DEUTSCHMANN AUTOMATION UNIGATE CM-CANopen User manual

Instruction Manual
Universal Fieldbus-Gateway
UNIGATE®CM - CANopen
Deutschmann Automation GmbH & Co. KG
www.deutschmann.com | wiki.deutschmann.de

Manual Art.-No.: V4010E

23.6.17 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 3
Deutschmann Automation GmbH & Co. KG
1 Information on CE marking of the module . . . . . . . . . . . . . . . 8
1.1 EU Directive EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Scope of application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Note installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Installation of the unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.5 Working on switch cabinets . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Information for the machine manufacturers . . . . . . . . . . . . . . 9
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 EU Machinery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 UNIGATE®CM software flow-chart . . . . . . . . . . . . . . . . . . . . 11
3.2 UNIGATE®block diagram . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3 UNIGATE®CM-application diagram . . . . . . . . . . . . . . . . . . . 12
4 Operation modes of the Gateway . . . . . . . . . . . . . . . . . . . 13
4.1 Configuration mode (config mode) . . . . . . . . . . . . . . . . . . . . 13
4.2 Test mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.3 Data exchange mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5 RS-interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5.1 RS-interfaces at the UNIGATE®CM . . . . . . . . . . . . . . . . . . . 15
5.2 Buffer sizes at the UNIGATE®CM . . . . . . . . . . . . . . . . . . . . 15
5.3 Framing Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6 SSI-interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
6.1 Initiation of the SSI-interface . . . . . . . . . . . . . . . . . . . . . . . 16
6.2 Hardware-wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7 The Debug-interface . . . . . . . . . . . . . . . . . . . . . . . . . . 18
7.1 Overview of the Debug-interface . . . . . . . . . . . . . . . . . . . . . 18
7.2 Starting in the Debug-mode . . . . . . . . . . . . . . . . . . . . . . . . 18
7.3 Communication parameter for the Debug-interface . . . . . . . . . . . . 18
7.4 Possibilities with the Debug-interface . . . . . . . . . . . . . . . . . . . 18
7.5 Commands of the Debug-interface . . . . . . . . . . . . . . . . . . . . 18
8 Mode of operation of the system . . . . . . . . . . . . . . . . . . . 19
8.1 General explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
8.2 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
8.3 Data exchange CANopen V3 . . . . . . . . . . . . . . . . . . . . . . . 19
8.3.1 SDO-access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
8.3.2 PDO-access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
8.4 Possible data lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
9 Generating a Script . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
9.1 What is a Script? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
9.2 Memory efficiency of the programs . . . . . . . . . . . . . . . . . . . . 21
9.3 What can you do with a Script device? . . . . . . . . . . . . . . . . . . 21
9.4 Independence of buses . . . . . . . . . . . . . . . . . . . . . . . . . . 21
9.5 Further settings at the Gateway . . . . . . . . . . . . . . . . . . . . . . 22
9.6 The use of the Protocol Developer . . . . . . . . . . . . . . . . . . . . 22
9.7 Accuracies of the baud rates . . . . . . . . . . . . . . . . . . . . . . . 22

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4 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 23.6.17
9.8 Script processing times . . . . . . . . . . . . . . . . . . . . . . . . . . 23
10 Hardware ports, switches and LEDs . . . . . . . . . . . . . . . . . . 25
10.1 Device labeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
10.2 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
10.2.1 Connector to the external device (RS-interface) . . . . . . . . . . . . . . . . . 26
10.2.2 Connector supply voltage and DEBUG-interface . . . . . . . . . . . . . . . .26
10.2.3 CANopen interface connector (application side) . . . . . . . . . . . . . . . . .26
10.2.4 CANopen-connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
10.2.5 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
10.3 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
10.3.1 LED "Bus Power" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
10.3.2 LED "Bus State" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
10.3.3 LED "Power / State" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
10.3.4 LED "State" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
10.3.5 LEDs 1 / 2 / 4 / 8 (Error No. / Select ID) . . . . . . . . . . . . . . . . . . . . .29
10.4 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
10.4.1 Termination Rx 422 + Tx 422 (serial interface) . . . . . . . . . . . . . . . . .29
10.4.2 Rotary coding switches S4 + S5 (serial interface) . . . . . . . . . . . . . . . . 30
10.4.3 Termination (CANopen) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
10.4.4 CANopen termination (application side) . . . . . . . . . . . . . . . . . . . . .31
10.4.5 DIP-switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
10.5 The Debug cable for UNIGATE®CM . . . . . . . . . . . . . . . . . . . 31
11 Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
11.1 Error handling at UNIGATE®CM . . . . . . . . . . . . . . . . . . . . . 32
11.1.1 Error on the CL-extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
12 Installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . 34
12.1 Installation of the module . . . . . . . . . . . . . . . . . . . . . . . . . 34
12.1.1 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
12.1.2 Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
12.2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
12.2.1 Connection systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
12.2.2 CANopen communication interface . . . . . . . . . . . . . . . . . . . . . . .35
12.2.3 Line routing, shield and measures to combat interference voltage . . . . . . .35
12.2.4 General information on line routing . . . . . . . . . . . . . . . . . . . . . . .35
13 Firmware CL-extension with CANopen interface . . . . . . . . . . . 38
14 CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
14.1 Description CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
14.1.1 CANopen V3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
14.1.2 CANopen V4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
15 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
15.1 Device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
15.1.1 Interface data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
16 Commissioning guide . . . . . . . . . . . . . . . . . . . . . . . . . . 44
16.1 Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
16.2 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
16.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

23.6.17 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 5
Deutschmann Automation GmbH & Co. KG
16.4 Dimensional drawing UNIGATE®CM - CANopen . . . . . . . . . . . . 44
16.5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
16.6 Setting the CANopen address and baud rate . . . . . . . . . . . . . . . 45
16.7 CANopen connection . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
16.8 Additional CANopen interface connection (application side) . . . . . . . 45
16.9 Setting the address and baudrate (additional CANopen interface, application
side) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
16.10 Connection to the process device . . . . . . . . . . . . . . . . . . . . . 45
16.11 Connecting the supply voltage . . . . . . . . . . . . . . . . . . . . . . 45
16.12 Shield connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
16.13 Project planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
17 Servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
17.1 Returning a device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
17.2 Downloading PC software . . . . . . . . . . . . . . . . . . . . . . . . . 47
18 Annex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
18.1 Explanations of the abbreviations . . . . . . . . . . . . . . . . . . . . . 48
18.2 Hexadecimal table . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Deutschmann Automation GmbH & Co. KG
6 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 23.6.17

23.6.17 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 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 – 2017. 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.

Information on CE marking of the module Deutschmann Automation GmbH & Co. KG
8 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 23.6.17
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 „Electromagnetic
Compatibility“ and the harmonized European Standards (EN) listed therein.
The EU Declarations of Conformity are available at the following location for perusal by the
responsible authorities in accordance with the EU Directive, Article 10:
Deutschmann Automation GmbH & Co. KG, Carl-Zeiss-Straße 8, 65520 Bad Camberg, Ger-
many.
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, cl. A (2007) EN 61000-6-2 (2005)
1.3 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 oper-
ating the module.
2. also follow the rules below on installation of the equipment and on working on switch cabinets.
1.4 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 top-hat rail (plastic box) onto which the module has been snapped.
1.5 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.

23.6.17 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 9
Deutschmann Automation GmbH & Co. KG Information for the machine manufacturers
2 Information for the machine manufacturers
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 UNIGATE®CM - CANopen V. 1.4 23.6.17
3 Introduction
The UNIGATE®CM-CANopen module serves to adapt a serial port to CANopen. In this applica-
tion, it functions as a Gateway and operates as CANopen Slave. It can be operated by any stan-
dard-compliant Master.
The module CM-CANopen essentially consists of the following hardware components:
•Electrically isolated interface to CANopen
•CAN-controller SJA 1000
•Microprocessor 89C51RD2
•RAM and EPROM
•Serial interface (RS232, RS485 and RS422) to the device connected externally
•Ext.-Board with additional CANopen interface on the application side

23.6.17 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 11
Deutschmann Automation GmbH & Co. KG Introduction
3.1 UNIGATE®CM software flow-chart

Introduction Deutschmann Automation GmbH & Co. KG
12 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 23.6.17
3.2 UNIGATE®block diagram
The following picture shows a typical UNIGATE®-module design.
3.3 UNIGATE®CM-application diagram
The following graph shows a typical connection scheme.

23.6.17 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 13
Deutschmann Automation GmbH & Co. KG Operation modes of the Gateway
4 Operation modes of the Gateway
4.1 Configuration mode (config mode)
The configuration mode serves to configure the Gateway. The following adjustments are possible
in this mode.
•Loading a Script
•Updating the firmware (only CL-basis)
•Configuring the Gateway
The Gateway will be starting in this mode in case both switches S4 as well as S5 are set on posi-
tion "F" when switching on the Gateway. Right after switching on the Gateway in the configura-
tion mode it will be sending its starting message, that looks analog with the following message:
RS-COV4-CL (RS+Ext.Board) V2.0 [29] (c)dA Switch=0xC1FF Script(8k)="Leer"
Author="Deutschmann Automation GmbH" Version="1.0" Date=21.08.2001 SN=47110001
Ext-Board: CL-Erweiterung(CANopen-IO-DICNET) V0.74 (c)dA SN=4294967295
CAN: ID=1 Baud=500000 LSS-ID=1, LSS-BaudIdx=2
In the configuration mode the Gateway always operates with the settings 9600 Bauds, no Parity,
8 databits and 1 stopbit, the RS-State LED will always be flashing red, the "Error No/Select ID"
LEDs are of no account for the user. All software revisions contain the configuration mode.
4.2 Test mode
Setting of the test mode
The test mode is set by bringing the switches S4 and S5 in position "E". All other switches will not
be taken into consideration for the setting of the test mode. Now the Gateway has to be restarted
with these settings (by a short disconnection from the power supply).
In the test mode the Gateway always operates with the settings 9600 baud, no parity, 8 databits
and 1 stopbit.
The test mode may be helpful to integrate the Gateway in the relevant environment, for instance
to test the parameters of the RS-interfaces.
Mode of operation of the test mode
After the restart in the test mode the Gateway will be sending the values 0-15 in hexadecimal
representation ("0".."F") in ASCII-coding on the serial side every second. Simultaneously the
same values are issued binary on the fieldbus-interface.
In this mode the State-LED on the RS-side will be flashing red, the "Error No/Select ID" LEDs will
be displaying the value in a binary way, that is issued that moment. Additionally each character
that is received at one of the interfaces will also be output at the same interface as a local echo.
On the fieldbus-side only the first byte will be used for the local echo, that means on receiving as
well as on transmitting only the first byte of the bus data is looked at, the other bus data do not
change compared to the last data.

Operation modes of the Gateway Deutschmann Automation GmbH & Co. KG
14 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 23.6.17
4 Bytes are output on the additional CANopen interface (application side):
1 byte: Echo of the first received byte via CAN
2 byte: Read back byte IO8
3. byte: value of the DIP-switch (currently not used, fixed value is "FF")
4. byte: Output to IO8
4.3 Data exchange mode
The Gateway has to be in the data exchange mode, so that a data exchange between the
RS-side of the Gateway and the fieldbus is possible. As long as the Gateway is not in the config-
uration-, test-, firmware-update-, or debug mode, the data exchange mode is active. In the data
exchange mode the Gateway will execute the downloaded Script.

23.6.17 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 15
Deutschmann Automation GmbH & Co. KG RS-interface
5 RS-interface
5.1 RS-interfaces at the UNIGATE®CM
The UNIGATE®CM - CANopen has the interfaces RS232, RS422 and RS485 available. The
hardware always features a DEBUG-interface, see chapter 7.
5.2 Buffer sizes at the UNIGATE®CM
UNIGATE®CM features at the serial side a buffer with the size of 1024 bytes for input data and
output data each.
The FIFO of the application interface (RS-interface) can be changed in any Gateway form Script
revision 26 on, that is capable for Script. For it please check in the Protocol Developer under
"Device Control" - "Hardware".
5.3 Framing Check
The length of the stop bit received by the Gateway is checked through the function "Framing
Check". Here the stop bit generated by the Gateway is always long enough, so that connected
participants can evaluate the stop bit.
Please be aware that the function "Framing Check" becomes effective only in case of 8 data bit
and the setting "No parity".
An error is detected and indicated by the Error LEDs in case the stop bit does not show the
length 1 bit during the activated check.
The possible setting for this parameter can be controlled by the Script (see online help from
Protocol Developer). The presetting for the "Stop Bit Framing Check" is "enabled".

SSI-interface Deutschmann Automation GmbH & Co. KG
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6 SSI-interface
The UNIGATE®also supports the connection of applications or products, that communicate via
SSI.
6.1 Initiation of the SSI-interface
The required Script (example_SSI), the firmware- (Cust0023) and PROTOCOL DEVEL-
PER-extension (Cust_ssi.xml) are available free of charge from our website at
www.deutschmann.de, as well as the softwaretool Protocol Developer and the configuration soft-
ware WINGATE.
•In the Protocol Developer (see chapter 7, The Debug-interface) the ConfigFile
"Cust_ssi.xml" has to be added. At Options -> Settings -> ConfigFiles.
•Load the Script "example_SSI.dss" into the Protocol Developer.
•The encoder type and the clock frequency has to be defined in the Script itself under
"Set number of bits" and "Set type and clock stretch value" (default =
12-Bit-Single-Turn-Gray, max. clock stretch):
// Set number of bits
// 1..16 = Single Turn
// 17..32 = Multi Turn
moveconst (bNumBits, 12); // i.e. 12 bit single turn
// MT SSI 4096 x 4096 = 16777216 = 0b1000000000000000000000000 => 24 bit
//------------------------------------------------------------------------------
// Set type and clock stretch value
// Type (low nibble):
// 0 = Reserved
// 1 = output value as is (i.e. binary encoder)
// 2 = convert Gray encoded output value to binary (i.e. Gray encoder)
// >2 = Reserved
//
// Clock stretch value (high nibble):
// Please note that the given frequency values are only a rough estimate. The
// exact frequency varies depending on the devices underlying architecture.
// 0 = No Stretch --> ~300 kHz
// 1 = ~185 kHz
// 2 = ~150 kHz
// 3 = ~125 kHz
// 4 = ~110 kHz
// 5 = ~100 kHz
// 6 = ~ 88 kHz
// 7 = ~ 80 kHz
// 8 = ~ 72 kHz

23.6.17 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 17
Deutschmann Automation GmbH & Co. KG SSI-interface
// 9 = ~ 67 kHz
// A = ~ 62 kHz
// B = ~ 58 kHz
// C = ~ 54 kHz
// D = ~ 50 kHz
// E = ~ 48 kHz
// F = ~ 45 kHz
//moveconst ( wTyp, 0x02); // i.e. Gray encoder, no clock stretch (High-Nibble=0)
moveconst ( wTyp, 0xF2); // i.e. Gray encoder, max clock stretch (High-Nibble=F)
•Load the Script into the device. Open WINGATE and activate the device in the configuation
mode (see chapter 4.1, Configuration mode (config mode)) - an actuation message appears,
that looks in line with the following (example CL-PB):
Special Firmware (23) not loaded
RS-PBV1-CL (232/422/485) V7.31[30] (c)dA Switch=0x02FF Script(8k)="SSI"
Author="Deutschmann Automation" Version="V 1.0" Date=20.03.2008 SN=47110002 ID=2
Konfigmode...
The note "Special Firmware (23) not loaded" means that the firmware-extension is not yet
loaded. The extension is loaded through Extras -> Firmware Script Extension. Select the file
"Cust0023 (Cmd 23 + 24 for SSI).hex" and choose "write extension".
•Re-start the device →now only the device’s actual actuation message appears and not the
note any more.
•Bring the device into the data exchange mode (see chapter 4.3, Data exchange mode) →
DONE!
6.2 Hardware-wiring
The clock wires of the SSI-interface are placed onto the Tx-wires of the RS422-interface and the
data wires onto the Rx-wires at the UNIGATE®CM.
X1 (3-pin + 4-pin screw-plug-connector):
Pin no. Name Function at SSI
1 Rx 232 n. c.
2 Tx 232 n. c.
3 AP-GND n. c.
4 Rx 422+ SSI DAT+
5 Rx 422- SSI DAT-
6 Tx 422+ SSI CLK+
7 Tx 422- SSI CLK-

The Debug-interface Deutschmann Automation GmbH & Co. KG
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7 The Debug-interface
7.1 Overview of the Debug-interface
The UNIGATE®IC features a Debug-interface, that allows a step-by-step processing of a Script.
Normally this interface is only required for the development of a Script.
7.2 Starting in the Debug-mode
When applying power to the UNIGATE®(power up) the firmware will output the binary character
0 (0x00) after a self-test was carried out on this interface. If the UNIGATE®receives an
acknowledgement via this interface within 500 ms, it is in the Debug-mode. The
acknowledgement is the ASCII-character O (0x4F).
With the start in the Debug-mode the further execution of Script commands will be put to a stop.
7.3 Communication parameter for the Debug-interface
The Debug-interface is always operating with 9600 baud, no parity, 8 data bit, 1 stop bit. It is not
possible to change this parameter in the Protocol Developer. Please consider the fact that these
settings have to be in accordance with those of the PC-COM-interface and that the flow control
(protocol) has to be set on „none“ there.
7.4 Possibilities with the Debug-interface
Usually the Protocol Developer is connected to the Debug-interface. With it a step-by-step pro-
cessing of a Script, monitoring jumps and decisions and looking at memory areas is possible.
Moreover breakpoints can be set. It basically possesses all characteristics a software-develop-
ment tool is typically supposed to have. However, it is also possible to carry out a Scrip-update
via this interface.
From Script version [27] on you can also output data with the Script command
"SerialOutputToDebugInterface". Please also pay attention to the remark in the manual
’Protocol Developer’.
7.5 Commands of the Debug-interface
The commands for the use of the Debug-interface are described in the instruction manual
Protocol Developer.

23.6.17 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 19
Deutschmann Automation GmbH & Co. KG Mode of operation of the system
8 Mode of operation of the system
8.1 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 customized bus system
(RS485 / RS232 / RS422) to the corresponding Fieldbus system. Layers 3 to 6 are blank, and
Layer 7 is converted in accordance with chapter 8.3.
8.2 Interfaces
The Gateway features the RS232-, RS422- and RS485-interfaces.
8.3 Data exchange CANopen V3
All data is transferred by the Gateway in dependence of the downloaded Script.
The following three objects are existing in the CANopen-gateway for the data exchange on the
CANopen-side:
•Default setting as long as the Script command CO_Init_Channel is not carried out.
- Adr. 2000H (Type DOMAIN):Data received by the gateway
- Adr. 2001H (Type DOMAIN):Data sent by the gateway
- Adr. 2002H (Type BYTE): Length of the data sent
The length of the receiving- and transmitting buffer (Obj. 2000 + 2001) is configured through
WINGATE®.
8.3.1 SDO-access
Generally the data can always be exchanged through SDOs (Obj. 2000 - 2002).
Likewise an access to all Mandatory-objects according to CiA®DS 301 is possible through
SDOs.
8.3.2 PDO-access
PDOs are supported according to the following table depending on the configured length and the
PDO-length is set dynamically to the correct value:
Gateway
receiving-data
Gateway
transmitting-data
Receiv.-PDO1
(Adr = 512 + ID)
Transm.-PDO1
(Adr = 384 + ID)
Max. 8 Byte
Max. 8 Byte
>8 Byte
>8 Byte
Max. 8 Byte
>8 Byte
Max. 8 Byte
>8 Byte
Receiv. data
Receiv. data
-
-
Transm. data
Length transmitting data
Transm. data
Length transmitting data

Mode of operation of the system Deutschmann Automation GmbH & Co. KG
20 UNIGATE®fieldbus gateway UNIGATE®CM - CANopen V. 1.4 23.6.17
8.4 Possible data lengths
The table below shows the maximum transferable data in CANopen:
Input data max. 255 bytes Variable: maximum value in this case
Output data max. 255 bytes Variable: maximum value in this case
Emergency data 1 byte See chapter Error handling
.