ICP CON GW-7553-CPM User manual
GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 1
GW-7553-CPM PROFIBUS/CANopen GATEWAY
User's Manual
High Quality, Industrial Data Acquisition, and Control Products
ГК Атлант Инжиниринг – официальный представитель вРФ иСНГ
GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 2
Warranty
All products manufactured by ICP DAS are under warranty regarding
defective materials for a period of one year from the date of delivery to the
original purchaser.
Warning
ICP DAS assumes no liability for damages resulting from the use of this
product. ICP DAS reserves the right to change this manual at any time
without notice. The information furnished by ICP DAS is believed to be
accurate and reliable. However, no responsibility is assumed by ICP DAS
for its use, or for any infringements of patents or other right of third parties
resulting from its use.
Copyright
Copyright 2016 by ICP DAS. All rights are reserved.
Trademark
The names used for identification only may be registered trademarks of
their respective companies.
List of Revision
Date
Author
Version
Revision
2016/03/30
Harlem
1.00
Release
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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 3
Table of Contents
1. Introduction 4
1.1 Features ·······························································································4
1.2 Modules Support····················································································5
1.3 Specification··························································································5
2. Hardware 7
2.1 Block Diagram of GW-7553-CPM ······························································7
2.2 Pin Assignment······················································································7
2.3 Wiring································································································· 8
2.4 Setting the PROFIBUS Address······························································· 12
2.5 LED status indicator ············································································· 13
2.6 Normal/Setting Dip Switch ····································································· 14
3. Communication protocol transfer theorem 16
3.1 PROFIBUS data exchange······································································ 16
3.2 CANopen data exchange ········································································ 17
3.3 Communication protocol transfer····························································· 18
4. Communication 19
4.1 Field of application ··············································································· 19
4.2 GSD file ····························································································· 21
4.3 The Configuration of the modules····························································· 23
4.4 Diagnostic messages ·············································································· 23
4.5 I/O data exchange················································································· 24
5. Application of Utility 26
5.1 Install Utility······················································································· 26
5.2 Utility introduction ··············································································· 26
6. Troubleshooting 33
7. Dimensions 34
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1. Introduction
PROFIBUS and CANopen are two kinds of famous protocols and are wildly used in
the fields of factory and process automation. The GW-7553-CPM is a PROFIBUS to
CANopen gateway. By using this module, users can easily put the CANopen devices
into PROFIBUS network.
Figure 1 shows an application example for the GW-7553-CPM module.
Figure 1 Application architecture of the GW-7553-CPM module
The GW-7553-CPM Gateway is specially designed for the slave device of
PROFIBUS DP protocol. It allows the PROFIBUS master to access the CANopen
slave devices. We also provide the utility software for users to configure the GW-
7553-CPM.
The main features and specification of GW-7553-CPM are described as below:
1.1 Features
●16-Bit Microprocessor inside with 80MHz
●Siemens VPC3+ PROFIBUS controller
●Supports PROFIBUS DP-V0 slave
●PROFIBUS transmission rate detect automatically
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●Max transmission speed up to 12M bps for PROFIBUS and 115.2K bps for
COM Port
●COM Port driver has 1K bytes QUEUE input buffer & 512 bytes QUEUE
output buffer
●Max length of output/input data is 240/240 Bytes
●Follow the CiA CANopen Standard DS-301 v4.02
●Support Node Guarding and Heartbeat Consumer protocol
●Support 110 CANopen SDO/PDO commands
●Support 4 data types: Boolean、Byte、Word、4-byte
●2500Vrms High Speed iCoupler Isolation Protection for PROFIBUS network
●3000VDC Isolation Protection on the PROFIBUS side
●Provide LED indicators
●Built-in Watchdog
●Mountable on DIN Rail
1.2 Modules Support
Only the following CANopen commands are supported by the gateway.
Table 1: CANopen command support
Communication
object
COB-ID(s) hex
Slave node
NMT node control
000
Receive only
Sync
080
Receive only
Emergency
080 + NodeID
Transmit
PDO
180 + NodeID
1.Transmit PDO
200 + NodeID
1.Receive PDO
280 + NodeID
2. Transmit PDO
300 + NodeID
2. Receive PDO
380 + NodeID
3. Transmit PDO
400 + NodeID
3. Receive PDO
480 + NodeID
4. Transmit PDO
500 + NodeID
4. Receive PDO
SDO
580 + NodeID
Transmit
600 + NodeID
Receive
NMT node monitoring
(guarding/heartbeat)
700 + NodeID
Transmit
1.3Specification
COM Port specs:
●Serial port - RS-232
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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 6
●Serial port interface: 14-pin screw terminal block
●Baud Rate：115200 bps
●Data Format: 8 data bits, None parity bit, 1 stop bit
PROFIBUS specs:
●PROFIBUS interface connector: D-sub 9-pin female
●Baud Rate: 9.6K/19.2K/45.45K/93.75K/187.5K/500K/1.5M/3M/6M/ 12Mbps
●Address Setting: 0~126 (set by DIP switch or EEPROM)
CANopen specs:
●CAN signal support: CAN_H, CAN_L
●CAN bus interface: ISO 11898-2, screw terminal connector.
●Baud Rate: 10/20/50/125/250/500/800/1000 Kbps
Power requirement:
●Unregulated +10V ~ +30V DC
●Power reverse protection, Over-Voltage brown-out protection
●Power consumption 2.5W
Module specs:
●Dimensions: 119mm X 72mm X 33mm
●Operating temperature: -25 ~ 75 ºC
●Storage temperature: -30 ~ 85 ºC
●Humidity：5 ~ 95%, non-condensing
●LED Status Indicators(Table 2)
Table 2: LED status indicator
PWR LED
Shows the power state
ERR LED
Show error state
Utility state of connect
RUN LED
Show communication state of PROFIBUS
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2. Hardware
2.1 Block Diagram of GW-7553-CPM
Figure 2 Block diagram of GW-7553-CPM
2.2 Pin Assignment
Figure 3
Pin assignment of GW-7553-CPM
RS-485
DRIVE
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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 8
Table 3 14-pin screw terminal block
Pin
Name
Description
1
CAN_H
Data+ of CANBUS
2
CAN_L
Data- of CANBUS
3
-
N/A
4
-
N/A
5
-
N/A
6
-
N/A
7
-
N/A
8
-
N/A
9
RX
Receive Data of RS-232
10
TX
Transmit Data of RS-232
11
GND
GND of RS-232
12
-
N/A
13
+VS
V+ of Power Supply(+10 to +30VDC)
14
GND
GND of Power Supply
Table 4 PROFIBUS DB9 Female Connector
Pin
Name
Description
1
-
N/A
2
-
N/A
3
B
Non-inverting Bus Line
4
ISODE
Isolated DE output for use in PROFIBUS
applications where the state of the isolated drive
enable node needs to be monitored.
5
GND
Power supply ground for the first node and the last
node
6
VP
+5V Power Supply for the first node and the last
node
7
-
N/A
8
A
Inverting Bus Line
9
-
N/A
2.3Wiring
GW-7553-CPM supports PROFIBUS to CANopen communication. The
following section describes the connection interface of GW-7553-CPM
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2.3.1 RS-232 connection
The RS-232 port of the GW-7553-CPM has got three pins. The wiring of the
RS-232 device with the RS232 port of the GW-7553-CPM is shown in figure 4.
Figure 4 RS-232 wiring diagram
2.3.2 PROFIBUS Connection
The PROFIBUS interface of the GW-7553-CPM is a DB9 female connector.
The connector uses the standard PROFIBUS 9 pin assignment. It is
recommended to use a standard PROFIBUS cable and connector (DB9 male).
As with every serial bus the rate of safe data transmission in a PROFIBUS
network decreases with increasing distance between master and slave. Table 7
shows the transmission rate and range for a cable with the following properties:
1. Impedance :135~165Ω
2. Capacity : lower than 30 pF/m
3. Loop resistance : lower than 110Ω/Km
4. Wire diameter : greater than 0.65mm
5. Core cross-section : greater than 0.34mm2
Table 5 Transmission rate decreasing with increasing transmission distance
Transmission Rate(Kbps)
Transmission Distance per Segment (meter)
9.6; 19.2; 45.45;93.75
1200
187.5
1000
500
400
1500
200
3000; 6000; 12000
100
GW-7553-CPM
RS-232 COM port
RS-232 device
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In order to minimize the reflection effect of signal transmission, both ends (first
node and last node) of a PROFIBUS segment needs to be equipped with an
active terminal resistor as shown in figure6. A standard PROFIBUS connector is
usually already equipped with a terminal resistor. The user therefore only has to
switch on the resistor of the devices stationed at the ends of a segment as shown
in figure5.
Figure 5 PROFIBUS connection
Figure 6 PROFIBUS connector
The number of stations in a PROFIBUS network is restricted to 126. According
Terminator Switch
Terminator OFF
Terminator ON
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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 11
to the PROFIBUS specification up to 32 stations are allowed per segment. A
repeater has to be used to link the bus segments.
2.3.3 CANopen terminator resistor settings
In order to minimize reflection effects on the CAN bus line, the CAN bus lines
have to be terminated at both ends by two terminal resistances. Based on the
ISO 11898-2 spec, each terminal resistance is 120Ω (or between 108Ω~132Ω).
The length related resistance should have 70 mΩ/m. Users should check the
resistances of their CAN bus, before they install a new CAN network as figure 7,
8.
Figure 7 CANopen terminator resistor
Figure 8 CANopen terminator resistor
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2.4 Setting the PROFIBUS Address
The station address of GW-7553-CPM can be set by using either the dip switch or
by writing it directly to the EEPROM. The dip switch covers a range from 0 to
255. The valid address range of a PROFIBUS station spans from 0 to 126. Table 6
shows three examples of setting the station address by using the dip switch. The
dip switches are accessed by opening the modules housing (Figure 9). Table 7
explains which address will be used by the module after power on, if the dip
switch address setting differs from the address stored in the EEPROM.
Table 6: Dip switch setting example
Station address
DIP SWITCH(SW1)
1
2
3
4
5
6
7
8
1
1
0
0
0
0
0
0
0
10
0
1
0
1
0
0
0
0
126
0
1
1
1
1
1
1
0
Table 7: The Address setting of the GW-7553-CPM
Dip Switch Setting
Description
0~125
1. The address setting of the EEPROM is ignored.
2. The address can not be set by the PROFIBUS configuration
tool.
126-254
1. The address setting of the dip switch is ignored.
2. If the address in the EEPROM is 126, the PROFIBUS
configuration tool can set a new address and save it to the
EEPROM.
255
1. Slave address in the EEPROM is set to 126.
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Figure 9: DIP switch
Each slave must have a unique valid address (1 to 125) in order to be able to
communicate with the master. To change the address by using the configuration
tool it is necessary to first set the address stored in the EEPROM to 126. This is
done by setting the dip switch to 255 in the power off state. Switching the module
on is forcing the module to change its address in the EEROM to 126. In the next
step switch the module off and change the dip switch setting to any value from
126 to 254. This step is necessary in order to prevent the module to change its
address in the EEPROM to 126 every time it is powered on. The configuration
tool can now assign the slave a new address.
2.5LED status indicator
The GW-7553-CPM provides three LEDs to indicate the statuses of the GW-
7553-CPM module. The position of LEDs and descriptions are shown in table 8
and figure 10.
Table 8: LED status description
LED Name
Status
Description
PWR
on
Power supply is ok.
The firmware has loaded.
off
Power supply has failed.
ERR
flash
When the GW-7553-CPM connects with the utility
tool, it will flash fast (flash once about 55ms).
When the GW-7553-CPM has diagnostic message, it
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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 14
LED Name
Status
Description
will flash slowly (flash once about 220ms).
on
Connection error between PROFIBUS master and
slave or PROFIBUS system has not been configured
correctly.
off
Normal operation
PROFIBUS system has been configured correctly
RUN
on
Data exchange mode
Normal operation.
off
GW-7553-CPM module is not in a data exchange
mode.
Figure 10 LED position
2.6Normal/Setting Dip Switch
There is a dip switch on the back of the GW-7553-CPM module, as shown in Figure
11. The dip switch is used to set the GW-7553-CPM module works in operation mode
or setting mode. In the normal situation, it needs to set the dip switch to the “Normal”
position. In this case, the GW-7553-CPM module can communicate with CANopen
devices, module can communicate with the utility tool and read the information of
CANopen from the module. When the user sets the dip switch to the “Setting”
position, the GW-7553-CPM module can communicate with the utility tool and save
the information of CANopen to module.
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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 15
Figure 11 Dip switch of the GW-7553-CPM
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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 16
3. Communication protocol transfer theorem
3.1 PROFIBUS data exchange
The GW-7553-CPM is a PROFIBUS DP slave device. The GW-7553-CPM is first
parameterized then configured and finally it goes into the data exchange mode
(Figure 12).
Figure 12 State machine of PROFIBUS DP slave device
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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 17
The GW-7553-CPM exchanges data cyclically between internal TxPDO、
RxPDO、TxSDO、RxSDO data and PROFIBUS master device in data exchange
mode, as shown in figure 13.
Figure 13 Data exchange between PROFIBUS master device and GW-7553-
CPM
The GW-7553-CPM downloads the parameter and configuration from PROFIBUS
master device to be the module parameters. The GW-7553-CPM and PROFIBUS
master device have different data type and data address, the GW-7553-CPM can
transfer different data format to PROFIBUS master device through module
parameters.
3.2 CANopen data exchange
CANopen protocol belongs to Master-Slave communication and it uses query and
response message to arrive at data exchange and device control, as shown in
figure 14.
Figure 14 Data exchange between the CANopen devices and the GW-7553-CPM
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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 18
3.3 Communication protocol transfer
In section 3.1 and 3.2, we can understand that data exchange is through CANopen
Output Buffer 、CANopen Input Buffer of the GW-7553-CPM between
PROFIBUS master、CANopen Slave and the GW-7553-CPM. The data exchange
runs continuously between PROFIBUS master、CANopen slave and the GW-
7553-CPM, as shown in figure 15
、
16.
Figure 15 GW-7553-CPM communication protocol transfers
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GW-7553-CPM PROFIBUS/CANopen GATEWAY User Manual (Version 1.00, Apr/2016) PAGE: 19
Figure 16 GW-7553-CPM flowchart
4. Communication
4.1 Field of application
A master station can be a PLC, PC or any other smart device. The system can be a
mono-master system (Figure 17) or a multi-master system (Figure 18). The GW-
7553-CPM enables the integration of the CANopen devices into a PROFIBUS DP
network.
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Figure 17 Mono-master system
Figure 18 Multi-master system
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