Helmholz PN/CAN gateway 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®
Manual
Version 3 / 27.01.2017
Manual order number 900-670-PNC01/de

Notes
All rights reserved, including those related to the translation, reprinting, and reproduction of this
manual or of parts thereof.
No part of this manual may be reproduced, processed, duplicated, or distributed in any form
(photocopy, microfilm, or any other methods), even for training purposes or with the use of
electronic systems, without written approval from Helmholz GmbH & Co. KG.
All rights reserved in the event of the granting of a patent or the registration of a utility model.
To download the latest version of this manual, please visit our website at www.helmholz.de.
We welcome all ideas and suggestions.
Copyright © 2016 by
Helmholz GmbH & Co. KG
Hannberger Weg 2 | 91091 Großenseebach
Revision Record
Version Date Change
1 12/16/2015 First version
2 8/16/2016
SDO communication flags explained in more detail;
Various corrections arising from the system test
PROFINET Certificate
3 1/24/2017
change of company name
corrections for firmware V. 1.04
Master-Status errors added (7.1.2)

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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 Installation............................................................................................................................... 8
1.6.1 Access restriction ................................................................................................................. 8
1.6.2 Electrical installation ............................................................................................................ 8
1.6.3 Protection against electrostatic discharges ........................................................................... 8
1.6.4 Overcurrent protection ........................................................................................................ 8
1.6.5 EMC protection ................................................................................................................... 8
1.6.6 Operation ............................................................................................................................ 8
1.6.7 Liability ................................................................................................................................ 9
1.6.8 Disclaimer of liability............................................................................................................ 9
1.6.9 Warranty.............................................................................................................................. 9
2System overview.............................................................................................10
2.1 General/area of application ................................................................................................... 10
2.2 Properties des PN/CAN-Gateways CANopen®......................................................................... 10
3Installation and removal................................................................................. 11
3.1 Installation position ............................................................................................................... 11
3.2 Minimum clearance............................................................................................................... 11
4Setup and wiring ............................................................................................12
4.1 EMC/safety/shielding............................................................................................................. 12
4.2 Wiring of the PN/CAN gateway.............................................................................................. 13
4.2.1 Voltage supply................................................................................................................... 13
4.2.2 CAN bus connection .......................................................................................................... 13
4.2.3 PROFINET connection ........................................................................................................ 13
4.2.4 USB interface ..................................................................................................................... 13
5CAN bus.......................................................................................................... 14
5.1 Wiring a CAN Bus .................................................................................................................. 14
5.2 CAN bus plug ........................................................................................................................ 14
5.3 The CANopen® protocol ........................................................................................................ 15

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5.3.1 CANopen® objects ............................................................................................................. 15
5.3.2 CANopen® functions .......................................................................................................... 16
5.3.3 Network management....................................................................................................... 17
6Setup and use .................................................................................................19
6.1 Install GSDML file .................................................................................................................. 19
6.2 Configuring gateway............................................................................................................. 19
6.2.1Configure gateway master................................................................................................. 20
6.2.2 Add and configure CANopen® device................................................................................. 21
6.2.3 Minimum requirements of a CANopen® slave .................................................................... 22
6.2.4 Configure PDOs................................................................................................................. 23
6.2.5 COB-IDs of the PDOs ......................................................................................................... 24
6.2.6 Detection and initialization of a slave ................................................................................. 25
6.3 Assign the gateway a PROFINET name ................................................................................... 26
7Programming in the PLC ................................................................................27
7.1 Master control ....................................................................................................................... 27
7.1.1 Master control ................................................................................................................... 27
7.1.2 Master status ..................................................................................................................... 28
7.2 CANopen® device .................................................................................................................. 30
7.2.1 CANopen® Device Status.................................................................................................... 30
7.2.2 CANopen® Device Control ................................................................................................. 31
7.3 PDO data............................................................................................................................... 31
7.4 SDO communication ............................................................................................................. 32
7.4.1 SDO transmission example ................................................................................................ 33
7.5 Emergency messages............................................................................................................. 34
7.6 Layer Setting Service (LSS) ..................................................................................................... 35
7.7 PROFINET diagnosis alarm ..................................................................................................... 37
8LED-based diagnosis.......................................................................................38
9PROFINET Certificate ...................................................................................... 39
10 Technical data..............................................................................................40

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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 hazard warning is ignored, there is a probable danger to life and health of people from electrical
voltage.
If the hazard warning 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 connects CANopen® devices in a PROFINET network. The PN/CAN gateway
represents a full-fledged CANopen® master.
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 PV/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 Installation
1.6.1 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.
1.6.2 Electrical installation
Observe the regional safety regulations.
1.6.3 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.
1.6.4 Overcurrent protection
Overcurrent protection isn't 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).
1.6.5 EMC protection
To ensure electromagnetic compatibility (EMC) in your control cabinets in electrically harsh
environments, the known rules of EMC-compliant configuration are to be observed in the design and
construction.
1.6.6 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.

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1.6.7 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.
1.6.8 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.
1.6.9 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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2System overview
2.1 General/area of application
The PN/CAN gateway integrates a CANopen® network into a PROFINET network. It is a full-fledged
CANopen® master and enables the incorporation of the process and service data of CANopen® slave
devices into the IO area of a PROFINET CPU.
2.2 Properties des PN/CAN-Gateways CANopen®
The PN/CAN gateway CANopen® has the following properties:
•PROFINET IO 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® protocol according to DSP 301
•Up to 126 CANopen® participants
•Up to 16 TPDOs / 16 RPDOs per slave
•Up to 1 Mbps CAN bit rate
•Heartbeat and node guarding
•SYNC object
•Configuration using GSDML file
•No handling blocks or parameterization software necessary
•24 V DC power supply
•3 LEDs, bi-color
•USB device interface for online diagnosis and firmware update

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3Installation and removal
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.
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.
3.1 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.
3.2 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
-
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® slave takes place either via established service data objects (SDOs) or
freely configurable process data objects (PDOs).
Every CANopen® slave 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® slave 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® slave for cyclical process operations. Each
CANopen® slave can manage multiple PDOs (normally up to four transmission PDOs and four
reception PDOs).
Each of these PDOs will have its own COB-ID. Any information of the CANopen® slave can be
mapped for reading and writing in the 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® slaves (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 read and PDO write 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 – 1FF hex
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 slave'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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Node guarding:
Node guarding means that the master monitors the CANopen® slaves with cyclically transmitted
frames. Each CANopen® slave must respond to the node guarding frame with a status frame.
[COB-ID: 700hex + node ID / data: 1 byte with slave status]
Life guarding:
Life guarding means that each CANopen® slave will monitor to make sure that the master
continuously carries out the started node guarding within specific time limits. If the master's node
guarding frame is not sent, the CANopen® slave can detect this with the life guarding function and
switch all its outputs to a safe state, for example. The node guarding and life guarding functions
always run simultaneously.
Heartbeat:
Heartbeat monitoring works the same way as node guarding, with the exception that the CANopen®
master does not generate any request frames. Instead, the heartbeat frame is sent automatically by
each node (producer heartbeat) and can be evaluated in the master (consumer heartbeat).
[COB-ID: 700hex + node ID / data: 1 byte with slave status]
Emergency message:
If one of the CANopen® slaves 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
6.1 Install GSDML file
The GSDML file can be found on the accompanying CD or in the download area of the PN/CAN
gateway at
www.helmholz.de.
6.2 Configuring gateway
The PN/CAN gateway can be found in the hardware catalogue under "PROFINET IO Other field
devices Gateway Helmholz PN/CAN gateways". Add the "PN/CAN gateway CANopen®" to the
project and connect it with your PROFINET network.
By calling up the object properties, the PN/CAN gateway should be assigned a unique PROFINET
name and the IP address be checked for plausibility.
The name of the configured device must later be assigned to the physical device (see Ch. 6.3).

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6.2.1 Configure gateway master
The first slot entry after the ports is the slot for the CANopen® master parameters.
CAN bit rate: 10, 50, 100, 125, 250, 500, 800 Kbps and 1 Mbps are available as bit rates.
CAN master node ID: Node ID under which the PN/CAN gateway at the CAN bus is active.
In some applications, a SYNC frame is necessary for operation.
Cyclical heartbeat frames of the master for operation monitoring by the slaves are recommended.
Boot up timeout defines the waiting time in which the boot up message of a slave is expected
following a reset. If the message doesn't arrive on time, the slave is marked as non-existent.
SDO response timeout: A response is expected from the slave for each SDO job. If the response is not
provided within this configured period of time, the job is cancelled and an SDO abort error is reported
to the PLC.
In the case of PLC stop -> Master reset: If the PLC goes to stop and this option is chosen, the CAN
bus is set to Pre-Operational or Stop and the master carries out an internal reset. The CAN bus is
initialized again when the PLC restarts.
If this option is deactivated, no reaction takes place at the CAN bus for a PLC stop. This setting is
useful when debugging is carried out in the PLC.
Note: If the PLC is restarted and the CAN bus is not stopped at stop, the CAN bus is stopped at the PLC
start of the CAN bus and reinitialized.
In the case of master reset, NMT stop instead of NMT PreOp.: When the master carries out a reset
(due to PLC stop, interruption of connection or user request), an "NMT Pre-Operational" is usually
transmitted. With this option an NMT Stop is transmitted instead.
The other slot entries "Master Status", "Master Control", "SDO Communication" and "Emergency
Messages" receive no parameters.