Wieland samos PRO COMPACT User manual

samos
®
PRO
samos
®
PRO
COMPACT
-Gateways
Manual
Doc. no. BA000970
Last Update: 11/2016 (Rev. F)

Info
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
2
Info
810920587
Copyright
This document is copyright-protected. The rights derived from this copyright are reserved for
Wieland Electric. Reproduction of this document or parts of this document is only permissible
within the limits of the statutory provision of the Copyright Act. Any modification or abridg-
ment of the document is prohibited without the express written agreement of Wieland Electric.
samos is a registered trademark of WIELAND Electric GmbH
Allen-Bradley, CompactBlock Guard I/O, CompactLogix, ControlFLASH, ControlLogix, DH+,
FactoryTalk, FLEX, GuardLogix, Kinetix, Logix5000, MicroLogix, PanelBuilder, PanelView, Pha-
seManager, PLC-2, PLC-3, PLC-5, POINT I/O, POINT Guard I/O, Rockwell Automation, Rockwell
Software, RSBizWare, RSFieldbus, RSLinx, RSLogix 5000, RSNetWorx, RSView, SLC, SoftLo-
gix, Stratix, Stratix 2000, Stratix 5700, Stratix 6000, Stratix 8000, Stratix 8300, Studio 5000,
Studio 5000 Logix Designer, SynchLink, and Ultra are registered trademarks of Rockwell Au-
tomation, Inc.
ControlNet, DeviceNet, and EtherNet/IP are registered trademarks of ODVA, Inc.
TwinCAT is a registered trademark of Beckhoff Automation GmbH.
EtherCAT is a registered trademark and a patented technology licensed by Beckhoff Automati-
on GmbH.
Microsoft, Windows 98, Windows NT, Windows 2000, Windows XP, Windows 7, Windows 8,
and .NET Framework are registered trademarks of the Microsoft Corporation.
Any other product or trade names listed in this manual are the trademarks or registered trade-
marks of the respective owners.
Subject to change.
Subject to technical changes for reasons of continued development.

Table of Contents
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
3
Table of Contents
1
About this manual
8
1.1
Function of this document
8
1.2
Scope of validity and applicable documents
9
1.3
Target audience
9
1.4
Information depth
10
1.5
Abbreviations and Definitions
11
1.6
Symbols/icons and writing style/spelling standard used
14
2
Safety
15
2.1
Qualified persons
15
2.2
Proper use
15
2.3
Environmentally friendly behavior
16
2.3.1
Disposal
16
2.3.2
Sorting of materials
16
3
Product description
17
3.1
Version, compatibility, and features
17
3.2
Equipment variants
18
3.3
Data transferred to the network (network input data sets)
19
3.3.1
Direct gateway output values
22
3.3.2
Module state / input and output values
22
3.3.3
Transmission of data from a second network
23
3.3.4
Configuration test values (CRCs)
23
3.3.5
Error and state information for the modules
23
3.4
Data received from the network (network output data sets)
27
4
Installation and basic configuration
28
4.1
Installing/removing
28
4.1.1
Installing modules on standard rail
28
4.1.2
Removing modules from normal rail
31
4.2
Electrical installation
33
4.3
Initial configuration steps
34
5
Configuration of gateways
35
5.1
The graphic user interface (‘Gateway’ view)
35
5.1.1
When the "Gateway" view is active
35
5.1.2
Work area
37

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4
5.1.3
Sidebars
39
5.1.4
Commands
41
5.2
Function and basic settings
42
5.2.1
Routing
42
5.2.2
Basic settings for the operating data
42
5.3
Configuring the gateway output values (tab 1)
44
5.4
Editing the gateway input values (tab 2)
46
5.5
Monitoring operating data
48
6
Modbus TCP gateway
49
6.1
Interfaces and operation
49
6.2
Basic configuration – allocation of an IP address
50
6.3
Configuration of the Modbus-TCP interface to the PLC - how the
data are transferred
52
6.4
Diagnosis and troubleshooting
59
6.5
State bits
61
7
PROFINET IO-Gateway
62
7.1
Interfaces and operation
62
7.2
Basic configuration - Assigning a device name and an IP address
63
7.3
PROFINET configuration of the gateway - how the data are trans-
ferred
65
7.4
PROFINET configuration of the gateway - which data are transfer-
red
68
7.5
Diagnostics and troubleshooting
73
7.6
Deactivation of the PROFINET IO function
75
7.7
State bits
75
8
EtherNet/IP gateway
76
8.1
Interfaces and operation
76
8.2
Datasheet
76
8.3
Basic setup
77
8.3.1
Basic configuration of PLC
77
8.3.2
Basic configuration of the controller module
81
8.3.3
Configuring the data to PLC
82
8.3.4
Configuring the usage of data from PLC
83
8.4
Supported CIP Objects
84
8.4.1
Identity Object
84
8.4.2
Assembly Object
85
8.4.3
Discrete Input Point Object
86

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Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
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8.4.4
Discrete Output Point Object
88
8.4.5
Discrete Input Group Object
89
8.4.6
Discrete Output Group Object
90
8.4.7
PCCC Object
91
8.4.7.1
PCCC Telegram Structure
91
8.4.7.2
Word Range Write
92
8.4.7.3
Word Range Read
92
8.4.7.4
Typed Write
93
8.4.7.5
Typed Read
93
8.4.7.6
Protected Typed Logical Read with 2 Address Fields
95
8.4.7.7
Protected Typed Logical Write with 2 Address Fields
95
8.4.7.8
Protected Typed Logical Read with 3 Address Fields
96
8.4.7.9
Protected Typed Logical Write with 3 Address Fields
96
8.4.8
Vendor Object
97
8.4.8.1
Instance 1
97
8.4.8.2
Instance 2
97
8.4.8.3
Instance 3
97
8.4.8.4
Instance 4
97
8.4.8.5
Instance 5
97
8.4.8.6
Instance 6
98
8.4.8.7
Instance 7
98
8.5
Supported Assembly data
101
8.5.1
List of Assembly data
101
8.5.2
Assembly Instances for Logic Output Bytes
103
8.5.2.1
Assembly Instance 37 = 0x25
103
8.5.2.2
Assembly Instances 138 = 0x8a to 141 = 0x8d
103
8.5.3
Assembly Instances for Logic Input Bytes
104
8.5.3.1
Assembly Instance 57 = 0x39
104
8.5.3.2
Assembly Instances 167 = 0xa7
104
8.6
Accessing to CIP objects
106
8.6.1
Explicit Messaging
106
8.6.2
Implicit Messaging
106
8.6.3
Symbolic Addressing
107
8.7
Adjust Performance
108
8.8
Connection with more than one PLC
108
8.9
Diagnostics and troubleshooting
109
8.9.1
Notifications via network
109
8.9.1.1
Explicit Message Connection
109
8.9.1.2
Implicit Message Connection
109

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8.9.2
LED States
109
8.9.2.1
MS (Module Status)
109
8.9.2.2
NET (Network Status)
110
8.9.2.3
LINK
111
8.9.2.4
ACT (Activity Status)
111
8.9.3
Diagnostic functions in the configuration software
112
8.10
State bits
113
9
PROFIBUS DP gateway
114
9.1
Interfaces and operation
114
9.2
Projecting
118
9.3
PROFIBUS configuration of the gateway - how the data are trans-
ferred
121
9.4
Diagnosis and troubleshooting
127
10
CANopen gateway
129
10.1
Interfaces and operation
129
10.2
CANopen configuration of the gateway - how the data are transfer-
red
134
10.3
CANopen configuration of the gateway - which data are transferred
137
10.4
NMT – network management
138
10.5
SYNC
139
10.6
Emergency
140
10.7
Node guarding
144
10.8
PDO communication
145
10.9
SDO communication
147
10.10
SDO object directory
149
10.11
Guarding protocols
155
10.12
Error objects
157
10.13
CANopen diagnostic examples
160
10.14
Diagnosis and troubleshooting
163
11
EtherCAT Gateway
166
11.1
Interfaces and operation
167
11.2
EtherCAT basics
170
11.3
EtherCAT state machine
172
11.4
Bus topology and cabling
174

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11.5
Data transferred into the network
175
11.5.1
Data set 1
176
11.5.2
Data set 2
180
11.5.3
Data set 3
181
11.6
Data received from the network
183
11.7
Configuring an EtherCAT network
185
11.8
EtherCAT configuration of the gateway - how the data are transfer-
red
186
11.9
Diagnostic LEDs on the gateway and troubleshooting
189
12
Technical data
192
12.1
Modbus TCP, PROFINET IO and EtherNet/IP gateway
192
12.2
EtherCAT gateway
192
12.3
PROFIBUS DP
192
12.4
CANopen gateways
193
12.5
Technical data for supply circuit
193
12.6
General technical data
194
12.7
Dimensional drawings
195
12.7.1
Controller module
195
12.7.2
CANopen and PROFIBUS gateways
196
12.7.3
EtherCAT gateway
197
13
Order data
198
13.1
Hardware modules and accessories
198
13.2
Modules for contact expansion
200

About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
8
About this manual
910719883
Please read this section carefully before you work with these operating instructions and the
samosPRO gateways.
Function of this document
910721419
There are three manuals for the samosPRO system with clearly delineated areas of application
as well as installation instructions and brief instructions for each module.
• This
gateway manual
describes all samosPRO gateways and their functions in detail. It in-
structs the technical staff of the machine manufacturer or machine operator in the safe in-
stallation, configuration, electrical installation, commissioning, operation and maintenance
of the samosPRO gateways.
This manual does
not
provide operating instructions for the machine, which incorporates
modular samosPRO safety controls and a samosPRO gateway. Information in this regard is
provided in the operating instructions for each machine.
This manual is only valid in combination with the other samosPRO manuals (see Scope of
validity and applicable documents [ch. 1.2, p. 9] ).
• The
software manual
describes the software-supported configuration and parameterizati-
on of the samosPRO safety control. In addition, the software manual contains a description
of the important diagnostic functions for operation and detailed information for identifying
and eliminating errors. Use the software manual mainly when configuring, commissioning
and operating samosPRO safety controls.
• The
Hardware manual
describes all of the modules and their functions in detail. Use the
hardware manual mainly for designing devices.
• Each module contains the
installation instructions/brief instructions
. These instructions
provide information on the fundamental technical specifications of the modules and con-
tain simple installation instructions. Use the installation instructions/brief instructions when
installing the samosPRO safety control.
This manual contains original operating instructions in accordance with the Machinery Directi-
ve.
1
1.1

About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
9
Scope of validity and applicable documents
910727051
This manual applies to the following gateway modules:
• SP-EN-MOD
• SP-EN-PN
• SP-EN-IP
• SP-PROFIBUS-DP
• SP-CANopen
• SP-EN-ETC
Table 1: Overview of the samosPRO documentation
Document
Title
Item number
Software manual
samosPLAN5+ software
BA000968
Hardware manual
samosPRO hardware
BA000966
Gateway manual
samosPRO gateways
BA000970
Operating instruc-
tions
SP-COPx
(Controller modules of the modular safety control
samosPRO)
BA000978
Operating instruc-
tions
SP-SDI/SP-SDIO
(Expansion modules of the modular samosPRO sa-
fety control)
BA000515
Operating instruc-
tions
SP-DIO
(Expansion module of the modular samosPRO safety
control)
BA001033
Operating instruc-
tions
SP-PROFIBUS-DP
(samosPRO-PROFIBUS-DP gateway)
BA000572
Operating instruc-
tions
SP-CANopen
(samosPRO-CANopen gateway)
BA000683
Operating instruc-
tions
SP-EN-ETC
(samosPRO EtherCAT gateway)
BA000959
Target audience
910723979
This manual is aimed at the
planners
,
developers
and
operators
of systems that incorporate
modular samosPRO safety controls and that want to exchange data with a field bus (controls)
via a gateway.
It is also aimed at persons commissioning a samosPRO gateway system for the first time or
maintaining such a system.
1.2
1.3

About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
10
Information depth
910725515
This manual contains information about the following topics related to samosPRO gateways:
• Installation
• Integration into the network
• Configuration with the samosPLAN5+ software
• Data transmission to and from the network
• State information, projection and associated mapping
• Item numbers
Important information
ATTENTION
Observing safety information and protective measures
Observe the safety information and protective measures for the samosPRO gateways descri-
bed in this manual.
Downloads are provided at the following link http://www.wielandinc.com/
Also consult our website on the Internet. At the following link http://www.wielandinc.com/,
you will find:
• the samosPLAN5+ software
• The samosPRO manuals available for display and printing in various languages:
– This gateway manual (BA000970)
– The hardware manual (BA000966)
– The software manual (BA000968)
• The GSD file of the SP-PROFIBUS-DP for PROFIBUS-DP
• The EDS file of the SP-CANopen for CANopen
1.4

About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
11
Abbreviations and Definitions
1127430283
Term
Explanation
{ } An element array or an element structure
0b
The following are specified in binary format
0x The following are specified in hexadecimal format
Procedure error A procedure error occurs if, in redundant input circuits, the two
input signals are not equal. Monitoring of inequality is frequently
carried out within a tolerated time window.
ACD
Address Collision Detection
ANSI
American National Standards Institute, specified character coding
AOI
Add On Instruction
AOP
Add On Profile
API
Actual Packet Interval
AR Application Relation, unique communication relationship in PROFI-
NET IO between the PLC and the device
Attribute
Characteristic or property of an object
Bit
Data unit with a value of 0 or 1
BOOL Data type specified for CIP devices; stands for a value of 1 byte, in
which each of the 8 bits is viewed individually
Byte, BYTE Data unit, representing a sequence of 8 bits; without a plus/minus
sign, if not specified
CIP
Common Industrial Protocol
Controller module Controller from the samosPRO COMPACT product family
CRC
Cyclic Redundancy Check, a type or the result of a hash function for
revealing errors in the area of data storage or transmission
Data block A data block contains 2-
12 bytes of the relevant data set (depending
on the gateway used).
Data set Describes a quantity of associated data, e.g. logic values or system
state data. A data set can consist of several data blocks.
I/O
Input/output
EPATH
Encoded Path, especially for CIP applications
EtherNet/IP Industrially-used Ethernet network, combines standard Ethernet
technologies with CIP
Gateway Connection module for industrially-used networks, such as Ether-
Net/IP, PROFIBUS DB, CANopen, Modbus TCP, etc.
ID
An identifier or an identity
Instance The physical representation of an object within a class. It stands for
one of several objects within the same object class. (Reference: CIP
specification, version 3.18)
IP Internet protocol
Class A series of objects representing a similar system component. A
class is a generalization of the object, a template for defining variab-
les and methods. All the objects within a class are identical with
regard to function and behavior. However, they may have differing
attribute values. (Reference: CIP specification, version 3.18)
LSB Low Significant Byte
MPI Measured Packet Interval; shows the API at the time of measure-
ment
1.5

About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
12
Term
Explanation
MSB
Most Significant Byte
O→T
Originator to Target (sender to target device)
ODVA
Open Device Vendor Association
PC
Personal Computer
PCCC Programmable Controller Communication Command
PLC
Programmable Logic Controller
RPI Requested Packet Interval
RX
Receive
S/N Serial number
samosPLAN5+ Configuration software for controller modules of type SP-COP. The
software can be run on a PC and communicates with the controller
modules.
Service Service to be performed
Examples: GetAttributeSingle, SetAttributeSingle
SHORT_STRING Data type specified for CIP devices; stands for a character string (1
byte per character, 1 byte length code)
SINT Short integer = 1 byte
SP-COP Safety controller consisting of a controller module of the samosPRO
COMPACT product family, as well as optionally connectable expan-
sion gateways and I/O modules.
SP-COP2-ENI Controller module, which is equipped with safety inputs and out-
puts and gateway functions, amongst other things
PLC Programmable Logic Controller
( PLC)
Stuck-at high Stuck-at high is an error in which the input or output signal gets
stuck at On. The causes for a Stuck-at high can be short-circuits to
other input and output lines, often called cross-references, or defec-
tive switching elements. Stuck-at high errors are discovered
through plausibility tests, such as sequence errors in two-channel
input circuits or using test pulses in input and output circuits.
Stuck-at low Stuck-at low is an error in which the input or output signal gets
stuck at Off. The causes of a stuck-at low can be line interruptions
in input circuits or defect switching elements. Stuck-at low errors
are discovered through plausibility tests and usually do not require
immediate error recognition.
T→O
Target to Originator
TCP Transmission Control Protocol, Internet standard protocol for the
transport layer specified in RFC 793
Test pulses or scan
gaps
Test pulses or scan gaps are brief switch-
offs / interruptions in input
and output circuits, which are generated in a targeted manner to
detect stuck-at high errors quickly. Test pulses check the switch-off
ability of switching elements during operation on an almost conti-
nuous basis.
Test pulse error Test pulse errors are undetected test pulses, which lead to a negati-
ve test result and thus switch-off of the affected safety circuits.
TX
Transmit / Send
UCMM
Unconnected Message Manager
UDINT Unsigned double integer = 4 Bytes = 2 Words
Data type specified for CIP applications
UDP User Datagram Proto
col, Internet standard protocol for the transport
layer specified in RFC 793

About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
13
Term
Explanation
UDT
User Defined Type
UINT Unsigned double integer = 2 Bytes = 1 Word
Data type specified for CIP applications
USINT Data type specified for CIP applications, which stands for 1 byte
without a plus/minus symbol

About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
14
Symbols/icons and writing style/spelling standard used
840010507
NOTICE
These are notes that provide you with information regarding particularities of a device or a
software function.
ATTENTION
Warning!
A warning lets you know about specific or potential hazards. It is intended to protect you
from accidents and help prevent damage to devices and systems.
•
Please read and follow the warnings carefully!
Failure to do so may negatively impact the safety functions and cause a hazardous state
to occur.
Menus and commands
The names of software menus, submenus, options, and commands, selection fields, and
windows are written in
bold font
. Example: Click on
Edit
in the
File
menu.
1.6

Safety
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
15
Safety
910731659
This section is intended to support your safety and the safety of the system users.
 Please read this section carefully before you work with a samosPRO system.
Qualified persons
911377675
A safety controller with samosPRO gateways may only be installed, commissioned, and main-
tained by qualified persons.
Qualified persons are those who
• have suitable technical training
and
• have been trained by the machine operator in the operation and applicable safety guide-
lines
and
• have access to the samosPRO system operating instructions and have read them and duly
noted their contents.
Proper use
911379211
The samosPRO gateways can only be operated in conjunction with a samosPRO safety control-
ler. The firmware version of the connected controller modules must be at least V1.0.0 and the
version of the samosPLAN5+ configuration software must be at least 1.0.0.
The samosPRO gateways do not have their own power supply.
ATTENTION
Do not operate a samosPRO gateway on a safety field bus!
The gateway modules are not suitable for operation with a safety field bus!
They do not only generate safety-
related field bus data (state bytes) for control and diagnostic
purposes. They do not support any safety mechanisms that would be required for communi-
cation within a safety network.
ATTENTION
Do not use data from a samosPRO gateway for safety-related applications!
The samosPRO gateways can be used to integrate non-safety-related data into the logic edi-
tor in such a way that the safety function of the samosPRO system may be adversely affec-
ted.
• Never integrate a gateway into a samosPRO system without having this source or risk
checked by a safety specialist.
These modules may only be operated by qualified staff and may only be used on a machine on
which they have been installed and commissioned for the first time by a qualified person in ac-
cordance with this manual.
ATTENTION
The safety instructions and precautions for use of samosPRO gateways must be adhered
to!
In the event of any other use or any changes to the device – including within the scope of
installation – this shall nullify any warranty claim with respect to Wieland Electric GmbH.
NOTICE
• Please follow the standards and guidelines valid in your country when installing and ope-
rating the samosPRO gateways.
• The national/international legal regulations apply to the installation and use of the modu-
lar samosPRO safety controls as well as for the commissioning and repeated technical
testing, particularly the following:
– EMC Directive 2004/108/EC,
– the Use of Work Equipment Directive 2009/104/EC,
– the accident prevention / safety regulations.
• The manual must be provided to the operator of the machine on which the samosPRO-
system is to be used. The machine operator must be trained by qualified persons and is
required to read this manual.
2
2.1
2.2

Safety
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
16
ATTENTION
May only be used in an industrial environment
The samosPRO system fulfills the requirements for class A (industrial applications) according
to the "Emitted interference" basic technical standard. The samosPRO system is therefore
only suitable for use in an industrial environment.
Environmentally friendly behavior
888332555
The modular samosPRO safety control and the corresponding modules are designed such that
they stress the environment as little as possible. They use only a minimum of power and re-
sources.
 Make sure that you also carry out work while always considering the environment.
Disposal
888334091
The disposal of unusable or irreparable devices should always be done in accordance with the
respectively valid country-specific waste-elimination guidelines (e.g. European Waste Code 16
02 14).
NOTICE
We will be happy to help you in disposing of these devices.
Simply contact us.
Sorting of materials
888335627
ATTENTION
Important information
• The sorting of materials may only be carried out by qualified persons!
• Care must be used when disassembling the devices. There is a risk of injuries during this
process.
Before you can route the devices to the environmentally-friendly recycling process, it is neces-
sary to sort the various materials of the samosPRO devices.
 Separate the housing from the rest of the components (particularly from the PC board).
 Place the separated components into the corresponding recycling containers (see the
following table).
Table 2: Overview of disposal according to components
Components
Disposal
Product
Housing
PC boards, cables, connectors, and
electric connecting pieces
Plastic recycling
Electronics recycling
Packaging
Cardboard, paper
Paper/cardboard recycling
2.3
2.3.1
2.3.2

Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
17
Product description
910740875
samosPRO gateways allow a samosPRO system to transmit non-safety-related data for control
and diagnostic purposes to the external field bus system and to receive them.
Important safety information
ATTENTION
Do not operate a samosPRO gateway on a safety field bus!
The gateway modules are not suitable for operation with a safety field bus!
They do not only generate safety-
related field bus data (state bytes) for control and diagnostic
purposes. They do not support any safety mechanisms that would be required for communi-
cation within a safety network.
Information on the function, configuration and designations
NOTICE
Where not otherwise indicated, this manual always considers the data exchanged between
the samosPRO
system and the relevant network from the point of view of the network master
(PLC). Thus data sent to the network from the samosPRO system is termed input data, while
data received from the network is termed output data.
Configuration of samosPRO gateways takes place via the samosPLAN5+ configuration soft-
ware, using a PC or Notebook connected to the SP-COPx main module via the USB interface
or RJ45 Ethernet interface.
The safety-related logic of the samosPRO system works independently of the gateway. How-
ever, if the system has been configured in such a way that non-safety-related information from
the field bus can be integrated into the logic editor, switching off the gateway may result in
availability problems.
A samosPRO gateway can only be operated on a samosPRO system. It does not have its own
power supply. A maximum of two samosPRO gateways can be operated simultaneously for
each system.
The gateway for Modbus TCP, PROFINET IO or EtherNet/IP is integrated into the SP-COP2-ENI
controller module, while the gateways for Profibus-DP, CANopen or EtherCAT are housed in a
22.5 mm wide installation housing for 35 mm standard rails in accordance with EN 60715.
Order information:
Order data [ch. 13, p. 198]
Version, compatibility, and features
1184672907
There are various module versions and function packages for the samosPRO product family
that enable various functions. This section will give you an overview as to which module versi-
on, which function package, and/or which version of the samosPLAN5+ software you will
need to be able to use a certain function or a certain device.
Table 3: Required versions of the controller module
Available with controller module version and higher
Feature/
functionality
SP-COP1-x
SP-COP2-EN-x
SP-COP2-ENI-x
samosPLAN5+
Modbus TCP
---
---
A-01
V1.0
PROFINET IO
---
---
B-01.xx
V1.2
EtherCAT (SP-EN-ETC)
C-01.xx
C-01.xx
C-01.xx
V1.3
EtherNet/IP
---
---
D-01.xx
V1.4
PROFIBUS DP
A-01
A-01
A-01
V1.0
CANopen
A-01
A-01
A-01
V1.0
3
3.1

Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
18
Table 4: Versions of the gateway modules
Gateway
Module name
Versions
EtherCAT
SP-EN-ETC
A-01
1)
A-02
1)
PROFIBUS DP
SP-PROFIBUS-DP
A-02
A-03
2)
CANopen
SP-CANopen
A-01
A-02
3)
1) The EtherCAT node ID cannot be saved in the gateway.
2) The manufacturer-specific expanded diagnostics are fully functional.
3)
CANopen emergency messages are fully functional.
Info
• You can find the module version on the type plate of the modules.
• You will find the samosPLAN5+ software version in the main menu.
• The latest software version is available in the Internet at the following address
http://www.wielandinc.com/.
• Newer modules are backwards-compatible, which means that each module can be re-
placed with a module having a higher module version.
• You can find the date of manufacture for a device on the type plate in the
S/N
field in the
format <Product no.>yywwnnnnn (yy = year, ww = calendar week).
Equipment variants
910741899
There are three samosPRO gateways for various network types.
The Modbus TCP / PROFINET IO and EtherNet/IP gateway of the SP-COP2-ENI controller mo-
dule or the external SP-EN-ETC gateway are suitable for Ethernet networks. The SP-
PROFIBUS-DP gateway and the SP-CANopen gateway are external field bus gateways without
an Ethernet function.
Table 5: Equipment variants and their main characteristics
Gateway
Network type
Ethernet TCP/IP socket in-
terface
SP-EN-MOD Modbus TCP with master and
slave operation
Client/Server on Port 502
SP-EN-PN
PROFINET IO device
-
SP-EN-IP
EtherNet/IP device
-
SP-PROFIBUS-DP
PROFIBUS DP slave
–
SP-CANopen CANopen slave –
SP-EN-ETC
EtherCAT slave
-
NOTICE
You will find the manufacturing date of a device on the type label in the S/N field in the for-
mat yywwnnnn (yy = year, ww = calendar week, nnnn = consecutive serial number within a
calendar week).
3.2

Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
19
Data transferred to the network (network input data sets)
910743435
Available data
The samosPRO gateways can provide the following data:
• Operating data
–
Logic results from
the samosPRO safety controller (see Routing table [ch. 5.1.2, p.
37] )
–
Input values
(HIGH/LOW) for all samosPRO input expansion modules in the system
–
Output values
(HIGH/LOW) for all samosPRO input/output expansion modules (see
Module state / input and output values [ch. 3.3.1, p. 22] )
–
Output data
from another network, i.e. data received from a second gateway in the
samosPRO system (see Transmission of data from a second network [ch. 3.3.3, p. 23] )
• Diagnostics
–
Test values
(CRCs): (see Configuration test values (CRCs) [ch. 3.3.4, p. 23] )
–
Error and state information
: Error and state information for the modules [ch. 3.3.5, p.
23]
Data sets
The physical modules are not presented as typical hardware modules in the network. Instead,
the data provided by the samosPRO system has been arranged in four
input data sets .
•
Data set 1
(max. 50 bytes) contains the operating data. It can be compiled with the aid of
samosPLAN5+. In the form in which it is delivered, the content of data set 1 is preconfigu-
red; it can be freely modified.
Details: see table
"Overview of input data sets" [ch. 3.3, p. 20]
For the SP-PROFIBUS-DP gateway, data set 1 was divided into five input data blocks, with
data blocks 1–4 each containing 12 bytes and data block 5 two bytes.
For the SP-CANopen gateway, data set 1 was divided into four blocks, each with 8 bytes.
You will find more detailed information in the corresponding section for each gateway.
•
Data set 2
(32 bytes) contains the test values (CRCs) for the system configuration.
See table "Overview of input data sets 1-3 (basic settings for Modbus TCP)" below
•
Data set 3
(60 bytes) contains the state and diagnostic data for the various modules, with
four (4) bytes per module, with the controller module comprising 3 x 4 bytes. Details: see
table "Meaning of module state bits" [ch. 3.3.5, p. 23]
•
Data set 4
(60 bytes) is currently filled with reserved values.
3.3

Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
20
The following table provides an overview of which data sets are provided by which gateway.
Table 6: Availability of data sets 1–4
Data set 1
Data set 2
Data set 3
Data set 4
SP-COP2-ENI Modbus TCP
PROFINET IO
EtherNet/IP
Modbus TCP
PROFINET IO
EtherNet/IP
Modbus TCP
PROFINET IO
EtherNet/IP
Modbus TCP
PROFINET IO
SP-EN-ETC EtherCAT EtherCAT EtherCAT -
SP-PROFIBUS-
DP
PROFIBUS DP – – –
SP-CANopen CANopen CANopen
(SDOs)
1)
CANopen
(SDOs)
1)
–
1) The SP-CANopen is used to provide diagnostic data via CANopen SDO (service data ob-
jects). More information about how to provide state and diagnostic data with the aid of the
CANopen gateway may be found here: CANopen gateway [ch. 10, p. 129]
2)
Readable with instance 2 of class 120
3)
Readable with instance 3 of class 120 and byte 52 to 111 of assembly 167
Table 7: Overview of input data sets 1–3 (basic setting for Modbus TCP)
Data set 1
Data set 2
Data set 3
Data set 4
Byte 0
Input values for Module 0 (I1..I8)
Project CRC
Module state SP-COPx
Reserved
Byte 1 Input values for Module 0 (I9..I16) Module state SP-COPx
Byte 2 Input values for Module 0
(IQ1..IQ4)
Test pulse comparison, controller
module inputs
Byte 3 Output values for Module 0
(Q1..Q4, IQ1..IQ4)
Test pulse comparison, controller
module inputs
Byte 4 Direct data (Off) 0 System CRC
(PROFIBUS
DP and
EtherCAT)
Test pulse comparison, controller
module inputs
Byte 5 Direct data (Off) 1 State of two-channel controller
module inputs
Byte 6 Direct data (Off) 2 State of two-channel controller
module inputs
Byte 7
Direct data (Off) 3
Reserved
Byte 8 Direct data (Off) 4 Reserved Stuck-at error at controller modu-
le outputs
Reserved
Byte 9 Direct data (Off) 5 Stuck-at error at controller modu-
le outputs
Byte 10
Direct data (Off) 6
Reserved
Byte 11 Direct data (Off) 7 Reserved
Byte 12
Input values for Module 1
State of Module 1
Byte 13 Input values for Module 2 State of Module 1
Byte 14
Input values for Module 3
State of Module 1
Byte 15
Input values for Module 4
State of Module 1
Byte 16
Input values for Module 5
State of Module 2
Byte 17
Input values for Module 6
State of Module 2
Byte 18
Input values for Module 7
State of Module 2
Byte 19
Input values for Module 8
State of Module 2
Byte 20
Input values for Module 9
Reserved
State of Module 3
Reserved
Byte 21
Input values for Module 10
State of Module 3