Siemens SIMATIC User manual

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SIMATIC
Network transitions
SIMATIC PN/CAN LINK
Operating Instructions
03/2018
A5E3989538
8-AB
Introduction
1
Safety instructions
2
System overview
3
Functions
4
Application planning
5
Mounting/Extending
6
Connecting
7
Commissioning
8
Configuring / programming
9
Diagnostics
10
Maintenance and service
11
Technical specifications
12
Appendix
A

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E39895388-AB
Ⓟ
02/2018 Subject to change
Copyright © Siemens AG 2017 - 2018.
All rights reserved
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by
personnel qualified
for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are r
equired to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB 3
Table of contents
1 Introduction............................................................................................................................................. 7
1.1 Preface......................................................................................................................................7
1.2 Documentation guide................................................................................................................8
2 Safety instructions................................................................................................................................... 9
2.1 Safety instructions.....................................................................................................................9
2.2 Security information ................................................................................................................11
3 System overview................................................................................................................................... 13
3.1 Field of application..................................................................................................................13
3.2 System configuration ..............................................................................................................16
3.3 System requirements..............................................................................................................17
3.4 Design.....................................................................................................................................18
4 Functions.............................................................................................................................................. 19
4.1 CANopen ................................................................................................................................19
4.1.1 Basic functions........................................................................................................................19
4.1.1.1 Overview .................................................................................................................................19
4.1.1.2 Object dictionary .....................................................................................................................20
4.1.1.3 Process data objects (PDO) ...................................................................................................21
4.1.1.4 Service Data Objects (SDO)...................................................................................................22
4.1.1.5 EMCY messages ....................................................................................................................22
4.1.1.6 Heartbeat / Node Guarding.....................................................................................................23
4.1.1.7 SYNC messages.....................................................................................................................23
4.1.1.8 Data exchange between controller and PN/CAN LINK ..........................................................24
4.1.1.9 Conversion of data formats between PROFINET and CANopen...........................................24
4.1.2 CANopen Manager .................................................................................................................25
4.1.2.1 State model.............................................................................................................................26
4.1.2.2 Control and status information................................................................................................28
4.1.2.3 Acyclic data exchange between controller and PN/CAN LINK...............................................31
4.1.2.4 Monitoring functions................................................................................................................34
4.1.3 CANopen Slave ......................................................................................................................35
4.1.3.1 Object dictionary .....................................................................................................................36
4.1.3.2 State model.............................................................................................................................37
4.1.3.3 Control and status information................................................................................................39
4.1.3.4 Monitoring functions................................................................................................................41
4.1.4 Response to errors .................................................................................................................42

Table of contents
SIMATIC PN/CAN LINK
4Operating Instructions, 03/2018, A5E39895388-AB
4.2 CAN transparent .................................................................................................................... 43
4.2.1 Overview ................................................................................................................................ 43
4.2.2 State model............................................................................................................................ 43
4.2.3 CAN messages ...................................................................................................................... 45
4.2.4 Control and status information............................................................................................... 46
4.2.5 Cyclic data exchange between controller and PN/CAN LINK for configured CAN
messages............................................................................................................................... 47
4.2.6 Cyclic data exchange between controller and PN/CAN LINK for programmed CAN
messages............................................................................................................................... 48
4.2.7 Response to errors ................................................................................................................ 56
5 Application planning.............................................................................................................................. 57
5.1 Installation guidelines............................................................................................................. 57
5.2 Installation location ................................................................................................................ 58
5.3 Transportation........................................................................................................................ 60
5.4 Storage................................................................................................................................... 60
5.5 Scope of delivery.................................................................................................................... 61
6 Mounting/Extending .............................................................................................................................. 63
6.1 Installing the device ............................................................................................................... 63
7 Connecting ........................................................................................................................................... 65
7.1 Safety instructions and guidelines ......................................................................................... 65
7.2 Potential ratios ....................................................................................................................... 67
7.3 24 V DC power supply ........................................................................................................... 68
7.4 Connecting the functional ground .......................................................................................... 69
7.5 Connecting PROFINET.......................................................................................................... 70
7.6 Connecting the CAN bus ....................................................................................................... 71
8 Commissioning ..................................................................................................................................... 73
8.1 Commissioning the PN/CAN LINK......................................................................................... 73
9 Configuring / programming.................................................................................................................... 75
9.1 Configuring CANopen Manager............................................................................................. 75
9.1.1 Overview ................................................................................................................................ 75
9.1.2 Configuration view in the TIA Portal....................................................................................... 76
9.2 Configuring CANopen Slave .................................................................................................. 82
9.2.1 Overview ................................................................................................................................ 82
9.2.2 Configuring in the TIA Portal.................................................................................................. 83
9.3 Configuring CAN transparent................................................................................................. 87
9.3.1 Overview ................................................................................................................................ 87
9.3.2 Configuring in the TIA Portal.................................................................................................. 87
9.4 Programming.......................................................................................................................... 91
9.4.1 PLC tags ................................................................................................................................ 91

Table of contents
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB 5
10 Diagnostics ........................................................................................................................................... 95
10.1 Status LEDs ............................................................................................................................95
10.1.1 Operating state of the PN/CAN LINK / PROFINET diagnostics .............................................95
10.1.2 Connection status CAN bus in the two CANopen operating modes ......................................97
10.1.3 Connection status CAN bus in "CAN transparent" operating mode .......................................98
10.2 Diagnostic messages to the S7 controller ..............................................................................99
10.2.1 Events that trigger a diagnostic message...............................................................................99
10.2.2 Diagnostic messages............................................................................................................102
11 Maintenance and service .................................................................................................................... 105
11.1 Firmware update ...................................................................................................................105
11.2 Replacing the PN/CAN LINK ................................................................................................105
11.3 Recycling and disposal .........................................................................................................106
12 Technical specifications ...................................................................................................................... 107
12.1 Technical specifications of the PN/CAN LINK ......................................................................107
12.2 Dimension drawing ...............................................................................................................110
A Appendix............................................................................................................................................. 111
A.1 Certificates and approvals ....................................................................................................111
A.2 Contact address....................................................................................................................112
A.3 Licenses................................................................................................................................112
A.4 Service & Support.................................................................................................................113
A.4.1 Technical Support .................................................................................................................113
A.4.2 Siemens Industry Online Support .........................................................................................113
A.4.3 Online catalog and ordering system .....................................................................................113
Glossary ............................................................................................................................................. 115
Index................................................................................................................................................... 119

Table of contents
SIMATIC PN/CAN LINK
6Operating Instructions, 03/2018, A5E39895388-AB

SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB 7
Introduction
1
1.1
Preface
Purpose of this documentation
These operating instructions include all information required for configuration, installation,
commissioning and operation of the PN/CAN LINK.
These operating instructions are intended for qualified personnel in the following target
groups:
●Commissioning engineers
●Operating and service personnel
●System integrator
Knowledge required
The following knowledge is required in order to understand the operating instructions:
●Knowledge of programming a SIMATIC S7 controller
●Knowledge in the application of the TIA configuration environment
●Knowledge of working with the PROFINET fieldbus
●In-depth knowledge of the CAN or CANopen communication protocols
●General knowledge in the field of automation technology
●General knowledge of communication networks
Trademarks
SIMATIC®is a registered trademark of Siemens AG.
History
Edition
Note
03/2017 First edition
03/2018 Addition of naming scheme for generated PLC tags;
Minor improvements and additions

Introduction
1.2 Documentation guide
SIMATIC PN/CAN LINK
8Operating Instructions, 03/2018, A5E39895388-AB
Naming conventions
The term "PN/CAN LINK" or "device" is used in this documentation instead of the full product
name "SIMATIC PN/CAN LINK".
The term "S7 controller", or "S7" for short, is also used for the SIMATIC S7 controller.
1.2
Documentation guide
Below you will find a list of documents which supplement these operating instructions for the
PN/CAN LINK and which are available on the Internet.
Additional documentation
Subject
Documentation
Most important contents
Designing interfer-
ence-free controllers
Function Manual Designing interference-
free controllers
(https://support.industry.siemens.com/cs/w
w/en/view/59193566)
•Basics
•Electromagnetic compatibility
•Lightning protection
PROFINET SIMATIC PROFINET System Description
(https://support.industry.siemens.com/cs/w
w/en/view/19292127)
•Basics
•Installation
•Functions
•Configuration examples
The latest manuals for SIMATIC products are available for download free of charge from the
Internet (https://support.industry.siemens.com/cs/ww/en/ps/man).
The information system of the TIA Portal also helps you configure and program your
automation system and the PN/CAN LINK.

SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB 9
Safety instructions
2
2.1
Safety instructions
CAUTION
Observe the safety instructions on the inside front cover of this documentation.
SIMATIC PN/CAN LINK devices correspond to the approvals printed on the type plate. If you
have questions about whether it is permissible to install the device in the planned
environment, please contact your service representative.
NOTICE
Alterations to the devices are not permitted.
Failure to observe this requirement shall constitute a revocation of the CE approval and
manufacturer's warranty.
Intended use
NOTICE
The PN/CAN LINK may only be used for the applications described in the catalog and in
the associated technical documentation. If the device is used in a manner other than the
one specified by Siemens, the protection offered by the device might be impaired.
See also the section "Legal notices" at the beginning of this manual.
Repairs
WARNING
The device contains no user-serviceable parts.
May cause death or serious injury
Unauthorized opening or improperly performed repairs can cause considerable damage to
property and/or danger to users. Contact Siemens Support
(http://support.automation.siemens.com) in case of error.

Safety instructions
2.1 Safety instructions
SIMATIC PN/CAN LINK
10 Operating Instructions, 03/2018, A5E39895388-AB
Safety information
WARNING
Connection only over safety extra-low voltage / protective extra-low voltage
May cause death or serious injury
The device is designed for operation using directly connectable safety extra-low voltage
(SELV) with safe electrical separation according to IEC 60950-1 / EN 60950-1 /
VDE 0805-1 or IEC 61131-2 / EN 61131-2 / DIN EN 61131-2.
To obtain the safe property of low-voltage circuits of the PN/CAN LINK, the 24 V rated
voltage supply and external connections to communication interfaces must be supplied
from approved sources that meet requirements set forth by various standards for
SELV/PELV voltage-limited sources.
Therefore only connect safety extra-low voltages (SELV) with safe electrical separation
according to IEC 60950-1 / EN 60950-1 / VDE 0805-1 to the supply voltage connections
and the communications interfaces.
Working on the device or on connected components
WARNING
Risk of electric shock
May cause death or serious injury
•Voltages > 60 V DC or 30 V AC may be present in the control cabinet. Therefore
appropriate safety precautions must be taken to prevent contact during commissioning
and maintenance work.
•Before carrying out any work on the device or on connected components, make sure
that the installation is in a zero-voltage state.
•Use cable types with UL approval for UL-approved systems.

Safety instructions
2.2 Security information
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB 11
2.2
Security information
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens’ products and solutions only form one element of such a concept.
Customer is responsible to prevent unauthorized access to its plants, systems, machines
and networks. Systems, machines and components should only be connected to the
enterprise network or the internet if and to the extent necessary and with appropriate security
measures (e.g. use of firewalls and network segmentation) in place.
Additionally, Siemens’ guidance on appropriate security measures should be taken into
account. For more information about industrial security, please visit
(http://www.siemens.com/industrialsecurity).
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends to apply product updates as soon as available and to
always use the latest product versions. Use of product versions that are no longer supported,
and failure to apply latest updates may increase customer’s exposure to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed under (http://www.siemens.com/industrialsecurity).
Protective measures for SIMATIC PN/CAN LINK
NOTICE
Only authorized personnel are permitted to access the system and carry out modifications.

Safety instructions
2.2 Security information
SIMATIC PN/CAN LINK
12 Operating Instructions, 03/2018, A5E39895388-AB

SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB 13
System overview
3
3.1
Field of application
Figure 3-1 SIMATIC PN/CAN LINK
The SIMATIC PN/CAN LINK is a communication gateway and allows for the connection of
SIMATIC controllers to the CAN fieldbus over PROFINET. This connection enables the
exchange of information and data between PROFINET and CAN.

System overview
3.1 Field of application
SIMATIC PN/CAN LINK
14 Operating Instructions, 03/2018, A5E39895388-AB
General features
●CAN interface according to ISO 11898-2 (High Speed CAN)
●2 PROFINET interfaces (integrated switch) enable PROFINET line operation according to
Conformance Class B (CC-B).
●In addition to the PROFINET and CAN protocol, the PN/CAN LINK also offers the
CANopen protocol. This means the PN/CAN LINK can be operated as a CANopen node
and can also take on the role of CANopen Manager in the CANopen network. The
PN/CAN LINK can be operated in the following three modes:
–CANopen Manager
–CANopen Slave
–CAN transparent
●The operating mode for the PN/CAN LINK is set via the associated HSP in the TIA Portal.
●The PN/CAN LINK supports both the standard format (CAN 2.0A) as well as the extended
CAN format (CAN 2.0B).
●The PN/CAN LINK can operate up to 126 nodes in the CAN network in Manager mode.
●The CAN side supports baud rates from 50 kBaud up to 1000 kBaud.
●The maximum permissible cable length of the CAN network is up to 1000 m (dependent
on data transmission rate, cable cross-section, number of nodes).
CANopen Manager
●CANopen implementation according to CANopen specification "CiA 301"
●The PN/CAN LINK can operate up to 126 slaves as CANopen Manager in the
CANopen network.
●Network management functions according to CiA standard "CiA 302 Part 2".
If the PN/CAN LINK is operated as CANopen Manager, it takes over the following
functions:
–NMT Master: The PN/CAN LINK controls the NMT state of the other CAN devices and
executes the boot-up procedure according to the CiA standard "CiA 302 Part 2".
–Configuration Manager: The PN/CAN LINK configures the CANopen slaves during the
boot-up procedure by means of SDO write access.
●I/O data are transmitted on the CANopen side with the help of process data objects
(PDOs).
●All PDO transmission rates specified in the CiA301 standard are supported.
●Segmented SDO data transmission is supported.
●SYNC function as producer (sender) as well as consumer (receiver)
●"Heartbeat" function
●"Node guarding" function
●"EMCY" (Emergency) function

System overview
3.1 Field of application
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB 15
CANopen Slave
●The PN/CAN LINK can be used as an "NMT slave" according to "CiA 302 Part 2".
When the PN/CAN LINK is an NMT slave, another CANopen Manager configures the OD
and thus which data is exchanged with which other devices.
CAN transparent
●The PN/CAN LINK can be operated in "CAN transparent" mode.
●All CANopen functions are disabled in "CAN transparent" mode.
●Control information as well as status information is exchanged cyclically between the
PN/CAN LINK and the S7 controller in "CAN transparent" mode.
●Messages can be used in standard format as well as extended CAN format.
●Configured CAN messages with fixed message ID and fixed length can be used in
"CAN transparent" mode.
●Programmed CAN messages for which the message ID and the length (max. 8 bytes) is
not determined by the S7 user program until runtime can be used in "CAN transparent"
mode.
●Users can send and receive CAN messages in the S7 automation program. For this
purpose, "Transmit proxy modules" and "Receive proxy modules" can be configured in
the TIA Portal.
●The PN/CAN LINK can forward data from received CAN messages to the S7 controller as
PROFINET input data.
●Der PN/CAN LINK can send CAN messages with PROFINET output data of the
S7 controller.

System overview
3.2 System configuration
SIMATIC PN/CAN LINK
16 Operating Instructions, 03/2018, A5E39895388-AB
3.2
System configuration
System configuration
The figure below shows a basic system configuration with a PN/CAN LINK as
communication gateway between a PROFINET network and a CAN network.
Figure 3-2 System configuration with PN/CAN LINK
Purpose and function of the system components
The PN/CAN LINK enables the connection of PROFINET to CAN.
The communication of the PN/CAN LINK with the CPU of the S7 controller takes place
exclusively over the PROFINET interface.
From the PROFINET view, the PN/CAN LINK is an IO device according to Conformance
Class B (CC-B).
The cyclic data exchange between the PN/CAN LINK and the connected SIMATIC CPUs is
based on updating the IO image. Acyclic communication takes place by means of
"Read/write data record" services.
An external power supply unit with 24 V DC or the 24 V power supply of the SIMATIC
S7 system provides the power supply of the PN/CAN LINK.
The TIA Portal is used for configuring. A corresponding HSP is available for this purpose.
The configuration of CANopen slaves is based on device description files (EDS) that are
imported.

System overview
3.3 System requirements
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB 17
3.3
System requirements
System requirements
●PN/CAN LINK
●Controller: SIMATIC S7-1200, SIMATIC S7-1500, SIMATIC ET 200SP and
SIMATIC OpenController are supported.
●24 V voltage supply
●CAN bus
●PROFINET bus
●Windows PC (for configuring, commissioning and diagnostics)
●TIA Portal as of V14
●We recommend a switch for configuring, commissioning and diagnostics.

System overview
3.4 Design
SIMATIC PN/CAN LINK
18 Operating Instructions, 03/2018, A5E39895388-AB
3.4
Design
PN/CAN LINK design
Design
PN/CAN LINK design
①
24 V DC + functional grounding
②
Status LEDs device + PROFINET
③
MAC address
④
Status LEDs Ethernet
⑤
Ethernet connection (PROFINET)
⑥
CAN connection
⑦Status LEDs CAN
⑧
Rating plate
See also
24 V DC power supply (Page 68)
Operating state of the PN/CAN LINK / PROFINET diagnostics (Page 95)
Connecting PROFINET (Page 70)
Connecting the CAN bus (Page 71)