DEUTSCHMANN AUTOMATION UNIGATE CANopen-ProfibusDP User manual

User manual
Universal Fieldbus-Gateway
UNIGATE®
CANopen®(Master) - ProfibusDP (Slave)
Article-no.: V2856E
Deutschmann Automation GmbH & Co. KG Carl-Zeiss-Str. 8 D-65520 Bad Camberg
Tel:[phone] Hotline: [phone] Fax: [phone]
Internet: http://www.deutschmann.de

26.8.11 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 3
Deutschmann Automation GmbH & Co. KG
1Information on CE marking of the module . . . . . . . . . . . . . . . 8
1.1 EU Directive EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Scope of application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Installation of the unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Working on switch cabinets . . . . . . . . . . . . . . . . . . . . . . . . . 8
2Information for the machine manufacturer . . . . . . . . . . . . . . . 9
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 EU Machinery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4Mode of operation of the system . . . . . . . . . . . . . . . . . . . . .11
4.1 General explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.3 Data exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.3.1 Configuration of the mapping . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.3.2 Node guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.3.3 Displaying the node guarding states . . . . . . . . . . . . . . . . . . . . . . 13
4.3.4 Emergency Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.3.5 Gateway control byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.3.5.1 Bit 7 (MSB): EMCY toggle bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.3.5.2 Bit 6: set operational toggle bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.3.5.3 Bit 5: RTR - Request to response . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.3.6 Gateway error byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.3.7 SDO Obj Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.3.8 Triggerbyte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.3.9 Slave mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.3.10 CAN Baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.4 Starting phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.5 Data cycle time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5Hardware ports, switches and LEDs . . . . . . . . . . . . . . . . . . 19
5.1 Drawing of the unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.1.1 UNIGATE CANopen® - ProfibusDP . . . . . . . . . . . . . . . . . . . . . . 19
5.2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.2.1 Profibus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.2.2 CANopen® . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.2.3 RS232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.3 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.1 Connector to the power supply . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.2 ProfibusDP connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.3 CANopen® connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.4 RS232 (configuration interface) . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.5 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.3.6 Shield terminal lead . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.4 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.4.1 LED “Profibus Error“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.4.2 LED “Profibus Power“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.4.3 LED “Profibus State“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.4.4 LED “CANopen® Power“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Deutschmann Automation GmbH & Co. KG
4 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 26.8.11
5.4.5 LED “CANopen® State“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
5.4.6 LEDs “Error No. / Select ID“ . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.5 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.5.1 Rotary coding switch (Profibus ID) . . . . . . . . . . . . . . . . . . . . . . . . 22
5.5.2 Slide switch Termination Profibus . . . . . . . . . . . . . . . . . . . . . . . . 22
5.5.3 Dip-switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
5.5.4 Slide switch (CANopen® Termination) . . . . . . . . . . . . . . . . . . . . . . 22
6Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7Installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.1 Installation of the module . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.1.1 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.1.2 Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.2.1 Connection systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.2.2 ProfibusDP and CANopen® communication interfaces . . . . . . . . . . . . .25
7.2.2.1 Bus line with copper cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.2.2.2 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.2.2.3 Shield connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.2.2.4 Equipotential bonding connection . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.2.3 Line routing, shield and measures to combat interference voltage . . . . . . . 25
7.2.4 General information on line routing . . . . . . . . . . . . . . . . . . . . . . . 25
7.2.4.1 Shielding of lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
8Representation of the data in ProfibusDP . . . . . . . . . . . . . . . 28
8.1 Configuration telegram . . . . . . . . . . . . . . . . . . . . . . . . . . 28
8.2 Configuration telegram . . . . . . . . . . . . . . . . . . . . . . . . . . 28
8.3 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
8.4 Data exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
9Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
9.1 Device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
9.1.1 Interface data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
10 Commissioning guide . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10.1 Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10.2 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10.4 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10.5 Setting the Profibus address . . . . . . . . . . . . . . . . . . . . . . . 35
10.6 Profibus connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10.7 Setting the CANopen® address and Baud rate . . . . . . . . . . . . . . 35
10.8 CANopen® connection . . . . . . . . . . . . . . . . . . . . . . . . . . 36
10.9 Connecting the supply voltage . . . . . . . . . . . . . . . . . . . . . . 36
10.10 Shield connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
10.11 Project planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
10.12 Literature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
11 Servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
11.1 Returning a device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
11.2 Downloading PC software and GSD files etc. . . . . . . . . . . . . . . 37

26.8.11 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 5
Deutschmann Automation GmbH & Co. KG
12 Annex. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
12.1 Hexadecimal table . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
13 EG Certificate of Conformance . . . . . . . . . . . . . . . . . . . . . 39

Deutschmann Automation GmbH & Co. KG
6 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 26.8.11

26.8.11 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 7
Deutschmann Automation GmbH & Co. KG
Disclaimer of liability
We have checked the contents of the document for conformity with the hardware and software
described. Nevertheless, we are unable to preclude the possibility of deviations so that we are
unable to assume warranty for full compliance. The information given in the publication is,
however, reviewed regularly. Necessary amendments are incorporated in the following editions.
We would be pleased to receive any improvement proposals which you may have.
Copyright
Copyright (C) Deutschmann Automation GmbH & Co. KG 1997 – 2011. All rights reserved.
This document may not be passed on nor duplicated, nor may its contents be used or disclosed
unless expressly permitted. Violations of this clause will necessarily lead to compensation in
damages. All rights reserved, in particular rights of granting of patents or registration of
utility-model patents.
Art.-No.: V2856E

Information on CE marking of the module Deutschmann Automation GmbH & Co. KG
8 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 26.8.11
1 Information on CE marking of the module
1.1 EU Directive EMC
The following applies to the module described in this User Manual:
Products which bear the CE mark comply with the requirements of EU Directive „Electromagne-
tic Compatibility“ and the harmonised European Standards (EN) listed therein.
The EU Declarations of Conformity are availableat the following location for perusal by the
responsible authorities in accordance with the EU Directive, Article 10:
Deutschmann Automation GmbH & Co. KG, Carl-Zeiss-Str. 8, 65520 Bad Camberg, Germany
1.2 Scope of application
The modules are designed for use in the industrial sector and comply with the following
requirements.
Scope of application Requirement applicable to
Emitted interference Interference immunity
Industry EN 55011 Kl. A EN 61000-6-2

Note installation guidelines
The module complies with the requirements if you
1. comply with the installation guidelines described in the User Manual when installing and ope-
rating the module.
2. also follow the rules below on installation of the equipment and on working on switch cabinets.
1.3 Installation of the unit
Modules must be installed in electrical equipment rooms/areas or in enclosed housings (e.g.
switch boxes made of metal or plastic). Moreover, you must earth the unit and the switch box
(metal box) or at least the DIN-rail (plastic box) onto which the module has been snapped.
1.4 Working on switch cabinets
In order to protect the modules against static electrical discharge, the personnel must discharge
themselves electrostatically before opening switch cabinets or switch boxes.

26.8.11 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 9
Deutschmann Automation GmbH & Co. KG Information for the machine manufacturer
2 Information for the machine manufacturer
2.1 Introduction
The UNIGATE module does not constitute a machine as defined by the EU "Machinery“
Directive. Consequently, the module does not have a Declaration of Conformity in relation to the
EU Machinery Directive .
2.2 EU Machinery Directive
The EU Machinery Directive stipulates the requirements applicable to a machine. The term
"machine" is taken to mean a totality of connected parts or fixtures (see also EN 292-1, Para-
graph 3.1)
The module is a part of the electrical equipment of the machine and must thus be included by the
machine manufacturer in the Declaration of Conformity process.

Introduction Deutschmann Automation GmbH & Co. KG
10 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 26.8.11
3 Introduction
The UNIGATE CANopen®-ProfibusDP module serves as a coupling between a CANopen® bus
system and ProfibusDP to EN 50 170. In this application, it functions as a gateway and on the
ProfibusDP-side it operates as slave and on the CANopen®-side it operates as master
Through a mapping that can be configured, the user is in the position to prescribe how CANo-
pen® data are to be imaged in the Profibus and also the other way round.
The module essentially consists of the following hardware components:
•Electrically isolated interface to the ProfibusDP and to CANopen®
•Profibus ASIC
•CAN-Controller SJA 1000
•Microprocessor 89C51RD2
•RAM and EPROM
•Serial port (RS232) for a configuration via PC

26.8.11 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 11
Deutschmann Automation GmbH & Co. KG Mode of operation of the system
4 Mode of operation of the system
4.1 General explanation
Communication can be split into seven layers, Layer 1 to Layer 7, in accordance with the
ISO/OSI Model.
The DEUTSCHMANN AUTOMATION gateways convert Layers 1 and 2 of the corresponding bus
systems. Layers 3 to 6 are blank, and Layer 7 is converted in accordance with the configured
mapping.
The Gateway can be configured through the software WINGATE®that is also supplied.
This Gateway module from the UNIGATE range of Deutschmann Automation allows a coupling
between ProfibusDP and CANopen®.
Here the Gateway on the CANopen® side acts as a standard-compliant master and on the Profi-
busDP side as a standard-compliant slave so that the problems that appear again and again (to
couple the CANopen® Slave participant to a Siemens PLC with ProfibusDP) are solved.
Like all UNIGATE modules this gateway is also developed for the practical industrial use. It has 9
LEDs available that allow the user an easy diagnosis.
Like the complete UNIGATE family, the gateway can be configured via the WINDOWS software
"WINGATE®" that is available free of charge. For a further description see chapter 4.3.
4.2 Interfaces
The gateway has a standard-compliant CANopen® interface and a Profibus-interface available
as well as an RS232 interface, where a PC can be connected for configuration.
4.3 Data exchange
The data exchange between the Profibus and the CANopen® will be fixed with the Mapping
which is configured via "WINGATE®".
Mapping means the illustration of data of one fieldbus to any other fieldbus. As data all data can
be used which are made available from the corresponding busses.
The Mapping works in both directions from the Master to the Slave as well as reverse.
Example:
That way it can be defined that the 2nd byte of the COB-ID201 (CANopen®-participant) is
transfered into the Profibus data as 7th byte.
At present 512 mappings are possible. However, the Profibus makes only a maximum of 244
bytes In and 244 bytes Out possible. All 488 bytes can be mapped via COB-IDs. The data are
transfered as PDOs only. From Gateway software-revision 2.2 on SDO accesses are also
supported (see chapter 4.3.7)
4.3.1 Configuration of the mapping
In order to create or work on such a mapping, please connect the UNIGATE with the PC via the
RS23-interface and there start the software "WINGATE®".
After the start of the software an upload from the connected device will be carried out automati-
cally. The corresponding matching parameters to this device are displayed. Please look for the
entry "Profile" in the table and click doubled onto the value "map ...". After a short period a dia-
logue is displayed. With it, it is possible to process all map entries (similar to the following pic-
ture):

Mode of operation of the system Deutschmann Automation GmbH & Co. KG
12 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 26.8.11
Now the Mappings can be changed, deleted or new ones can be added. Afterwards you only
have to download the data to the Gateway (menu file\download) and UNIGATE works with the
new configuration.
It is allowed to map the same byte of a PDO several times to different
positions in the Profibus.
However, a maximum of 8 mappings per PDO may be entered!
At the mapping from Profibus to CANopen® several mappings can be
configured for each Profibus-byte. There the total number of these mul-
tiple mappings must not exceed 127.
If possible for the PDO-mappings only COB-IDs from the range
181H..580H should be used (see DS301-specification for CANopen®).
Otherwise it might result in crossovers with COB-IDs that CANopen®
uses for other tasks (SDO-messages, emergency-messages and so on).
4.3.2 Node guarding
If a CANopen® slave controlled by node guarding, it cyclically receives the node guard request
to answer the inquiry through the CANopen® master. The slave for his part answers this node
guarding inquiry with the corresponding answer. That way, both master and slave can control
themselves mutually.
If the slave receives no node guard inquiry it assumes that the bus connection is broken or the
master went down.

26.8.11 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 13
Deutschmann Automation GmbH & Co. KG Mode of operation of the system
Settings
As presetting it applies tfor all slaves that no node guarding is carried out. Shall that node guar-
ding be activated for a slave, an entry "enable node guarding" has to be added to the current
WINGATE configuration. The parameters "node ID", "guarding time" and "life time factor" are to
be determined in every entry.
Settings to node guarding
The parameter node ID indicates the ID of the CANopen® node on which the control is supposed
to happen. With the guarding time the interval in which the the master calls on the slave to send
its guarding answer is to be indicated in milliseconds.
The life time factor states how often the answer of the slave may be missing before the master
assumes a failure of the slave.
These settings are available from Gateway software-revision 1.1 on.
4.3.3 Displaying the node guarding states
The node guard mapping is used to represent the node guard states of the single slaves to the
Profibus. Always 8 slaves are represented in one byte; so exactly one bit of information is reser-
ved for one. This information can be shown in any desired spot in the Profibus data of the Gate-
way. So they are shown in the input area of the Profibus master for this Gateway.
Display of the node guarding information
Arrangement of the bits for the nodes 1- 8:
Node 1-8
Byte MSB ( bit 7) ... LSB (bit 0)
SlavenNode ID 8 ... Slave node ID 1
If no node guard is activated for a slave, the slave went down or still no node guarding informa-
tion was exchanged, the corresponding bit for this slave is 0. The bit is 1, if node guarding was
activated for this slave and the slave answered in the corresponding time period to the node
guarding inquiries.
Example: For node 1 and 2 node guarding is activated. Slave 1 doesn not answer to the node
guarding and slave ID 2 works regularly. A mapping of information is entered into the Profibus in
the 2nd byte.

Mode of operation of the system Deutschmann Automation GmbH & Co. KG
14 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 26.8.11
Profibus data of the Gateway:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4
xx xx 0x40 xx xx
These settings are available from Gateway software-revision 1.1 on.
4.3.4 Emergency Messages
The gateway can received up to 10 Emergency messages of all those slaves, for which node
guarding was activated and writes them into a queue. Simultaneously an internal counter is rai-
sed which contains the number of received EMCY messages. The data of the current message-
sas well as the number of the received EMCY messages and the node ID of the sender of the
message can be shown in the Profibus output data of the gateway. With the control byte the next
message can be recalled. If the data of the EMCY message is shown in the bus data, the new
data in the Profibus is already visible with the toggle of the data
.
Setting of the emergency messages
These settings are available from Gateway software-revision 1.1 on.
4.3.5 Gateway control byte
Some characteristics of the Gateway can be controlled by Profibus data. For this the information
of the Profibus has to be transmitted to the gateway, that means that the information has to be in
the input area of the gateway. Only if this information is shown from the Profibus in the Gateway,
the data can be analysed by the Gateway.
Setting of the Gateway control byte
Gateway control byte
Bit 7
EMCY
toggle bit
Bit 6
set OP
toggle bit
Bit 5
Request to
response
res. res. res. res. res.
4.3.5.1 Bit 7 (MSB): EMCY toggle bit
With this bit the next relevant EMCY message can be transfered to the curretn data buffer, no
matter whether the data is shown in the Profibus or not. The counter is lowered by 1, provided
that it does not equal 0.

26.8.11 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 15
Deutschmann Automation GmbH & Co. KG Mode of operation of the system
4.3.5.2 Bit 6: set operational toggle bit
If this bit is changed the Gateway sends the message ’set operational’ to the slaves. This feature
is to be used if some slaves are slower than the master, and are only then ready when the
master already sent this message.
This setting is available from Gateway software-revision 1.1 on.
4.3.5.3 Bit 5: RTR - Request to response
With this bit (transition from 0 -> 1) RTR-telegrams can be sent to any PDO mapped as Rx. This
RTR results in the fact that the addressed PDOs are sent and with it they are updated in the
Gateway.
If the RTR-function is used, at least 1 Rx-PDO has to be mapped. Furthermore the amount of
mapped Rx-PDOs must not exceed 50, since otherwise it will result in an overrun.
This setting is available from Gateway software-revision 2.3 on.
4.3.6 Gateway error byte
The Gateway’s current error state itselfcan be shown in the Profibus as well as the other values
of the node guarding or the slave data.
Setting of the error byte
This setting is available from Gateway software-revision 1.1 on.
4.3.7 SDO Obj Mapping
Available from Gateway software-revision 2.2 on!
SDO-transfer through a "window" in the PB. Here the following fixed data record structure is used
in the PB, that is mapped to the PB-data from the PB-index on. With it a difference is made bet-
ween:
PB-Idx (In) = Data from the PB-Master (PLC) to UNIGATE
PB-Idx (Out) = Data to the PB-Master (PLC) from UNIGATE
The user has to see to it that enough space is reserved for the longest data record in the
PB-data.
The SDO-transfer is always initiated by the PB-Master and it is completed when Request-no. in
the PB-output-data is identical to the Response-no. in the PB-input-data.
Data record structure (PB-input = data from the PB-Master):
0 1 2 3 4 5 6 7..n
+-----------+-------+---------+------------+-----------+----------+-----------+
| Obj-Index | Index | Command | Request-no | Node-no | Data-Len | Data ... |
+-----------+-------+---------+------------+-----------+----------+-----------+
|
+- 1 = Read, 2 = Write, Other value = Not supported

Mode of operation of the system Deutschmann Automation GmbH & Co. KG
16 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 26.8.11
Data record structure (PB-output = data to the PB-Master):
0 1 2 3 4 5 6 7..n
+-----------+-------+--------+------------+-----------+----------+-----------+
| Obj-Index | Index | Status | Response-no| Node-no | Data-Len | Data ... |
+-----------+-------+--------+------------+-----------+----------+-----------+
|
+- 0 = Ok, 1 = Busy, Other values = Error
Example:
In this example the PB-Idx (In) and PB-Idx (Out) equal 8
Please note:
The counting starts at index "0" = 1. byte, i. e. in our example the value "8" corresponds to the 9.
byte!
We want to query the manufacturer hardware version (object - index 1009h) from a connected
CANopen® Slave. The CANopen® Slave has the Node ID = 5.
The Data-Len Request’s size has to be selected as large as the receive data length that is mai-
mally to be expected! Otherwise data that exceeds the set length is cut off.
If the size Data-Len Request is the same or larger than the receive data length, then the actual
data length comes back as Data-Len Response.
Data from the PB-Master (PLC) Data to the PB-Master (PLC)
Request Response
PB-Idx (In) Data (Hex) Description PB-Idx (In) Data (Hex) Desription
0... 1. byte 0... 1. byte
1... 2. byte 1... 2. byte
2... 3. byte 2... 3. byte
3... 4. byte 3... 4. byte
4... 5. byte 4... 5. byte
5... 6. byte 5... 6. byte
6... 7. byte 6... 7. byte
7... 8. byte 7... 8. byte
810 Obj-Index 810 Obj-Index
909 Obj-Index 909 Obj-Index
10 00 Sub-Index 10 00 Sub-Index
11 01 Command (1 = read) 11 00 Status (0 = ok)
12 01 Auftrag-Nr (1. Auftrag) 12 01 Auftrag-Nr (1. Auftrag)
13 05 Knoten-Nr (Node-ID = 5) 13 05 Knoten-Nr (Node-ID = 5)
14 02 Data Len (data length = 2) 14 02 Data Len (data length = 2)
15 ... Data... 15 47 Data... (47h = hardw.vers. „G“)
16 ... 17. byte 16 ... 17. byte
4.3.8 Triggerbyte
With WINGATE®the first Profibus-byte can be configured as Triggerbyte.
In this case an evaluation of the Profibus data only occurs, if the first byte changes.

26.8.11 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 17
Deutschmann Automation GmbH & Co. KG Mode of operation of the system
The other way round the Gateway counts up the first byte of the Profibus data to the Profi-
bus-Master by one, if the follwing data have changed.
4.3.9 Slave mode
The Slave mode can be activated through WINGATE®. In case the Slave mode is enabled, then
only the starting sequence of the master function is not transferred. It is not a CANopen® Slave
conforming to the standards and an EDS file is not supplied.
4.3.10 CAN Baud rate
Available from the Gateway software revision 2.6 and WINGATE Built 376 on!
The CAN baud rate can be set via WINGATE.
The default-setting “DIP switch“ results in the baud rate being taken over by the DIP-switch as
usual (1 MBaud, 500 kBd, 250 kBd oder 125 kBd).
In case a baud rate is configured via WINGATE, then the value of the DIP-switch will be oberwrit-
ten and a baud rate according to the below picture is set.
It is therefore possible to set further baud rates other than the 4 mentioned above.

Mode of operation of the system Deutschmann Automation GmbH & Co. KG
18 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 26.8.11
4.4 Starting phase
During the starting phase the UNIGATE sends the NMT-command "BusStart" every 2 seconds,
that means all connected CANopen®-Slaves are set into the condition "Operational". As soon as
the Gateway has received the first PDO, that is available in the Mapping, this starting phase is
left, which means that the NMT-command is not sent any more. There is no such thing as a
Timeout here since the CANopen®-Slaves do not have to react to this NMT-command. In case a
CANopen®-Slave is later connected in the net, it will consequently not receive this NMT-com-
mand any more. However, it can be re-activated any time through the PB-command-byte (bit 6)
in order to put later CANopen®-Slaves into the condition "Operational".
4.5 Data cycle time
Cycle times of data through the Gateway:
Among other things the actual cycle time of data from CANopen® to Profibus or the other way
round depends on the following parameters:
•Amount of Mappings
•Length of the configured Profibus data
•Amount of COB-IDs used at the Mappings
•Amount of changed Profibus data between two transmissions
•Amount of mapped bytes in a COB-ID
•Baud rate in the Profibus or CAN
On account of the large amount of parameters and their interdependence a formula for the calcu-
lation of the cycle time cannot be stated. From practical measurements cycle times of 100µs up
to 100ms were observed, whereas the maximum Profibus-configuration time of 244 byte I/O and
488 mappings was measured.
In practice, on "regular" conditions,a cycle time of of some milliseconds is to be expected. In
order to optimize the cycle time, the following guidelines should be kept:
•Amount of Mappings as small as possible
•Length of the Profibus-configuratio as short as possible
•Use of all 8 bytes in the COB-IDs if possible => Use of the least possible amount of COB-IDs

26.8.11 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 19
Deutschmann Automation GmbH & Co. KG Hardware ports, switches and LEDs
5 Hardware ports, switches and LEDs
5.1 Drawing of the unit
5.1.1 UNIGATE CANopen® - ProfibusDP
5.2 Configuration
5.2.1 Profibus
•Configuration data: In accordance with GSD file (DAGW2862.gsd)
•Diagnostic data: Max. 8 bytes (see Chapter Error handling)
•Baud rate: Automatic detection up to 12 MBaud
•Sync: Supported
•Freeze: Supported
•Ident. No.: 0x2862
5.2.2 CANopen®
•Baud rate: In accordance with DIP-Switch
5.2.3 RS232
•Start bit: 1
•Data bits: 8
•Stop bit: 1
•Parity: None
•Baud rate: 9600 Baud

Hardware ports, switches and LEDs Deutschmann Automation GmbH & Co. KG
20 UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3 26.8.11
5.3 Connectors
5.3.1 Connector to the power supply
The connection cable to the power supply must be plugged in at the connector accessible on the
underside of the device.
Pin assignment (2-pin screw-type/plug connector)
Pin No. Name Function
124 V / DC 24 V supply voltage
20 V / DC 0 V supply voltage
5.3.2 ProfibusDP connector
The connector (labelled: ProfibusDP) for connection to Profibus is located on the upper side of
the device.
Pin assignment (9-pin D-SUB socket)
Pin No. Name Function
1
2
3 B Non-inverting input/output signal from Profibus
4
5M5 DGND – data reference potential
6P5 5 V supply voltage
7
8 A Inverting input/output signal from Profibus
9
5.3.3 CANopen® connector
The connector (labelled: CANopen®) for connection to CANopen® is located on the underside of
the device.
Pin assignment (9-pin D-SUB plug)
Pin No. Name Function
1
2CAN-L Dominant low
3CAN-GND CAN Ground
4
5
6
7CAN-H Dominant high
8
9
5.3.4 RS232 (configuration interface)
The right side of the device has to be opened in order to use the serial interface for the configura-
tion, since the plug is located under the board.
For this please remove the three star-grip-screws and take off the green lid. Now the socket is
accessible. Now you can directly connect a PC to the device by means of the software
WINGATE. No switches have to be shifted to get into a specific configuration mode.