Beijer Electronics G Series User manual

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G
-series GN-9261 CANopen Rev. 1.01.docx
CANopen network adapter
GN-9261
User manual

GN-9261 User Manual
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-series GN-9261 CANopen Rev. 1.01.docx
DOCUMENT CHANGE SUMMARY
REV.
PAGES
REMARKS
DATE
Editor
1.00
New Document
2018/7/30
1.01
First release
2019/01/29
NJL

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Contents
1. Important Notes............................................................................................................................................................. 5
1.1.1 Symbols.............................................................................................................................................................. 6
1.1.2 Safety Notes.................................................................................................................................................... 6
1.1.3 Certification..................................................................................................................................................... 6
3.1 GN-9261 Specification........................................................................................................................................ 8
3.2 GN-9261 Wiring Diagram..................................................................................................................................... 9
3.3 GN-9261 LED Indicator.......................................................................................................................................10
3.3.1 LED Indicator.................................................................................................................................................10
3.3.2 MOD(Module Status LED)......................................................................................................................10
3.3.3 RUN(Module Status LED).......................................................................................................................10
3.3.4 ERROR(CANopen Error LED).................................................................................................................10
3.3.6 Field Power, System Power LED(Field Power, System Power Status LED)...................11
3.3.7 Indicator states and flash rates..........................................................................................................11
3.4. GN-9261 Electrical Interface............................................................................................................................12
3.4.1 5pin Open Connector...............................................................................................................................12
3.4.2 Dip Switch ......................................................................................................................................................12
3.4.4 RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide ..................................................13
4. Dimension........................................................................................................................................................................14
4.1 GN-9261....................................................................................................................................................................14
5. Communication..............................................................................................................................................................15
5.1 Device Model.........................................................................................................................................................15
5.1.1 Structure of the device model ............................................................................................................15
5.2 PDO (Process Data)...........................................................................................................................................15
5.2.1 Introduction...................................................................................................................................................15
5.2.2 PDO Mapping...............................................................................................................................................16
5.2.3 PDO Identifier ..............................................................................................................................................16
5.2.4 PDO Communication Type ....................................................................................................................17

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5.3 SDO (Service Data).............................................................................................................................................19
5.3.1 Introduction...................................................................................................................................................19
5.4 Emergency (Error Message)..........................................................................................................................20
5.5 NMT (Network Management).........................................................................................................................20
5.5.1 Network Start-up........................................................................................................................................20
5.5.2 Boot-up Message .......................................................................................................................................21
5.5.3 Node Guarding............................................................................................................................................21
5.5.4 Life Guarding ................................................................................................................................................23
6. Object Directory.............................................................................................................................................................26
6.1 Communication Profile Area.........................................................................................................................26
6.2. Manufacturer Specific Profile Area...........................................................................................................33
6.3 Standard Device Profile Area – DS401.....................................................................................................35
7. MODBUS Interface.......................................................................................................................................................39
7.1 MODBUS Interface Register/Bit Map.........................................................................................................39
7.2 Supported MODBUS Function Codes......................................................................................................39
7.2.1 8(0x08)Diagnostics ....................................................................................................................................40
7.2.2 Error Response.............................................................................................................................................41
7.3 MODBUS Special Register Map.....................................................................................................42
7.3.1 Adapter Identification Special Register (0x1000, 4096) .......................................................42
7.3.3 Expansion Slot Information Special Register (0x2000, 8192).......................................43
APPENDIX A..................................................................................................................................................................48
A.1 Product List...........................................................................................................................................................48
A.2 Glossary..................................................................................................................................................................50
APPENDIX B..................................................................................................................................................................51

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1. Important Notes
Solid state equipment has operational characteristics differing from those of electromechanical equipment.
Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls describes some
important differences between solid state equipment and hard-wired electromechanical devices.
Because of this difference, and also because of the wide variety of uses for solid state equipment, all
persons responsible for applying this equipment must satisfy themselves that each intended application of
this equipment is acceptable.
In no event will CREVIS be responsible or liable for indirect or consequential damages resulting from the use
or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular installation, CREVIS cannot assume responsibility
or liability for actual use based on the examples and diagrams.
If you don’t follow the directions, it could cause a personal injury, damage to the equipment or
explosion
Do not assemble the products and wire with power applied to the system. Else it may cause an electric
arc, which can result into unexpected and potentially dangerous action by field devices. Arching is
explosion risk in hazardous locations. Be sure that the area is non-hazardous or remove system power
appropriately before assembling or wiring the modules.
Do not touch any terminal blocks or IO modules when system is running. Else it may cause the unit to
an electric shock or malfunction.
Keep away from the strange metallic materials not related to the unit and wiring works should be
controlled by the electric expert engineer. Else it may cause the unit to a fire, electric shock or
malfunction.
If you disobey the instructions, there may be possibility of personal injury, damage to equipment
or explosion. Please follow below Instructions.
Check the rated voltage and terminal array before wiring. Avoid the circumstances over 55℃of
temperature. Avoid placing it directly in the sunlight.
Avoid the place under circumstances over 85% of humidity.
Do not place Modules near by the inflammable material. Else it may cause a fire.
Do not permit any vibration approaching it directly.
Go through module specification carefully, ensure inputs, output connections are made with the
specifications. Use standard cables for wiring.
Use Product under pollution degree 2 environment.
Warning!
Caution!

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1.1. Safety Instruction
1.1.1 Symbols
Identifies information about practices or circumstances that can cause an explosion
in a hazardous environment, which may lead to personal injury
or death property damage, or economic loss
Identifies information that is critical for successful application and understanding of
the product
Identifies information about practices or circumstances that can lead to personal
injury, property damage, or economic loss.
Attentions help you to identity a hazard, avoid a hazard, and recognize
the consequences
1.1.2 Safety Notes
The modules are equipped with electronic components that may be destroyed by
electrostatic discharge. When handling the modules, ensure that the environment
(persons, workplace and packing) is well grounded. Avoid touching conductive
components, G-BUS Pin.
1.1.3 Certification
c-UL-us UL Listed Industrial Control Equipment, certified for U.S. and Canada
See UL File E235505
FCC, Reach, RoHS- II, China RoHS
CE Certificate
EN 61000-6-2; Industrial Immunity
EN 61000-6-4; Industrial Emissions

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2. Environment Specification
Environment Specification
Operating Temperature
-40
℃
~70
℃
UL Temperature
-20
℃
~60
℃
Storage Temperature
-40
℃
~85
℃
Relative Humidity
5% ~ 90% non-condensing
Operating Altitude
2000m
Mounting
DIN rail
General Specification
Shock Operating
IEC 60068-2-6
Vibration resistance
Based on IEC 60068-2-6
Sine Vibration
5 ~ 25Hz : 1.6mm
25 ~ 300Hz : 4g
Sweep Rate : 1 Oct/min, 20 cycles
Random Vibration
10 ~ 40Hz : 0.0125g²/Hz
40 ~ 100Hz : 0.0125 → 0.002g²/Hz
100 ~ 500Hz : 0.002g²/Hz
500 ~ 2000Hz : 0.002 → 1.3 x 10-⁴g²/Hz
Test time : 1hrs for each test
EMC resistance burst/ESD
EN 61000-6-2 : 2005
EN 61000-6-4/ALL : 2011
Installation Pos. / Protect. Class
Vertical and horizontal installation is available.
Product Certifications
CE, UL

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3. General Description
3.1 GN-9261 Specification
Interface Specifications, GN-9261
Adapter Type
Slave node (CANopen, CiA 301)
Max. PDO Number
32 TPDO / 32 RPDO
Max. SDO Number
1 Standard SDOs
PDO Mapping Method
Auto Mapping : CiA 301 (default), Sequential
Manual Mapping (Reference to Index : 0x20F0, Sub Index : 6)
Max. Expansion Module
63 slots
Max. Input size
252 bytes
Max. Output size
252 bytes
Nodes
1~99
Baudrate
10, 20, 50, 100, 125, 250, 500, 800, 1000 Kbps(default 1000Kbps)
Interface Connector
5pin Open Connector
Other Serial Port
RS232 for MODBUS/RTU(Touch Panel, I/O Guide ...)
Serial Configuration (RS232)
Node : 1 (Fixed)
Baud Rate : 115200 (Fixed)
Data bit : 8 (Fixed)
Parity bit : No parity (Fixed)
Stop bit : 1 (Fixed)
Indicator
6 LEDs
1 Green/Red, Module Status (MOD)
1 Green, Network Status(RUN)
1 Red, Error Status (ERROR)
1 Green/Red, Expansion I/O Module Status (IOS)
1 Green, System Power Status
1 Green, Field Power Status
Module Location
Starter module left side of G-Series system
Field Power Detection
About 14Vdc
General Specification
System Power
Supply voltage : 24Vdc nominal
Supply voltage range : 15~32Vdc
Protection : Output current limit (Min. 1.5A)
Reverse polarity protection
Power dissipation
70mA typical @ 24Vdc
Current for I/O module
1.5A @ 5Vdc
Isolation
System power to internal logic : Non-isolation
System power I/O driver : Isolation
Field Power
Supply voltage : 24Vdc typical(Max. 32Vdc)
* Field Power Range is different depending on IO Module series.
Refer to IO Module`s Specification.
Max. Current Field Power Contact
DC 10A Max
Weight
162g
Module Size
54mm x 99mm x 70mm
Environment Condition
Refer to ‘2. Environment Specification’

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3.2 GN-9261 Wiring Diagram
Pin No. Signal Description Signal Description Pin No.
0 System Power, 24V System Power, Ground 1
2 System Power, 24V System Power, Ground 3
4 F.G F.G 5
6 Field Power, Ground Field Power, Ground 7
8 Field Power, 24V Field Power, 24V 9

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3.3 GN-9261 LED Indicator
3.3.1 LED Indicator
3.3.2 MOD(Module Status LED)
Status
LED
To indicate
Not Powered OFF Not power is supplied to the unit.
Normal Operational Green The unit is operating in normal condition.
Unrecoverable Fault Red The device has an unrecoverable fault.
- Memory error or CPU watchdog error.
3.3.3 RUN(Module Status LED)
Status LED To indicate
Not Powered OFF Module is either not getting power, or it is NOT_ACTIVE status.
Module is initializing.
Stopped Single flash Green Module is stopped
Pre-Operational Blinking Green Module is in PRE-OPERATIONAL
Operational Green Module is in OPENRATIONAL
3.3.4 ERROR(CANopen Error LED)
Status LED To indicate
Not Powered OFF Module is not getting powered or No error.
Warning limit reached Single flash
At least one of the error counters of the CAN controller has
reached or exceeded the warning limit.
Error control Event Double flash
A guard event (NMT-Slave or NMT-Master) or a Heartbeat event
has occurred.
Sync. Error Triple flash
The SYNC message has not been received within then
configured communication cycle period time out (see index
0x1006)
Bus Off ON The CAN controller is bus off.
LED No. LED Function / Description LED Color
MOD Module Status Green/Red
RUN CANopen Status Green/Red
ERROR CANopen Error Status Red
I.O Extension Module Status Green/Red
Field Power Field Power Enable Green

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3.3.5 IOS LED(Extension Module Status LED)
Status LED To indicate
Not Powered OFF Device may not be powered.
No Expansion Module Flashing Red Adapter has no expansion module
Internal Bus Connection, Green Exchanging I/O data.
Run Exchanging I/O
Expansion Configuration
Red
One or more expansion module occurred in fault state.
Failed - Detected invalid expansion module ID.
- Overflowed Input/Output Size
- Too many expansion module
- Initialization failure
- Communication failure.
- Changed expansion module configuration.
- Mismatch vendor code between adapter and expansion module.
3.3.6 Field Power, System Power LED(Field Power, System Power Status LED)
Status
LED
To indicate
Not Powered OFF Not power is supplied to the unit.
Normal Operational Green The unit is operating in normal condition.
Unrecoverable Fault Red The device has an unrecoverable fault.
- Memory error or CPU watchdog error.
3.3.7 Indicator states and flash rates
LED ON Constantly ON
LED OFF Constantly OFF.
LED Blinking
Equal ON and OFF times with a frequency of approximately 10 Hz: ON for
approximately 50ms and OFF for approximately 50ms.
LED Single flash One short flash (approximately 200ms) followed by a long OFF phase
(approximately 1000ms)
LED Double flash
A sequence of two short flashes (approximately 200ms), separated by an OFF phase
(approximately 200ms).
The sequence is finished by a long OFF phase (approximately 1000ms)
LED Triple flash
A sequence of three short flashes (approximately 200ms), separated by an OFF phase
(approximately 200ms).
The sequence is finished by a long OFF phase (approximately 1000ms)

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3.4. GN-9261 Electrical Interface
3.4.1 5pin Open Connector
No. Signal Name Description
1 -
2 CAN H CAN High
3 Shield F.G
4 CAN L CAN Low
5 CAN G CAN GND
3.4.2 Dip Switch
DIP Pole# Description
1
Terminal Resister
On : Terminal Resister On
2 Reserved
3
4
5 Baudrate #4
Default : 0 (1000kbps)
5 6 7 8 (ex.)
0 0 0 1 : 10Kbps
0 0 1 0 : 20Kbps
0 0 1 1 : 50Kbps
0 1 0 0 : 100Kbps
0 1 0 1 : 125Kbps
0 1 1 0 : 250Kbps
0 1 1 1 : 500Kbps
1 0 0 0 : 800Kbps
1 0 0 1 : 1000Kbps
6 Baudrate #3
7 Baudrate #2
8
Baudrate #1

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3.4.3 Address setup
Each Adapter could have an unique address (from 1 to 99)
so that it can be addressed independently from other nodes.
The address 0 is reserved.
3.4.4 RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide
RS232 (37204-64A3-004PL/3M
Pin# Signal Name Description
1 Reserved ----
2 TXD RS232 TXD
3 RXD RS232 RXD
4 GND RS232 GND

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4. Dimension
4.1 GN-9261
(mm)

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5. Communication
5.1 Device Model
5.1.1 Structure of the device model
Communication. This functional unit makes the communication data objects and the associated functionality
for data exchange over the CANopen network available. The network status machine is part of this.
Object directory. This contains all the data objects (application data + parameters) that are accessible from
outside and that affect the behavior of communication, application and status machines. The object directory
is organized as a two-dimensional table in which the data are addressed by their index and sub-index.
The data exchange with CANopen devices takes place by means of data objects. In the CANopen
communication profile, two types of standard object (PDO and SDO) and special objects (for network
management etc.) are defined. The GN-9261 supports the following objects:
•32 transmit PDOs
•32 receive PDOs
•1 standard SDO (server)
•Node guarding
•NMT objects
Every CANopen device possesses a CANopen object directory in which
The parameters for all the CANopen objects are entered.
5.2 PDO (Process Data)
5.2.1 Introduction
In many fieldbus systems the entire process image is continuously transferred - usually in a more or less
cyclic manner. CANopen is not limited to this communication principle, since the multi-master bus access
protocol allows CAN to offer other methods.
The process data in CANopen is divided into segments with a maximum of 8 bytes. These segments are
known as process data objects (PDOs). The PDOs each corresponds to a CAN telegram, whose specific
CAN identifier is used to allocate them and to determine their priority.
The PDOs are named from the point of view of the Network Adapter: receive PDOs (RxPDOs) are received
by the coupler and contain output data, while transmit PDOs (TxPDOs) are sent by the coupler and contain
input data.

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5.2.2 PDO Mapping
CANopen specifies the data assignment for the first two PDOs in the device profile for input/output groups
(DS401) (“default mapping”). The first PDO is provided for digital inputs (TxPDO1) or outputs (RxPDO1). The
first 4 analog inputs or outputs are located in the second PDO. These PDOs are accordingly occupied by the
Network Adapters - if, for instance, no digital output terminals are plugged in, RxPDO1 remains empty.
Once the first PDOs have been occupied, the next PDOs are filled with process data in the following
sequence:
1. Digital I/O (1-byte)
2. Digital I/O (2-byte)
3. Analog I/O
5.2.3 PDO Identifier
For the first two PDOs (PDO1 + PDO2) CANopen provides default identifiers depending on the node
address, but all other PDOs must have identifiers assigned to them. The principle of the default identifiers is
explained in the section on “Network Management”, and there is a list of all the CANopen default identifiers
in the appendix.
Pre-Define Connection Set
In the system of default identifiers, all the nodes (here: slaves) communicate with one central station (the
master), since slave nodes do not listen by default to the send identifier of other slave nodes:
PDO Linking
If the consumer-producer model of CANopen PDOs is to be used for direct data exchange between nodes
(without a master), the distribution of identifiers must be appropriately adapted, so that the TxPDO identifier
of the producer agrees with the RxPDO identifier of the consumer:

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This procedure is known as PDO linking. It permits, for example, easy construction of electronic drives in
which several slave axes simultaneously listen to the actual value in the master axis TxPDO.
5.2.4 PDO Communication Type
Event driven
The “event” is the alteration of an input value, the data being transmitted immediately after this change. The
event-driven flow can make optimal use of the bus bandwidth, since instead of the whole process image it is
only the changes in it that are transmitted. A short reaction time is achieved at the same time, since when an
input value changes it is not necessary to wait for the next interrogation from a master.
Polling
The PDOs can also be polled by data request telegrams (remote frames). In this way it is possible to get the
input process image of event-driven inputs onto the bus, even when the inputs have not changed, for
instance by a monitoring or diagnostic device brought into the network while it is running.
The Crevis CANopen bus Adapter supports the interrogation of PDOs by means of remote frames.
Synchronized
It is not only for drive applications that it is worthwhile to synchronize the determination of the input
information and the setting the outputs. For this purpose CANopen provides the SYNC object, a CAN
telegram of high priority but containing no user data, whose reception is used by the synchronized nodes as
a trigger for reading the inputs or for setting the outputs:
PDO transmission type
The “PDO transmission type” parameter specifies how the transmission of the PDO is triggered, or how
received PDOs are handled:

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Transmission type PDO transmission
cyclic acyclic synchronous asynchronous RTR only
0 X X
1-240 X X
241-251 reserved
252 X X
253 X X
254 X
255 X
Synchronous
Transmission type 0 is only useful for RxPDOs: the PDO is only used when the next SYNC telegram is
received. In transmission types 1-240 the PDO is cyclically transmitted or expected: after every “nth” SYNC
(n = 1...240).
Since transmission types can be combined on a coupler as well as in the network, it is possible, for example,
for a fast cycle to be agreed for digital inputs (n = 1), whereas the data for analog inputs is transmitted in a
slower cycle (e.g. n = 10). The cycle time (SYNC rate) can be monitored (object 0x1006), so that if the SYNC
fails the Adapter switches its outputs into the fault state.
Asynchronous
The transmission types 254 + 255 are asynchronous, but may also be event-driven. In transmission type
254, the event is specific to the manufacturer, whereas for type 255 it is defined in the device profile. Since
the Beckhoff CANopen Network Adapters support device profile DS401 no distinction is made here between
the two transmission types.
Inhibit Time
The “inhibit time” parameter can be used to implement a “transmit filter” that does not increase the reaction
time for relatively new input alterations, but is active for changes that follow immediately afterwards. The
inhibit time (transmit delay time) specifies the minimum length of time that must be allowed to elapse
between the transmission of two of the same telegrams. If the inhibit time is used, the maximum bus loading
can be determined, so that the worst case latency can then be found.

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5.3 SDO (Service Data)
5.3.1 Introduction
The parameters listed in the object directory are read and written by means of service data objects. These
SDOs are multiplexed domains, i.e. structures of any size that have a multiplexer (address). The multiplexer
consists of a 16-bit index and an 8-bit sub-index that address the corresponding entries in the object
directory.
The CANopen Network Adapters are servers for the SDO, which means that at the request of a client they
make data available (upload), or they receive data from the client (download).
This involves a handshake between the client and the server. When the size of the parameter to be
transferred is not more than 4 bytes, a single handshake is sufficient (one telegram pair).
For a download, the client sends the data together with its index and sub-index, and the server confirms
reception. For an upload, the client requests the data by transmitting the index and sub-index of the desired
parameter and the server sends the parameter (including index and sub-index) in its answer telegram. The
same pair of identifiers is used for both upload and download. The telegrams, which are always 8 bytes long,
encode the various services in the first data byte.
All parameters with the exception of objects 1008h, 1009h and 100Ah (device name, hardware and software
versions) are only at most 4 bytes long, so this description is restricted to transmission in expedited transfer.

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5.4 Emergency (Error Message)
Emergency messages are always sent in the event of a critical error situation having occurred/overcome in
the device, or if important information has to be communicated to other devices.
Structure and meaning of the entries in the emergency object are explained in the table .EMCY-CODE., they
are coded in the bus message in a ‘Low byte’ / ‘High byte’ order.
An emergency object is also sent, after an error is remedied (Error Code = 0x0000, the Error Register and
the Additional Code behave as described in the table .EMCY-CODE.).
Following Power On an emergency object is sent if the loaded settings are the default settings. This occurs
for two reasons:
• No settings have yet been saved (Index 0x1010).
• The saved setting was discarded by the Network Adapter, because modules were connected or
disconnected.
5.5 NMT (Network Management)
5.5.1 Network Start-up
CANopen defines a state machine that controls the functionality of a device. Transition between the
individual states is initiated by internal events or services from the NMT master. These devices states can be
connected to application processes.
In Initialization state, the CANopen data structures of a node are initialized by the application. The CiA DS-
301 standard defines various mandatory OD entries for this task as well as specific communication objects
required for that. In the minimum device configuration, the identifier for these communication objects must
correspond to the so-called Pre-Defined Connection-Set. The device profiles define further settings for the
applicable device class. The pre-defined settings for identifier for emergency, PDOs and SDOs are
calculated based on the node address (Node ID) that can be in the range from 1 to 99, added to a base
identifier that determines the function of the individual object.