Helmholz PN/CAN gateway User manual

Quick Start Guide
PN/CAN gateway CANopen®
www.helmholz.com
Version
3
en
as of FW 1.00

Quick Start Guide PN/CAN gateway CANopen®2
Content
1. Safety instructions 2
2. Introduction 3
3. Preparation of the PN/CAN gateway 3
4. Plan PN/CAN gateway 4
5. Congure PN/CAN gateway 5
6. Add CANopen device 5
7. Congure CANopen device 6
8. Add PDOs (process data objects) 6
9. Assign the PN/CAN gateway a PROFINET device name 7
10. Programming in the PLC 8
11. LED status information 10
12. Technical data 11
:z-beipack-78
1. Safety instructions
Target audience
This description is only intended for trained personnel
qualied in control and automation engineering who are
familiar with the applicable national standards.
For installation, commissioning, and operation of the com-
ponents, compliance with the instructions and explanations
in this operating manual is essential. The specialist personnel
is to ensure that the application or the use of the products
described fullls all safety requirements, including all appli-
cable 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 in order to protect it against environmental
inuences.
To prevent unauthorized access, 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, commission-
ing, operation, and maintenance. Operate the device only in
awless condition.
The permissible operating conditions and performance limits
(technical data) must be adhered to. Retrots, changes,
or modications to the device are strictly forbidden.

Quick Start Guide PN/CAN gateway CANopen® 3
2. Introduction
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.).
3. Preparation of the PN/CAN gateway
3.1 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.
3.2 Install GSDML le
Please download the GSDML le (“GSDML-V2.31-Helmholz-
PNCAN-CO-20170121.xml”) under www.helmholz.de or scan
the QR code.
Pin SUB-D plug CAN bus
1 –
2 CAN low
3 CAN GND
4 –
5 –
6 –
7 CAN high
8 –
9 –
PN/CAN gateway
Documentation
SCAN
QR CODE
TO GET
MANUAL
You can nd the most current version of the documentation under www.helmholz.de or scan the QR code directly.
PN/CAN gateway
GSDML le
SCAN
QR CODE
TO GET
GSDML

Quick Start Guide PN/CAN gateway CANopen®4
4. Plan PN/CAN gateway
Following the GSDML installation, the PN/CAN gateway can be found in the hardware catalog under “Other eld devices ->
PROFINET IO -> Gateway -> Helmholz GmbH & Co. KG -> Helmholz PN/CAN-Gateway”.
Add the “PN/CAN-Gateway CANopen” device to the project and connect it with your PROFINET network.
By calling up the properties, you can assign the PN/CAN gateway a unique PROFINET name and check the
IP address assigned by the system for plausibility.

Quick Start Guide PN/CAN gateway CANopen® 5
5. 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.
6. Add CANopen device
A “CANopen device” is a CANopen slave participant. An entry must be created for each CANopen slave.

Quick Start Guide PN/CAN gateway CANopen®6
7. Congure CANopen device
The node ID of the CANopen slave must be set absolutely correctly.
8. Add PDOs (process data objects)
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 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 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.
When the option Slave is mandatory (Mandatory Device) is selected, all CANopen participants on the CAN bus
of the PN/CAN gateway are rst switched to operational when this device is present and congured.

Quick Start Guide PN/CAN gateway CANopen® 7
9. Assign the PN/CAN gateway a PROFINET device name
When the conguration of the PN/CAN gateway has been completed in the hardware congurator of the engineering tool,
it can be loaded into the PLC.
In order 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 this purpose, use the function “Assign device name”, which you can access in the Online
menu with the right mouse button when the PN/CAN gateway is activated.
With the “Update list...” button, the network can be browsed for PROFINET participants.
The PROFINET device name can be assigned to the device with “Assign name”.
The clear identication of the PN/CAN gateway is ensured here by the MAC address of the device.
The MAC addresses of the device can be found on the device front of the PN/CAN gateway.
The Helmholz IPSet tool, which can be downloaded at no charge from the Helmholz website,
can also be used to set the PROFINET name.
If the PN/CAN gateway has been assigned the correct PROFINET name, it is recognized by the PLC and congured.
If conguration has taken place correctly, the PROFINET “BF” LED should be off.
Proceed as described above for both PROFINET networks.
PN/CAN gateway
IPSet
SCAN
QR CODE
TO GET
FIRMWARE

Quick Start Guide PN/CAN gateway CANopen®8
10. 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 area.
The value 2 must be written into the output word in “Master Control” for the start-up of the example project
(“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 2 (“NMT state”, see below).
The CANopen system is operational and the I/O data of the slave can be read and written.
10.1 Master control (2 bytes outputs)
Byte/bit 7 6 5 4 3 2 1 0
Out 0 – – – – – – – –
Out 1 User reset Activate
LSS mode
Delete
emergency
FIFO error
Send
SYNC
frame
Reserved Delete CAN
RX
overow error
NMT-State Control
10.2 Master status (4 bytes inputs)
Byte/bit 7 6 5 4 3 2 1 0
In 0 gateway
congured
– – – – – – –
In 1 User reset
requested
LSS mode
active
Emergency
lost
SYNC trans-
mitted
No CAN
connection
CAN Rx-
FIFO
overow
CAN bus
error
(RX/TX)
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.
If the state was previously Operational (value 2), the CANopen slaves are set to Pre-Operational or Stop status.
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 status
called for in the NMT-State Control. However, this can be prevented by the absence of slaves congured as mandatory
(necessary).
0 = The master is switched off. No CAN frames are being transmitted or received.
1 = The master 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.

Quick Start Guide PN/CAN gateway CANopen® 9
10.3 CAN node status (3 bytes inputs)
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
active
Resend
RPDOs
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gu-
ration
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, node guarding or heartbeat is running and it is in the Pre-Operational state
2 = Slave is in Operational state
3 = Slave is in Stop state
10.4 PDO data
The PDO data is found as inputs (TPDOs) or as outputs (RPDOs) directly in the IO process image.
The inputs always show the last received data of the TPDO.
When changed values are written to the outputs, RPDO frames are sent to the corresponding CANopen slave.
10.5 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.
10.6 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.

Quick Start Guide PN/CAN gateway CANopen®10
11. 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 slave is in Pre-Operational or Stop,
or the gateway has not yet been 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 receiver
PN/CAN gateway is not yet congured
No connection
CAN-TX
Flashing green CAN frames are being transmitted
Red Transmission not possible (e.g. false Baud rate, CAN bus disrupted)
or the PN/CAN gateway has not yet been congured
No connection

Quick Start Guide PN/CAN gateway CANopen® 11
12. Technical data
Order no. 700-670-PNC01
PROFINET interface
-Protocol PROFINET IO device as per 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,
PROFINET conformance class C
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 24 V DC; 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

Quick Start Guide PN/CAN gateway CANopen®12
Helmholz GmbH & Co. KG | Hannberger Weg 2 | 91091 Großenseebach | Germany
Phone [phone] | Fax [phone] | [email protected] | www.helmholz.com
Note:
We have checked the contents of this Quick Start Guide for harmonization with 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 the Quick Start Guide, which can be viewed and downloaded on the Internet from www.helmholz.de.
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.