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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manual or of parts thereof.
No part of this manual may be reproduced, processed, duplicated, or distributed in any form
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electronic systems, without written approval from Helmholz GmbH & Co. KG.
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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