Wieland samos PRO User manual

samos® PRO
samos®
PRO COMPACT-Gateways
Manual
Doc. no. BA000970
Last Update: 07/2019 [9855]

Info
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
2
INFO
77057547
Copyright
This document is copyright-protected. The rights derived from this copyright are reserved for Wie-
land 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 abridgment of the docu-
ment 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+, Facto-
ryTalk, FLEX, GuardLogix, Kinetix, Logix5000, MicroLogix, PanelBuilder, PanelView, PhaseManager,
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, SoftLogix, 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 Automation, 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 Automation
GmbH.
Microsoft, Windows 98, Windows NT, Windows 2000, Windows XP, Windows 7, Windows 8, Windows
8.1, Windows 10 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 trademarks
of the respective owners.
Subject to change.
Subject to technical changes for reasons of continued development.

Table of Contents
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TABLE OF CONTENTS
1
About this manual
8
1.1
Function of this document
8
1.2
Scope of validity and applicable documents
8
1.3
Target audience
9
1.4
Information depth
10
1.5
Abbreviations and Definitions
10
1.6
Symbols/icons and writing style/spelling standard used
13
2
Safety
14
2.1
Proper use
14
2.2
Areas of application of the device
14
2.3
Qualified persons
15
2.4
Special obligations of the operator
15
2.5
Environmentally friendly behavior
15
2.5.1
Disposal
15
2.5.2
Sorting of materials
16
3
Product description
17
3.1
Version, compatibility, and features
17
3.2
Equipment variants
19
3.3
Data transferred to the network (network input data sets)
19
3.3.1
Direct gateway output values
24
3.3.2
Module state / input and output values
24
3.3.3
Transmission of data from a second network
25
3.3.4
Configuration test values (CRCs)
25
3.3.5
Error and state information for the modules
26
3.4
Data received from the network (network output data sets)
31
4
Installation and basic configuration
32
4.1
Installing/removing
32
4.1.1
Installing modules on hat rail
32
4.1.2
Removing modules from the hat rail
35
4.2
Electrical installation
37
4.3
Initial configuration steps
38

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5
Configuration of gateways with samosPLAN 6
39
5.1
The graphical user interface
39
5.1.1
Activating gateway functionality
39
5.1.2
"Gateway" view
41
5.1.3
Layout and content of the tabs
43
5.1.4
"Gateway” and “Properties” docking windows
44
5.2
Function and basic settings
45
5.2.1
Routing
45
5.2.2
Basic settings for the process data
45
5.3
Configuring the gateway output values (tab 1)
47
5.4
Editing the gateway input values (tab 2)
49
5.5
Monitoring process data
51
6
Modbus TCP gateway
52
6.1
Interfaces and operation
52
6.2
Basic configuration – allocation of an IP address
52
6.3
Configuration of the Modbus-TCP interface to the PLC - how the data are
transferred
53
6.4
Diagnosis and troubleshooting
60
6.5
State bits
62
7
PROFINET IO-Gateway
63
7.1
Interfaces and operation
63
7.2
Basic configuration - Assigning a device name and an IP address
63
7.3
PROFINET configuration of the gateway - how the data are transferred
66
7.4
PROFINET configuration of the gateway - which data are transferred
69
7.5
Diagnostics and troubleshooting
73
7.6
Deactivation of the PROFINET IO function
74
7.7
State bits
74
7.8
Optimizing performance
74
8
EtherNet/IP gateway
75
8.1
Interfaces and operation
75
8.2
Datasheet
75

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8.3
Basic setup
76
8.3.1
Basic configuration of PLC
76
8.3.2
Basic configuration of the controller module
79
8.3.3
Configuring the data to PLC
80
8.3.4
Configuring the usage of data from PLC
81
8.4
Supported CIP Objects
82
8.4.1
Identity Object
82
8.4.2
Assembly Object
83
8.4.3
Discrete Input Point Object
84
8.4.4
Discrete Output Point Object
86
8.4.5
Discrete Input Group Object
87
8.4.6
Discrete Output Group Object
87
8.4.7
PCCC Object
88
8.4.7.1
PCCC Telegram Structure
89
8.4.7.2
Word Range Write
89
8.4.7.3
Word Range Read
90
8.4.7.4
Typed Write
90
8.4.7.5
Typed Read
91
8.4.7.6
Protected Typed Logical Read with 2 Address Fields
92
8.4.7.7
Protected Typed Logical Write with 2 Address Fields
93
8.4.7.8
Protected Typed Logical Read with 3 Address Fields
93
8.4.7.9
Protected Typed Logical Write with 3 Address Fields
93
8.4.8
Vendor Object
94
8.4.8.1
Instance 1
94
8.4.8.2
Instance 2
94
8.4.8.3
Instance 3
94
8.4.8.4
Instance 4
94
8.4.8.5
Instance 5
94
8.4.8.6
Instance 6
94
8.4.8.7
Instance 7
95
8.5
Supported Assembly data
97
8.5.1
List of Assembly data
97
8.5.2
Assembly Instances for Logic Output Bytes
99
8.5.2.1
Assembly Instance 37 = 0x25
99
8.5.2.2
Assembly Instances 138 = 0x8a to 141 = 0x8d
99
8.5.3
Assembly Instances for Logic Input Bytes
100
8.5.3.1
Assembly Instance 57 = 0x39
100
8.5.3.2
Assembly Instances 167 = 0xa7
100

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8.6
Accessing to CIP objects
101
8.6.1
Explicit Messaging
101
8.6.2
Implicit Messaging
101
8.6.3
Symbolic Addressing
102
8.7
Adjust Performance
103
8.8
Connection with more than one PLC
103
8.9
Diagnostics and troubleshooting
103
8.9.1
Notifications via network
103
8.9.1.1
Explicit Message Connection
103
8.9.1.2
Implicit Message Connection
103
8.9.2
LED States
104
8.9.2.1
MS (Module Status)
104
8.9.2.2
NET (Network Status)
104
8.9.2.3
LINK
106
8.9.2.4
ACT (Activity Status)
106
8.9.3
Diagnostic functions in the configuration software
106
8.10
State bits
107
9
PROFIBUS DP gateway
108
9.1
Interfaces and operation
108
9.2
Projecting
112
9.3
PROFIBUS configuration of the gateway - how the data are transferred
115
9.4
Diagnosis and troubleshooting
121
10
CANopen gateway
123
10.1
Interfaces and operation
123
10.2
CANopen configuration of the gateway - how the data are transferred
128
10.3
CANopen configuration of the gateway - which data are transferred
130
10.4
NMT – network management
131
10.5
SYNC
132
10.6
Emergency
133
10.7
Node guarding
137
10.8
PDO communication
138
10.9
SDO communication
141
10.10
SDO object directory
142
10.11
Guarding protocols
148

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10.12
Error objects
150
10.13
CANopen diagnostic examples
152
10.14
Diagnosis and troubleshooting
156
11
EtherCAT Gateway
159
11.1
Interfaces and operation
160
11.2
EtherCAT basics
162
11.3
EtherCAT state machine
164
11.4
Bus topology and cabling
165
11.5
Data transferred into the network
166
11.5.1
Data set 1
167
11.5.2
Data set 2
173
11.5.3
Data set 3
174
11.6
Data received from the network
176
11.7
Configuring an EtherCAT network
177
11.8
EtherCAT configuration of the gateway - how the data are transferred
178
11.9
Diagnostic LEDs on the gateway and troubleshooting
180
12
Technical data
183
12.1
Modbus TCP, PROFINET IO and EtherNet/IP gateway
183
12.2
EtherCAT gateway
183
12.3
PROFIBUS DP
183
12.4
CANopen gateways
184
12.5
Technical data for supply circuit
184
12.6
General technical data
184
12.7
Dimensional drawings
185
12.7.1
Controller module
185
12.7.2
CANopen and PROFIBUS gateways (old housing)
187
12.7.3
EtherCAT gateway
188
13
Order data
189
13.1
Hardware modules and accessories
189
13.2
Modules for contact expansion
191

About this manual
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ABOUT THIS MANUAL
77306635
Please read this section carefully before you work with these operating instructions and the sa-
mosPRO gateways.
Function of this document
77316747
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 installa-
tion, configuration, electrical installation, commissioning, operation and maintenance of the
samosPRO gateways.
This manual does not provide operating instructions for the machine, which incorporates mod-
ular 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 validi-
ty and applicable documents [ch. 1.2, p. 8]).
• The software manual describes the software-supported configuration and parameterization of
the samosPRO safety control. In addition, the software manual contains a description of the im-
portant diagnostic functions for operation and detailed information for identifying and elimi-
nating 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 hard-
ware manual mainly for designing devices.
• Each module contains the installation instructions/brief instructions. These instructions pro-
vide information on the fundamental technical specifications of the modules and contain sim-
ple 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 Directive.
Scope of validity and applicable documents
77359627
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 Article number
Software manual samosPLAN 6 software BA000968
Hardware manual samosPRO hardware BA000966
Gateway manual samosPRO gateways BA000970
Operating instruc-
tions
SP-COPx
(Controller modules of the modular samosPRO safety
controller)
BA001119
Operating instruc-
tions
SP-SDI/SP-SDIO
(Extended modules of the modular samosPRO safety
controller)
BA001116
1
1.1
1.2

About this manual
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Document Title Article number
Operating instruc-
tions
SP-DIO
(Unsafe expansion module of the samosPRO modular
safety control)
BA001190
Operating instruc-
tions
SP-PROFIBUS-DP
(samosPRO-PROFIBUS-DP gateway)
BA001187
Operating instruc-
tions
SP-CANopen
(samosPRO-CANopen gateway)
BA001188
Operating instruc-
tions
SP-EN-ETC
(samosPRO EtherCAT gateway)
BA001178
Target audience
77333387
This manual is aimed at the planners, developers and operators of systems that incorporate mod-
ular samosPRO safety controls and that want to exchange data with a field bus (controls) via a gate-
way.
It is also aimed at persons commissioning a samosPRO gateway system for the first time or main-
taining such a system.
1.3

About this manual
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10
Information depth
77345419
This manual contains information about the following topics related to samosPRO gateways:
• Installation
• Integration into the network
• Configuration with the samosPLAN 6 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 described in
this manual.
Downloads are provided on the Internet
Also consult our website on the Internet. At the following link http://www.wielandinc.com/, you will
find:
• the samosPLAN 6 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
Abbreviations and Definitions
77372939
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 PROFINET
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
1.4
1.5

About this manual
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Term Explanation
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 tech-
nologies with CIP
Gateway Connection module for industrially-used networks, such as EtherNet/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 specifi-
cation, 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 variables and
methods. All the objects within a class are identical with regard to func-
tion 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 measurement
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
samosPLAN 6 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 expansion
gateways and I/O modules.

About this manual
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Term Explanation
SP-COP2-ENI Controller module, which is equipped with safety inputs and outputs
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 defective switching
elements. Stuck-at high errors are discovered through plausibility tests,
such as sequence errors in two-channel input circuits or using test pul-
ses 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 cir-
cuits 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 continuous basis.
Test pulse error Test pulse errors are undetected test pulses, which lead to a negative
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 Protocol, Internet standard protocol for the transport
layer specified in RFC 793
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

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Symbols/icons and writing style/spelling standard used
68491659
NOTICE
These are notes that provide you with information regarding particularities of a device or a soft-
ware 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 oc-
cur.
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
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SAFETY
117623051
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.
Proper use
117638411
The samosPRO gateways can only be operated in conjunction with a samosPRO safety controller.
The firmware version of the connected controller modules must be at least V1.0.0 and the version of
the samosPLAN 6 configuration software must be at least 1.0.0.
Basic conditions for use
The samosPRO gateways may only be operated under the following conditions:
• You are operating the gateway within the specified areas of application.
Further information: Areas of application of the device
• You are operating the gateway within the specified operating limits for voltage, temperature,
etc.
See the following for further information: Technical data [ch. 12, p. 183]
• You are observing personnel requirements.
Further information: Qualified persons [ch. 2.3, p. 15]
• You are observing the special operator obligations.
Further information: Special obligations of the operator [ch. 2.4, p. 15]
Improper use
Any other use or secondary use is deemed improper and is therefore not permitted. Any warranty
claims for resulting damage made against Wieland Electric GmbH shall be deemed invalid. The risk
shall be borne solely by the operator.
This also applies to any independent modifications made to the device.
Areas of application of the device
117655435
Do not use for safety-related data
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 communication
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 editor in
such a way that the safety function of the samosPRO system may be adversely affected.
• Never integrate a gateway into a samosPRO system without having this source or risk checked
by a safety specialist.
Specifications for domestic use
If you wish to use the samosPRO system for domestic purposes, you need to take additional steps to
prevent the emission of radio frequency interference in limit class B according to EN 55011. Here are
some steps you might take:
• The use of interference suppressor filters in the supply circuit
• Installation in grounded switch cabinets or boxes
2
2.1
2.2

Safety
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Qualified persons
117630731
A safety control with samosPRO gateways may only be installed, commissioned and maintained 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 guidelines
and
• have access to the samosPRO system operating instructions and have read them and duly
noted their contents.
Special obligations of the operator
117659659
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 installati-
on – this shall nullify any warranty claims with respect to Wieland Electric GmbH.
Duty to provide instruction
• This manual must be made available for 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 requi-
red to read this manual.
Compliance with standards and regulations
• Please follow the standards and guidelines valid in your country when installing and using the
samosPRO gateways.
• The national/international legal regulations apply to the installation and use of the modular
samosPRO safety controls as well as to the commissioning and repeated technical testing, par-
ticularly the following:
– EMC Directive 2014/30/EU
– Work Equipment Directive 2009/104/EC
– Accident prevention regulations/safety rules
Requirements for electrical installation
• The samosPRO gateways do not have their own power supply.
Environmentally friendly behavior
77012363
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 resources.
Make sure that you also carry out work while always considering the environment.
Disposal
77022091
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.
2.3
2.4
2.5
2.5.1

Safety
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16
Sorting of materials
77031179
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 pro-
cess.
Before you can route the devices to the environmentally-friendly recycling process, it is necessary 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
2.5.2

Product description
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17
PRODUCT DESCRIPTION
77437579
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 communication
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 recei-
ved from the network is termed output data.
Configuration of samosPRO gateways takes place via the samosPLAN 6 configuration software, using
a PC or Notebook connected to the SP-COPx main module via the USB interface or RJ45 Ethernet in-
terface.
The safety-related logic of the samosPRO system works independently of the gateway. However, 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 con-
troller module, while the gateways for Profibus-DP, CANopen or EtherCAT are housed in a 22.5 mm
wide installation housing for 35 mm hat rails in accordance with EN 60715.
Order information: Order data [ch. 13, p. 189]
Version, compatibility, and features
77848715
There are various module versions and function packages for the samosPRO product family that
enable various features. This section will give you an overview as to which module version, which
function package, and/or which version of the samosPLAN 6 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 samosPLAN 6
Modbus TCP --- --- A-01 V1.0
PROFINET IO --- --- B-01.xx V1.0
EtherCAT (SP-EN-ETC) C-01.xx C-01.xx C-01.xx V1.0
EtherNet/IP --- --- D-01.xx V1.0
PROFIBUS DP A-01 A-01 A-01 V1.0
CANopen A-01 A-01 A-01 V1.0
3
3.1

Product description
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18
Table 4: Versions of the gateway modules
Gateway Module name Versions
EtherCAT SP-EN-ETC A-011) A-021)
PROFIBUS DP SP-PROFIBUS-DP A-02, A-05 A-03, A-04, A-06 2)
CANopen SP-CANopen A-01, A-04, A-06 A-02, A-07 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.
Table 5: Version history of the integrated gateway according to controller module version
Version
Module type Module
version
Modbus TCP PROFINET IO EtherNet/IP
SP-COP2-ENI-x A-02 Yes --- ---
SP-COP2-ENI-x B-01 Yes GSDML profile
V2.31
---
SP-COP2-ENI-x C-01 Yes ---
SP-COP2-ENI-x D-01 Yes Vol 1 Ed 3.18,
Vol 2 Ed 1.19,
CT13
SP-COP2-ENI-x D-03 Master start delay
configurable
GSDML profile
V2.32
Vol 1 Ed 3.21,
Vol 2 Ed 1.22,
CT14
Table 6: Version history for external gateways: CANopen
Certification authority and version
CAN-CiA
Module type Module
version
SP-CANopen A-XX according to CiA 310
Table 7: Version history for external gateways: PROFIBUS DP
Certification authority and version
PNO
Module type Module
version
SP-PROFIBUS-DP A-02 PROFIBUS DP-V0
SP-PROFIBUS-DP A-03 PROFIBUS DP-V0
SP-PROFIBUS-DP > A-04 ---
Table 8: Version history for external gateways: EtherCAT
Certification authority and version
EtherCAT Technology Group
Module type Module
version
SP-EN-ETC A-01 according to ETG.7000 with CTT V2.0.42.0
SP-EN-ETC A-02 according to ETG.7000 with CTT V2.0.42.0

Product description
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19
Info
• You can find the module version on the type plate of the modules.
• You will find the samosPLAN 6 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 replaced
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
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There are three samosPRO gateways for various network types.
The Modbus TCP / PROFINET IO and EtherNet/IP gateway of the SP-COP2-ENI controller module 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.
ATTENTION
Restrictions for Ethernet connections
• The Ethernet connection can only be linked to autonomous networks or demilitarized zones
(DMZ).
• The device must never be connected directly to the Internet.
• Always use secure data tunnels (VPN) to exchange data via the Internet.
Table 9: Equipment variants and their main characteristics
Gateway Network type Ethernet IP socket interface
SP-EN-MOD Modbus TCP with master and
slave operation
Client/Server on TCP Port 502
SP-EN-PN PROFINET IO device UDP ports 34964, 49152
SP-EN-IP EtherNet/IP device TCP port 44818, UDP port 2222
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 format
yywwnnnn (yy = year, ww = calendar week, nnnn = sequential serial number within a calendar
week).
Data transferred to the network (network input data sets)
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Available data
The samosPRO gateways can provide the following data:
• Process data
– Logic results from the samosPRO safety controller (see Routing table [ch. 5.1.3, p. 43])
– 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. 24])
– Output data from another network, i.e. data received from a second gateway in the sa-
mosPRO system (see Transmission of data from a second network [ch. 3.3.3, p. 25])
• Diagnostics
– Test values (CRCs): (see Configuration test values (CRCs) [ch. 3.3.4, p. 25])
– Error and state information: Error and state information for the modules [ch. 3.3.5, p. 26]
3.2
3.3

Product description
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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 process data. It can be compiled with the aid of samos-
PLAN 6. In the form in which it is delivered, the content of data set 1 is preconfigured; it can be
freely modified.
Details: see table "Overview of input data sets" [ch. 3.3, p. 21]
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 "Me-
aning of module state bits" [ch. 3.3.5, p. 26]
• Data set 4 (60 bytes) is currently filled with reserved values.