ESD CANopen-PN User manual

CANopen-PN
PROFINET IO / CANopen Gateway
Manual
to Product C.2921.02
CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 1 o 105
esd electronic system design gmbh
Vahrenwalder Str. 207 • 30165 Hannover • ermany
http://www.esd.eu
Phone: [phone] • Fax: [phone]

N O T E
The in ormation in this document has been care ully checked and is believed to be entirely reliable.
esd electronics makes no warranty o any kind with regard to the material in this document, and
assumes no responsibility or any errors that may appear in this document. In particular
descriptions and technical data speci ied in this document may not be constituted to be guaranteed
product eatures in any legal sense.
esd electronics reserves the right to make changes without notice to this, or any o its products, to
improve reliability, per ormance or design.
All rights to this documentation are reserved by esd electronics. Distribution to third parties, and
reproduction o this document in any orm, whole or in part, are subject to esd electronics's
written approval.
© 2020 esd electronics gmbh, Hannover
esd electronics gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Phone: [phone]
Fax: [phone]
E-Mail: in [email protected]
Internet: www.esd.eu
This manual contains important in ormation and instructions on sa e and e icient
handling o the CANopen-PN. Care ully read this manual be ore commencing any work
and ollow the instructions.
The manual is a product component, please retain it or uture use.
Trademar Notices
CANopen® and CiA® are registered community trademarks o CAN in Automation e.V.
PROFINET® is a registered trademark o PROFIBUS and PROFINET International (PI).
ARM® is a registered trademark o Advanced RISC Machines, Ltd or its subsidiaries.
All other trademarks, product names, company names or company logos used in this manual are reserved by their
respective owners.
Page 2 o 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN

Document file: I:\Texte\Doku\MANUALS\CAN\CANopen-PN\English\CANopen-PN_Manual_en_16.odt
Date of print: 2020-07-24
Document type
number: DOC0800
Firmware version: CANopen-PN irmware rom rev.1.0.6
Document History
The changes in the document listed below a ect changes in the hardware as well as changes in
the description o the acts, only.
Revision Chapter Changes versus previous version Date
1.2
6 Notes concerning PROFINET IO services revised or inserted
2015-06-04
6.1.9 Note concerning bit rate updated
6.2.1 Description o the Error Codes revised
9., 10. Chapter updated
1.3
- Sa ety In ormation revised
2015-11-27
4. Note to compatibility o CANopen-PN irmware and speci ic GSDML
Composer versions inserted
5.1.3 New chapter „Compatibility CANopen-PN Firmware and GSDML Composer“
5.2 Note to compatibility o CANopen-PN irmware and speci ic GSDML
Composer versions inserted
5.7 Note to CommunicationCyclePeriod inserted
5.11 New chapter “Using GSDML File and CANopen-PN Gateway with the TIA
Portal“
1.4
- Classi ication o warning messages moved and revised
2017-05-08
4. Warning message concerning power supply inserted
5.1 Note on CANopen-Slave inserted
5.6 “CANopen-PN” inserted in irst sentence
1.5 1.1 Note on CANopen Slave unctions deleted 2017-07-20
15. New PROFINET Certi icate
1.6 14. New Declaration o Con ormity 2020-07-24
15. New PROFINET Certi icate
Technical details are subject to change without urther notice.
CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 3 o 105

Classification of Warning Messages and Safety Instructions
This manual contains noticeable descriptions, warning messages and sa ety instructions, which
you must ollow to avoid personal injuries or death and property damage.
This is the sa ety alert symbol.
It is used to alert you to potential personal injury hazards. Obey all sa ety messages
and instructions that ollow this symbol to avoid possible injury or death.
DANGER, WARNING, CAUTION
Depending on the hazard level the signal words DANGER, WARNING or CAUTION are used to
highlight sa ety instructions and warning messages. These messages may also include a warning
relating to property damage.
DANGER
Danger statements indicate a hazardous situation which, i not avoided, will result in
death or serious injury.
WARNING
Warning statements indicate a hazardous situation that, i not avoided, could result in
death or serious injury.
CAUTION
Caution statements indicate a hazardous situation that, i not avoided, could result in
minor or moderate injury.
NOTICE
Notice statements are used to noti y people on hazards that could result in things other than
personal injury, like property damage.
NOTICE
This NOTICE statement contains the general mandatory sign and gives in ormation that
must be heeded and complied with or a sa e use.
INFORMATION
INFORMATION
Notes to point out something important or use ul.
Page 4 o 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN

Safety Instructions
●When working with the CANopen-PN ollow the instructions below and read the manual care ully
to protect yoursel rom injury and the CANopen-PN rom damage.
●Do not open the housing o the CANopen-PN.
●The permitted operating position is speci ied as shown (Figure: 47). Other operating positions are
not allowed.
●Never let liquids get inside the CANopen-PN. Otherwise, electric shocks or short circuits may
result.
●Protect the CANopen-PN rom dust, moisture and steam.
●Protect the CANopen-PN rom shocks and vibrations.
●The CANopen-PN may become warm during normal use. Always allow adequate ventilation
around the CANopen-PN and use care when handling.
●Do not operate the CANopen-PN adjacent to heat sources and do not expose it to unnecessary
thermal radiation. Ensure an ambient temperature as speci ied in the technical data.
●Do not use damaged or de ective cables to connect the CANopen-PN and ollow the CAN wiring
hints in chapter: "Correctly Wiring Electrically Isolated CAN Networks".
●In case o damages to the device, which might a ect sa ety, appropriate and immediate
measures must be taken, that exclude an endangerment o persons and domestic animals and
property.
●Current circuits which are connected to the device have to be su iciently protected against
hazardous voltage (SELV according to EN 60950-1).
●The CANopen-PN may only be driven by power supply current circuits, that are contact
protected. A power supply, that provides a sa ety extra-low voltage (SELV or PELV) according to
EN 60950-1, complies with this conditions.
Qualified Personnel
This documentation is directed exclusively towards personnel quali ied in control and automation
engineering.
The installation and commissioning o the product may only be carried out by quali ied personnel,
which is authorized to put devices, systems and electric circuits into operation according to the
applicable national standards o sa ety engineering.
Conformity
The CANopen-PN meets the demands o the EU regulations and EMC standards printed in the
con ormity declaration at the end o this manual.
Data Safety
This device is equipped with an Ethernet or other inter ace which is suitable to establish a
connection to data networks. Depending on the so tware used on the device, these inter aces may
allow attackers to compromise normal unction, get illegal access or cause damage.
esd does not take responsibility or any damage caused by the device i operated at any networks.
It is the responsibility o the device's user to take care that necessary sa ety precautions or the
device's network inter ace are in place.
Intended Use
The intended use o the CANopen-PN is the operation as PROFINET IO / CANopen Gateway.
The guarantee given by esd does not cover damages which result rom improper use, usage not in
accordance with regulations or disregard o sa ety instructions and warnings.
● The CANopen-PN is intended or indoor operation only.
● The operation o the CANopen-PN in hazardous areas, or areas exposed to potentially explosive
materials is not permitted.
● The operation o the CANopen-PN or medical purposes is prohibited.
CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 5 o 105

Service Note
The CANopen-PN does not contain any parts that require maintenance by the user. The CANopen-PN does
not require any manual con iguration o the hardware. Unauthorized intervention in the device voids warranty
claims.
Disposal
Devices which have become de ective in the long run have to be disposed in an appropriate way or have to
be returned to the manu acturer or proper disposal. Please, make a contribution to environmental protection.
Typographical Conventions
Throughout this manual the ollowing typographical conventions are used to distinguish technical terms.
Convention Example
File and path names /dev/null or <stdio.h>
Function names open()
Programming constants NULL
Programming data types uint32_t
Variable names Count
Number Representation
All numbers in this document are base 10 unless designated otherwise. Hexadecimal numbers have a pre ix o 0x, and
binary numbers have a pre ix o 0b. For example, 42 is represented as 0x2A in hexadecimal and 0b101010 in binary.
Abbreviations
Abbreviation Term Description
DCF Device Con iguration File
EDS Electronic Data Sheet Description ile or CANopen devices
GSD General Station Description Description ile or PROFINET devices
GSDML General Station Description
Markup Language
Language o the GSD iles (XML-based)
PDO Process Data Object
RTR Remote Transmission Request
SDO Service Data Object
XML Extensible Markup Language
Page 6 o 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN

Table of contents
Sa ety Instructions...........................................................................................................................5
1. Overview....................................................................................................................................12
1.1 Description o CANopen-PN................................................................................................12
2. PCB View with Connectors.........................................................................................................13
3. LEDs.......................................................................................................................................... 14
3.1 Position o the LEDs............................................................................................................14
3.2 Indication o the LEDs..........................................................................................................14
3.2.1 CANopen Indicator States...........................................................................................15
4. Hardware Installation .................................................................................................................16
5. So tware Con iguration with the GSDML Composer...................................................................17
5.1 Description o the GSDML Composer..................................................................................17
5.1.1 Features o the GSDML Composer.............................................................................18
5.1.2 System Requirements.................................................................................................18
5.1.3 Compatibility o CANopen-PN Firmware and GSDML Composer................................18
5.1.4 So tware Installation....................................................................................................19
5.1.4.1 GSDML Composer...............................................................................................19
5.1.4.2 CAN Inter ace and Tools under Windows.............................................................19
5.1.4.2.1 Con iguration/Test o the CAN Inter ace under Windows..............................20
5.2 GSDML Composer Quick Start............................................................................................22
5.3 Main Window o the GSDML Composer..............................................................................23
5.4 Menu Bar o the GSDML Composer....................................................................................24
5.4.1 Menu Item File, General Options.................................................................................24
5.4.2 Menu Item View...........................................................................................................25
5.4.3 Menu Item Settings.....................................................................................................25
5.4.3.1 Project settings.....................................................................................................25
5.4.4 Menu Item Window......................................................................................................25
5.5 Device Library......................................................................................................................26
5.5.1 Add CANopen Devices to the current Project..............................................................26
5.5.2 Edit Device Library......................................................................................................27
5.6 CANopen Network Editor.....................................................................................................28
5.6.1 Display Options...........................................................................................................29
5.6.2 Device Context Menu..................................................................................................29
5.7 Con iguration o the CANopen Net with the CANopen Manager..........................................30
5.8 Output.................................................................................................................................. 33
5.9 Con iguration o a CANopen Slave via Device Editor...........................................................34
5.9.1 Device In ormation......................................................................................................34
5.9.2 RPDO Mapping...........................................................................................................35
5.9.2.1 Change Mapping Parameter via Buttons .............................................................36
5.9.3 TPDO Mapping............................................................................................................37
5.9.4 Manager Settings........................................................................................................38
5.9.5 SYNC/Emergency.......................................................................................................39
5.9.6 Heartbeat/Guarding.....................................................................................................40
5.9.7 Object Lists (various)...................................................................................................41
5.9.8 EDS Device In o..........................................................................................................42
5.9.9 EDS File In o...............................................................................................................42
5.9.10 EDS Comments.........................................................................................................42
5.10 Insert the GSD File in the SIMATIC-Manager ...................................................................43
5.11 Using GSDML File and CANopen-PN Gateway with the TIA Portal...................................47
5.11.1 Quick Start................................................................................................................47
5.11.2 Installation o the GSDML File...................................................................................48
5.11.3 Insert CANopen-PN Hardware and Network Con iguration.......................................50
5.11.4 Compile and Download Hardware and So tware.......................................................53
CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 7 o 105

6. Control via PROFINET IO..........................................................................................................55
6.1 CANopen Manager Services via PROFINET IO..................................................................55
6.1.1 Upload SDO (Index 0xB711).......................................................................................57
6.1.2 Download SDO (0xB713)............................................................................................59
6.1.3 Con igure SDO Timeout (0xB715)...............................................................................60
6.1.4 Start Node (0xB731)....................................................................................................60
6.1.5 Stop Node (0xB732)....................................................................................................60
6.1.6 Set Node to Pre-Operational (0xB733)........................................................................61
6.1.7 Reset Node (0xB734)..................................................................................................61
6.1.8 Reset Communication (0xB735)..................................................................................61
6.1.9 Initialize Gateway (0xB751).........................................................................................62
6.1.10 Set Heartbeat Producer (0xB754).............................................................................62
6.1.11 Set Node-ID (0xB755)...............................................................................................63
6.1.12 Start Emergency Consumer (0xB756).......................................................................63
6.1.13 Stop Emergency Consumer (0xB757).......................................................................63
6.1.14 Get Version (0xB762)................................................................................................64
6.1.15 Reset Controller (0xB771).........................................................................................64
6.1.16 Start Controller (0xB772)...........................................................................................65
6.1.17 Stop Controller (0xB773)...........................................................................................65
6.2 PROFINET IO Diagnosis.....................................................................................................66
6.2.1 Emergency Mapping...................................................................................................67
7. Technical Data...........................................................................................................................69
7.1 General Technical Data.......................................................................................................69
7.2 Microcontroller.....................................................................................................................70
7.3 CAN Inter ace......................................................................................................................70
7.4 PROFINET IO Inter ace.......................................................................................................71
7.5 DIAG, Serial Inter ace via USB Inter ace.............................................................................71
7.6 So tware Support.................................................................................................................72
8. Inter aces and Connector Assignments......................................................................................73
8.1 CAN.....................................................................................................................................73
8.2 PROFINET IO......................................................................................................................74
8.3 24V-Power Supply Voltage..................................................................................................75
8.4 24V and CAN via InRailBus ................................................................................................76
8.5 DIAG....................................................................................................................................76
8.6 Conductor Connection/Conductor Cross Sections...............................................................77
9. Correctly Wiring Electrically Isolated CAN Networks..................................................................78
9.1 Standards concerning CAN Wiring......................................................................................78
9.2 Light Industrial Environment (Single Twisted Pair Cable).....................................................79
9.2.1 General Rules.............................................................................................................79
9.2.2 Cabling........................................................................................................................80
9.2.3 Branching....................................................................................................................80
9.2.4 Termination.................................................................................................................80
9.3 Heavy Industrial Environment (Double Twisted Pair Cable).................................................81
9.3.1 General Rules.............................................................................................................81
9.3.2 Device Cabling............................................................................................................82
9.3.3 Branching....................................................................................................................82
9.3.4 Termination.................................................................................................................82
9.4 Electrical Grounding.............................................................................................................83
9.5 Bus Length...........................................................................................................................83
9.6 Examples or CAN Cables...................................................................................................84
9.6.1 Cable or light industrial Environment Applications (Two-Wire)...................................84
9.6.2 Cable or heavy industrial Environment Applications (Four-Wire)................................84
10. CAN Troubleshooting Guide.....................................................................................................85
10.1 Termination........................................................................................................................85
10.2 Electrical Grounding...........................................................................................................86
Page 8 o 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN

10.3 Short Circuit in CAN Wiring................................................................................................86
10.4 CAN_H/CAN_L-Voltage ....................................................................................................86
10.5 CAN Transceiver Resistance Test.....................................................................................87
10.6 Support by esd...................................................................................................................87
11. CANopen Firmware..................................................................................................................88
11.1 De inition o Terms.............................................................................................................88
11.2 NMT-Boot-up.....................................................................................................................89
11.3 The CANopen Object Directory..........................................................................................89
11.4 Accessing the Communication Parameters via SDO Telegrams........................................90
11.5 Accessing the Process Data via PDOs..............................................................................92
11.6 Important CANopen Telegrams.........................................................................................93
11.7 Implemented CANopen Objects o CANopen-PN..............................................................94
11.7.1 CiA Speci ication CiA 301 Objects ............................................................................94
11.7.2 Objects o CiA Speci ication CiA 302-2 .....................................................................96
12. Appendix InRailBus (Option)....................................................................................................97
12.1 Connector Assignment ......................................................................................................97
12.2 Using InRailBus (Option)....................................................................................................98
12.3 Installation o the Module Using InRailBus-Connector.......................................................98
12.3.1 Connecting Power Supply and CAN Signals to CBX-InRailBus...............................100
12.3.2 Connection o the Power Supply Voltage................................................................100
12.3.3 Connection o CAN..................................................................................................101
12.4 Removal o the CAN-CBX Module rom InRailBus...........................................................101
13. Re erences............................................................................................................................. 102
14. Declaration o Con ormity.......................................................................................................103
15. PROFINET IO Certi icate.......................................................................................................104
16. Order In ormation...................................................................................................................105
CANopen-PN Manual • Doc. No.: C.2921.21 / Rev. 1.6 Page 9 o 105

Index of Tables
Table 1: Indication o the RJ45-LEDs.............................................................................................................14
Table 2: Indication o the LEDs F, E, P and C................................................................................................15
Table 3: SDO abort codes.............................................................................................................................. 58
Table 4: Supported data types according to PROFINET IO............................................................................59
Table 5: Emergency Mapping......................................................................................................................... 67
Table 6: CANopen Emergency Codes and Classes.......................................................................................68
Table 7: CANopen Error Register...................................................................................................................68
Table 8: General data o the module..............................................................................................................69
Table 9: Microcontroller units..........................................................................................................................70
Table 10: Data o the CAN inter ace...............................................................................................................70
Table 11: Data o PROFINET IO inter ace......................................................................................................71
Table 12: Data o the USB inter ace............................................................................................................... 71
Table 13: Conductor connection/Conductor cross section..............................................................................77
Table 14: Recommended cable lengths at typical bit rates (with esd-CAN inter aces) ..................................83
Table 15: Implemented CANopen objects o the CANopen-PN gateway........................................................95
Table 16: Order in ormation.......................................................................................................................... 105
Table 17: Available manuals......................................................................................................................... 105
Page 10 o 105 Manual • Doc. No.: C.2921.21 / Rev. 1.6 CANopen-PN