SST Automation GT200-PN-CO User manual

CANopen / PROFINET IO Gateway
GT200-PN-CO
User Manual
V 2.1
REV A
SST Automation
Email: [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 © 2022 by SST Automation. All rights reserved.
Trademark
is the registered trade mark of SST Automation.
Technical Support Contact Information
www.sstautomation.com
E-mail: [e-mail]

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Catalog
1 Product Overview ......................................................................................................................................................1
1.1 Product Function ............................................................................................................................................ 1
1.2 Product Feature ...............................................................................................................................................1
1.2.1 CANopen Mode .................................................................................................................................. 1
1.2.2 CAN Mode .......................................................................................................................................... 2
1.3 Technical Specifications .................................................................................................................................3
1.4 Related Products .............................................................................................................................................6
1.5 Revision History .............................................................................................................................................7
2 Hardware Descriptions .............................................................................................................................................. 8
2.1 Product Appearance ........................................................................................................................................8
2.2 LED Indicators ............................................................................................................................................... 9
2.3 DIP Switch ......................................................................................................................................................9
2.4 Interface ........................................................................................................................................................10
2.4.1 Power Interface ................................................................................................................................. 10
2.4.2 Ethernet Interface .............................................................................................................................. 10
2.4.3 CAN/CANopen Interface ..................................................................................................................11
3 Hardware Installation .............................................................................................................................................. 12
3.1 Machine Dimension ..................................................................................................................................... 12
3.2 Installation Method ...................................................................................................................................... 12
4 Quick Start Guide ....................................................................................................................................................13
4.1 Gateway Configuration ................................................................................................................................ 13
4.2 Software Configuration ................................................................................................................................ 14
4.3 Run ............................................................................................................................................................... 18
4.4 Change Device IP and Name ....................................................................................................................... 23
4.4.1 Scan Devices on LAN .......................................................................................................................23
4.4.2 Change IP Info and Name ................................................................................................................. 24
4.5 IP Address Conflict Resolution .................................................................................................................... 26
5 Software Instructions ...............................................................................................................................................29

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1 Product Overview
1.1 Product Function
GT200-PN-CO is a gateway that can realize data communication between PROFINET network and CANopen or
CAN network. CANopen side of GT200-PN-CO can be a master or a slave. When acting as a master, it supports
connecting multiple standard devices with CANopen slave interface to PROFINET network; While acting as a
slave, it supports connecting CANopen master device to PROFINET network. CAN side of GT200-PN-CO
supports CAN 2.0A and CAN 2.0B protocols. This gateway is a slave on the PROFINET side.
1.2 Product Feature
1.2.1 CANopen Mode
Supports one CANopen interface;
CANopen interface: 1KV photoelectric isolation;
Supports two 10M/100M adaptive network ports. Supports half duplex and full duplex transmission;
The gateway is a PROFINET IO slave on the PROFINET side;
Supports controlling the operation status of CANopen slave station by PROFINET master station, and the
function of parsing the EDS file of CANopen slave station;
Supports the function of generating EDS file;
PROFINET input and output bytes can be set in TIA Portal or STEP 7 modeling software, the maximum
number is:
Max Input Bytes+ Max Output Bytes≤768 Bytes
①Max Input Bytes ≤384 Bytes
②Max Output Bytes ≤384 Bytes

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1.2.2 CAN Mode
Supports two 10M/100M adaptive network ports. Supports half duplex and full duplex transmission;
The gateway is a PROFINET IO slave on the PROFINET side;
Supports bi-directional data transmission, also can only be used as CAN receiving or sending;
Supports two run mode, basic and advanced. Basic mode is compatible with versions V1.4.
Advanced mode is the CAN frame filtering function for CAN ID, available for GT200-PN-CO V1.7 and
above.
Under the basic mode, each CAN frame in the PROFINET message is 16 bytes; Each PROFINET data
contains up to 8 CAN frames;
PROFINET input and output bytes can be set in the TIA Portal or STEP 7 modeling software, the maximum
number is:
Max Input Bytes+ Max Output Bytes≤256 Bytes
①Max Input Bytes ≤128 Bytes
②Max Output Bytes ≤128 Bytes
Supports only four combinations of input and output bytes:
Input Bytes
Output Bytes
16
16
32
32
64
64
128
128
Under the advanced mode, three types of commands are supported, which are called "Producer Filtering ",
"Consumer Filtering" and "Query/Response Filtering". The number of data per CAN frame supports 0 - 8
bytes.
Note: these three types of commands only specify the communication mode of the gateway, not the actual
CAN protocol.
PROFINET input and output bytes can be set in the TIA Portal or STEP 7 modeling software, the maximum
number is:
Max Input Bytes+ Max Output Bytes≤768 Bytes

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①Max Input Bytes ≤384 Bytes
②Max Output Bytes ≤384 Bytes
Note: The advanced filter mode mentioned in the manual can be supported in the version V1.7 and above of
GT200-PN-CO. The current version of GT200-PN-CO does not support the CAN filter mode.
1.3 Technical Specifications
[1] At PROFINET side GT200-PN-CO is a PROFINET slave;
[2] Supports standard PROFINET I/O protocol;
[3] PROFINET supports up to 32 slots, The maximum number of input bytes is 384 and the maximum number
of output bytes is 384(The length available to the user is limited by the specific PLC and PDU size of the
communication module). The length of input/output bytes can be set by STEP7 or TIA Portal;
[4] Supports the following module types:
Input 001 byte
Input 002 bytes
Input 004 bytes
Input 008 bytes
Input 016 bytes
Input 032 bytes
Input 064 bytes
Input 128 bytes
Input 256 bytes
Output 001 byte
Output 002 bytes
Output 004 bytes
Output 008 bytes
Output 016 bytes
Output 032 bytes
Output 064 bytes

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Output 128 bytes
Output 256 bytes
Input / Output 001 byte
Input / Output 002 bytes
Input / Output 004 bytes
Input / Output 008bytes
Input / Output 016 bytes
Input / Output 032 bytes
Input / Output 064 bytes
Input / Output 128 bytes
Input / Output 256 bytes
[5] Supports CAN 2.0A and CAN 2.0B protocol;
[6] DS-301 V4.01 and CiA Draft Recommendation 303 compliant
CANopen master features:
Supports maximum 8 bytes TPDO, 8 bytes RPDO, fast Download SDO and fast Upload SDO;
Every CANopen node has default 4 TPDOs and 4 RPDOs. COB-ID of TPDO and RPDO has default
value.
Default value of Transmit PDO:
384 + node address (0x180+node address)
640 + node address (0x280+node address)
896 + node address (0x380+node address)
1152 + node address (0x480+node address)
Default value of Receive PDO:
512 + node address (0x200+node address)
768 + node address (0x300+ node address)
1024 + node address (0x400+ node address)
1280 + node address (0x500+node address).
Every CANopen node also can has a self-defining COB-ID, but the COB-ID cannot be conflicting with
CANopen protocol.

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Supports maximum commands No.:(100)
Max TPDO commands + Max RPDO commands + Max upload SDO commands + Max download SDO
commands≤100;
Max TPDO commands≤100;
Max RPDO commands≤100;
Max Upload SDO commands≤100;
Max Download SDO commands≤100;
Supports NMT network startup, TPDO time-out reset and SYNC function, besides, it also supports
function of PROFINET I/O controlling CANopen slave devices, etc;
Supports Heartbeat and Guard life;
Same command can be mapped to different input or output buffer address of PROFINET I/O;
CANopen slave features:
Supports maximum 8 bytes TPDO, 8 bytes RPDO, fast Download SDO and fast Upload SDO;
Every CANopen node supports up to 100 TPDOs, 100 RPDOs. COB-ID of TPDO and RPDO has
default value or users can use self-defining COB-ID.
Default value of Transmit PDO:
384 + node address (0x180+node address)
640 + node address (0x280+node address)
896 + node address (0x380+node address)
1152 + node address (0x480+node address);
Default value of Receive PDO:
512 + node address (0x200+node address)
768 + node address (0x300+ node address)
1024 + node address (0x400+ node address)
1280 + node address (0x500+node address).
Supports maximum commands No.:(100)
Max TPDO commands + Max RPDO commands≤100;
Max TPDO commands≤100;
Max RPDO commands≤100;

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Timeout clear function of RPDO and delay to start-up;
Supports SDO visiting input and output data exchange area;
Supports Heartbeat and Guard life;
CAN features:
Supports CAN 2.0A and CAN 2.0B protocols;
CAN interface supports Baud Rate: 10K, 20K, 50K, 100K, 125K, 250K, 500K and 1M;
For V1.7 and above product:
Supports up to 200 CAN frames in the transmit buffer (FIFO) and up to 150 CAN frames in the receive
buffer (FIFO).
Supports timeout clear function of Consumer Filtering and Query/Response Filtering;
Supports maximum commands No.:(60)
Max Producer Filtering + Max Consumer Filtering + Max Query/Response Filtering ≤60;
Max Producer Filtering ≤60;
Max Consumer Filtering ≤60;
Max Query/Response Filtering ≤60;
[7] Operating environment:
REL Humidity: 5% to 95% (non-condensing)
Work circumstance temperature: -4℉~122℉(-20℃ to 50℃)
Pollution level: class 3
[8] Power: 24VDC (11V~30V), maximum 90mA (24V);
[9] Built-in electrostatic protection: 15 KV ESD; Communication interface isolation: 3KV;
[10] External dimensions (W*H*D): 1.0 in *4.0 in *3.6 in (25mm*100mm*90mm);
[11] Installation: 1.4 in (35mm) DIN RAIL;
[12] Protection level: IP20.
1.4 Related Products
The related products include: GT200-DP-CO, GT200-CO-RS and so on.
To get more information about related products, please visit SSTCOMM website: www.sstautomation.com.

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1.5 Revision History
Revision
Date
Chapter
Description
V1.4
12/9/2020
ALL
New Release
V1.4 Rev A
5/5/2022
ALL
Update the technical
parameters, the format
V2.1 Rev A
7/18/2022
PART
Add the function of
parsing EDS file of
CANopen slave station

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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.
CAN/CANopen Interface
Module Status Indicator
PROFINET Interface
Power Interface
Network Status Indicator
CAN/CANopen Status Indicator
DIP Switch

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2.2 LED Indicators
Indicators
Status
Description
CANopen
Status
ERR
Green On
The CAN network is normal
Red Blinking/On
Bus Off
Red, Green and Off
blinks alternately
The error counter of CAN controller reach or
exceed alarm value
RUN
Green On
Node is in the run state
Green light on 200ms
and off 1000ms
alternately
Node is in the stop state
Green light on 200ms
and off 200ms
alternately
Node is in the Pre-run state
CAN
Status
ERR
Green On
The CAN network is normal
Red Blinking/On
Bus Off
Red, Green and Off
blinks alternately
The error counter of CAN controller reach or
exceed alarm value
RUN
Green Blinking
Data sending and receiving
Green Off
No data sending and receiving
MS
See below table
NS
See below table
Note: GT200-PN-CO is in the configuration state, the ERROR and RUN indicators blinks alternately in orange.
Module indicator and network indicator:
Module indicator MS
Network indicator NS
Description
Off
Red Blinking/On
Start-up state, waiting to initialize
Green on
Red/Green Blinking
Initialize complete, no connection
with PLC
Green on
Green on
PLC has connected
Green Blinking/On
Red on
The network cable is disconnected
or not connected
Other
Other
Undefined state
2.3 DIP Switch
The DIP switch is used for setting operating mode of the device.

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Off
On 1 2
Mode (Bit 1)
Function (Bit 2)
Description
Off
Off
Run mode, configuration enabled
Off
On
Configuration Mode
On
NA
The module enters the update
program state (customers cannot
use this state)
2.4 Interface
2.4.1 Power Interface
2.4.2 Ethernet Interface
The Ethernet interface uses RJ45 interface, follows the IEEE802.3u 100BASE-T standard, 10/100M adaptive. Its
pin (standard Ethernet signal) is defined as below:
Pin
Function
1
Power ground
2
NC(Not Connected)
3
+24V DC
Pin
Signal description
S1
TXD+
S2
TXD-
S3
RXD+
S4
-
S5
-
S6
RXD-
S7
-
S8
-

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2.4.3 CAN/CANopen Interface
CAN interface of GT100-CO-RS uses 5-pin connector:
Note:
(1) Here, shield port is optional. The CAN-L and CAN-H must be connected. Here pin 1 and 5 are connected to
the pin 3 and pin 1 of power port internally (Chapter 2.4.1).
(2) Chapter2.4.1 and Chapter2.4.3 both contain power interfaces, and only one of them is required to connect. If
two power interfaces are connected at the same time, the gateway will be burned.
V+
GND
CAN-L
Shield
CAN-H
5
1
Pin
Wiring
Pin 1
V+, 24VDC(optional)
Pin 2
CAN-H
Pin 3
Shield (optional)
Pin 4
CAN-L
Pin 5
GND, GND of 24V (optional)

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3 Hardware Installation
3.1 Machine Dimension
Size (width * height * depth):
1.0 in * 4.0 in * 3.6 in (25 mm * 100 mm * 90 mm)
3.2 Installation Method
Using 1.4 in (35mm) DIN RAIL.

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4 Quick Start Guide
4.1 Gateway Configuration
1 There are two modes: configuration mode and run mode. The gateway can enter different mode through DIP
switch. Set "Function" bit of DIP switch to "on", the gateway is in the configuration mode, and turn off the
"Function" bit, the gateway is in the run mode;
2 Power off the gateway, connect GT200-PN-CO and PC through Ethernet cable;
3 Power on, waiting network indicator of GT200-PN-CO to turn green blinking;
4 In the configuration mode, set CANopen baud rate, CANopen node ID, SDO commands (CANopen master
mode), PDO commands and data mapping between CANopen and PROFINET IO through gateway configuration
software SST-CANopen-COM. (See Chapter 4.3 for details).
5 Click "Download" button on the toolbar to download the configuration to the gateway. When downloading
configuration, it will prompt "Communication with PLC may be disconnected during downloading configuration";
6 Configure the modeling in TIA Portal or STEP 7 , including module, IP address of target device and device
name;
7 Download the modeling configuration to the PLC;
8 Waiting for about 10s, GT200-PN-CO will establish PROFINET connection with the PLC.
Note: How to find out how many GT200-PN-CO devices are in the LAN, including MAC address, IP address and
name of devices. Users can see Chapter 4.4 Change Device IP and Name for help.
Note: There are 3 necessary conditions which need to happen simultaneously when GT200-PN-CO is
communicating with PLC:
a) The PROFINET device name must be the same as that of device in PLC modeling.
b) The PROFINET device IP address must be the same as that of device in PLC modeling.
c) The configuring module of PROFINET device (configuring through SST-CANopen-COM or
SST-TC-CFG) must be the same as that in PLC modeling.

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4.2 Software Configuration
There are two conditions for configuring the gateway. One is CANopen master mode, the other is CANopen slave
mode or CAN mode. Users need to use two different software to configure the gateway. Use SST-CANopen-COM
to configure the gateway under CANopen master mode. Use SST-TC-CFG to configure the gateway under
CANopen slave or CAN mode.
Users need to install the gateway software SST-CANopen-COM and SST-TC-CFG when configuring the gateway.
Here are the configuring steps for using SST-CANopen-COM.
Setp 1
Import EDS files of CANopen slave devices.
Step 2
Add gateway and device to the view.

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Step 3
Double click the slave device to be configured, and configure the CANopen slave PDO attribute in the PDO
attribute interface.
Step 4
In the mapping interface of the slave station, configure the object for PDO mapping, and click OK or Apply after
configuration.
Step 5
Double click GT200-PN-CO, add the slave in the scan list to the master list.

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Step 6
Click Input and Output area, select TPDO and RPDO and finish the data mapping.
Step 7
Configure the input and output bytes of PROFINET and CANopen parameters, and click download.

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The following is the introduction for using SST-TC-CFG.
Users can use SST-TC-CFG to easily complete the configuration of GT200-PN-CO, including IP address, subnet
mask, gateway address, device name, baud rate of CANopen port, node number, SDO number, PDO number,
CANopen data To PROFINET data mapping, CAN protocol type, baud rate of CAN and protocol, and
PROFINET data mapping.
After installation, double click the software icon to enter into the main interface of the software:
See Chapter 5 for the detailed using method of the gateway configuration software SST-TC-CFG.