Helmholz 700-670-PNC01 User manual

Helmholz GmbH & Co. KG | Hannberger Weg 2 | 91091 Großenseebach | Germany 05.10.2023
Phone [phone] | Fax [phone] | [e-mail] | www.helmholz.de
Quickstart Guide
PN/CAN Gateway CANopen Master
Order number: 700-670-PNC01
Version
en
4

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Content
1Safety instructions ................................................................................................ 3
2Introduction ......................................................................................................... 3
3Function of PN/CAN Gateway CANopen Master ................................................... 4
4Connection........................................................................................................... 4
4.1 Power supply ............................................................................................................................... 4
4.2 CAN-Bus....................................................................................................................................... 4
4.3 PROFINET ..................................................................................................................................... 4
4.4 USB interface ................................................................................................................................ 4
5Download and Installation of GSDML file ............................................................. 5
5.1 Install GSDML file in TIA Portal...................................................................................................... 5
6Configuring the PN/CAN-Gateway ....................................................................... 6
6.1 Parameterize CANopen Master ..................................................................................................... 6
6.2 Add and configure a CANopen Device.......................................................................................... 7
6.3 Add and configure PDOs (process data object)............................................................................. 8
7Assign a PROFINET device name to the PN/CAN gateway..................................... 9
8Programming in the PLC ....................................................................................10
8.1 Master Control (2 Bytes Output)................................................................................................. 10
8.2 Master Status (4 Bytes Output) ................................................................................................... 11
8.3 CANopen Device Status (3 Bytes Output) ................................................................................... 11
8.4 PDO-Data ................................................................................................................................... 11
8.5 SDO Communication ................................................................................................................. 12
8.6 Emergency messages.................................................................................................................. 12
9LED-based diagnosis...........................................................................................12
10 Technical data .................................................................................................13

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1Safety instructions
Target audience
This description is only intended for trained personnel qualified in control and automation
engineering who are familiar with the applicable national standards. For installation,
commissioning, and operation of the components, compliance with the instructions and
explanations in this operating manual is essential. The specialist personnel are to ensure that
the application or the use of the products described fulfills all safety requirements, including all applicable
laws, regulations, provisions, and standards.
Intended use
The device has a protection rating of IP 20 (open type) and must be installed in an electrical
operating room or a control box/cabinet to protect it against environmental influences. To
prevent unauthorized operation, the doors of control boxes/cabinets must be closed and
possibly locked during operation. The consequences of improper use may include personal
injury to the user or third parties, as well as property damage to the control system, the product, or the
environment. Use the device only as intended!
Operation
Successful and safe operation of the device requires proper transport, storage, setup, assembly,
installation, commissioning, operation, and maintenance. Operate the device only in flawless
condition. The permissible operating conditions and performance limits (technical data) must
be adhered to. Retrofits, changes, or modifications to the device are strictly forbidden.
Security
The device is a network infrastructure component and therefore an important element in the
security consideration of a plant. When using the device, therefore, observe the relevant
recommendations to prevent unauthorized access to installations and systems.
2Introduction
This document explains the initial commissioning of the PN/CAN-Gateway
CANopen Master. The latest version of the documentation can be found at
www.helmholz.de or scan the QR code directly.

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3Function of PN/CAN Gateway CANopen Master
The "PN/CAN Gateway, PROFINET/CANopen Master" integrates a CANopen network into a PROFINET
network. It works on the CANopen network as a fully-fledged CANopen master and enables the
integration of process and service data from CANopen slave devices into the IO area of a PROFINET CPU.
4Connection
4.1 Power supply
The PN/CAN gateway must be supplied with DC 18 ... 30 V must be supplied
with DC 24 V via the supplied connector plug.
The housing of the PN/CAN-Gateway Coupler is not grounded.
Please connect the functional earth terminal of the PN/CAN-Gateway
properly to the reference potential.
The device is intended to be supplied by an isolated Limited Energy Source according to UL61010-1
(3rd ed cl. 9.4) or according to UL60950-1/UL62368-1 or Class 2 according to NEC. Please use Cu
power supply wires, AWG 28-12. Maximum length of removed insulation is 10 mm. Temperature
cable rating is 87 °C.
4.2 CAN-Bus
The CAN bus is connected to the "CAN" interface using a SUB-D
plug (e.g. Helmholz CAN bus connector) to the "CAN" interface.
The PN/CAN gateway does not contain a CAN terminating
resistor. If the PN/CAN gateway is connected to the end of a
CAN stub line, the terminating resistor in the CAN connector
must be activated.
"CAN-GND" is isolated from the operating voltage and USB.
4.3 PROFINET
The RJ45 Ethernet sockets "X1 P1" and "X1 P2" are used to connect the PROFINET network.
The PROFINET Ethernet sockets are only intended for connection to computer networks (LANs) and
must not be connected to telephone networks or telecommunications lines.
4.4 USB interface
The service USB interface is only required for the firmware update and for diagnoses in the event of
support. The USB interface is isolated potential-free from the supply voltage.
Pin CAN bus D-sub-connector
1
-
2
CAN Low
3
CAN GND
4 -
5
-
6
-
7
CAN High
8
-
9 -

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5Download and Installation of GSDML file
The latest GSDML file is available on the website www.helmholz.de. Go to the product
page of the "PN/CAN Gateway CANopen Master" and then to the download area or
follow the link stored in the QR code. There you can download the GSDML file of the
“PN/CAN Gateway CANopen Master” in zipped form. Before installation, the zipped
files must be unzipped accordingly.
The GSDML file is required for integration into an engineering tool for the PROFINET side. It has the file
extension "xml" and is delivered together with an image file in BMP format. The installation of the
GSDML file in the TIA Portal is described below as an example.
5.1 Install GSDML file in TIA Portal
You can install the GSDML file of the PN/CAN-Gateway in the TIA Portal by selecting the directory with
the unzipped GSDML file as the source path in the "Extras / Manage station description file (GSD)" menu.
Then the GSDML file is displayed for selection and can be installed via the corresponding button.
After successful installation, the
PN/CAN-Gateway is listed in the
hardware catalog of the TIA Portal
under „ Other field devices 
PROFINET IO Gateway 
Helmholz PN/CAN Gateways“.

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6Configuring the PN/CAN-Gateway
Add the "PN/CAN-Gateway CANopen" to the project and connect it to your PROFINET network.
By calling the properties a unique PROFINET name should be assigned to the PN/CAN gateway and the IP
address should be checked for plausibility.
The name of the configured device must be assigned to the physical device later (see Chap. 7).
6.1 Parameterize CANopen Master
The first slot entry "Parameter" contains the module parameters for the behavior of the CANopen master.

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Set the CAN bit rate and the CAN master node ID. In some applications a SYNC telegram or heartbeat
telegrams of the master is necessary for operation. The other "PN/CAN CO" slot entries do not contain
any parameters.
6.2 Add and configure a CANopen Device
A "CANopen Device" is a CANopen slave station that is to be managed on the CAN network by the
CANopen master. An entry must be created for each CANopen slave.
The parameters of the CANopen slave can be specified under the properties of the CANopen device entry.
The device node ID of the CANopen slave must be set correctly.
If the option "Slave is mandatory" is selected, all CANopen nodes on the CAN bus of the PN/CAN-
Gateway are not switched to operational until this device is present and parameterized.

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6.3 Add and configure PDOs (process data object)
TPDOs (Transmit Process Data Objects) are data that are sent from the CANopen slave to the PLC (input
data from PLC view). RPDOs (Receive Process Data Objects) are data sent from the PLC to the CANopen
slave (output data from PLC view). The data size of the PDOs depends on the data in the PDO (PDO
mapping) and can be between one and 8 bytes.
The order of the TPDO and RPDO entries in the configuration can be chosen arbitrarily. All TPDO and
RPDO entries that follow a CANopen device entry belong exactly to this device.
Which PDOs with which lengths the connected CAN device contains can usually be found in the manual
of the respective CANopen slave or can be requested from the manufacturer.
By specifying the PDO number (1..16), the PN/CAN gateway automatically send all the necessary settings
for the PDO during startup.
Alternatively, it is also possible to specify a device-specific COB-ID (PDO number must then be '0'). In
this case, it is assumed that all PDO settings have already been made in the CAN device in advance.
The PN/CAN gateway will then not change the PDO settings during startup.
A maximum of 32 PDOs can be configured per slave, 16 TPDOs and 16 RPDOs.

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7Assign a PROFINET device name to the PN/CAN gateway
When the configuration of the PN/CAN gateway in the PROFINET Engineering Tool is complete, it can
be imported into the PLC.
So that the PN/CAN gateway can be found by the PROFINET controller, the PROFINET device name must
be assigned to the PN/CAN gateway. To do this, use the "Assign device name" function which you can
access with the right mouse button or in the Online menu when the PN/CAN gateway is selected.
Use the "Update list" button to search the network for PROFINET stations. With "Assign Name" the
PROFINET device name can be assigned to the device.
The clear identification of the PN/CAN gateway is ensured here by the MAC address of the device. The
MAC address of the device is on the front of the PN/CAN gateway.
If the PN/CAN gateway has been assigned the correct PROFINET device name, it is recognized by the PLC
and configured. When the configuration has run correctly, the blue "Mode" LED should blink.
To set the PROFINET name, the Helmholz “IPSet” Tool can also be used, which can be
downloaded free of charge from the Helmholz website. Scan the following QR code to
download IPSet Tool

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8Programming in the PLC
No handling blocks are required in the PLC for simple operation. The control and status query of the
PN/CAN gateway can be performed directly via the I/O image.
For the startup of the example project, the value 2 must be written in the output word in "Master
Control" ("NMT-State Control"). After start-up of the PN/CAN gateway and initialization of the CANopen
slave, the gateway also reports a 2 in the 4th byte of the master status ("NMT-State", see below).
The CANopen system is operational, and the I/O data of the slave can be read and written.
8.1 Master Control (2 Bytes Output)
The two master control bytes in the output image of the PLC can be used to control the behavior of the
PN/CAN gateway.
Byte/Bit
7
6
5
4
3
2
1
0
Out 0
-
-
-
-
-
-
-
-
Out 1 User reset activate
LSS mode
Clear
emergency
FIFO error
Send
SYNC
frame
reserved
Clear CAN
Rx overflow
error
NMT state control
The NMT-State Control bits are used to control the state of the CANopen network:
Boot up (0) = The CANopen master has been switched off. No CAN frames are being transmitted or
received. If the state was previously Operational (value 2), the CANopen slaves are stopped ("NMT Pre-
Operational" or "NMT Stop" depending upon the configuration).
Pre-Operational (1) = If the previous state was 0, all CANopen slaves are initialized. The status 1 is
subsequently displayed in the master state. If the previous state was Operational (2) or Stop (3), only an
"NMT Pre-Operational" is transmitted.
Operational (2) = If the previous status was 0, all CANopen slaves are initialized and "NMT Operational"
subsequently transmitted. The PDO data is only exchanged in status 2. If the previous state was Pre-
Operational (1) or Stop (3), only an "NMT Operational" is transmitted.
Stop (3) = An NMT-Stop is transmitted to all slaves.
For more information, please refer to the manual.

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8.2 Master Status (4 Bytes Output)
Byte/bit 7 6 5 4 3 2 1 0
In 0 Gateway
configured
- - - - - - -
In 1 User reset
requested
LSS mode
active
Emergency
Lost
SYNC
transmitte
d
No CAN
connection
CAN RX-FIFO
overflow
CAN bus
error (Rx/Tx)
CAN bus
offline
In 2
-
-
General error bits of the slave errors
In 3 Master error 0 0 NMT state
Gateway configured indicates that the PN/CAN gateway has been configured. The bit is also set for an
incorrect configuration.
NMT state indicates the current status of the CANopen master. Principally an attempt is made to assume
the state called for in the NMT State Control. However, this can be prevented by the absence of slaves
configured as mandatory (necessary).
BootUp (0) = The master has been switched off. No CAN frames are being transmitted or received.
Pre-Operational (1) = The master is found at the end of the slave configuration; at least all mandatory
slaves are initialized and in Pre-Operational.
Operational (2) = The master is in the Operational state; all mandatory slaves are in Operational.
Stop (3) = The master is in the Stop state; all accessible slaves have been brought to the Stop state.
Continuous attempts are made to find missing slaves by reading the SDO 1000. Slaves that have been
newly detected at the CAN bus are automatically initialized and switched to the state wished by the
NMT State.
8.3 CANopen Device Status (3 Bytes Output)
Byte/bit 7 6 5 4 3 2 1 0
In 0
Restart of
slave
active
Resend
RPDOs
CANopen
profile false
Slave trans-
mitting false
TPDO length
Slave not
answering
SDO
abort
Slave
timeout
Incorrect
confi-
guration
In 1 SDO 1001 value of the slave
In 2 Configuration error Stop before
operational
Ignore
slave
Slave state
Slave state:
0 = Slave is still in the boot up, not present or cannot be addressed
1 = Slave has been initialized, nodeguarding or heartbeat are running, and it is in the
Pre-Operational state
2 = Slave is in Operational state
3 = Slave is in Stop state
8.4 PDO-Data
The PDO data are located as inputs (TPDOs) or as outputs (RPDOs) directly in the process image.
The inputs always show the last received data of the TPDO. If changed values are written to the outputs,
then RPDO telegrams are sent to the corresponding CANopen slave.

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8.5 SDO Communication
An SDO communication with the slaves can be executed after the initialization phase of the PN/CAN
gateway both in the Pre-Operational and in the Operational mode. Only one SDO job can be executed at
a time. Both reading and writing of SDOs is possible.
Refer to the manual for details on programming the SDO communication channel of the PN/CAN
gateway.
8.6 Emergency messages
Emergency messages from the slaves are always received by the PN/CAN gateway and forwarded to the
PLC. The PN/CAN gateway itself does not react actively to the emergency messages.
Details about programming the emergency message channel of the PN/CAN gateway can be found in the
manual.
9LED-based diagnosis
MODE
Off No power supply or device defective
Blue on PN/CAN gateway is correctly configured via PROFINET &
all (mandatory) CANopen slaves are in Operational state
Flashing blue PN/CAN gateway is correctly configured via PROFINET &
at least one CANopen slave is in Pre-Operational or Stop state
Red on No connection with PROFINET controller (PLC)
Flashing red Connection with the PROFINET controller (PLC) exists, but a configuration error exists
CAN RX
Flashing green CAN frame is received without errors
Red
CAN bus error in the recipient or
PN/CAN gateway hasn't been configured yet or
No connection
CAN TX
Flashing green CAN frames are being transmitted
Red
Transmission not possible (e.g. false Baud rate, CAN bus disrupted) or
PN/CAN gateway has not yet been configured or
No connection
BF/SF
yellow MODE flashes red: Configuration error
MODE on blue: CAN alarm active
red PROFINET network error

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10 Technical data
Order no. 700-670-PNC01
Name
PN/CAN gateway, PROFINET/CANopen Master
Scope of delivery
PN/CAN gateway with power plug
Dimensions (D x W x H)
35,5 x 83,5 x 76 mm
Weight
Approx. 160 g
PROFINET interface (X1)
Number
1
Connection
2x RJ45, integrated switch
Transmission rate
100 Mbps full duplex
Protocol PROFINET IO device as defined in IEC 61158-6-10
I/O image size max. 1440 bytes input / 1440 bytes output data
Features PROFINET Conformance Class C, Media redundancy (MRP client), Automatic
addressing, Topology detection (LLDP, DCP), Diagnosis alarms
CAN interface
Number 1
Type ISO/DIN 11898-2 CAN High-speed physical layer
Connection 9-pin D-sub male connector
Protocol CANopen master as defined in DSP301 V4.2
Baud rate 10, 50, 100, 125, 250, 500, 800, 1000 kbps
Number of slaves 126
TPDOs/RPDOs per slave 16 / 16
USB interface
Protocol Full-speed USB 2.0 device
Connection
USB-C
Electrically isolation
500 V
Power supply
Operating voltage
24 V DC, 18 … 30 V DC
Current draw
Max. 150mA
Power dissipation
Max. 4 W
Ambient conditions
Ambient temperature
0° C to 60° C
Transport and storage temperature -20° C to 80° C
Relative humidity 95% without condensation
Protection rating IP 20
Mounting position As desired
Compliance
Approvals CE
RoHS yes
REACH yes

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