HMS Anybus X-gateway CANopen User manual

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USER MANUAL
SCM-1202-029 1.2 en-US ENGLISH

Important User Information
Disclaimer
The information in this document is for informational purposes only. Please inform HMS Industrial Networks of any
inaccuracies or omissions found in this document. HMS Industrial Networks disclaims any responsibility or liability
for any errors that may appear in this document.
HMS Industrial Networks reserves the right to modify its products in line with its policy of continuous product
development. The information in this document shall therefore not be construed as a commitment on the part of
HMS Industrial Networks and is subject to change without notice. HMS Industrial Networks makes no commitment
to update or keep current the information in this document.
The data, examples and illustrations found in this document are included for illustrative purposes and are only
intended to help improve understanding of the functionality and handling of the product. In view of the wide range
of possible applications of the product, and because of the many variables and requirements associated with any
particular implementation, HMS Industrial Networks cannot assume responsibility or liability for actual use based on
the data, examples or illustrations included in this document nor for any damages incurred during installation of the
product. Those responsible for the use of the product must acquire sufficient knowledge in order to ensure that the
product is used correctly in their specific application and that the application meets all performance and safety
requirements including any applicable laws, regulations, codes and standards. Further, HMS Industrial Networks will
under no circumstances assume liability or responsibility for any problems that may arise as a result from the use of
undocumented features or functional side effects found outside the documented scope of the product. The effects
caused by any direct or indirect use of such aspects of the product are undefined and may include e.g. compatibility
issues and stability issues.
Anybus®is a registered trademark of HMS Industrial Networks AB. All other trademarks mentioned in this document
are the property of their respective holders.
Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US
Table of Contents Page
1 Preface ................................................................................................................................. 3
1.1 About This Document .......................................................................................................3
1.2 Document history ............................................................................................................3
1.3 Document Conventions.....................................................................................................4
1.4 Document-Specific Conventions..........................................................................................4
2 Description .......................................................................................................................... 5
2.1 Introduction....................................................................................................................5
2.2 Data Exchange.................................................................................................................6
2.3 CANopen Functionality......................................................................................................7
3 Installation........................................................................................................................... 8
3.1 Installation Overview........................................................................................................8
3.2 DIN Rail Mounting............................................................................................................9
3.3 Power Connector .............................................................................................................9
3.4 USB Connector ................................................................................................................9
3.5 Secondary CANopen Network Interface ............................................................................. 10
3.6 PROFINET IRT Network Interface....................................................................................... 11
3.7 LED Indicators ............................................................................................................... 12
4 Configuration..................................................................................................................... 14
4.1 Configuration Overview................................................................................................... 14
4.2 Configuring the Secondary CANopen Network..................................................................... 15
4.3 Configuring the PROFINET IRT (2.32) Interface..................................................................... 16
4.4 Enabling Data Exchange .................................................................................................. 22
5 PROFINET Asset Management.......................................................................................... 23
5.1 Asset Management Record .............................................................................................. 23
5.2 Recording and Reading Data ............................................................................................ 23
5.3 Supported File Formats................................................................................................... 24
5.4 Supported Asset Management Records.............................................................................. 24
5.5 XML Based Asset Management......................................................................................... 25
5.6 Binary Based Asset Management...................................................................................... 28
5.7 Uploading the Asset Management File to the FTP Server....................................................... 32

Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US
6 CANopen Module Specification........................................................................................ 34
6.1 NMT State Machine........................................................................................................ 34
6.2 CANopen Data Exchange ................................................................................................. 35
6.3 LSS Services .................................................................................................................. 39
6.4 Error Control................................................................................................................. 40
6.5 CANopen Emergency Messages ........................................................................................ 41
6.6 CANopen Live List Functionality........................................................................................ 42
7 CANopen Object Implementation .................................................................................... 44
7.1 Static Data Types ........................................................................................................... 44
7.2 Communication Profile Area ............................................................................................ 44
7.3 Manufacturer Specific Objects.......................................................................................... 52
A Technical Data ................................................................................................................... 59
A.1 General Specifications..................................................................................................... 59
A.2 Secondary CANopen Network Interface ............................................................................. 59
A.3 Primary PROFINET IRT (2.32) Network Interface .................................................................. 59

Preface 3 (60)
1 Preface
1.1 About This Document
This document describes Anybus X-gateway CANopen PROFINET IRT (2.32).
For additional related documentation and file downloads, please visit www.anybus.com/support.
1.2 Document history
Version Date Description
1.0 2017-01-23 First release
1.1 2017-11-22 Updated for new firmware
1.2 2019-04-11 Added section about PROFINET Asset Management
Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Preface 4 (60)
1.3 Document Conventions
Ordered lists are used for instructions that must be carried out in sequence:
1. First do this
2. Then do this
Unordered (bulleted) lists are used for:
• Itemized information
• Instructions that can be carried out in any order
...and for action-result type instructions:
►This action...
→ leads to this result
Bold typeface indicates interactive parts such as connectors and switches on the hardware, or
menus and buttons in a graphical user interface.
Monospaced text is used to indicate program code and other
kinds of data input/output such as configuration scripts.
This is a cross-reference within this document: Document Conventions, p. 4
This is an external link (URL): www.hms-networks.com
This is additional information which may facilitate installation and/or operation.
This instruction must be followed to avoid a risk of reduced functionality and/or damage
to the equipment, or to avoid a network security risk.
Caution
This instruction must be followed to avoid a risk of personal injury.
WARNING
This instruction must be followed to avoid a risk of death or serious injury.
1.4 Document-Specific Conventions
• Hexadecimal values are represented with the suffix hand a leading zero where needed, e.g.
the hexadecimal value 1F4 is written 01F4h.
• A byte always consists of 8 bits.
Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Description 5 (60)
2 Description
2.1 Introduction
Anybus X-gateway CANopen is designed to provide a seamless connection between a primary
fieldbus or Ethernet network and a secondary CANopen sub-network.
The X-gateway transmits I/O data transparently between the two networks. Data from the
primary network is written into CANopen objects that can be mapped into CANopen PDOs or
read via CANopen SDOs, and vice versa. This makes it possible to integrate CANopen devices into
almost any other PLC system and their supported networks.
No proprietary configuration software is needed for Anybus X-gateway CANopen, although
dedicated tools may be required when configuring the primary network. Any standard CANopen
configuration tool can be used to configure the secondary CANopen network interface.
Fig. 1 Networking example
Secondary CANopen network
Primary fieldbus or Ethernet network
SlaveMaster Slave Slave Slave
SlaveSlave Slave Slave Slave
Secondary CANopen network interface
(master or slave)
Primary network interface
Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Description 6 (60)
2.2 Data Exchange
The terminology and definitions used for different types of data vary between network types. All data
transported through the Anybus X-gateway CANopen are fast, cyclic data, and will in this document
simply be referred to as “I/O data”.
Primary Network InterfaceSecondary Network Interface
Primary Network
Secondary CANopen Network
Data From
Primary
Network
Data From
Secondary
Network
Data To
Primary
Network
Data To
Secondary
Network
Status Word
Status Word
Control Word
Control Word
Fig. 2 Data exchange example
Each of the two network interfaces exchanges data on its network through its own buffer, which
can hold up to 512 bytes of data. The first two bytes in the primary network buffer are reserved
for the Control Word and Status Word, leaving 510 bytes available for I/O data.
The actual amount of data that can be exchanged depend on the application and network used
and may therefore be less than 510 bytes, which is only the maximum size of the buffer.
The Control Word can be used by the master on the primary network to start and stop the
exchange of data, and to reset the X-gateway if needed. The Status Word can be used by the
master to read the status of the secondary CANopen network.
The I/O data exchange is separated from the network data exchange. While the gateway ensures
data consistency (where applicable), it does not feature any mechanisms for synchronisation
between the primary and secondary networks.
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Description 7 (60)
2.3 CANopen Functionality
The functionality of the secondary CANopen network interface is defined by the following
CANopen specifications:
• KGB Draft Standard 301 version 4.2.0 (Rev. 4.2)
• CiA Draft Standard Proposal 302 Part 1–5.
Supported CANopen Services
Communication and parameters in the CANopen protocol are built around åbject. Different
services are used for communication with the objects and for other tasks such as supervising the
network. Which services are available depend on whether the secondary CANopen network
interface is operating as a master or as a slave.
The secondary CANopen network will start up as a slave by default.
Service Available in Description
NMT (Network Management) Master NMT messages are used to configure, initialize and
monitor the network,and for error handling.
CMT (Configuration Management) Master CMT messages are used for configuring CANopen devices.
This primarily involves PDO parameters and mapping of
information.
PDO (Process Data Objects) Master/Slave Used for I/O communication.
128 Receive PDOs and 128 Transmit PDOs are
implemented, each being able to transfer up to 8 bytes.
The total number of PDOs that can be used is limited by
the data buffer size.
Supported PDO message types are COS (Change of state),
Cyclic Synchronous, and Acyclic Synchronous.
SDO (Service Data Objects) Master/Slave Used to access and configure objects in the X-gateway and
other network nodes without mapping them to an I/O
(PDO) connection.
SDOs use asynchronous data transmission and can transfer
more than 8 bytes (the limit for a PDO).
Supported SDO message types are Expedited Upload/
Download Protocol and Segmented Upload/Download
Protocol.
SYNC (Synchronization Object) Master/Slave Used for synchronizing PDO communication. A master can
be either a producer or a consumer of the synchronization.
A slave can only be a consumer.
EMCY (Emergency Object) Master/Slave Used for error reporting when a fatal error has occurred in
the X-gateway or in other monitored or supervised
modules.
LSS (Layer Setting Services) Master Used by a CANopen master to configure the baud rate and
NodeID of slaves that support LSS.
Heartbeat Mechanism Master/Slave Allows a device to monitor the status of another node. The
X-gateway can appear both as heartbeat producer and
consumer.
Node Guarding Protocol Master/Slave Provides active surveillance of a slave by the master.
Slaves can be configured to expect a node guarding
request from the master.
Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US

Installation 8 (60)
3 Installation
This product contains parts that can be damaged by electrostatic discharge (ESD). Use
ESD prevention measures to avoid damage.
3.1 Installation Overview
Basic steps when installing the Anybus X-gateway CANopen:
1. Set the node address and baud rate for the secondary CANopen interface.
2. Set the hardware configuration switches for the primary network interface (if applicable).
3. Mount the gateway on the DIN rail.
4. Connect the primary and secondary networks.
5. Connect the power cable and apply power.
6. Continue to Configuration, p. 14.
Fig. 3 Connectors, switches and indicators
ALED indicators
BPrimary network interface
CUSB connector
DCANopen connector
EPower connector
FDIN rail mount
A
B
C
D
E
F
Anybus®X-gateway™CANopen®PROFINET®IRT (2.32) User Manual SCM-1202-029 1.2 en-US