Helmholz 700-672-PNC01 User manual

Helmholz GmbH & Co. KG | Hannberger Weg 2 | D-91091 Großenseebach | Germany
Phone [phone] | Fax [phone] | [e-mail] | www.helmholz.com
PN/CAN Gateway, PROFINET/CANopen Slave
Manual
Version 2 | 1/26/2021 | for firmware V1.00 and above
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to newest version of
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To download the latest version of this manual, please visit our website at www.helmholz.de.
We welcome all ideas and suggestions.
Copyright © 2021 by
Helmholz GmbH & Co. KG
Hannberger Weg 2 | 91091 Großenseebach
Revision Record:
Version Date Change
1 12/4/2020 First version
2 1/26/2021 Corrections of content

PN/CAN Gateway, PROFINET/CANopen Slave | Version 2 | 1/26/2021 3
Contents
1General............................................................................................................. 5
1.1 Target audience for this manual............................................................................................... 5
1.2 Safety instructions ................................................................................................................... 5
1.3 Note symbols and signal words ............................................................................................... 6
1.4 Intended use ........................................................................................................................... 7
1.5 Improper use........................................................................................................................... 7
1.6 Liability.................................................................................................................................... 8
1.6.1 Disclaimer of liability............................................................................................................ 8
1.6.2 Warranty.............................................................................................................................. 8
1.7 Recycling / WEEE ..................................................................................................................... 9
2System overview.............................................................................................10
2.1 General/area of application ................................................................................................... 10
2.2 Properties of PN/CAN-Gateways CANopen ............................................................................ 10
3Installation .....................................................................................................11
3.1 Access restriction ................................................................................................................... 11
3.2 Electrical installation .............................................................................................................. 11
3.3 Protection against electrostatic discharges ............................................................................. 11
3.4 Overcurrent protection.......................................................................................................... 11
3.4.1 Operation .......................................................................................................................... 11
3.5 Installation position ............................................................................................................... 12
3.6 Minimum clearance............................................................................................................... 12
4Setup and wiring ............................................................................................13
4.1 EMC/safety/shielding............................................................................................................. 13
4.2 Wiring of the PN/CAN Gateway ............................................................................................. 14
4.2.1 Voltage supply................................................................................................................... 14
4.2.2 CAN bus connection .......................................................................................................... 14
4.2.3 PROFINET connection ........................................................................................................ 14
4.2.4 USB interface ..................................................................................................................... 14
5CAN bus.......................................................................................................... 15
5.1 Wiring a CAN Bus .................................................................................................................. 15
5.2 CAN bus plug........................................................................................................................ 15
5.3 The CANopen protocol.......................................................................................................... 16
5.3.1 CANopen objects............................................................................................................... 16

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5.3.2 CANopen functions ........................................................................................................... 17
5.3.3 Network management....................................................................................................... 18
6Setup and use .................................................................................................20
6.1 Transfer EDS or DCF file to PN/CAN Gateway......................................................................... 20
6.2 Configure Gateway................................................................................................................ 22
6.2.1 Install GSDML file .............................................................................................................. 22
6.2.2 Parameterization................................................................................................................ 23
6.2.3 Configuration .................................................................................................................... 24
6.2.4 Maximum extension of a PN/CAN Gateway configuration.................................................. 25
6.3 Assign the PROFINET device-name ......................................................................................... 26
7Programming in the PLC ................................................................................27
7.1 Control.................................................................................................................................. 27
7.2 Status .................................................................................................................................... 28
7.3 Read/write random SDO........................................................................................................ 30
7.3.1 Transfer of SDO data > 4 Byte ............................................................................................ 31
7.4 Transmitting Emergency Messages ........................................................................................ 32
7.4.1 Internal Emergency messages of PN/CAN Gateway............................................................ 33
7.5 PROFINET Diagnostic messages ............................................................................................. 34
8Internal SDO ...................................................................................................35
8.1 Start-up behavior SDO 2FFF................................................................................................... 35
8.2 Status SDO 2FFE .................................................................................................................... 35
8.3 Error register SDO 1001......................................................................................................... 35
8.4 Error memory SDO 1003 ....................................................................................................... 35
8.5 Node-ID SDO 100B................................................................................................................ 35
9LED-based diagnosis.......................................................................................36
10 Technical data..............................................................................................37

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1General
This operating manual applies only to devices, assemblies, software, and services of Helmholz GmbH
& Co. KG.
1.1 Target audience for this manual
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.
Configuration, execution, and operating errors can interfere with the proper operation of the PN/CAN
Gateways and result in personal injury, as well as material or environmental damage. Only suitably
qualified personnel may operate the devices!
Qualified personnel must ensure that the application and use of the products described meet all the
safety requirements, including all relevant laws, regulations, provisions, and standards.
1.2 Safety instructions
The safety instructions must be observed in order to prevent harm to living creatures, material goods,
and the environment. The safety notes indicate possible hazards and provide information about how
hazardous situations can be prevented.

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1.3 Note symbols and signal words
If the hazard warning is ignored, there is an imminent danger to life and health of people from electrical
voltage.
If the warning is ignored, there is a probable danger to life and health of people.
If the caution note is ignored, people can be injured or harmed.
Draws attention to sources of error that can damage equipment or the environment.
Gives an indication for better understanding or preventing errors.

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1.4 Intended use
The "PN/CAN Gateway CANopen Slave" enables the connection of a PROFINET network with a
CANopen network. The PN/CAN Gateway is a CANopen slave according to .CiA standard DSP301
V4.2.
All components are supplied with a factory hardware and software configuration. The user must carry
out the hardware and software configuration for the conditions of use. Modifications to hardware or
software configurations which are beyond the documented options are not permitted and nullify the
liability of Helmholz GmbH & Co. KG.
The PN/CAN Gateway may not be used as the only means for preventing hazardous situations on
machinery and systems.
Problem-free and safe operation of the PN/CAN Gateway presumes proper transport, storage, setup,
assembly, installation, commissioning, operation, and maintenance.
The ambient conditions provided in the technical specifications must be adhered to.
The PN/CAN Gateway has a protection rating of IP20 and must be installed in an electrical operating
room or a control box/cabinet in order to protect it against environmental influences. To prevent
unauthorized access, the doors of control boxes/cabinets must be closed and possibly locked during
operation.
1.5 Improper use
The consequences of improper use may include personal injuries of the user or third parties as well as
property damage to the control system, the product, or the environment. Use the PN/CAN Gateway only
as intended!

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1.6 Liability
The contents of this manual are subject to technical changes resulting from the continuous
development of products of Helmholz GmbH & Co. KG. In the event that this manual contains
technical or clerical errors, we reserve the right to make changes at any time without notice.
No claims for modification of delivered products can be asserted based on the information,
illustrations, and descriptions in this documentation. Beyond the instructions contained in the
operating manual, the applicable national and international standards and regulations must also be
observed in any case.
1.6.1 Disclaimer of liability
Helmholz GmbH &Co. KG is not liable for damages if these were caused by use or application of
products that was improper or not as intended.
Helmholz GmbH & Co. KG assumes no responsibility for any printing errors or other inaccuracies
that may appear in the operating manual unless there are serious errors about which Helmholz GmbH
& Co. KG was already demonstrably aware.
Beyond the instructions contained in the operating manual, the applicable national and
international standards and regulations must also be observed in any case.
Helmholz GmbH & CO. KG is not liable for damage caused by software that is running on the user’s
equipment which compromises, damages, or infects additional equipment or processes through the
remote maintenance connection and which triggers or permits unwanted data transfer.
1.6.2 Warranty
Report any defects to the manufacturer immediately after discovery of the defect.
The warranty is not valid in case of:
•Failure to observe these operating instructions
•Use of the device that is not as intended
•Improper work on and with the device
•Operating errors
•Unauthorized modifications to the device
The agreements met upon contract conclusion under “General Terms and Conditions of Helmholz
GmbH & Co. KG” apply.

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1.7 Recycling / WEEE
The company Helmholz GmbH & Co. KG is registered as a manufacturer with the HELMHOLZ brand
and the device type "Small devices of information and telecommunications technology for exclusive
use in households other than private households" as well as the following registration data:
Helmholz GmbH & Co. KG,
Location / Headquarters: 91091 Großenseebach,
Address: Hannberger Weg 2,
Name of authorized representative: Carsten Bokholt,
Registration number: DE 44315750.
The electrical devices described in this document are to be recycled. According to Directive 2012/19 /
EU on waste electrical and electronic equipment (WEEE), they must not be disposed of by municipal
waste disposal companies.

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2System overview
2.1 General/area of application
The "PN/CAN Gateway, PROFINET/CANopen Slave" enables the coupling of machines with CANopen
bus to machines with PROFINET network. The PN/CAN Gateway represents a freely configurable,
fully-fledged CANopen device on the CAN bus and extended the PLC – system / machine to a
CANopen device.
On the PROFINET network, the PN/CAN Gateway is a PROFINET I/O device. The data of the CANopen
SDOs are transparently and freely configurable inserted into the PROFINET network and can thus be
read or written directly in the PLC.
The PN/CAN Gateway is integrated into the hardware configurator of the PROFINET controller with a
GSDML file, and all values of the PN/CAN-Gateways are available as IO information. Special handling
blocks are not necessary. An EDS or DCF file is used to permanently load a manufacturer-specific
CANopen device configuration into the device.
2.2 Properties of PN/CAN-Gateways CANopen
The PN/CAN Gateway, PROFINET/CANopen Master has the following properties:
•PROFINET IO device as defined in IEC 61158-6-10
•Integrated two-port Ethernet switch
•Full-duplex transmission rate of 100 Mbps
•PROFINET Conformance Class C
•Media redundancy (MRP client)
•CANopen device as of CANopen protocol DSP 301
•Up to 1 Mbps CAN bit rate
•Up to 16 TPDOs / 16 RPDOs
•Up to 1440 bytes input and 1440 bytes output data on PROFINET
•Supports NMT, Heartbeat, node guarding, Sync and emergency messages
•Configuration using GSDML file
•No handling blocks necessary
•24 V DC power supply
•3 LEDs, bi-color
•USB device interface to load the configuration and for online diagnosis and firmware update

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3Installation
3.1 Access restriction
The modules are open operating equipment and must only be installed in electrical equipment
rooms, cabinets, or housings.
Access to the electrical equipment rooms, cabinets, or housings must only be possible using a tool or
key, and access should only be granted to trained or authorized personnel.
3.2 Electrical installation
Observe the regional safety regulations.
3.3 Protection against electrostatic discharges
To prevent damage through electrostatic discharges, the following safety measures are to be followed
during assembly and service work:
•Never place components and modules directly on plastic items (such as polystyrene, PE film) or in
their vicinity.
•Before starting work, touch the grounded housing to discharge static electricity.
•Only work with discharged tools.
•Do not touch components and assemblies on contacts.
3.4 Overcurrent protection
Overcurrent protection is not necessary as the PN/CAN Gateway transports no load current. The
power supply of the PN/CAN Gateway electronics is to be secured externally with a fuse of maximum
1 A (slow-blowing).
3.4.1 Operation
Operate the PN/CAN Gateway only in flawless condition. The permissible operating conditions and
performance limits must be adhered to.
Retrofits, changes, or modifications to the device are strictly forbidden.
The PN/CAN Gateway is a piece of operating equipment intended for use in industrial plants. During
operation, all covers on the unit and the installation must be closed in order to ensure protection
against contact.
Bus connections are interrupted when the PN/CAN Gateway is switched off!
Before commencing with any kind of work on the PN/CAN Gateway, ensure that no unpermitted
disruptions of connected systems occur following interruption of the bus connections.

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Installation must be carried out according to VDE 0100/IEC 364 and performed in accordance with
applicable national standards. The PN/CAN Gateway has protection rating IP20. If a higher protection
rating is required, the system must be installed in a housing or control cabinet. In order to ensure safe
operation, the ambient temperature must not exceed 60°C.
3.5 Installation position
The PN/CAN Gateway can be installed in any position. The front plate must be accessible in order to
plug in bus lines.
3.6 Minimum clearance
It is recommended to adhere to the minimum clearances specified when installing devices. Adhering
to these minimum clearances will ensure that:
•The modules can be installed and removed without having to remove any other system
components
•There will be enough space to make connections to all existing terminals and contacts using
standard accessories
•There will be enough space for cable management systems (if needed)

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4Setup and wiring
4.1 EMC/safety/shielding
The PN/CAN Gateway complies with EU Directive 2004/108/EC (“Electromagnetic Compatibility”).
One effective way to protect against disturbances caused by electromagnetic interference is to shield
electric cables, wires, and components.
When setting up the system and routing the required cables, make sure to fully comply with all
standards, regulations, and rules regarding shielding. Precisely observe the corresponding texts of the
PROFIBUS user organization for setting up PROFINET and the setup guidelines of CANopen. All work
must be done professionally!
Shielding faults can result in serious malfunctions, including the system’s failure.
To ensure electromagnetic compatibility (EMC) in your control cabinets in electrically harsh
environments, the following EMC rules are to be observed in the design:
•All metal parts of the cabinet are to be connected with each other over a large area with good
conductivity (no paint on paint). Where necessary, use contact washers or serrated washers.
•The cabinet door must be connected to the ground straps (top, middle, bottom) over as short a
distance as possible.
•Signal cables and power cables are to be laid separated spatially by a minimum distance of 20 cm
from each in order to avoid coupling paths.
•Run signal lines only from one level into the cabinet if possible.
•Unshielded cables in the same circuit (outgoing and incoming conductors) must be twisted if
possible.
•Contactors, relays, and solenoid valves in the closet, or in adjacent cabinets if applicable, must be
provided with quenching combinations, e.g. with RC elements, varistors, diodes.
•Do not lay wires freely in the closet; instead, run them as closely as possible to the cabinet housing
or mounting panels. This also applies to reserve cables. These must be grounded on at least one
end, and it is better if they are grounded at both ends (additional shielding effect).
•Unnecessary line lengths should be avoided. Coupling capacitances and inductances are kept low
this way.
•Analog signal lines and data lines must be shielded.

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4.2 Wiring of the PN/CAN Gateway
4.2.1 Voltage supply
The PN/CAN Gateway is supplied with 24 V DC voltage via the 3-pin power supply plug.
4.2.2 CAN bus connection
Pin CAN bus D-sub connector
1
-
2
CAN low
3
CAN GND
4 -
5
PE, Shield
6
-
7
CAN high
8
-
9 -
PN/CAN Gateway contains no terminating resistor for the CAN bus!
4.2.3 PROFINET connection
Pin Signal RJ45 plug PROFINET Color Wire pair
1
TD+
Transmission data +
Yellow
1
2 TD- Transmission data - Orange 1
3
RD+
Receive data +
White
2
4
-
-
-
-
5
-
-
-
-
6
RD-
Receive data -
Blue
2
7
-
-
-
-
8
-
-
-
-
4.2.4 USB interface
The service USB interface is only required for the firmware update and for diagnoses in the event of
support.

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5CAN bus
CAN bus (Control Area Network) is an international open fieldbus standard for building,
manufacturing, and process automation applications. CAN bus communications are defined in
standard ISO 11898-2.
5.1 Wiring a CAN Bus
A CAN bus cable requires at least three wires: CAN high, CAN low, and CAN ground. Only linear bus
topologies are allowed, A terminating resistor of 120 ohms must be connected between CAN high and
CAN low at both ends of the CAN bus cable. The PN/CAN Gateway has no installed bus terminating
resistor.
The maximum cable lengths will depend mainly on the bit rate being used.
Bit rate Bus length Bit time
1 Mbps 30 m 1 µs
800 kbps
50 m
1.25 µs
500 kbps
100 m
2 µs
250 kbps
250 m
4 µs
125 kbps
500 m
8 µs
50 kbps 1500 m 20 µs
The cable lengths specified above should only be used as reference values. The maximum cable length
will also depend on the number of connected participants, on the use and the number of repeaters
and on the cable type.
5.2 CAN bus plug
Helmholz offers a comprehensive range of CAN bus connectors that can be used with the PN/CAN
Gateway. All Helmholz CAN bus connectors come with a terminating resistor that can be switched on
and off.

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5.3 The CANopen protocol
The CANopen® protocol is a layer 7 (application layer) protocol based on the CAN bus. CAN bus layers
1 and 2 (physical layer and data link layer) are used by the CAN bus unchanged.
The service elements provided by the application layer make it possible to implement applications
that are distributed throughout the network. CANopen communication profiles and standards are
administered by the CIA (CAN in Automation e.V.). The standard DS 301 "CANopen application layer
and communication profile" is relevant for the PN/CAN Gateway. This is available at CAN in
Automation's website (http://www.can-cia.org).
The CANopen standards assign a fixed definition to the 11-bit identifier and the 8 data bytes of a CAN
bus frame. Each device in a CANopen network has a configurable node ID (module number, 1–127).
5.3.1 CANopen objects
Data exchange with a CANopen device takes place either via established service data objects (SDOs) or
freely configurable process data objects (PDOs).
Every CANopen device has a fixed directory of SDOs (object directory) that are addressed with an
index (16 bits) and a sub-index (8 bits).
Example: Index 0x1000 / sub-index 0 = "Device type", 32-bit unsigned
SDOs with a width of 8/16/32 bits can be read and written with one CANopen frame, Longer SDOs
(e.g. strings) are transferred using multiple frames.
SDOs can be processed as soon as a CANopen device is ready for operation. The "SDO request" and
"SDO response" functions are available for SDOs. The object number (index and sub-index), the access
mode and type are stored in the first four bytes of the CAN frame. The last four bytes of the CAN frame
then contain the value for the SDO.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Command
specifier 16 SDO index 8 bit SDO
sub-index 1-4 bytes of parameter data
PDOs contain the operating values of a CANopen device for cyclical process operations. Each
CANopen device can manage multiple PDOs (according to the specification, the COB identifier for
the first four transmission PDOs and four reception PDOs are defined).
Each of these PDOs will have its own COB-ID. Any information of the CANopen device can be
mapped for reading and writing in the up to 8 data bytes. The values from the object dictionary
(SDOs) are always the values mapped.
PDOs are automatically mapped at the startup by most CANopen device (default mapping). The
assignment can generally be changed via defined SDOs when the device supports this.

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5.3.2 CANopen functions
The CANopen functions are subdivided into the following basic types:
•SDO read and SDO write operations
•PDO send and PDO receive operations
•Network management
•Emergency messages
The function code is stored in the upper four bits of the CAN identifier, which, together with the node
ID, forms the communication object identifier, or COB-ID. CANopen normally uses CAN bus frames
with 11-bit identifiers (CAN 2.0A).
COB identifier (COB-ID):
10 9 8 7 6 5 4 3 2 1 0
Function Node ID
Broadcast functions:
Function Function code (binary) Resulting COB-ID
NMT 0000 0hex
SYNC 0001 80 hex
TIME STAMP 0010 100 hex
Node functions:
Function Function code (binary) Resulting COB-ID
EMERGENCY 0001 81 hex – FF hex
TPDO1 (tx) 0011 181 hex – 1FFhex
RPDO1 (rx) 0100 201hex – 27F hex
TPDO2 (tx) 0101 281 hex – 2FF hex
RPDO2 (rx) 0110 301 hex – 37F hex
TPDO3 (tx) 0111 381 hex – 3FF hex
RPDO3 (rx) 1000 401 hex – 47F hex
TPDO4 (tx) 1001 481 hex – 4FF hex
RPDO4 (rx) 1010 501 hex – 57F hex
SDO (tx) 1011 581 hex – 5FF hex
SDO (rx) 1100 601 hex – 67F hex
NMT error control 1110 701hex – 77F hex
"tx" = transmitted by the slave
"rx" = received by the slave

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5.3.3 Network management
Network status (NMT states):
Each CANopen device can have various system states. After the device is switched on, an internal
system initialization is carried out (hardware initialization, RAM test, setup of the basic objects). After
successful initialization, a boot up frame [COB-ID: 700hex + node ID / data (1 byte): 00hex].
After this, the device is ready for operation and in the Pre-Operational state. Although the device's
parameters can be configured in this state (SDOs can be read and written), it will not transfer process
data objects (PDOs).
With the NMT command "Operational" [COB-ID: 000hex / data (2 bytes): 01hex node ID], a CANopen
device can be switched to the operational status. Once in the Operational state, the coupler's process
data will be enabled (RPDO/TPDO communications will be running). The options available for
making changes to SDOs may be limited.
With the NMT command "Pre-Operational" [COB-ID: 000hex / data (2 bytes): 80hex node ID], a
CANopen device can be switched to the pre-operational status.
With the NMT command "Reset (Application)" [COB-ID: 000hex / data (2 bytes): 81hex node ID], a
restart of a CANopen device is triggered.
With the NMT command "Reset Communication" [COB-ID: 000hex / data (2 bytes): 82 hex node ID], the
CANopen communication of the device is reset. The device is subsequently in the Pre-Operational
state.
SYNC:
The SYNC frame is a periodic "Broadcast" frame and is a trigger for CANopen functions. The SYNC
frame makes it possible to transfer input data in a synchronized manner and to activate output data
simultaneously throughout the whole system. In order to ensure that the intervals at which the SYNC
frame are sent are equally spaced, the frame has a high priority level. [COB-ID: 80hex]

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Nodeguarding:
With Nodeguarding, a device monitors one or more other CANopen devices by cyclically transmitted
telegrams. Each CANopen device must respond to the Nodeguarding request telegram with a status
telegram.
[COB-ID: 700hex + node ID / data: 1 byte with the own current CANopen status]
Life guarding:
With Lifeguarding, each requested CANopen device monitors whether the node guarding, once
started, is carried out continuously within certain time limits. If the Nodeguarding telegram fails to
arrive, the CANopen device can detect this by means of lifeguarding and, for example, set all outputs
to the safe state. Nodeguarding and Lifeguarding always run together.
Heartbeat:
Heartbeat monitoring corresponds to Nodeguarding, but no request telegrams are generated by the
CANopen network. The heartbeat telegram is sent automatically by the CANopen device (producer
heartbeat) and can be evaluated in the network by other CANopen devices (consumer heartbeat).
[COB-ID: 700hex + node ID / data: 1 byte with the own current CANopen status]
Error Behaviour:
The error behaviour of a CANopen device will be defined in the SDO 1029 “Error Behaviour”. It is
divided in CANopen network and application errors (optionally). Network error can cause that the
status of a device will be changed to “Pre-Operational” (default value) or to stop or the status will not
be changed. The behaviour for application errors will be defined by the manufacturer.
Emergency message:
If one of the CANopen device detects that something has gone wrong (e.g., life guarding times out), it
will send an emergency message on the bus.
[COB-ID: 80hex + node ID / data: 8 bytes]

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6Setup and use
The setup of the PN/CAN Gateway is divided into 3 steps:
1. Transfer EDS or DCF file to the PN/CAN Gateway:
The EDS or DCF file contains the description of all SDOs, their default values of all CAN objects
(SDOs) and basic settings of the CANopen Device. The file will be defined by the customer and has to
be uploaded after changing. It will be stored by the PN/CAN-Gateway in the flash memory
permanently.
2. Parameterize the PN/CAN Gateway in the hardware configurator:
The GSDML file is used to insert the PN/CAN Gateway in the PROFINET engineering tool into the
PROFINET network and to define which SDOs are to be exchanged with the PLC.
3. Programming in the PLC:
In the PLC, the state and behavior of the PN/CAN Gateway can be read and controlled via the I/O
image. The data of the SDOs are also located in the I/O memory according to the configuration.
Handling blocks are not necessary.
6.1 Transfer EDS or DCF file to PN/CAN Gateway
The PN/CAN Gateway is freely configurable as a CANopen device as far as possible. With the import of
an EDS or DCF file it is defined which SDOs the PN/CAN-Gateway
should support and also the most of the CANopen properties are
defined in the file.
An example EDS file for a simple IO-Slave according
to CiA standard DS401 ("DS401_IO_Slave_Vxx.eds")
can be downloaded from the Helmholz website in
the download area of the PN/CAN-Gateway in the
section "Software":
The file can be customized in a normal text editor. But there are also
special EDS editors, e.g. "Vector CANeds" or "CANopen Architect"
which can be used for editing the EDS file in a limited way.
The content of the EDS file is in the document "CiA 306: Electronic
Device Description (EDD)", which can be downloaded from the CiA
website: https://www.can-cia.org/can-knowledge/canopen/cia306/
On the right side of this page is a section of an EDS file.
The DCF file is a special variant of the EDS file, which in addition to the
basic description of all objects and parameters already contains preset
values of a concretely configured CANopen device, as well as the Node-
ID and the bit rate. For a EDS file, the Node-ID and the bit rate will be
defined in the PROFINET configuration.
[FileInfo]
CreatedBy=MD
ModifiedBy=MD
Description=DS401 IO Slave
CreationTime=11:52AM
CreationDate=09-05-2017
ModificationTime=01:37PM
ModificationDate=14-10-2020
FileName=DS401_IO_Slave_V10.eds
FileVersion=1
FileRevision=1
EDSVersion=4.0
[DeviceInfo]
VendorName=Helmholz GmbH & Co. KG
VendorNumber=0x00000223
ProductName=PN/CAN GW - IO Slave
ProductNumber=0x0000010E
RevisionNumber=0x00030000
OrderCode=700-672-PNC01
BaudRate_10=1
BaudRate_20=0
BaudRate_50=1
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=1
BaudRate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=1
Granularity=0
DynamicChannelsSupported=6
CompactPDO=0
GroupMessaging=0
NrOfRXPDO=4
NrOfTXPDO=4
LSS_Supported=0
[MandatoryObjects]
SupportedObjects=3
1=0x1000
2=0x1001
3=0x1018
[1000]
ParameterName=Device Type
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x000F0191
PDOMapping=0