1
#6, Manu-
facturer
Device
Name
With this at-
tribute you set
the Product
Name of the
device.
Anybus-CC
CANopen
“Widget” This information must
match the keyword values
of the Device section in
the EDS file.
3.3.2 Factory Default Reset
Reset command to Application Object (FFh) must be supported
When Anybus CompactCom 30 CANopen products are delivered, they are required to be in
their Factory Default state. The application has to support reset with power cycle and factory de-
fault reset, see Network Reset Handling, p. 13.
3.3.3 Modify the EDS File
Modify the Anybus CompactCom CANopen EDS file so that it corresponds to the vendor prod-
uct (e.g. Vendor ID, Product Name and Product Number along with ADI object names, that cor-
respond to descriptive names in the application. Also the ADI information must correspond.).
The EDS file has to contain all ADIs created by the application. Run the EDS file checker pro-
gram from www.can-cia.org.
See also Electronic Data Sheet (EDS), p. 9 .
Anybus®CompactCom™30 Network Guide HMSI-168-78 EN 4.1