ESD CANopen-PN/2 User manual

esd electronics gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
http://www.esd.eu
Phone: [phone] • Fax: [phone]
CANopen-PN/2
Manual Doc. No.: C.2931.21 / Rev 1.0
Page 1 of 119
CANopen-PN/2
CANopen®-PROFINET®-IO Gateway
Manual
For Product C.2931.02

Page 2 of 119
Manual Doc. No.: C.2931.21 / Rev. 1.0
CANopen-PN/2
This manual contains important information and instructions on safe and efficient
handling of the CANopen-PN/2. Carefully read this manual before commencing any
work and follow the instructions.
The manual is a product component, please retain it for future use.
Links
esd electronics gmbh assumes no liability or guarantee for the content of Internet pages to which this document refers
directly or indirectly. Visitors follow links to websites at their own risk and use them in accordance with the applicable
terms of use of the respective websites.
Trademark Notices
CANopen® and CiA® are registered EU trademarks of CAN in Automation e.V.
PROFINET® and PROFIBUS® are registered EU trademarks of PROFIBUS Nutzerorganisation e.V.
All other trademarks, product names, company names or company logos used in this manual are reserved by their
respective owners.
Notes
The information in this document has been carefully checked and is believed to be entirely reliable.
esd electronics makes no warranty of any kind with regard to the material in this document and
assumes no responsibility for any errors that may appear in this document. In particular, the
descriptions and technical data specified in this document may not be constituted to be guaranteed
product features in any legal sense.
esd electronics reserves the right to make changes without notice to this, or any of its products, to
improve reliability, performance, or design.
All rights to this documentation are reserved by esd electronics. Distribution to third parties, and
reproduction of this document in any form, whole or in part, are subject to esd electronics' written
approval.
© 2023 esd electronics gmbh, Hannover
esd electronics gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Tel.:
[phone]
Fax:
[phone]
E-Mail:
[email protected]
Internet:
www.esd.eu

CANopen-PN/2
Manual Doc. No.: C.2931.21 / Rev. 1.0
Page 3 of 119
Document Information
Document file:
I:\Texte\Doku\MANUALS\CAN\CANopen-PN2\Englisch\CANopen-PN2_Manual_en_10.docx
Date of print:
2023-06-20
Document-type
number:
DOC0800
Hardware version.:
from Rev. 3.0
Software version:
from Rev. 3.0
Document History
The changes in the document listed below affect changes in the hardware as well as changes in
the description of the facts, only.
Rev.
Chapter
Changes versus previous version
Date
1.0
-
First English manual of CANopen-PN/2
2023-06-20
Technical details are subject to change without further notice.

Page 4 of 119
Manual Doc. No.: C.2931.21 / Rev. 1.0
CANopen-PN/2
Classification of Warning Messages and Safety Instructions
This manual contains noticeable descriptions, warning messages and safety instructions, which
you must follow to avoid personal injuries or death and property damage.
This is the safety alert symbol.
It is used to alert you to potential personal injury hazards. Obey all safety messages
and instructions that follow 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 safety instructions and warning messages. These messages may also include a warning
relating to property damage.
DANGER
Danger statements indicate a hazardous situation which, if not avoided, will result in
death or serious injury.
WARNING.
Warning statements indicate a hazardous situation that, if not avoided, could result in
death or serious injury.
CAUTION
Caution statements indicate a hazardous situation that, if not avoided, could result in
minor or moderate injury.
NOTICE
Notice statements are used to notify people on hazards that could result in things other than
personal injury, like property damage.
NOTICE
This NOTICE statement indicates that the device contains components sensitive to
electrostatic discharge.
NOTICE
This NOTICE statement contains the general mandatory sign and gives information that
must be heeded and complied with for a safe use.
INFORMATION
INFORMATION
Notes to point out something important or useful.

CANopen-PN/2
Manual Doc. No.: C.2931.21 / Rev. 1.0
Page 5 of 119
Safety Instructions
●
When working with the CANopen-PN/2 follow the instructions below and read the manual
carefully to protect yourself from injury and the CANopen-PN/2 from damage.
●
Do not use damaged or defective cables to connect the CANopen-PN/2 and follow the CAN
wiring hints in chapter: "Correct Wiring of Electrically Isolated CAN Networks".
●
In case of damages to the device, which might affect safety, appropriate and immediate
measures must be taken, that exclude an endangerment of persons and domestic animals and
property.
●
The galvanic isolation of the CANopen-PN/2 has only functional tasks and is not a protection
against hazardous electrical voltage.
●
The CANopen-PN/2 is a device of protection class III according to DIN EN IEC 61010-2-201 and
may only be operated on supply circuits that offer sufficient protection against dangerous
voltages.
●
External circuits connected to the interfaces of the CANopen-PN/2 must be sufficiently protected
against dangerous voltage.
●
Compliance with the applicable national safety regulations is the responsibility of the user.
●
Do not open the housing of the CANopen-PN/2 .
●
The CANopen-PN/2 must be securely installed before commissioning.
●
The permitted operating position is specified as shown (Figure 3). Other operating positions are
not allowed.
●
Never let liquids get inside CANopen-PN/2. Otherwise, electric shocks or short circuits may
result.
●
Protect the CANopen-PN/2 from dust, moisture, and steam.
●
Protect the CANopen-PN/2 from shocks and vibrations.
●
The CANopen-PN/2 may become warm during normal use. Always allow adequate ventilation
around the CANopen-PN/2 and use care when handling
●
Do not operate the CANopen-PN/2 adjacent to heat sources and do not expose it to
unnecessary thermal radiation. Ensure an ambient temperature as specified in the technical
data.
NOTICE
Electrostatic discharges may cause damage to electronic components.
→
Take the appropriate precautions for handling electrostatic discharge sensitive
devices.
Qualified Personnel
This documentation is directed exclusively towards personnel qualified in control and automation
engineering. The installation and commissioning of the product may only be carried out by qualified
personnel, which is authorized to put devices, systems, and electric circuits into operation
according to the applicable national standards of safety engineering.
Conformity
The CANopen-PN/2 is an industrial product and meets the demands of the EU regulations and
EMC standards printed in the conformity declaration at the end of this manual.
Warning:
In a residential, commercial, or light industrial environment the CANopen-PN/2 may
cause radio interferences in which case the user may be required to take adequate
measures.

Page 6 of 119
Manual Doc. No.: C.2931.21 / Rev. 1.0
CANopen-PN/2
Data Safety
This device is equipped with an Ethernet or other interface which is suitable to establish a
connection to data networks. Depending on the software used on the device, these interfaces may
allow attackers to compromise normal function, get illegal access or cause damage.
esd does not take responsibility for any damage caused by the device if operated at any networks.
It is the responsibility of the device's user to take care that necessary safety precautions for the
device's network interface are in place.
Intended Use
The intended use of the CANopen-PN/2 is the operation PROFINET IO / CANopen Gateway.
The guarantee given by esd does not cover damages which result from improper use, usage not in
accordance with regulations or disregard of safety instructions and warnings.
●
The CANopen-PN/2 is intended for indoor operation only.
●
The operation of the CANopen-PN/2 in hazardous areas, or areas exposed to potentially explosive
materials is not permitted.
●
The operation of the CANopen-PN/2 for medical purposes is prohibited.
Service Note
The CANopen-PN/2 does not contain any parts that require maintenance by the user. The CANopen-
PN/2 does not require any manual configuration of the hardware. Unauthorized intervention in the
device voids warranty claims
Disposal
Products marked with a crossed-out dustbin must not be disposed of with household
waste. Devices which have become defective in the long run must be disposed in an
appropriate way or must be returned to the manufacturer for proper disposal. Please,
contribute to environmental protection.
Typographical Conventions
Throughout this manual the following 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
prefix of 0x, and binary numbers have a prefix of 0b. For example, 42 is represented as 0x2A in
hexadecimal and 0b101010 in binary.

CANopen-PN/2
Manual Doc. No.: C.2931.21 / Rev. 1.0
Page 7 of 119
Table of Contents
Safety Instructions ..........................................................................................................................5
1Overview................................................................................................................................ 12
1.1 Description of CANopen-PN/2 ........................................................................................12
1.2 Glossary .........................................................................................................................14
1.3 View with Connectors .....................................................................................................15
1.4 LEDs...............................................................................................................................16
1.4.1 Position of the LEDs ................................................................................................ 16
1.4.2 PROFINET IO LEDs................................................................................................16
1.4.3 Status LEDs.............................................................................................................17
1.5 Labels.............................................................................................................................18
2Hardware Installation.............................................................................................................19
3Start-Up.................................................................................................................................20
4CANopen Protocol.................................................................................................................21
4.1 Definition and Terms.......................................................................................................21
4.2 CANopen Objects...........................................................................................................21
4.3 Process Data Objects (PDOs) ........................................................................................22
4.4 Service Data Objects (SDOs) .........................................................................................22
4.4.1 Communication Parameters for SDO Transfers.......................................................22
4.4.2 Error Codes of a SDO Transfer................................................................................24
4.5 Network Management (NMT)..........................................................................................25
4.6 Node Guarding and Heartbeat........................................................................................25
4.7 Important CANopen Telegrams ......................................................................................26
5Software ................................................................................................................................27
5.1 Functionality ...................................................................................................................27
5.2 Software Licenses ..........................................................................................................27
5.3 Installation ......................................................................................................................28
5.3.1 Manual Installation of the RNDIS Driver................................................................... 29
5.3.2 Example Project for TIA Portal.................................................................................29
5.4 Configuration..................................................................................................................30
5.4.1 Quick Start Guide ....................................................................................................30
5.4.2 Configuration of the CANopen Network...................................................................30
5.4.3 Installation of the GSDML File .................................................................................30
5.4.4 Insert the CANopen-PN/2........................................................................................31
5.4.5 Assign the PROFINET Network...............................................................................32
5.4.6 Assign IP Address and PROFINET Device Name....................................................33
5.4.7 Compile and Download Hardware and Software......................................................35
5.5 GSDML Composer .........................................................................................................37
5.5.1 Quick Start Guide ....................................................................................................37
5.5.2 Description...............................................................................................................38
5.5.3 Features.................................................................................................................. 38
5.5.4 System Requirements..............................................................................................39
5.5.5 Compability.............................................................................................................. 39
5.5.6 Installation ...............................................................................................................39
5.5.7 Overview..................................................................................................................40
5.5.8 Menu Bar................................................................................................................. 41
5.5.8.1 File ...................................................................................................................41
5.5.8.2 View..................................................................................................................42
5.5.8.3 Settings ............................................................................................................42
5.5.8.4 Window.............................................................................................................42
5.5.8.5 Help..................................................................................................................42
5.5.9 Device Library..........................................................................................................43
5.5.10 CANopen Network Editor.........................................................................................45
5.5.11 CANopen Manager..................................................................................................47
5.5.12 CANopen Device..................................................................................................... 50

Page 8 of 119
Manual Doc. No.: C.2931.21 / Rev. 1.0
CANopen-PN/2
5.5.12.1 Device Information............................................................................................ 50
5.5.12.2 RPDO Mapping ................................................................................................51
5.5.12.3 TPDO Mapping.................................................................................................54
5.5.12.4 Manager Settings..............................................................................................57
5.5.12.5 SYNC / Emergency........................................................................................... 59
5.5.12.6 Heartbeat / Guarding........................................................................................61
5.5.12.7 Object Lists.......................................................................................................63
5.5.12.8 EDS Device Info ............................................................................................... 64
5.5.12.9 EDS File Info ....................................................................................................64
5.5.12.10 EDS Comments................................................................................................ 64
5.5.13 Output......................................................................................................................65
5.6 Module In- and Output....................................................................................................66
5.6.1 Overview..................................................................................................................67
5.6.2 CANopen Manager..................................................................................................67
5.6.3 CANopen Devices ...................................................................................................68
5.7 Diagnostics.....................................................................................................................70
5.7.1 Alarms.....................................................................................................................70
5.7.2 Provider and Consumer Status................................................................................75
5.8 Records..........................................................................................................................76
5.8.1 SDO Upload (0xB711).............................................................................................78
5.8.2 SDO Download (0xB713).........................................................................................81
5.8.3 Configure SDO Timeout (0xB715)...........................................................................82
5.8.4 Start CANopen Device (0xB731) .............................................................................82
5.8.5 Stop CANopen Device (0xB732)..............................................................................82
5.8.6 Set CANopen Device to PRE-OPERATIONAL (0xB733).........................................83
5.8.7 Reset CANopen Device (0xB734)............................................................................83
5.8.8 Reset Communication (0xB735)..............................................................................83
5.8.9 Initialize Gateway (0xB751) .....................................................................................83
5.8.10 Set Heartbeat Producer (0xB754)............................................................................84
5.8.11 Set Node ID (0xB755).............................................................................................. 85
5.8.12 Start Emergency Consumer (0xB756) .....................................................................85
5.8.13 Stop Emergency Consumer (0xB757)......................................................................85
5.8.14 Read Version (0xB762)............................................................................................86
5.8.15 Reset CANopen Manager (0xB771).........................................................................86
5.8.16 Start CANopen Manager (0xB772) ..........................................................................86
5.8.17 Stop CANopen Manager (0xB773)...........................................................................87
5.8.18 Reset CANopen Device EMCY (0x003A).................................................................87
5.8.19 PLC Function Blocks ...............................................................................................88
5.8.19.1 Read Records...................................................................................................88
5.8.19.2 Write Records...................................................................................................89
5.9 CANopen-PN/2 Object Directory.....................................................................................90
5.9.1 Objects of CiA Specification CiA 301.......................................................................90
5.9.2 Objects of CiA Specification CiA 302-2....................................................................91
6Firmware Update...................................................................................................................92
7CAN Monitoring ..................................................................................................................... 93
8Compatibility..........................................................................................................................95
8.1 CANopen-PN Compatibility Mode...................................................................................95
9Troubleshooting.....................................................................................................................96
9.1 Faulty PROFINET Connection........................................................................................96
9.2 Faulty CAN Bus.............................................................................................................. 96
9.3 Faulty CANopen Device.................................................................................................. 97
9.4 Invalid CAN Busload.......................................................................................................98
9.5 Support by esd................................................................................................................98
10 Technical Data....................................................................................................................... 99
10.1 General Technical Data.................................................................................................. 99
10.2 CPU and Memory...........................................................................................................99
10.3 Connectors accessible from Outside.............................................................................100
10.4 PROFINET IO Interface................................................................................................ 100

CANopen-PN/2
Manual Doc. No.: C.2931.21 / Rev. 1.0
Page 9 of 119
10.5 DIAG Interface.............................................................................................................. 100
10.6 CAN Interface...............................................................................................................101
11 Connector Pin Assignments.................................................................................................102
11.1 CAN.............................................................................................................................. 102
11.2 24V Power Supply Voltage ...........................................................................................103
11.3 PROFINET IO...............................................................................................................104
11.4 DIAG............................................................................................................................. 105
12 Correct Wiring of Electrically Isolated CAN Networks........................................................... 106
12.1 CAN Wiring Standards.................................................................................................. 106
12.2 Light Industrial Environment (Single Twisted Pair Cable).............................................. 107
12.2.1 General Rules........................................................................................................ 107
12.2.2 Cabling ..................................................................................................................108
12.2.3 Branching ..............................................................................................................108
12.2.4 Termination Resistor.............................................................................................. 108
12.3 Heavy Industrial Environment (Double Twisted Pair Cable).......................................... 109
12.3.1 General Rules........................................................................................................ 109
12.3.2 Device Cabling ......................................................................................................110
12.3.3 Branching ..............................................................................................................110
12.3.4 Termination Resistor.............................................................................................. 110
12.4 Electrical Grounding......................................................................................................111
12.5 Bus Length ...................................................................................................................111
12.6 Examples for CAN Cables ............................................................................................112
12.6.1 Cable for Light Industrial Environment Applications (Two-Wire).............................112
12.6.2 Cable for Heavy Industrial Environment Applications (Four-Wire).......................... 112
13 CAN Troubleshooting Guide................................................................................................113
13.1 Termination................................................................................................................... 113
13.2 Electrical Grounding......................................................................................................114
13.3 Short Circuit in CAN Wiring........................................................................................... 114
13.4 Correct Voltage Levels on CAN_H and CAN_L.............................................................114
13.5 CAN Transceiver Resistance Test................................................................................ 115
13.6 Support by esd..............................................................................................................115
14 References.......................................................................................................................... 116
15 Declaration of Conformity..................................................................................................... 117
16 PROFINET IO Certificate..................................................................................................... 118
17 Order Information................................................................................................................. 119
List of Tables
Table 1: Description of PROFINET IO LEDs ................................................................................16
Table 2: Indicator states of the Status LEDs.................................................................................17
Table 3: Description of Status LEDs.............................................................................................17
Table 4: CANopen Object Directory..............................................................................................21
Table 5: SDO Communication Parameter 1..................................................................................22
Table 6: SDO Communication Parameter 2..................................................................................23
Table 7: CANopen SDO Error Codes...........................................................................................24
Table 8: CANopen NMT States....................................................................................................25
Table 9: Important CANopen Telegrams ......................................................................................26
Table 10: Manual installation of the RNDIS driver ........................................................................29
Table 11: Configuration - Quick Start Guide.................................................................................30
Table 12: GSDML Composer Quick Start Guide...........................................................................37
Table 13: GSDML Composer File Parameter...............................................................................41
Table 14: GSDML Composer View Parameter.............................................................................42
Table 15: GSDML Composer Settings Parameter........................................................................42
Table 16: GSDML Composer Device Library Parameter ..............................................................43

Page 10 of 119
Manual Doc. No.: C.2931.21 / Rev. 1.0
CANopen-PN/2
Table 17: GSDML Composer Display Options..............................................................................46
Table 18: GSDML Composer Device Context Menu.....................................................................46
Table 19: GSDML Composer CANopen Manager Parameter.......................................................49
Table 20: GSDML Composer RPDO Mapping Parameter............................................................52
Table 21: GSDML Composer TPDO Mapping Parameter.............................................................55
Table 22: GSDML Composer Manager Settings Parameter.........................................................58
Table 23: GSDML Composer Sync/Emergency Parameter..........................................................60
Table 24: GSDML Composer Sync/Emergency Parameter..........................................................62
Table 25: GSDML Composer Object List Parameter....................................................................64
Table 26: CANopen-PN/2 Slot Structure ......................................................................................67
Table 27: PLC Address Space → CANopen Objects................................................................69
Table 28: Read Alarm Function Block Parameter.........................................................................71
Table 29: Alarm Information .........................................................................................................72
Table 30: CANopen Error Codes..................................................................................................74
Table 31: CANopen Error Register...............................................................................................74
Table 32: CANopen-PN/2 Read Records.....................................................................................76
Table 33: CANopen-PN/2 Write Records .....................................................................................77
Table 34: Write Record SDO Upload (0xB711) ............................................................................78
Table 35: Read Record SDO Upload (0xB711) ............................................................................78
Table 36: CANopen SDO Data types ...........................................................................................79
Table 37: SDO Transfer Error Code.............................................................................................80
Table 38: Write Record SDO Download (0xB713)........................................................................81
Table 39: Write Record Configure SDO Timeout (0xB715)...........................................................82
Table 40: Write Record Start CANopen Device (0xB731).............................................................82
Table 41: Write Record Stop CANopen Device (0xB732).............................................................82
Table 42: Write Record Set CANopen Device to PRE-OP. (0xB733)............................................83
Table 43: Write Record Reset CANopen Device (0xB734)...........................................................83
Table 44: Write Record Reset Communication (0xB735)..............................................................83
Table 45: Write Record Initialize Gateway (0xB751).....................................................................83
Table 46: CAN Bit Timing.............................................................................................................84
Table 47: Write Record Set Heartbeat Producer (0xB754)...........................................................84
Table 48: Write Record Set Node ID (0xB755).............................................................................85
Table 49: Write Record Start Emergency Consumer (0xB756).....................................................85
Table 50: Write Record Stop Emergency Consumer (0xB757).....................................................85
Table 51: Read Record Read Version (0xB762)...........................................................................86
Table 52: Write Record Reset CANopen Manager (0xB771)........................................................86
Table 53: Write Record Start CANopen Manager (0xB772)..........................................................86
Table 54: Write Record Stop CANopen Manager (0xB773)..........................................................87
Table 55: Write Record Reset CANopen Device EMCY (0x003A)................................................87
Table 56: Read Record Function Block Parameter.......................................................................88
Table 57: Write Record Function Block Parameter.......................................................................89
Table 58: CANopen-PN/2 object directory CiA Specification 301 .................................................91
Table 59: CANopen-PN/2 object directory CiA Specification 302-2..............................................91
Table 60: Firmware Update..........................................................................................................92
Table 61: CAN Monitoring............................................................................................................93
Table 62: General Data of the module..........................................................................................99
Table 63: CPU and Memory.........................................................................................................99
Table 64: Connectors, accessible from outside..........................................................................100
Table 65: Data of the PROFINET IO interface............................................................................100
Table 66: Data of the USB device interface................................................................................100
Table 67: Data of the CAN interface...........................................................................................101
Table 68: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ................111
Table 69: Order information hardware........................................................................................119
Table 70: Available manuals ......................................................................................................119