SST Automation GT200-EI-CO User manual

CANopen / Ethernet Gateway
GT200-EI-CO
User Manual
V 2.2
SST Automation
E-mail: [e-mail]
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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 © 2020 by SST Automation. All rights reserved.
Trademark
is the registered trade mark of SST Automation.
Technical Support Contact Information
www.sstcomm.com
E-mail: [e-mail]

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Catalog
1 Product Overview...................................................................................................................................................... 1
1.1 Product Function.............................................................................................................................................1
1.2 Product Feature............................................................................................................................................... 1
1.3 Technical Specifications................................................................................................................................. 1
1.4 Related Products............................................................................................................................................. 2
1.5 Revision History............................................................................................................................................. 2
2 Hardware Descriptions.............................................................................................................................................. 3
2.1 Product Appearance........................................................................................................................................ 3
2.2 LED Indicators................................................................................................................................................4
2.3 Configuration Switch/Button..........................................................................................................................4
2.4 Interface.......................................................................................................................................................... 5
2.4.1 Power Interface....................................................................................................................................5
2.4.2 Ethernet Interface.................................................................................................................................5
2.4.3 CAN Port............................................................................................................................................. 6
3 Mounting....................................................................................................................................................................7
3.1 Mechanical Dimensions..................................................................................................................................7
3.2 Mounting Method........................................................................................................................................... 7
4 Quick Start Guide...................................................................................................................................................... 9
4.1 Gateway Configuration...................................................................................................................................9
4.2 Hardware Wiring.............................................................................................................................................9
4.3 Software Configuration.................................................................................................................................. 9
4.4 Operation.......................................................................................................................................................10
4.4.1 Data Exchange Mode.........................................................................................................................10
4.4.2 Gateway EtherNet/IP Connection Parameters...................................................................................12
5 Software Instructions............................................................................................................................................... 13
5.1 Notes Before Configuration..........................................................................................................................13
5.2 Software Function.........................................................................................................................................14
5.2.1 User Interface.....................................................................................................................................14
5.2.2 Toolbar............................................................................................................................................... 14
5.2.3 New Configuration Project................................................................................................................15
5.2.4 Open and Save Configuration........................................................................................................... 16
5.2.5 Upload and Download....................................................................................................................... 17
5.2.6 Industrial Ethernet Configuration Parameters...................................................................................18
5.2.7 CANopen Configuration Parameters.................................................................................................19
5.2.8 Device View Interface....................................................................................................................... 20

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1 Product Overview
1.1 Product Function
The gateway supports connecting CANopen devices to EtherNet/IP network. That is, convert the devices on the
CANopen network to EtherNet/IP network devices.
1.2 Product Feature
Supports one channel CAN 2.0A;
CAN interface: 3KV photoelectric isolation;
Supports 1 channels 10M/100M adaptive network ports;
Using 32-bit processor, the main frequency is 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 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;
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;

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Supports TPDO time-out reset;
Supports NMT management;
Supports SYNC function;
Supports Guard life function;
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;
1.4 Related Products
Related products: GT200-CO-RS, GT200-DP-CO...
To get more information about related products, please visit SSTCOMM website: www.sstcomm.com.
1.5 Revision History
Revision
Date
Chapter
Description
V2.2
12/09/2020
ALL
New release

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2 Hardware Descriptions
2.1 Product Appearance
Notes: 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
Start status
CNS
Red On
BUS OFF
Red light on 200ms
and off 1000ms
alternately
The error counter of CAN controller reach or exceed 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
Start status
Orange On
NMT management. Waiting for BOOTP of all slaves (used
when NMT is enabled)
SNS
Reserve
undefined
2.3 Configuration Switch/Button
The DIP switch is used to set operating mode of the device.

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Off
On 1 2
Mode (Bit 1)
Function (Bit 2)
Description
Off
Reserve
Running mode, prohibit 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
Notes: After changing the switch, you have to restart the GT200-EI-CO to make the settings take effect!
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
2.4.2 Ethernet Interface

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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-
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 of V+,GND and shield are optional, but connections of CAN-H, CAN-L are necessary;

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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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Install the gateway
Uninstall the gateway

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4 Quick Start Guide
4.1 Gateway Configuration
1. Use the Ethernet cable to connect the Ethernet port to the PC, and set “mode” bit of DIP switch to “on”, then
power on the device;
2. In the configuration mode, set CAN baud rate, node ID and IP address through gateway configuration software
SST-ECO-CFG. (See chapter 4.3 for details).
3. Set "mode" bit of DIP switch to “off” state, power on again and the module go into run mode.
4.2 Hardware Wiring
1. According to the description of the RJ-45 port in Chapter 3, correctly connect each pin of the RJ-45 to the
corresponding wiring.
2. According to the CAN port instructions, properly connect the pin 2 and 4 at least.
3. Check all connections whether they comply with the instructions.
4. Set “mode” bit of DIP switch to “Off”, power on the module, and the module go into run status.
4.3 Software Configuration
Users can connect the gateway to the PC through the RJ-45 port. Users can use SST-ECO-CFG to finish
configuring GT200-EI-CO easily, including IP address, baud rate of CANopen port and CANopen commands.
There are two ways to set the IP address: manual setting and BOOTP. Manual setting means that the user
manually sets the IP in the configuration state. When the user chooses to use BOOTP, the user must use BOOTP
Server to allocate IP in the running state.
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 GT200-EI-CO and PC directly with a crossover network cable, as shown below:

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2. Connect GT200-EI-CO, PC and Ethernet router (gateway, Hub, switch) with 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 must be changed to 192.168.0.1.
4.4 Operation
4.4.1 Data Exchange Mode
Communication mode between CANopen and EtherNet/IP is asynchronous mode, as shown below:

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“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. After the gateway receives it, it sends the
CAN frame, and then packs the received CAN response frame into I/O input and sends it to the EtherNet/IP
master. TPDO and RPDO applies producer/consumer mode, and often be used in the occasion with high
requirement about speed; Upload SDO and Download SDO applies client/server mode, the mode can guarantee
safety of data, and often be used in the occasion with low requirement about speed.
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;
EtherNet/IP

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4.4.2 Gateway EtherNet/IP Connection Parameters
The connection parameters provided by the gateway are as follows:
Number
Input Instance
Output Instance
Configuration Instance
1
112(132Bytes)
111(128Bytes)
113(10Bytes)
2
122(260Bytes)
121(256Bytes)
123(10Bytes)
3
132(68Bytes)
131(64Bytes)
133(10Bytes)
4
142(36Bytes)
141(32Bytes)
143(10Bytes)
5
152(20Bytes)
151(16Bytes)
153(10Bytes)
6
162(12Bytes)
161(8Bytes)
163(10Bytes)
7
172(504Bytes)
171(504Bytes)
173(10Bytes)
An example of parameter configuration in RSLogix5000 is as follows:

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

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5.2 Software Function
5.2.1 User Interface
5.2.2 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
Toolbar
Device plate: Users can select
operation objects including Industrial
EtherNet and CANopen Network,
and adding nodes and commands
Menu Bar
Title Bar
Configuration plate:
Input configuration parameters,
gray parts cannot be changed
Comment plate: Explain the
function of the configuration
options

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Open: Open a configuration project
Save: Save current configuration
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: To check whether there are some conflicts with configured commands in the
gateway memory data buffer
Export EXCEL: Export current configuration to the local hard disk, saved as .xls file
5.2.3 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.

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5.2.4 Open and Save Configuration
Select "Open", you can open the configuration project that you have saved.
Select "Save" or "Save as", you can save the configuration project with .chg as its extension.

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Click icon on the tool bar you can save the configuration with .xls as its extension.
Note: After saving the parameters as a file, the data in the file can be changed by the user , but please ensure the
correctness of the changed data, otherwise the incorrect data will be processed according to the default value.
Please do not change the keywords of the data, please do not add spaces.
5.2.5 Upload and Download
Select "Upload", it will read configurations form the gateway, and the interface is shown as below:
Select "Download", it will download configurations to the gateway, and the interface is shown as below: