Helmholz 700-670-PNC01 CAN Gateway CANopen Master User Guide

Helmholz 700-670-PNC01 CAN Gateway CANopen Master

Product Information

Specifications

• Product: PN/CAN Gateway CANopen Master
• Order Number: 700-670-PNC01
• Version: 5 en
• Date: 10.04.2024

Product Usage Instructions

Safety Instructions

• Proper transport, storage, setup, assembly, installation, commissioning, operation, and maintenance are necessary for safe device operation. Only operate the device in flawless condition and adhere to operating conditions and performance limits.

Introduction

• This document guides the initial commissioning of the PN/CAN-Gateway CANopen Master. For the latest documentation version, visit www.helmholz.de or scan the provided QR code.

The function of PN/CAN Gateway CANopen Master

• The PN/CAN Gateway integrates a CANopen network into a PROFINET network, acting as a CANopen master to integrate process and service data from CANopen slave devices into a PROFINET CPU’s IO area.

Connection

• Details on establishing physical connections between the PN/CAN Gateway and other devices will be provided in the manual.

Download and Installation of GSDML file

• Instructions on downloading and installing the GSDML file in the TIA Portal for configuration purposes will be outlined in the manual.

FAQ

Q: Can I modify the device?

A: Retrofits, changes, or modifications to the device are strictly forbidden for safety and operational reasons

Safety instructions

Target audience

• This description is only intended for trained personnel qualified in control and automation engineering who are familiar with the applicable national standards.
• For installation, commissioning, and operation of the components, compliance with the instructions and explanations in this operating manual is essential.
• The specialist personnel are to ensure that the application or the use of the products described fulfills all safety requirements, including all applicable laws, regulations, provisions, and standards.

Intended use

• The device has a protection rating of IP 20 (open type) and must be installed in an electrical operating room or a control box/cabinet to protect it against environmental influences.
• To prevent unauthorized operation, the doors of control boxes/cabinets must be closed and possibly locked during operation. The consequences of improper use may include personal injury to the user or third parties, as well as property damage to the control system, the product, or the environment. Use the device only as intended!

Operation

• Successful and safe operation of the device requires proper transport, storage, setup, assembly, installation, commissioning, operation, and maintenance.
• Operate the device only in flawless condition. The permissible operating conditions and performance limits (technical data) must be adhered to. Retrofits, changes, or modifications to the device are strictly forbidden.

Security

• The device is a network infrastructure component and therefore an important element in the security consideration of a plant.
• When using the device, therefore, observe the relevant recommendations to prevent unauthorized access to installations and systems.

Introduction

• This document explains the initial commissioning of the PN/CAN-Gateway CANopen Master.
• The latest version of the documentation can be found at www.helmholz.de or scan the QR code directly.

The function of PN/CAN Gateway CANopen Master

• The “PN/CAN Gateway, PROFINET/CANopen Master” integrates a CANopen network into a PROFINET network.
• It works on the CANopen network as a fully-fledged CANopen master and enables the integration of process and service data from CANopen slave devices into the IO area of a PROFINET CPU.

Connection

Power supply

• The PN/CAN gateway must be supplied with DC 18 … 30 V must be supplied with DC 24 V via the supplied connector plug.
• The housing of the PN/CAN-Gateway Coupler is not grounded. Please connect the functional earth terminal of the PN/CAN gateway properly to the reference potential.
• The device is intended to be supplied by an isolated Limited Energy Source according to UL61010-1 (3rd ed cl. 9.4) or according to UL60950-1/UL62368-1 or Class 2 according to NEC.
• Please use Cu power supply wires, AWG 28-12. The maximum length of removed insulation is 10 mm. The temperature cable rating is 87 °C.

CAN-Bus

• The CAN bus is connected to the “CAN” interface using a SUB-D plug (e.g. Helmholz CAN bus connector) to the “CAN” interface.
• The PN/CAN gateway does not contain a CAN-terminating resistor. If the PN/CAN gateway is connected to the end of a CAN stub line, the terminating resistor in the CAN connector must be activated.
• CAN-GND” is isolated from the operating voltage and USB.

PROFINET

The RJ45 Ethernet sockets “X1 P1” and “X1 P2” are used to connect the PROFINET network.

• The PROFINET Ethernet sockets are only intended for connection to computer networks (LANs) and must not be connected to telephone networks or telecommunications lines.

USB interface

• The service USB interface is only required for the firmware update and diagnoses in the event of support. The USB interface is isolated potential-free from the supply voltage.

Download and Installation of GSDML file

• The latest GSDML file is available on the website www.helmholz.de. Go to the product page of the “PN/CAN Gateway CANopen Master” and then to the download area or follow the link stored in the QR code.
• There you can download the GSDML file of the “PN/CAN Gateway CANopen Master” in zipped form. Before installation, the zipped files must be unzipped accordingly.
• The GSDML file is required for integration into an engineering tool for the PROFINET side. It has the file extension “xml” and is delivered together with an image file in BMP format.
• The installation of the GSDML file in the TIA Portal is described below as an example.

Install GSDML file in TIA Portal

• You can install the GSDML file of the PN/CAN gateway in the TIA Portal by selecting the directory with the unzipped GSDML file as the source path in the “Extras / Manage station description file (GSD)” menu.
• Then the GSDML file is displayed for selection and can be installed via the corresponding button.
• After successful installation, the PN/CAN-Gateway is listed in the hardware catalog of the TIA Portal under „ Other field devices PROFINET IO Gateway Helmholz PN/CAN Gateways“.

Configuring the PN/CAN-Gateway

Add the “PN/CAN-Gateway CANopen” to the project and connect it to your PROFINET network.

• By calling the properties a unique PROFINET name should be assigned to the PN/CAN gateway and the IP address should be checked for plausibility.
• The name of the configured device must be assigned to the physical device later (see Chap. 7).

Parameterize CANopen Master

The first slot entry “Parameter” contains the module parameters for the behavior of the CANopen master.

Set the CAN bit rate and the CAN master node ID. In some applications, a SYNC telegram or heartbeat telegram of the master is necessary for operation. The other “PN/CAN CO” slot entries do not contain any parameters.

Add and configure a CANopen Device

• A “CANopen Device” is a CANopen slave station that is to be managed on the CAN network by the CANopen master. An entry must be created for each CANopen slave.
• The parameters of the CANopen slave can be specified under the properties of the CANopen device entry. The device node ID of the CANopen slave must be set correctly.
• If the option “Slave is mandatory” is selected, all CANopen nodes on the CAN bus of the PN/CAN-Gateway are not switched to operational until this device is present and parameterized.

Add and configure PDOs (process data object)

• TPDOs (Transmit Process Data Objects) are data that are sent from the CANopen slave to the PLC (input data from PLC view). RPDOs (Receive Process Data Objects) are data sent from the PLC to the CANopen slave (output data from PLC view).
• The data size of the PDOs depends on the data in the PDO (PDO mapping) and can be between one and 8 bytes.
• The order of the TPDO and RPDO entries in the configuration can be chosen arbitrarily. All TPDO and RPDO entries that follow a CANopen device entry belong exactly to this device.
• Which PDOs with which lengths the connected CAN device contains can usually be found in the manual of the respective CANopen slave or can be requested from the manufacturer.
• By specifying the PDO number (1..16), the PN/CAN gateway automatically sends all the necessary settings for the PDO during startup.
• Alternatively, it is also possible to specify a device-specific COB-ID (PDO number must then be ‘0’). In this case, it is assumed that all PDO settings have already been made in the CAN device in advance.
• The PN/CAN gateway will then not change the PDO settings during startup.
• A maximum of 32 PDOs can be configured per slave, 16 TPDOs, and 16 RPDOs.

Assign a PROFINET device name to the PN/CAN gateway

• When the configuration of the PN/CAN gateway in the PROFINET Engineering Tool is complete, it can be imported into the PLC.
• So that the PN/CAN gateway can be found by the PROFINET controller, the PROFINET device name must be assigned to the PN/CAN gateway.
• To do this, use the “Assign device name” function which you can access with the right mouse button or in the
• Online menu when the PN/CAN gateway is selected.
• Use the “Update list” button to search the network for PROFINET stations. With “Assign Name” the PROFINET device name can be assigned to the device.
• The clear identification of the PN/CAN gateway is ensured here by the MAC address of the device. The MAC address of the device is on the front of the PN/CAN gateway.
• If the PN/CAN gateway has been assigned the correct PROFINET device name, it is recognized by the PLC and configured. When the configuration has run correctly, the blue “Mode” LED should blink.
• To set the PROFINET name, the Helmholz “IPSet” Tool can also be used, which can be downloaded free of charge from the Helmholz website. Scan the following QR code to download the IPSet Tool

$Programming in the PLC

• No handling blocks are required in the PLC for simple operation. The control and status query of the PN/CAN gateway can be performed directly via the I/O image.
• For the startup of the example project, the value 2 must be written in the output word in “Master Control” (“NMT-State Control”).
• After the start-up of the PN/CAN gateway and initialization of the CANopen slave, the gateway also reports a 2 in the 4th byte of the master status (“NMT-State”, see below).
• The CANopen system is operational, and the I/O data of the slave can be read and written.

Master Control (2 Bytes Output)

The two master control bytes in the output image of the PLC can be used to control the behavior of the PN/CAN gateway.

frame

| reserved| Clear CAN Rx overflow error| NMT state control

The NMT-State Control bits are used to control the state of the CANopen network:

• Boot up (0) = The CANopen master has been switched off. No CAN frames are being transmitted or received. If the state was previously Operational (value 2), the CANopen slaves are stopped (“NMT Pre-Operational” or “NMT Stop” depending upon the configuration).
• Pre-Operational (1) = If the previous state was 0, all CANopen slaves are initialized. The status 1 is subsequently displayed in the master state.
• If the previous state was Operational (2) or Stop (3), only an “NMT Pre-Operational” is transmitted.
• Operational (2) = If the previous status was 0, all CANopen slaves are initialized, and “NMT Operational” is subsequently transmitted.
• The PDO data is only exchanged in status 2. If the previous state was Pre-Operational (1) or Stop (3), only an “NMT
• Operational” is transmitted.
• Stop (3) = An NMT-Stop is transmitted to all slaves.
• For more information, please refer to the manual.

Master Status (4 Bytes Output)

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In 1| User reset requested| LSS mode active| Emergency Lost| SYNC transmitted| No CAN connection| CAN RX-FIFO overflow| CAN bus error (Rx/Tx)| CAN bus offline
In 2| –| –| General error bits of the slave errors
In 3| Master error| 0| 0| NMT state

• Gateway configured indicates that the PN/CAN gateway has been configured. The bit is also set for an incorrect configuration.
• NMT state indicates the current status of the CANopen master. Principally an attempt is made to assume the state called for in the NMT State Control. However, this can be prevented by the absence of slaves configured as mandatory (necessary).
• BootUp (0) = The master has been switched off. No CAN frames are being transmitted or received.
• Pre-Operational (1) = The master is found at the end of the slave configuration; at least all mandatory slaves are initialized and in Pre-Operational.
• Operational (2) = The master is in the Operational state; all mandatory slaves are in Operational.
• Stop (3) = The master is in the Stop state; all accessible slaves have been brought to the Stop state.
• Continuous attempts are made to find missing slaves by reading the SDO 1000. Slaves that have been newly detected at the CAN bus are automatically initialized and switched to the state wished by the NMT State.

CANopen Device Status (3 Bytes Output)

active

| Resend RPDOs| CANopen profile false| Slave trans- mitting false TPDO length| Slave not answering| SDO abort| Slave timeout| Incorrect config- duration
In 1| SDO 1001 value of the slave

In 2

| Configuration error| Stop before operational| Ignore slave| Slave state

• Slave state: 0 = Slave is still in the bootup, not present, or cannot be addressed
• 1 = Slave has been initialized, node guarding or heartbeat is running, and it is in the Pre-Operational state
• 2 = Slave is in Operational state
• 3 = Slave is in Stop state

PDO-Data

• The PDO data are located as inputs (TPDOs) or as outputs (RPDOs) directly in the process image.
• The inputs always show the last received data of the TPDO. If changed values are written to the outputs, then RPDO telegrams are sent to the corresponding CANopen slave.

SDO Communication

• An SDO communication with the slaves can be executed after the initialization phase of the PN/CAN gateway both in the Pre-Operational and Operational mode. Only one SDO job can be executed at a time. Both reading and writing of SDOs is possible.
• Refer to the manual for details on programming the SDO communication channel of the PN/CAN gateway.

Emergency messages

• Emergency messages from the slaves are always received by the PN/CAN gateway and forwarded to the PLC. The PN/CAN gateway itself does not react actively to the emergency messages.
• Details about programming the emergency message channel of the PN/CAN gateway can be found in the manual.

LED-based diagnosis

MODE|
---|---
Off| No power supply or device defective
Blue on| PN/CAN gateway is correctly configured via PROFINET & all (mandatory) CANopen slaves are in Operational state
Flashing blue| PN/CAN gateway is correctly configured via PROFINET & at least one open slave is in a Pre-Operational or Stop state
Read on| No connection with PROFINET controller (PLC)
Flashing red| Connection with the PROFINET controller (PLC) exists, but a configuration error exists
CAN RX|
Flashing green| CAN frame is received without errors
Red| CAN bus error in the recipient or The PN/CAN gateway hasn’t been configured yet or No connection
CAN TX|
Flashing green| CAN frames are being transmitted
Red| Transmission is not possible (e.g. false Baud rate, CAN bus disrupted) the PN/CAN gateway has not yet been configured, or No Connection
BF/SF|
yellow| MODE flashes red: Configuration error MODE on blue: CAN alarm active
red| PROFINET network error

Technical data

Automatic addressing, Topology detection (LLDP, DCP), Diagnosis alarms
CAN interface|
Number| 1
Type| ISO/DIN 11898-2 CAN High-speed physical layer
Connection| 9-pin D-sub male connector
Protocol| CANopen master as defined in DSP301 V4.2
Baud rate| 10, 50, 100, 125, 250, 500, 800, 1000 kbps
Number of slaves| 126
TPDOs/RPDOs per slave| 16 / 16
USB interface|
Protocol| Full-speed USB 2.0 device
Connection| USB-C
Electrically isolation| 500 V
Power supply|
Operating voltage| 24 V DC, 18 … 30 V DC
Current draw| Max. 150mA
Power dissipation| Max. 4 W
Ambient conditions|
Ambient temperature| 0° C to 60° C
Transport and storage temperature| -20° C to 80° C
Relative humidity| 95% without condensation
Pollution degree| 2
Protection rating| IP 20
Mounting position| As desired
Approvals| CE

• The contents of this Quick Start Guide have been checked by us to ensure that they match the hardware and software described. However, we assume no liability for any existing differences, as these cannot be fully ruled out.
• The information in this Quick Start Guide is, however, updated regularly.
• When using your purchased products, please make sure to use the latest version of this Quick Start Guide, which can be viewed and downloaded on the Internet from www.helmholz.de.
• Our products contain open-source software, among others. This software is subject to the respective relevant license conditions. We can send you the corresponding license conditions, including a copy of the complete license text together with the product.
• They are also provided in our download area of the respective products under www.helmholz.de.
• We also offer to send you or any third party the complete corresponding source text of the respective open-source software for an at-cost fee of 10.00 Euro as a DVD upon request. This offer is valid for three years, starting from the date of product delivery.
• Our customers are important to us, we are happy to receive suggestions and ideas for improvement. If you have any questions regarding the use of the product, please contact Helmholz Support by phone or send an e-mail to support@helmholz.de.
• All trademarks shown or mentioned in this document are the property of their respective owners or manufacturers. The representation and naming serve exclusively to explain the use and setting options of the products documented here.

References

• Helmholz – Compatible with you | Automatisierungstechnik

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