Helmholz CANopen User manual

Quick Start Guide
PN/CAN-Gateway CANopen®
www.helmholz.com
Version
1en
from FW 1.00

Quick Start Guide PN/CAN-Gateway CANopen®
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Content
1. Introduction 3
2. Preparation of the PN/CAN-Gateway 3
3. Plan PN/CAN-Gateway 4
4. Congure PN/CAN-Gateway 5
5. Add CANopen® device 5
6. Congure CANopen® device 6
7. Add PDOs (process data objects) 6
8. Assign the PN/CAN-Gateway a PROFINET name 7
9. Programming in the PLC 8
10. LED status information 10
11. Technical data 11

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1. Introduction
Before getting started:
Please observe the safety instructions for the product, which can be found in the manual. You can nd the manual on the
accompanying CD or it can be downloaded from the website www.helmholz.com in the download area.
This document should present the initial commissioning of the PN/CAN-Gateway with a simple CANopen® device. It is
presumed that the CANopen® device has already been basically congured (Node ID, device-specic parameters, PDO
mapping, etc.).
2. Preparation of the PN/CAN-Gateway
2.1 Connection
The PN/CAN-Gateway is supplied via the 3-pin connection plugs with 24 V DC voltage.
The CAN bus is connected to the "CAN" interface using a SUB-D plug (e.g. Helmholz CAN bus plug).
The PROFINET line is connected to X1/P1 or X1/P2.
The service USB interface is required for the rmware update and for diagnoses in the event of support.
2.2 Install GSDML le
The GSDML le can be found on the accompanying CD or in the download area of the PN/CAN-Gateway at
www.helmholz.com.
Pin SUB-D plug CAN bus
1 –
2CAN Low
3 CAN GND
4 –
5 –
6 –
7CAN High
8 –
9 –

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3. Plan PN/CAN-Gateway
Following the installation, the PN/CAN-Gateway can be found in the hardware catalogue under "PROFINET IO ->
Additional eld devices -> Gateway -> Helmholz PN/CAN-Gateways".
Add the "PN/CAN-Gateway CANopen" device to the project and connect it with your PROFINET network.
By calling up the object properties, you can assign the PN/CAN-Gateway a unique PROFINET name and check the IP
address assigned by the system for plausibility.

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4. Congure PN/CAN-Gateway
The rst slot entry after the ports is the slot for the CANopen® master parameters.
Set the CAN Bitrate and the CAN Master Node ID. In some applications, a SYNC frame or heartbeat frame of the master is
necessary for operation.
The other "PN/CAN CO" slot entries contain no parameters.
5. Add CANopen® device
A "CANopen® device" is a CANopen® slave. An entry must be created for each CANopen® slave.

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6. Congure CANopen® device
The node ID of the CANopen® slave must be set absolutely correctly.
When the option Slave is mandatory (Mandatory Device) is selected, all CANopen® devices on the CAN bus of the PN/
CAN-Gateway are rst switched to operational when this device is present and congured.
7. Add PDOs (process data objects)
Each CANopen® device should have at least one PDO (process data object).
TPDOs (transmit process data objects) are data sent by the CANopen® slave to the PLC (input data from PLC view). RPDOs
(receive process data objects) are sent by the PLC to the CANopen® slave (output data from PLC view). The data size of the
PDOs depends upon the data found in the PDO (PDO mapping) and can range between one and 8 bytes.
Which PDOs of which sizes the connected CAN device has can generally be determined in the manufacturer manual of the
respective CANopen® slave.
With the specication of the PDO number (1..16), all necessary settings for the PDO are made automatically by the
PN/CAN-Gateway at the start.
It is also possible to dene a device-specic COB-ID (PDO number must then be '0'). In this case it is presumed that all
PDO settings have already been set in the CAN device. The PN/CAN-Gateway will then not alter the PDO settings when
starting up.

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8. Assign the PN/CAN-Gateway a PROFINET name
When the conguration of the PN/CAN-Gateway has been completed in the hardware congurator, it can be loaded into
the PLC.
In order that the PN/CAN-Gateway can be found on the PROFINET by the PROFINET master (controller), the PROFINET
name and possibly the IP address must be set.
To this purpose the function "Edit Ethernet Node" is used in the SIMATIC* manager. With the "Browse…" button, the net-
work can be browsed for PROFINET devices.
The clear identication of the PN/CAN-Gateway is ensured here by the MAC address of the device.
Important: The assigned name must agree with the name dened in the hardware congurator.
If the PN/CAN-Gateway contains the correct PROFINET name, it is recognized by the PLC and congured.
When the conguration has run correctly, the blue "Mode" LED should blink.

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9. Programming in the PLC
No handling blocks for simple operation are required in the PLC.
The control and status query of the PN/CAN-Gateway can be carried out directly via the I/O data in the PLC.
For the start up of the example project, the value 2 must be written into the output word in master control ("NMT state
control"). Following the start up of the PN/CAN-Gateway and the initialization of the CANopen® slave, the gateway in the
4th byte of the master status also reports a 2 ("NMT state", see below).
The CANopen® system is operational and the I/O data of the slave can be read and written.
9.1 Master control (2 bytes outputs)
Byte/Bit 7 6 5 4 3 2 1 0
Out 0 – – – – – – – –
Out 1 User reset – Clear
Emergency
FIFO Error
Send
SYNC-
Frame
Clear CAN-Tx
Overow
Error
Clear CAN-Rx
Overow
Error
NMT-State Control
9.2 Master status (4 bytes inputs)
Byte/Bit 7 6 5 4 3 2 1 0
In 0 1= Gateway
ready
– – – – – – –
In 1 Mirroring
reset bit
–Emergency
Lost
SYNC trans-
mitted
CAN-Tx
Overow
CAN-Rx
Overow
CAN bus
error
CAN bus
ofine
In 2 – – – – General error bits of the slave errors
In 3 Master error 0 0 NMT state
The NMT-State Control bits are used for the status control of the CANopen® network.
0 = The CANopen® master has been switched off. No CAN frames are being transmitted or received.
The CANopen® slaves are stopped if the status was previously Operational (value 2).
1 = If the previous status 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.
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.
3 = An NMT-Stop is transmitted to all slaves.
The two NMT state bits show the 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 congured as mandatory (neces-
sary).
0 = The master is switched off. No CAN frames are being transmitted or received.
1 = The maser is found at the end of the slave conguration (Pre-Operational), all mandatory slaves are congured and
in Pre-Operational state
2 = The master is in the Operational state, all mandatory slaves are in Operational.
Slaves that are not in the operational state are automatically booted up to the Operational state as soon as they can
be addressed.
3 = The master is in the Stop state; all accessible slaves have been brought to the Stop state.

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9.3 CAN node status (3 bytes inputs, 1 byte output)
The status of the slave can be read from the input data of the CAN device entry.
Byte/Bit 7 6 5 4 3 2 1 0
In 0 Restart
Slave Ack
Resend RP-
DOs done
CANopen®
prole
false
Slave is
sending
false TPDO
length
Slave not
answering
SDO abort
or prole
false
Slave time-
out/lost
False cong-
uration
In 1 SDO 1001 value of the slave
In 2 Conguration error (see manual) 0 0 Slave state
The two slave state bits show the status of the CANopen® master:
0 = Slave is still in the BootUp, 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
9.4 PDO data
The PDO data is found as inputs (TPDOs) or as outputs (RPDOs) directly in the process map.
The inputs always show the last received data of the TPDO.
When changed values are written onto the outputs, RPDO frames are sent to the corresponding CANopen® slave.
9.5 SDO communication
SDO communication with the slaves can take place following the initialization phase of the PN/CAN-Gateway both in the
Pre-Operational and Operational modes.
Only one SDO job can be carried out at a time. Both the reading and writing of SDOs is possible.
Details on the programming of the SDO communication channel of the PN/CAN-Gateway can be found in the manual.
9.6 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 doesn't react actively to the emergency messages.
Details on the programming of the emergency message channel of the PN/CAN-Gateway can be found in the manual.

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10. LED status information
MODE
Off No power supply or device defective
Blue on PN/CAN-Gateway is correctly congured via PROFINET and
all CANopen® slaves are in Operational
Flashing blue PN/CAN-Gateway is correctly congured via PROFINET and
at least one CANopen® slaves is in Pre-Operational or Stop or the gateway is not started.
Red on No connection with PROFINET controller (PLC)
Flashing red Connection with the PROFINET controller (PLC) exists, but a conguration 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 congured yet
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 congured

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11. Technical data
Order no. 700-670-PNC01
PROFINET interface
-Protocol PROFINET IO as dened in IEC 61158-6-10
-Transmission rate 100 Mbps full duplex
-I/O image size 1440 bytes
-Connection 2 x RJ45, integrated switch
-Features Media Redundancy Protocol (MRP),
automatic addressing/topology detection (LLDP, DCP), diagnosis alarm
CAN interface
-Type ISO/DIN 11898-2 CAN High Speed physical Layer
-Connection 9-pin D-sub male connector
-Protocol CANopen® master as dened in DSP301 V4.2
-Baud rate 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 Mini-USB
-Electrically isolated from USB Yes; insulation 1.5 kV
Voltage supply DC 24 V , 18 – 28 V DC
Current draw Max. 250 mA
Dimensions (D x W x H) 35 mm x 83 mm x 72 mm
Weight Approx. 160 g
Certications CE
Protection rating IP 20
Permissible ambient temperature 0 °C to 60 °C
Transport and storage temperature -20 °C to 80 °C

Helmholz GmbH & Co. KG | Hannberger Weg 2 | 91091 Großenseebach | Germany
Phone [phone] | Fax [phone] | [email protected] | www.helmholz.com
Note:
The contents of this Quick Start Guide have been checked by us so as to ensure that they match the hardware and software
described. However, we assume no liability for any existing differences, as these cannot be fully ruled out.
The information in this Quick Start Guide is, however, updated on a regular basis. When using your purchased products, please
make sure to use the latest version of this Quick Start Guide, which can be viewed and downloaded on the Internet at
www.helmholz.com.
Our customers are important to us. We are pleased to receive suggestions for improvement and new impulses.
*SIMATIC is a registered trademark of Siemens AG.