DEUTSCHMANN AUTOMATION UNIGATE CX-CANopen - DeviceNet User manual

Manual
Universal Fieldbus-Gateway
UNIGATE®CX-CANopen-(Mapping) - DeviceNet
Deutschmann Automation GmbH & Co. KG
www.deutschmann.de | wiki.deutschmann.com

Handbuch Art.-Nr.: V4419E

25.9.20 Fieldbus-Gateway UNIGATE®CX C4Map - DeviceNet V. 1.0 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
4 Operation modes of the Gateway . . . . . . . . . . . . . . . . . . . .11
4.1 Run mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2 Data exchange mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.3 Device configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.4 Debug mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5 The Debug-interface . . . . . . . . . . . . . . . . . . . . . . . . . . 12
5.1 Overview of the Debug-interface . . . . . . . . . . . . . . . . . . . . . 12
5.2 Starting in the Debug-mode . . . . . . . . . . . . . . . . . . . . . . . . 12
5.3 Communication parameter for the Debug-interface . . . . . . . . . . . . 12
5.4 Possibilities with the Debug-interface . . . . . . . . . . . . . . . . . . . 12
5.5 Commands of the Debug-interface . . . . . . . . . . . . . . . . . . . . 12
6 Mode of operation of the system . . . . . . . . . . . . . . . . . . . 13
6.1 General explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6.2 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6.3 Data exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6.4 Possible data lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6.5 Startup phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
7 Implemented protocols in UNIGATE®CX C4Map . . . . . . . . . . . 14
7.1 Implemented protocols at CANopen interface . . . . . . . . . . . . . . 14
7.1.1 Functionality of the individual transport protocols . . . . . . . . . . . . . . . . 14
7.1.2 CANopen Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
7.1.2.1 Configuration of the mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7.1.2.2 Node Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7.1.2.3 Display of the node guarding states . . . . . . . . . . . . . . . . . . . . . . . . . 17
7.1.2.4 Emergency Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7.1.2.5 Gateway Control Byte. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
7.1.2.6 Bit 7 (MSB): EMCY Toggle Bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
7.1.2.7 Bit 6: Set Operational Toggle Bit . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
7.1.2.8 Bit 5: RTR - Request to response. . . . . . . . . . . . . . . . . . . . . . . . . . . 18
7.1.2.9 Gateway Error Byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
7.1.2.10 SDO Obj Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
7.1.2.11 Slave Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.1.2.12 CAN Fieldbus address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.1.2.13 Communication cycle period (object 1006h) . . . . . . . . . . . . . . . . . . . . . 21
7.1.2.14 Start phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
7.1.2.15 Data throughput time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

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4 Fieldbus-Gateway UNIGATE®CX C4Map - DeviceNet V. 1.0 25.9.20
7.2 Implemented Protocols - DeviceNet . . . . . . . . . . . . . . . . . . . 22
7.2.1 Protocol Delta exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7.3 The trigger byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7.4 The length byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.5 Swap word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
8 Hardware ports, switches and LEDs CANopen (Mapping) . . . . . . 24
8.1 Device labeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
8.2 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
8.2.1 Connector to the external device (RS-interface) . . . . . . . . . . . . . . . . . 24
8.2.2 Connector supply voltage and DEBUG-interface . . . . . . . . . . . . . . . .25
8.2.3 CANopen®-connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
8.2.4 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
8.3 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
8.3.1 LED “(Bus) Power“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
8.3.2 LED “(Bus) State“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
8.3.3 LED “Power“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
8.3.4 LED “State“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
8.3.5 LEDs 1 / 2 / 4 / 8 (Error No / Select ID) . . . . . . . . . . . . . . . . . . . . .27
8.4 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
8.4.1 Rotary coding switches S4 + S5 (serial interface) . . . . . . . . . . . . . . . .27
8.4.2 Termination (CANopen®) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
8.4.3 DIP-Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
8.5 Debug cable for UNIGATE®CL . . . . . . . . . . . . . . . . . . . . . . 28
9 Hardware ports, switches and LEDs DeviceNet . . . . . . . . . . . . 29
9.1 Device labeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
9.1.1 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
9.1.1.1 Connector service interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
9.1.1.2 Connector supply voltage and DEBUG-interface . . . . . . . . . . . . . . . . . . . 30
9.1.1.3 DeviceNet-connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
9.1.1.4 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
9.2 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
9.2.1 LED "(Bus) Power" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
9.2.2 LED "(Bus) State" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
9.2.3 LED "Power" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
9.2.4 LED "State" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
9.2.5 LEDs 1 / 2 / 4 / 8 (Error No. / Select ID) . . . . . . . . . . . . . . . . . . . . . 31
9.3 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
9.3.1 Rotary coding switches S4 + S5 (serial interface) . . . . . . . . . . . . . . . .31
9.3.2 Termination (DeviceNet) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
9.3.3 DIP-switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
9.4 The Debug cable for UNIGATE®CL . . . . . . . . . . . . . . . . . . . 32
10 Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
10.1 Error handling at UNIGATE®C4Map . . . . . . . . . . . . . . . . . . . 33
10.2 Error handling at UNIGATE®CL-DeviceNet . . . . . . . . . . . . . . . 34
11 Installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . 35
11.1 Installation of the module . . . . . . . . . . . . . . . . . . . . . . . . . 35

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11.1.1 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
11.1.2 Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
11.2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
11.2.1 Connection systems - DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . 35
11.2.2 Connection systems - CANopen . . . . . . . . . . . . . . . . . . . . . . . . 36
11.2.2.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
11.2.2.2 Equipotential bonding connection. . . . . . . . . . . . . . . . . . . . . . . . . . . 36
12 CANopen®communication interface . . . . . . . . . . . . . . . . . 37
12.1 Bus line with copper cable . . . . . . . . . . . . . . . . . . . . . . . . 37
12.2 Line routing, shield and measures to combat interference voltage . . . . 37
12.3 General information on line routing . . . . . . . . . . . . . . . . . . . . 37
12.3.1 Shielding of lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
13 CANopen®. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
13.1 Description CANopen®. . . . . . . . . . . . . . . . . . . . . . . . . . 39
13.1.1 CANopen®V4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
14 Communication interface DeviceNet . . . . . . . . . . . . . . . . . 41
14.1 Bus line with copper cable . . . . . . . . . . . . . . . . . . . . . . . . 41
14.2 Line routing, shield and measures to combat interference voltage . . . . 41
14.2.1 General information on line routing . . . . . . . . . . . . . . . . . . . . . . . 41
14.2.1.1 Shielding of lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
15 DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
15.1 The Product Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
15.2 EDS file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
15.3 DeviceNet™ information . . . . . . . . . . . . . . . . . . . . . . . . . 43
16 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
16.1 Device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
16.1.1 Interface data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
17 Commissioning guide . . . . . . . . . . . . . . . . . . . . . . . . . 46
17.1 Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
17.2 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
17.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
17.4 Dimensional drawing UNIGATE®CX-C4Map-DN . . . . . . . . . . . . . 46
17.5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
17.6 Setting the CANopen®address and baud rate . . . . . . . . . . . . . . 47
17.6.1 CANopen®connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
17.6.2 Connection to the process device . . . . . . . . . . . . . . . . . . . . . . . 47
17.6.3 Connecting the supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . 47
17.6.4 Shield connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
17.6.5 Project planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
17.7 Setting the DeviceNet™ address and baud rate . . . . . . . . . . . . . 47
17.8 DeviceNet™ connection . . . . . . . . . . . . . . . . . . . . . . . . . 47
17.9 Connection to the process device . . . . . . . . . . . . . . . . . . . . . 47
17.10 Connecting the supply voltage . . . . . . . . . . . . . . . . . . . . . . 47
17.11 Shield connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
17.12 Project planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

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18 Servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
18.1 Returning a device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
18.2 Downloading PC software . . . . . . . . . . . . . . . . . . . . . . . . 49
19 Annex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
19.1 Explanations of the abbreviations . . . . . . . . . . . . . . . . . . . . . 50
19.2 Hexadecimal table . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

25.9.20 Fieldbus-Gateway UNIGATE®CX C4Map - DeviceNet V. 1.0 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 – 2020. 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 Fieldbus-Gateway UNIGATE®CX C4Map - DeviceNet V. 1.0 25.9.20
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.

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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
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3 Introduction
The UNIGATE®CX-CANopen (Mapping) - DeviceNet module serves to adapt a CANopen inter-
face to DeviceNet™according to „DeviceNet Specification Release 2.0“. In this application it acts
as a gateway and works as DeviceNet „Group 2 Only Slave“. It can be operated by any standard-
compliant master.
The module CX-C4Map-DN essentially consists of the following hardware components:
•Electrically isolated interface to DeviceNet
•CAN-controller SJA 1000
•Microprocessor 89C51RD2
•RAM and EPROM
•Serial interfaces RS232 (Service interfaces)
•Electrically isolated interface to CANopen
•Debug interfaces (for device configuration)
Conceptual
C4Map stands for CANopen with CANopen (mapping) functionality.
In the further course of this manual, the term "Fieldbus" is frequently used. In
these cases this applies to the DeviceNet interface.

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Deutschmann Automation GmbH & Co. KG Operation modes of the Gateway
4 Operation modes of the Gateway
4.1 Run mode
When delivered, the UNIGATE®CX is in RUN mode. The following functions can be used in
RUN mode:
•Data exchange
•Device configuration
•Debug mode
4.2 Data exchange mode
In data exchange mode, the data is transmitted bidirectionally between the two respective field-
bus systems. The data exchange mode is only active if neither the device configuration nor the
debug mode is used.
4.3 Device configuration
In RUN mode it is possible to configure the device. The configuration is done with the configura-
tion software WINGATE via the DEBUG interfaces of the device. The DEBUG
Interfaces are RS232 interfaces. They are located on X1 and X2 on pin 2 (0V Pwr) + pin 3 (Rx
debug) + pin 4 (Tx debug).
Note: Pin 2 (0V Pwr) is also the 0V power supply for the device. In addition, the two rotary swit-
ches S4 and S5 must be set to the "0" position. The menu items ”Extras” -> ”Upload_Config_De-
bug” or ”Download_Config_Debug” are used to read and write the configuration in WINGATE.
The exact procedure for device configuration is described in the WINGATE manual in the chap-
ters "Connection UNIGATE®via the debug interface" and "Configuration via the debug inter-
face".
4.4 Debug mode
In RUN mode, it is possible to execute a script that is programmed with the Software Protocol
Developer step by step. Debugging is done with the Software Protocol Developer via the debug
interfaces of the device. The debug interfaces are RS232 interfaces. The debug interfaces are
located on X1 and X2 on pin 2 (0V Pwr) + pin 3 (Rx debug) + pin 4 (Tx debug). Note: Pin 2 (0V
Pwr) is also the 0V power supply for the device. In addition, the two rotary switches S4 and S5
must be set to the "0" position.
Attention: This is only necessary for the development of a script. For more information, please
refer to the online help of the Protocol Developer.

The Debug-interface Deutschmann Automation GmbH & Co. KG
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5 The Debug-interface
5.1 Overview of the Debug-interface
The UNIGATE®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.
5.2 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.
5.3 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.
5.4 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’.
5.5 Commands of the Debug-interface
The commands for the use of the Debug-interface are described in the instruction manual Proto-
col Developer.

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Deutschmann Automation GmbH & Co. KG Mode of operation of the system
6 Mode of operation of the system
6.1 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 25.3.
6.2 Interfaces
The Gateway features a CANopen and fieldbus interface as well as the serial interfaces RS232-,
RS422- and RS485.
6.3 Data exchange
All data is transferred by the Gateway in dependence of the downloaded Script.
6.4 Possible data lengths
The table below shows the maximum transferable data:
Data length on DeviceNet-Side
DeviceNet Input data (Consumed) max. 255 bytes Variable: maximum value in this case
Output data (Produced) max. 255 bytes Variable: maximum value in this case
Data length on CANopen-Side
C4Map
CANopen Mapping
In- and
Output data
a maximum of 10 bytes, of which a maximum of 8 bytes of user
data
6.5 Startup phase
The Gateway is parameterized and configured by the Master during the startup phase. Only after
a correct termination of the startup phase the data exchage with external devices will take place.

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7 Implemented protocols in UNIGATE®CX C4Map
The protocols “CANopen (mapping)“ and “Delta exchange”are required for communication.
7.1 Implemented protocols at CANopen interface
CANopen Mapping
Note: Data exchange is only possible when the DeviceNet is in "Data
Exchange".
7.1.1 Functionality of the individual transport protocols
7.1.2 CANopen Mapping
Data structure
The mapping in the gateway can be configured using the supplied WINGATE®software.
This gateway module from the UNIGATE series from Deutschmann Automation allows a cou-
pling between fieldbus and CANopen®.
The gateway behaves on the CANopen®side as a standard-compliant master and on the
DeviceNet side as a standard-compliant slave.
Data exchange
The data exchange between fieldbus and CANopen®is carried out by the mapping that
is configured with "WINGATE®".
Mapping is the mapping of data from a fieldbus to any other fieldbus. All data provided by the
corresponding buses can serve as data here.
The mapping works in both directions, i.e. both from master to slave and vice versa.
Example:
For example, it can be specified that the 2nd byte of the COB-ID201 (CANopen®node) is trans-
ferred as the 7th byte in the fieldbus data.
256 mappings are currently possible (128 Tx and 128 Rx mappings). The data is transferred as
PDOs. A maximum of 16 Tx and 16 RX PDOs can be set. Each PDO can have up to 8 bytes (i.e.
8 mappings). 16 PDO * 8 bytes = 128 mappings. SDO access is also supported (see chapter
7.1.2.10).

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7.1.2.1 Configuration of the mapping
To create or edit such a mapping, connect the UNIGATE®in configuration mode (see Chapter
23.3) to the PC via the RS232 interface and start the "WINGATE®" software there.
After starting the software, an upload from the connected device is carried out automatically. The
relevant parameters for this device are shown. Double-click the "map ..." value. After a short time
a dialog is displayed with which you can edit all map entries of the gateway, similar to the follo-
wing image:
You can now change the mappings, delete them or add new ones (right mouse button).
Alternatively, the values can also be entered in the table on the right.
The entry must be confirmed with "Apply", only then are the values accepted.
Then you only have to download the data to the gateway (Menu Extras\Write configuration via
debug interface) and the UNIGATE®works with the new configuration.
It is permitted to map the same byte of a PDO several times to different
positions in the fieldbus.
However, a maximum of 8 mappings can be entered per PDO!
When mapping from fieldbus to CANopen®, several mappings can be
configured for each fieldbus byte. The total number of these multiple
mappings must not exceed 31.

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Only COB-IDs from the range 101H..580H can be used for the PDO map-
pings (see DS301 specification for CANopen®).
7.1.2.2 Node Guarding
If a CANopen®slave is monitored via node guarding, the CANopen®master cyclically receives
the node guard request to respond to the request. The slave in turn replies to this node guarding
request with the corresponding response. Both master and slave can monitor each other in this
way.
If the slave does not receive a node guard request, it will assume that the bus connection has
been interrupted or that the master has failed.
Settings
The default for all slaves is that no node guarding is carried out. If node guarding is to be activa-
ted for a slave, an entry "enable node guarding" must be added to the current configuration in
WINGATE for each slave. The parameters "node ID", "guarding time" and "life time factor" must
be determined in each entry.
Settings for node guarding
The parameter node ID specifies the ID of the CANopen®node on which monitoring is to take
place. The guarding time is the interval in milliseconds in which the master requests the slave to
send its guarding response.
The Life Time Factor tells how many times the slave's response may fail to appear before the
master assumes that the slave has failed.

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7.1.2.3 Display of the node guarding states
Node guard mapping is used to display the node guard states of the individual slaves to the field-
bus. 8 slaves are always represented in one byte; So exactly one bit of information is reserved
for a slave. This information can be displayed anywhere in the fieldbus data of the gateway, i.e. it
is shown in the input area of the fieldbus master for this gateway.
Display of the node guarding information
Distribution of the bits for nodes 1- 8:
node 1-8
Byte MSB (Bit 7) ... LSB (Bit 0)
Slave node ID 8 ... Slave node ID 1
If no node guard is activated for a slave, the slave has failed or no node guarding information has
been exchanged, the corresponding bit for this slave is 0. The bit is 1 if node guarding was acti-
vated for this slave and the slave for the node Guarding requests answered in the appropriate
time.
Example: Node guarding is activated for nodes 1 and 2. Slave 1 does not respond to node guar-
ding, slave ID 2 works normally. A mapping of the information in the fieldbus is entered in the 2nd
byte.
Fieldbus data of the Gateway:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4
xx xx 0x40 xx xx
7.1.2.4 Emergency Messages
The gateway can receive up to 10 emergency messages from all slaves for which node guarding
has been activated and writes them to a queue. At the same time, an internal counter is increa-
sed that contains the number of EMCY messages received. Both the data of the current mes-
sage and the number of EMCY messages received and the Node ID of the sender of the
message can be displayed in the fieldbus output data of the gateway. The next message can be
called up via the control byte. If the data of the EMCY message are shown in the bus data, the
new data is already visible in the fieldbus when the data is toggled.
Setting the emergency messages

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7.1.2.5 Gateway Control Byte
Some properties of the gateway can be controlled by fieldbus data. For this purpose, the infor-
mation must be transferred from the fieldbus to the gateway, i.e. it must be in the gateway's
entrance area. The data can only be evaluated by the gateway if this information is mapped from
the fieldbus to the gateway.
Settings 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.
7.1.2.6 Bit 7 (MSB): EMCY Toggle Bit
With this bit, the next EMCY message can be transferred to the current data buffer, regardless of
whether the data is displayed in the fieldbus or not. The counter is decremented by 1 if it is not 0.
7.1.2.7 Bit 6: Set Operational Toggle Bit
If this bit is changed, the gateway sends the Set Operational message to the slaves. This feature
is to be used when some slaves are slower than the master and are only ready when the master
has already sent this message.
7.1.2.8 Bit 5: RTR - Request to response
With this bit (transition from 0 -> 1) RTR telegrams can be sent to all PDOs mapped as Rx. This
RTR means that the addressed PDOs are sent and thus updated in the gateway.
If the RTR functionality is used, at least 1 Rx PDO must be mapped. Furthermore, no more than
50 Rx PDOs may be mapped, otherwise an overrun will occur.
7.1.2.9 Gateway Error Byte
The current error status of the gateway itself, like the other values of the node guarding or the
slave data, can be mapped in the fieldbus.
Setting Error Byte

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7.1.2.10 SDO Obj Mapping
SDO transmission via a "window" in the fieldbus (FB). The following fixed data record structure is
used in the FB, which is mapped into the FB data from the FB index. A distinction is made bet-
ween:
FB-Idx (In) = data from the FB master (PLC) to the UNIGATE
FB-Idx (Out) = data on the FB master (PLC) from the UNIGATE
The user must ensure that enough space is reserved in the FB data for the longest data record.
SDO transmission is always initiated by the FB master and is ended when the job number in the
FB output data is identical to the job number in the FB input data.
Data record structure (FB input = data from FB master):
Data record structure (FB output = data on the FB master):
Beispiel:
In this example FB-Idx (In) und FB-Idx (Out) = 8

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Please note:
The counting starts with index "0" = 1st byte, i. H. in our example the "8" corresponds to the 9th
byte!
We want to query the manufacturer hardware version of a connected CANopen®slave (object
index 1009h). The CANopen®slave has the node ID = 5.
Data-Len Request should be chosen as large as the maximum expected receive data length!
Otherwise, the data remaining according to the set length will be capped.
If the Data-Len request is equal to or greater than the received data length, the actual data length
is returned as the Data-Len response.
Data from the FB master (PLC) FB Master (PLC) data
Request Response
FB-Idx (In) Data (Hex) Description FB-Idx (In) Data (Hex) Description
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
8 10 Obj-Index 8 10 Obj-Index
9 09 Obj-Index 9 09 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 (Datenlänge = 2) 14 02 Data Len (Datenlänge = 2)
15 ... Data... 15 47 Data... (47h = Hardw.Vers. „G“)
16 ... 17. Byte 16 ... 17. Byte
7.1.2.11 Slave Mode
The slave mode can be activated via WINGATE. If the slave mode is "enabled", only the start
sequence of the master function is not transmitted. It is not a standard-compliant CANopen®
slave and no EDS file is supplied.
7.1.2.12 CAN Fieldbus address
Via WINGATE the CAN fieldbus address can e.g. can be set for slave mode. This is only active
when the dip switch on the front of the device is in position "0"