Helmholz 700-651-CAN01 User manual
DP/CAN Coupler
PRPFIBUS DP for CAN-Bus Coupler
for CAN Layer 2
700-651-CAN01
Manual
Edition 5 / 25.06.2009 HW1 & FW 1.5X and higher
Order number of manual: 900-651-CAN01/en
Systeme Helmholz GmbH zHannberger Weg 2 zD-91091 Großenseebach
Phone: +49 9135 7380-0 zFax: +49 9135 7380-110 l E-mail: info@helmholz.de zInternet: www.helmholz.de
All rights are reserved, including those of translation, reprinting,
and reproduction of this manual, or parts thereof. No part of this
manual may be reproduced, processed, copied, or transmitted in
any way whatsoever (photocopy, microfilm, or other method)
without the express written permission of Systeme Helmholz
GmbH, not even for use as training material, or using electronic
systems. All rights reserved in the case of a patent grant or
registration of a utility model or design.
Copyright ©2009 by
Systeme Helmholz GmbH
Hannberger Weg 2, 91091 Grossenseebach, Germany
Note:
We have checked the content of this manual for conformity with
the hardware and software described. Nevertheless, because
deviations cannot be ruled out, we cannot accept any liability for
complete conformity. The information in this manual is regularly
updated. When using purchased products, please heed the latest
version of the manual, which can be viewed in the Internet at
www.helmholz.de, from where it can also be downloaded.
Our customers are important to us. We are always glad to receive
suggestions for improvement and ideas.
Step and SIMATIC are registered trademarks of SIEMENS
Revision history of this document:
Edition Date Revision
4 Notice about consistent data extended
5 18.05.2009 29-bit protocol implemented
Contents
1Safety Information 7
1.1 General 7
1.2 Restriction of access 8
1.3 Information for the user 8
1.4 Use as intended 8
1.5 Avoiding use not as intended! 8
2Installation and Mounting 9
2.1 Vertical and horizontal mounting 9
3System Overview 10
3.1 Application and function description 10
3.2 Connections 11
3.3 LED displays 11
3.4 DIP switches 11
3.5 Items supplied 12
3.6 Accessories 12
4Configuration (CAN Layer 2) 13
4.1 Installing and parameterizing the device 13
4.2 Defining the I/O address area in the PLC 16
4.3 Consistent data 17
4.4 Maximum parameter sizes and address ranges 17
4.5 Parameterizing transmit and receive messages 17
4.6 Parameterizing the Receive Object 18
4.6.1 11-bit protocol 18
4.6.2 29-bit protocol 19
5Programming (CAN Layer 2) 20
5.1 Data exchange 20
5.2 Handshake bits 20
5.3 Transmit and receive objects 21
5.4 Receive Object 22
5.4.1 11-bit protocol 22
DP/CAN Coupler 5
1Safety Information
Please observe the safety information given for your own and
other people's safety. The safety information indicates possible
hazards and provides information about how you can avoid
hazardous situations.
The following symbols are used in this manual.
!
Caution, indicates hazards and sources of error
i
Gives information
Hazard, general or specific
Danger of electric shock
1.1 General
The DP/CAN coupler is only used as part of a complete system.
!
The operator of a machine system is responsible for observing
all safety and accident prevention regulations applicable to the
application in question.
During configuration, safety and accident prevention rules
specific to the application must be observed.
Emergency OFF facilities according to EN 60204 / IEC 204
must remain active in all modes of the machine system. The system
must not enter an undefined restart.
Faults occurring in the machine system that can cause
damage to property or injury to persons must be prevented by additional
external equipment. Such equipment must also ensure entry into a safe
state in the event of a fault. Such equipment includes electromechanical
safety buttons, mechanical interlocks, etc. (see EN 954-1, risk
assessment).
Never execute or initiate safety-related functions using the
operator terminal.
DP/CAN Coupler 7
1.2 Restriction of access
The modules are open equipment and must only be installed in
electrical equipment rooms, cabinets, or housings. Access to the
electrical equipment rooms, barriers, or housings must only be
possible using a tool or key and only permitted to personnel
having received instruction or authorization. See also Section 0.
Only authorized persons
must have access to the
modules!
1.3 Information for the user
This manual is addressed to anyone wishing to configure or
install the DP/CAN coupler.
It is intended for use as a programming manual and reference
work by the configuring engineer. It provides the installing
technician with all the necessary data.
The DP/CAN coupler is intended for use with a PROFIBUS DP
network only. For that reason, the configuring engineer, user, and
installing technician must observe the standards, safety and
accident prevention rules applicable in the particular application.
The operator of the automation system is responsible for
observing these rules.
1.4 Use as intended
The DP/CAN coupler must only be used as a communication
system as described in the manual.
1.5 Avoiding use not as intended!
Safety-related functions must not be controlled via the DP/CAN
coupler alone.
8 DP/CAN Coupler
2Installation and Mounting
The DP/CAN 300 coupler must be installed according to VDE
0100 IEC 364. Because it is an “OPEN type” module, you must
install it in a (switching) cabinet. Ambient temperature: 0 ºC – 60
ºC.
Before you start installation work, all system components
must be disconnected from their power source.
Danger of electric shock!
During installation, application-specific safety and accident
prevention rules must be observed.
2.1 Vertical and horizontal mounting
The modules can be mounted either vertically or horizontally.
Permissible ambient temperature:
0 to 60 ºC
DP/CAN Coupler 9
3System Overview
3.1 Application and function description
The DP/CAN coupler from System Helmholz GmbH allows you to
connect any CAN stations to the PROFIBUS DP.
The DP/CAN coupler must be parameterized as a PROFIBUS
station in the Hardware Configurator. The necessary GSD files are
supplied with the device.
The PROFIBUS side is configured as a DP slave. The interfaces
meet EN 50170 and are electrically isolated. The baud rate of
9.6kBaud to 12Mbaud is detected automatically. The size of the
input and output information does not exceed 320 bytes.
The CAN bus interface meets ISO/DIN 11898-2 and is electrically
isolated.
The DP/CAN coupler can send and receive any CAN messages,
both CAN 2.0A (11bit) and CAN2.0B (29bit). You can define
messages with a fixed identifier whose data is always visible as an
I/O image in the PROFIBUS. As an alternative, the DP/CAN
coupler has a transmit and receive buffer for any CAN messages.
10 DP/CAN Coupler
3.2 Connections
PROFIBUS 9-way Sub-D socket:
Pin PROFIBUS DP
1 -
2
3 Data line B
4 -
5 GND
6 VP (power supply for terminating resistors)
7 -
8 Data line A
9 -
3-way CAN connector (no terminating resistor):
1 CAN High
2 CAN-GND
3 CAN-Low
3-way power supply:
1 GND
2 V-
3 V+
3.3 LED displays
The three LEDs on the front of the module inform you about its
operating state.
LED Power (green): Continuous light indicates that the PROFIBUS
is running and the CPU is in run mode. Slow
blinking indicates that the CPU
is in stop mode.
LED DP (green): A parameterization error on the
PROFIBUS has occurred.
LED CAN (yellow): CAN frames are being received
by the CAN bus.
3.4 DIP switches
The 8-switch DIP switch on the housing front is
used for setting the PROFIBUS address of the
device.
A
ny change to the switch
p
osition is only applied
after the next time the
device is powered up!
The switches are counted from bottom to top.
Switch Function
8 not used
7 26+ 64
6 25+ 32
5 24+ 16
4 23+ 8
3 22+ 4
2 21+ 2
1
P
address
20+ 1
ROFIBUS
DP/CAN Coupler 11
3.5 Items supplied
DP/CAN Coupler Layer 2 700-651-CAN01
incl. 2 x 3-pin connector for CAN bus and 24V power supply
CS with GSD files and instructions
3.6 Accessories
Manual, German/English 900-651-CAN01
CAN bus plug connector 700-690-0BA11
CAN bus plug connector with cable connector 700-690-0BB11
CAN bus plug connector with axial cable outlet 700-690-0CA11
12 DP/CAN Coupler
4Configuration (CAN Layer 2)
In Layer 2 mode the DP/CAN coupler can transmit and receive
any CAN messages (CAN 2.0A/B, 11-bit and 29-bit).
A distinction is made between two different transmission
methods. In the first method, the identifier and size of the CAN
message is permanently parameterized in the transmit and receive
objects and only the data are transmitted via the PROFIBUS. Each
transmit and receive object therefore corresponds to one CAN
frame.
In the second method the Receive Object can receive several
messages filtered by a parameterizable acceptance mask. In this
method not only the data but also the identifier and the length of
the CAN frame is transmitted via the PROFIBUS to the PLC
application.
Any number of CAN messages can be sent with this type of
Transmit Object. Moreover, this type of Transmit Object can also
transmit the message cyclically at a fixed time.
4.1 Installing and parameterizing the device
Before you can use the DP/CAN coupler with Layer 2 in the
Hardware Configurator you must install the supplied GSD files
“DP2C_L2h.GSD” for 11 bits and “DP29_L2B.GSD” for 29 bits.
You can do this in the Hardware Configurator under menu item
“Options / Install GSD Files.”
Having done that you will find the DP/CAN coupler in the
hardware catalog under ‘Additional FIELD DEVICES / IO /
Helmholz.’
You can now drag and drop “DP/CAN coupler L2 V2h” or
“DP/CAN coupler L2 V2 29B” onto a PROFIBUS network you have
already set up.
DP/CAN Coupler 13
You can assign a station address to the slave here.
14 DP/CAN Coupler
The DP/CAN coupler is supplied with the necessary information
with the parameterization frame from the master on start-up
about the CAN frames to be processed.
The following CAN parameters are defined here:
CAN baud rate
Cyclic transmission time of the Transmit Obect (if
required)
Number of receive and transmit messages
CAN baud rate:
Possible baud rates: 1 Mbps, 500 Kbps, 250 Kbps, 125 Kbps, 100
Kbps, 50 Kbps, 20 Kbps, 10 Kbps
Timer for Transmit Object:
You can set a time (10 ms to 1000 ms) for cyclic transmission of
the Transmit Object here. If you select the option “Deactivated”
the Transmit Object is always sent immediately and once only.
Stating an incorrect
number of
receive/transmit objects
results in data
corruption or bus start
errors!
Number of Receive Objects:
The number of Receive Objects (DI) used.
Number of Transmit Objects:
The number of Transmit Objects (DO) used.
DP/CAN Coupler 15
4.2 Defining the I/O address area in the PLC
Once the basic parameters of the CAN bus have been defined all
data elements must be shown in the I/O area of the CPU.
The first 6 elements must always be at the beginning of the list in
the defined sequence. The I/O addresses are freely selectable.
The “DI" elements must be defined before the “DO” elements!
16 DP/CAN Coupler
4.3 Consistent data
All data elements are defined as consistent data. This prevents
inconsistencies within the SDO and PDO data. The addresses of
the data elements can be located in the cyclic process image or
outside the cyclic process image. If the data is outside the cyclic
process image, access must be performed with the peripheral
access commands, “L PEx” or “T PAx.”
i
A
ll CAN messages are
defined as consistent
data areas in the
P
ROFIBUS.
If 3, 5, or more than 5 bytes are to be transmitted consistently,
SFC 14 “DPRD_DAT – read consistent data” and SFC 15
“DPWR_DAT – write consistent data” must be used to update the
data on older CPUs.
The blocks are described in the Siemens Manual “System and
Standard Functions for S7-300/400,” Volume 1, Section 16.
i
The maximum number
of objects depends on the
CAN protocol used (11
bit/29 bit).
4.4 Maximum parameter sizes and address ranges
You can define maximum 44 slots (elements) for 11 bits or 36
slots (elements) for 29 bits. Of these, 6 elements are already
permanently assigned. The maximum number of assignable input
or output addresses is 240 bytes each, but together no more than
312 bytes.
P
lease pay attention to
the maximum parameter
sizes!
The parameters of the elements must not take up more than 120
bytes. The basic parameters already fill 7 bytes and each further
“DI” or “DO” entry requires three further bytes.
4.5 Parameterizing transmit and receive messages
Now the transmit and receive messages (“DI x byte,” “DO x byte”)
can be defined on the remaining slots of the DP/CAN coupler.
P
lease note the different
I
D ranges for 11 bits and
29 bits!
DP/CAN Coupler 17
Each transmit or receive object can be defined for exactly one
CAN message. The length of the CAN message corresponds to the
size of the DI/DO object. The CAN ID is defined in the parameter
set.
4.6 Parameterizing the Receive Object
The Receive Object must also be parameterized if it is to be used.
4.6.1 11-bit protocol
In order to receive any CAN frames with the Receive Object the
upper 8 bits of the CAN identifier are first filtered with a mask
(acceptance mask) and then compared with a predefined value
(acceptance code). If this comparison is positive, the CAN frame is
entered in the Receive FIFO and the PLC is released.
10 9 8 7 6 5 4 3 2 1 0
Received CAN identifier
AcceptanceMask (e.g. 11110000)
AcceptanceCode (e.g. 1011xxxx) ignored
Acceptance Mask 11110000 (= 240) filters out the top 4 bits.
Acceptance code 1011xxxx (= 176) defines which frames are to be
accepted after filtering.
In this example it is the CAN frames with identifiers 0x580 to
0x5FF.
18 DP/CAN Coupler
4.6.2 29-bit protocol
In order to receive any CAN frames with the Receive Object the
upper 26 bits of the CAN identifier are first filtered with a mask
(acceptance mask) and then compared with a predefined value
(acceptance code). If this comparison is positive, the CAN frame is
entered in the Receive FIFO and the PLC is released.
28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Received CAN identifier
AcceptanceMask (e.g. 11111111111110000000000000)
AcceptanceCode (e.g. 1111111111111111111011xxxx)
ignored
Acceptance Mask 11111111111111111111110000 (= 536870784)
filters out the top 26 bits. Acceptance code
1111111111111111111011xxxx (= 536870272) defines which
frames are to be accepted after filtering.
In this example it is the CAN frames with identifiers 0x1FFFD80
to 0x1FFFFDFF.
DP/CAN Coupler 19
5Programming (CAN Layer 2)
5.1 Data exchange
When the master has detected that parameterization and
configuration is successfully completed without errors at the end
of the start-up phase and the PLC has been started, the DP/CAN
coupler can transmit and receive frames via CAN.
5.2 Handshake bits
The 5 bytes of the HANDSHK_IN area signal the receipt of CAN
messages via the Receive Object and the DI objects. The bits are
inverted each time a new message is received (toggle bit).
Byte Bit Function
0 0
New frame Receive Object
1
New frame receive object 1
2
New frame receive object 2
3
New frame receive object 3
4
New frame receive object 4
5
New frame receive object 5
6
New frame receive object 6
7
New frame receive object 7
……
4 0
New frame receive object 32
1
New frame receive object 33
2
New frame receive object 34
3
New frame receive object 35
4
New frame receive object 36
5
New frame receive object 37
6
New frame receive object 38
7
New frame receive object 39
The objects „RecObjStatus” and “RecObjCmd” must also be taken
into account in the interpretation of the Receive Object.
20 DP/CAN Coupler
Table of contents
