SST Automation GT200-EI-CO User manual

CANopen / Ethernet Gateway
GT200-EI-CO
User Manual
V 2.4
Rev A
SST Automation
Email: [email protected]
www.SSTAutomation.com

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Important Information
Warning
The data and examples in this manual cannot be copied without authorization. SSTCOMM reserves the right to
upgrade the product without notifying users.
The product has many applications. The users must make sure that all operations and results are in accordance
with the safety of relevant fields, and the safety includes laws, rules, codes and standards.
Copyright
Copyright © 2022 by SST Automation. All rights reserved.
Trademark
is the registered trade mark of SST Automation.
Technical Support Contact Information
www.sstautomation.com
www.sstcomm.com
E-mail: [e-mail]

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Catalog
1 Product Overview ......................................................................................................................................................1
1.1 Product Function ............................................................................................................................................ 1
1.2 Product Features ............................................................................................................................................. 1
1.3 Technical Specifications .................................................................................................................................1
1.4 Related Products .............................................................................................................................................3
1.5 Revision History .............................................................................................................................................3
2 Hardware Descriptions .............................................................................................................................................. 4
2.1 Product Appearance ........................................................................................................................................4
2.2 LED Indicators ............................................................................................................................................... 5
2.3 DIP Switch ......................................................................................................................................................6
2.4 Interface ..........................................................................................................................................................6
2.4.1 Power Interface ................................................................................................................................... 6
2.4.2 Ethernet Interface ................................................................................................................................ 7
2.4.3 CAN Port .............................................................................................................................................8
3 Mounting ................................................................................................................................................................... 9
3.1 Mechanical Dimensions ................................................................................................................................. 9
3.2 Mounting Method ...........................................................................................................................................9
4 Quick Start Guide .................................................................................................................................................... 11
4.1 Gateway Configuration ................................................................................................................................ 11
4.2 Software Configuration ................................................................................................................................ 11
4.3 Operation ...................................................................................................................................................... 13
4.3.1 Data Exchange Mode ........................................................................................................................ 13
5 Software Instructions ...............................................................................................................................................15
5.1 Software Interface Description .................................................................................................................... 15
5.2 Notes Before Configuration ......................................................................................................................... 15
5.3 Software Function ........................................................................................................................................ 16
5.3.1 User Interface .................................................................................................................................... 16
5.3.2 Toolbar ...............................................................................................................................................16
5.3.3 New Configuration Project ............................................................................................................... 17
5.3.4 Open and Save Configuration ........................................................................................................... 18
5.3.5 Upload and Download .......................................................................................................................19
5.3.6 Industrial Ethernet Configuration Parameters .................................................................................. 20
5.3.7 CANopen Configuration Parameters ................................................................................................ 20
5.3.8 Device View Interface .......................................................................................................................21
6 Ethernet/IP Connection Parameters ........................................................................................................................ 29
7 How to Read/Write I/O Data ...................................................................................................................................30
7.1 Read/Write Data by IO Messaging (Recommend) ...................................................................................... 30
7.2 Read/Write Data by MSG ............................................................................................................................ 34
7.2.1 Read Data .......................................................................................................................................... 34
7.2.2 Write Data ......................................................................................................................................... 38

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1 Product Overview
1.1 Product Function
GT200-EI-CO is a gateway that can provide a seamless connection between CANopen and EtherNet/IP. It can
connect CANopen devices to an EtherNet/IP network and realize bi-directional data exchange easily. The gateway
converts the devices on the CANopen network to EtherNet/IP network devices.
1.2 Product Features
Easy to use: Users only need to refer to the product manual and application instances and can realize data
communication of a gateway in a short time according to the requirements of the configuration.
Supports one channel CAN 2.0A.
CAN interface: 3KV photoelectric isolation.
Supports 1 channel, 10M/100M adaptive network port.
32-bit processor with the main frequency up to 55M.
Supports TCP and UDP port communication.
1.3 Technical Specifications
[1] Communication rate:
CAN baud rate: 10kbit/s, 20kbit/s, 50kbit/s, 100kbit/s, 125kbit/s, 250kbit/s, 500kbit/s, 1Mbps.
Ethernet: 10M / 100M adaptive.
[2] Ethernet supports OVDA standard EtherNet/IP communication protocol, supports 504/256/128/64/32/16/8
bytes instance number.
[3] CAN interface supports CAN2.0A protocol.
[4] DS-301 V4.01 and CiA Draft Recommendation 303 compliant.
Supports maximum 8 bytes TPDO and RPDO.

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Supports maximum 64 PDO commands and maximum 128 SDO commands.
Supports fast Download SDO and fast Upload SDO.
The COB-ID of TPDO and RPDO can be set by the user, or the default COBID can be used.
Supports Clear Data Time for TPDO function.
Supports SDO response timeout function.
Supports NMT management.
Supports SYNC function.
Supports Guard life function (Life-guarding and Heartbeat protocols).
Supports RPDO cycle sending function.
Supports CANopen master delay to start-up function.
Supports Control Status function.
Supports changing VendCode.
[5] Operating environment:
REL Humidity: 5% to 95% (non-condensing).
Work circumstance temperature: -4℉~140℉(-20℃to 60℃), the average temperature of 24-hour does
not exceed 113℉(45℃).
Installation site elevation does not exceed 2000 meters.
Pollution level: class 3 .
[6] Power: 24VDC (11V~30V), maximum 150mA (24V).
[7] External dimensions (W*H*D): 1.57 in*4.92 in *4.33 in (40mm*125mm*110mm).
[8] Installation: 1.38 in (35mm) DIN RAIL.

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1.4 Related Products
Related products include:
GT100-CO-RS
GT200-CO-RS
GT200-PN-CO
GT200-DP-CO
GT100-EI-RS
GT200-EI-2RS485
To get more information about related products, please visit SSTCOMM website: www.sstautomation.com
1.5 Revision History
Revision
Date
Chapter
Description
V2.4, Rev A
8/12/2022
Chapter 1.1, 1.2, 1.3,
2.4.3, 4.1, 4.2, 4.3, 5.1,
5.2, 5.3.8.4, 5.3.8.5, 6, 7
Revised some mistakes. Added
Ethernet/IP connection parameters
and RSLogix 5000 example in
chapters 6 and 7.
V2.4
6/29/2021
ALL
New Release
V2.2
12/09/2020
ALL
New Release

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2 Hardware Descriptions
2.1 Product Appearance
Note: This picture is for reference only. The product appearance is subject to the actual product.
Ethernet Interface
DIP Switch
CANopen Status Indicator
EtherNet/IP Status Indicator
24VDC Interface
CAN Interface

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2.2 LED Indicators
LED
State
State description
ENS
Green On
EtherNet/IP connection established
Green Blinking
EtherNet/IP connection is not established
Red Blinking
Indicates an IP address conflict
EtherNet/IP connection timed out
BOOTP
Checking whether the IP address conflicts
Orange light Blinking
(Blinking alternately
with the orange light
of CNS)
Configuration status
Orange Blinking
Startup status
CNS
Red On
BUS OFF
Red light on 200ms
and off 1000ms
alternately
The error counter of CAN controller reaches or exceeds
alarm value
Green On
Node is in run mode
Green light on 200ms
and off 200ms
alternately
Node is in stop mode
Green light on 200ms
and off 200ms
alternately
Node is in pre-run mode
Orange light Blinking
(Blinking alternately
with the orange light
of ENS)
Configuration status
Orange Blinking
Startup status
Orange On
NMT management. Waiting for BOOTP of all slaves (used
when NMT is enabled)
SNS
Reserve
undefined

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2.3 DIP Switch
The DIP switch is used to set operating mode of the device.
Off
On 1 2
Mode (Bit 1)
Function (Bit 2)
Description
Off
Reserved
Running mode, prohibits reading
and writing configuration data
On
Off
Configuration mode, with fixed IP
address 192.168.0.10, only can
read and write configuration data
On
On
BootLoader mode, with fixed IP
address 192.168.0.10
Note: After changing the switch, please restart the GT200-EI-CO to apply the settings.
2.4 Interface
2.4.1 Power Interface
GND
NC
24V+
1
2
3
Pin
Function
1
Power ground
2
NC(Not Connected)
3
+24V DC

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2.4.2 Ethernet Interface
The Ethernet interface is a RJ-45 socket.
Pin
Signal description
S1
TXD+, Tranceive Data+, Output
S2
TXD-, Tranceive Data-, Output
S3
RXD+, Receive Data+, Input
S4
Bi-directional Data+
S5
Bi-directional Data-
S6
RXD-, Receive Data-
S7
Bi-directional Data+
S8
Bi-directional Data-

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2.4.3 CAN Port
5-pin connector:
V+
GND
CAN-L
Shield
CAN-H
5
1
The gateway uses open five-pin connector at the side of CAN:
Pin
Connection
1
V+ (Optional)
2
CAN-H
3
Shield (Optional)
4
CAN-L
5
GND
Note: Connections V+, GND, and shield are optional. Only connections CAN-H and CAN-L are required.

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3 Mounting
3.1 Mechanical Dimensions
Size: 1.57 in * 4.92 in * 4.33 in (width * height * depth)
3.2 Mounting Method
Use 13.8 in (35 mm) DIN Rail.

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1. Use a screwdriver to pass through the DIN RAIL bar, pull down, and hold.
2. Pull out the gateway.
3. Lift up to unload the gateway.
Install the gateway
Uninstall the gateway
①
②
③

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4 Quick Start Guide
4.1 Gateway Configuration
1. Make sure the GT200-EI-CO is in the appropriate operating mode that allows for configuration. It is
recommended to set the gateway to configuration mode (configuration switches Bit 1 ON and Bit 2 OFF)
then the IP of the gateway will be fixed at 192.168.0.10.
2. Use an Ethernet cable to connect the GT200-EI-CO to the PC.
3. Connect the CAN instruments by connecting pins 2 and 4 at minimum.
4. Connect the power supply., then power on the device.
5. Run the SST-ECO-CFG software to start the configuration process.
6. In the configuration software, set the CAN baud rate, node ID, and IP address. (See chapters 5.3.6 and 5.3.8.4
for details).
7. After the gateway has been configured, set the configuration DIP switch Bit 1 OFF. Power on again and the
module will go into run mode.
4.2 Software Configuration
Users can connect the gateway to their PC through the RJ-45 port and use the SST-ECO-CFG software to finish
configuring the GT200-EI-CO. Settings such as IP address, baud rate of the CANopen port, and CANopen
commands can all be effortlessly configured using the software.
There are two ways to set the IP address:
1. Manual setting: The user manually sets the IP in the configuration state.
2. DHCP: The user must use a DHCP Server to allocate the IP in the running state.

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The default IP of GT200-EI-CO in configuration mode is 192.168.0.10, and users can connect GT200-EI-CO and
PC in two ways:
1. Connect the GT200-EI-CO and PC directly with a crossover network cable, as shown below:
2. Connect the GT200-EI-CO, PC and Ethernet router (gateway, Hub, switch) with a straight-through
network cable, as shown below:
Note: In the configuration mode, the IP address of the PC must be changed to 192.168.0.X; The subnet mask must
be changed to 255.255.255.0; The default gateway should be changed to 192.168.0.1.

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4.3 Operation
4.3.1 Data Exchange Mode
Communication mode between CANopen and EtherNet/IP is asynchronous mode, as shown below:
“Data 1” shows the data transfer process from EtherNet/IP to CAN; “Data 2” shows the data transfer process from
CAN to EtherNet/IP.
An EtherNet/IP I/O output can carry 0 to multiple CAN frame data. The gateway will send the CAN frame when
it receives the I/O output, and then packs the received CAN response frame into the I/O input and sends it to the
EtherNet/IP master. TPDO and RPDO applies producer/consumer mode, and is often used in occasions with a
high speed requirement. Upload SDO and Download SDO applies client/server mode, the mode can guarantee
safety of data, and is often used in occasions with a low speed requirement.
EtherNet/IP

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GT200-EI-CO supports Clear Data Time for TPDO: As long as GT200-EI-CO does not receive the TPDO from
the slave within the set time, GT200-EI-CO will clear the data in corresponding position of the EtherNet/IP input
buffer.
GT200-EI-CO supports simple NMT function: it supports simple startup of all CANopen slave functions.
GT200-EI-CO supports Guard life function and SYNC function.

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5 Software Instructions
5.1 Software Interface Description
SST-ECO-CFG is configuration software based on the Windows platform, and is used to configure parameters and
commands of the product GT200-EI-CO.
This manual describes the method of configuring the gateway, GT200-EI-CO. Please read the manual carefully
before using it.
5.2 Notes Before Configuration
If it is the first time using the product, please set the configuration DIP switch (Bit 1 ON and Bit 2 OFF), and
configure the product parameters under configuration mode.
Note: The configured IP addresses must not conflict with other devices’ IP. Otherwise, the product will not start
normally due to IP conflicts.
Under configuration mode, the product can upload and download the configuration. The gateway cannot
communicate with other devices during this process.

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5.3 Software Function
5.3.1 User Interface
5.3.2 Toolbar
Toolbar is shown as bellow:
The function of Toolbar: New, Open, Save, Add Node, Delete Node, Add Command, Delete Command, Upload,
Download, Calculate Mapping Address and Export EXCEL.
New: Create a new configuration project
Save: Save current configuration
Open: Open a configuration project

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Add Node: Add a CANopen node
Delete Node: Delete a CANopen node
Add Command: Add a CANopen command
Delete Command: Delete a CANopen command
Upload: Read the configuration information from the module and show it in the software
Download: Download the configuration file to the gateway
Calculate Mapping Address: Used to automatically calculate the mapped memory address without
conflict by each command
Export EXCEL: Export current configuration to the local hard disk, saved as .xls file
5.3.3 New Configuration Project
New-initialized parameters to open the configuration interface:
Note: The new function is mainly used for offline configuration, that is, you can use the initialization parameters
to open the configuration interface when there is no equipment.