Helmholz 700-671-PNC01 PN Can Gateway Profinet Layer 2 User Manual

Helmholz 700-671-PNC01 PN Can Gateway Profinet Layer 2

Product Information

Specifications:

• Product Name: PN/CAN gateway, PROFINET/CAN Layer 2
• Manual Version: 4 | Date: 10.4.2024
• Firmware Compatibility: V3.xx and above
• Order Number: 700-671-PNC01

Product Usage Instructions

1. General

Read through the entire manual before installation and operation to ensure proper understanding.

2. System Overview

The PN/CAN gateway is designed for use in [specific area of\ application]. It facilitates communication between PROFINET and CAN Layer 2 networks.

3. Installation

Follow the guidelines provided in the manual for proper installation. Ensure proper operation and minimum clearance as specified.

4. Setup and Wiring

Pay special attention to EMC, safety, and shielding requirements\ during setup. Follow the wiring instructions carefully to ensure proper functionality.

5. CAN Bus

Properly wire the CAN bus according to the guidelines provided in the manual. Use the specified CAN bus plug for connection.

6. Setup and Use

Install the GSDML file as instructed in the manual. Configure \the gateway settings including parameters to suit your network requirements.

6.1 Install GSDML file

Follow the steps outlined in the manual to successfully install the GSDML file for the PN/CAN gateway.

6.2 Configuring Gateway

Adjust the gateway parameters according to your network setup.\ Refer to section 6.2.1 for detailed instructions on setting gateway parameters.

FAQ

• Q: How can I update the firmware of the PN/CAN gateway?
  • A: Firmware updates can be performed by downloading the latest firmware version from the manufacturer’s website and following the provided instructions in the firmware update guide.

Notes

All rights reserved, including those related to the translation, reprinting, and reproduction of this manual or of parts thereof. No part of this manual may be reproduced, processed, duplicated, or distributed in any form (photocopy, microfilm, or any other methods), even for training purposes or with the use of electronic systems, without written approval from Helmholz GmbH & Co. KG. All rights reserved in the event of the granting of a patent or the registration of a utility model. To download the latest version of this manual, please visit our website at www.helmholz.de. We welcome all ideas and suggestions.

• Copyright © 2024 by
• Helmholz GmbH & Co. KG
• Hannberger Weg 2, 91091 Großenseebach, Germany

Revision record:

General

This operating manual applies only to devices, assemblies, software, and services of Helmholz GmbH & Co. KG.

The target audience for this manual

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.

wARNING

Configuration, execution, and operating errors can interfere with the proper operation of the PN/CAN gateways and result in personal injury, as well as material or environmental damage. Only suitably qualified personnel may operate the devices

Qualified personnel must ensure that the application and use of the products described meet all the safety requirements, including all relevant laws, regulations, provisions, and standards.

Safety instructions

The safety instructions must be observed in order to prevent harm to living creatures, material goods, and the environment. The safety notes indicate possible hazards and provide information about how hazardous situations can be prevented.

Note symbols and signal words

Intended use

The PN/CAN gateway integrates CAN devices into a PROFINET network. All components are supplied with a factory hardware and software configuration. The user must carry out the hardware and software configuration for the conditions of use. Modifications to hardware or software configurations that extend beyond the documented options are not permitted and nullify the liability of Helmholz GmbH & Co. KG. \The PN/CAN gateway may not be used as the only means for preventing hazardous situations on machinery and systems. Problem-free and safe operation of the PN/CAN gateway presumes proper transport, storage, setup, assembly, installation, commissioning, operation, and maintenance. The ambient conditions provided in the technical specifications must be adhered to. The PV/CAN gateway has a protection rating of IP20 and must be installed in an electrical operating room or a control box/cabinet in order to protect it against environmental influences. To prevent unauthorized operation, the doors of control boxes/cabinets must be closed and possibly locked during operation.

Improper use

Warning

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 PN/CAN gateway only as intended!

Liability

The contents of this manual are subject to technical changes resulting from the continuous development of products of Helmholz GmbH & Co. KG. In the event that this manual contains technical or clerical errors, we reserve the right to make changes at any time without notice.
No claims for modification of delivered products can be asserted based on the information, illustrations, and descriptions in this documentation. Beyond the instructions contained in the operating manual, the applicable national and international standards and regulations must also be observed in any case.

Disclaimer of liability

Helmholz GmbH &Co. KG is not liable for damages if these were caused by use or application of products that was improper or not as intended. Helmholz GmbH & Co. KG assumes no responsibility for any printing errors or other inaccuracies that may appear in the operating manual, unless there are serious errors about which Helmholz GmbH & Co. KG was already demonstrably aware. Beyond the instructions contained in the operating manual, the applicable national and international standards and regulations must also be observed in any case. Helmholz GmbH & CO. KG is not liable for damage caused by software that is running on the user’s equipment which compromises, damages, or infects additional equipment or processes through the remote maintenance connection and which triggers or permits unwanted data transfer.

Warranty

Report any defects to the manufacturer immediately after discovery of the defect.

The warranty is not valid in case of:

• Failure to observe these operating instructions
• Use of the device that is not as intended
• Improper work on and with the device
• Operating errors
• Unauthorized modifications to the device

The agreements met upon contract conclusion under “General Terms and Conditions of Helmholz GmbH & Co. KG” apply.

Recycling / WEEE

The company Helmholz GmbH & Co. KG is registered as a manufacturer with the HELMHOLZ brand and the device type “Small devices of information and telecommunications technology for exclusive use in households other than private households” as well as the following registration data: Helmholz GmbH & Co. KG, Location / Headquarters: 91091 Großenseebach, Address: Hannberger Weg 2, Name of authorized representative: Carsten Bokholt,\ Registration number: DE 44315750. The electrical devices described in this document are to be recycled. According to Directive 2012/19 / EU on waste electrical and electronic equipment (WEEE), they must not be disposed of by municipal waste disposal companies.

System Overview

General/area of application

The PN/CAN gateway connects a CAN network into a PROFINET network. Any CAN messages in 11 bit or 29 bit format (CAN 2.0A / CAN 2.0B) can be integrated into the IO area of a PROFINET CPU.

Properties of the PN/CAN gateway CAN Layer 2

The PN/CAN gateway CAN Layer 2 has the following properties:

• PROFINET IO device as defined in IEC 61158-6-10

• Integrated two-port Ethernet switch

• Full-duplex transmission rate of 100 Mbps

• PROFINET Conformance Class C

• Media redundancy (MRP client)
  Up to 512 PROFINET slots

• Configuration using GSDML file

• CAN 2.0A (11 bit identifier) and CAN 2.0B (29 bit identifier) in accordance with ISO 11898-2

• Up to 1 Mbps CAN bit rate

• Automatic and controlled receive and transmit modules for messages with a configurable CAN ID

• Receive channel FIFO for the reception of any CAN messages

• Transmit channel FIFO for the transmission of any CAN messages

• No handling blocks or parameterization software is necessary

• 24 V DC power supply

• 3 LEDs, bi-color

• USB device interface for online diagnosis and firmware update

Installation

Access restriction

The modules are open operating equipment and must only be installed in electrical equipment rooms, cabinets, or housings. Access to the electrical equipment rooms, cabinets, or housings must only be possible using a tool or key, and access should only be granted to trained or authorized personnel.

Electrical installation

Observe the regional safety regulations.

Protection against electrostatic discharges

To prevent damage through electrostatic discharges, the following safety measures are to be followed during assembly and service work:

• Never place components and modules directly on plastic items (such as polystyrene, PE film) or in their vicinity.
• Before starting work, touch the grounded housing to discharge static electricity.
• Only work with discharged tools.
• Do not touch components and assemblies on contacts.

Overcurrent protection

Overcurrent protection isn’t necessary as the PN/CAN gateway transports no load current. The power supply of the PN/CAN gateway electronics is to be secured externally with a fuse of maximum 1 A (slow-blowing).

Operation

Operate the PN/CAN gateway only in flawless condition. The permissible operating conditions and performance limits must be adhered to. Retrofits, changes, or modifications to the device are strictly forbidden. The PN/CAN gateway is a piece of operating equipment intended for use in industrial plants. During operation, all covers on the unit and the installation must be closed in order to ensure protection against contact.

Attention

Bus connections are interrupted when the PN/CAN gateway is switched off! Before commencing with any kind of work on the PN/CAN gateway, ensure that no unpermitted disruptions of connected systems occur following interruption of the bus connections.

Attention

Installation must be carried out according to VDE 0100/IEC 364 and performed in accordance with applicable national standards. The PN/CAN gateway has protection rating IP20. If a higher protection rating is required, the system must be installed in a housing or control cabinet. In order to ensure safe operation, the ambient temperature must not exceed 60 °C.

Installation position

The PN/CAN gateway can be installed in any position. The front plate must be accessible in order to plug in bus lines.

Minimum clearance

It is recommended to adhere to the minimum clearances specified when installing devices. Adhering to these minimum clearances will ensure that:

• The modules can be installed and removed without having to remove any other system components
• There will be enough space to make connections to all existing terminals and contacts using standard accessories
• There will be enough space for cable management systems (if needed)

Setup and wiring

EMC/safety/shielding

The PN/CAN gateway complies with EU Directive 2004/108/EC (“Electromagnetic Compatibility”). One effective way to protect against disturbances caused by electromagnetic interference is to shield electric cables, wires, and components

Attention

When setting up the system and routing the required cables, make sure to fully comply with all standards, regulations, and rules regarding shielding. Precisely observe the corresponding texts of the PROFIBUS user organization for setting up PROFINET and the setup guidelines for the CAN bus. All work must be done professionally! Shielding faults can result in serious malfunctions, including the system’s failure.

To ensure electromagnetic compatibility (EMC) in your control cabinets in electrically harsh environments, the following EMC rules are to be observed in the design:

• All metal parts of the cabinet are to be connected with each other over a large area with good conductivity (no paint on paint). Where necessary, use contact washers or serrated washers.
• The cabinet door must be connected to the ground straps (top, middle, bottom) over as short a distance as possible.
• Signal cables and power cables are to be laid separated spatially by a minimum distance of 20 cm from each to avoid coupling paths.
• Run signal lines only from one level into the cabinet if possible.
• Unshielded cables in the same circuit (outgoing and incoming conductors) must be twisted if possible.
• Contactors, relays, and solenoid valves in the closet, or in adjacent cabinets if applicable, must be provided with quenching combinations, e.g., with RC elements, varistors, diodes.
• Do not lay wires freely in the closet; instead, run them as closely as possible to the cabinet housing or mounting panels. This also applies to reserve cables. These must be grounded on at least one end, and it is better if they are grounded at both ends (additional shielding effect).
• Unnecessary line lengths should be avoided. Coupling capacitances and inductances are kept low this way.
• Analog signal lines and data lines must be shielded.

Wiring of the PN/CAN gateway

Power supply

The PN/CAN gateway must be supplied with DC 24 V at the connection “Ext. V DC 18 … 30 V” via the supplied connector plug.

Warning

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. Maximum length of removed insulation is 10 mm. Temperature cable rating is 87 °C.

CAN bus connection

The CAN bus is connected to the “CAN” interface using a SUB-D plug (e.g. Helmholz CAN bus connector) to the “CAN” interface

Note

The PN/CAN gateway contains no terminating resistor for the CAN bus! 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 connection

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

Warning

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 for diagnoses in the event of support. The USB interface is isolated potential- free from the supply voltage

CAN bus

CAN bus (Control Area Network) is an international and open fieldbus standard for building, manufacturing, and process automation applications. CAN bus communications are defined in standard ISO 11898-2.

CAN bus wiring

A CAN bus cable requires at least three wires: CAN high, CAN low, and CAN ground. Only linear bus topologies are allowed, A terminating resistor of 120 ohms must be connected between CAN high and CAN low at both ends of the CAN bus cable. The PN/CAN gateway has no installed bus terminating resistor. The maximum cable lengths will depend mainly on the bit rate being used.

The cable lengths specified above should only be used as reference values. The maximum cable length will also depend on the number of connected participants, on the use and the number of repeaters, and on the cable type.

CAN bus plug

Helmholz GmbH & Co. KG offers an extensive range of CAN bus connectors that can be used with the PN/CAN gateway. All CAN bus connectors come with a terminating resistor that can be switched on and off.

Setup and use

Install GSDML file

The GSDML file can be found in the download area of the PN/CAN gateway at www.helmholz.de. Install the GSDML-file in TIA-Portal in the menu “Options / Manage general station description files (GSD)”.

Configuring gateway

The PN/CAN gateway can be found in the hardware catalog under ” Other field devices  PROFINET IO  Gateway  Helmholz PN/CAN gateways”. Add the “PN/CAN Gateway L2 V1.04” to the project and connect it with your PROFINET network. The further entry “PN/CAN-Gateway L2” is available for compatibility reasons for old projects and should no longer be used in new projects.

By calling up the object properties, the PN/CAN gateway should be assigned a unique PROFINET name and the IP address be checked for plausibility. The name of the configured device must later be assigned to the physical device (see Ch. 6.8).

Setting gateway parameters

The first slot entry after the ports is the slot for the parameters.

• CAN bit rate: 10, 50, 100, 125, 250, 500, 800 Kbps, and 1 Mbps are available as bit rates.
• CAN identifier type: The PN/CAN gateway can process and transmit CAN messages with either 11 bit identifiers or with 29 bit identifiers.
• Length of the receive channel FIFO: Maximum number of messages that can be stored temporarily in the receive channel. Details for the use of the receive channel are explained in chapter 7.4 “Receive channel (Rx-FIFO)”.
• Filter mask (dec.) / Filter code (dec.): Filter for the messages that should be accepted by the receive channel FIFO. Details for the use of the receive channel are explained in chapter 7.4 “Receive channel (Rx-FIFO)”.
• Allow overwriting of the receive FIFO: When the reception channel FIFO is full, because the received messages can’t be picked up quickly enough by the PLC, this option can be used to set whether new messages should be rejected or whether old messages should be overwritten. Details for  the use of the reception channel are explained in chapter 7.4 “Receive channel (Rx-FIFO)”.
• Length of the transmission channel FIFO: The size of the transmission channel FIFO can be set between 1 and 255 messages. Details for the use of the transmission channel are explained in chapter 0 “Transmission channel (Tx-FIFO)”.
• Repetition time for transmission channel (ms): The time for the cyclical transmission of a CAN message via the transmission channel can be set here.
• Carry out a device reset for PLC stop: When the PN/CAN gateway receives the “PLC in stop” signal via PROFINET, it can carry out an internal reset in order to ensure a defined basic status for a restart of the PLC.
• Clear IN-Data if CAN not connected: The input data of all automatic receive modules are deleted when the gateway detects that the CAN bus is not connected.
• Clear IN-Data if CAN-RX Errors: The input data of all automatic receive modules are deleted if too many receive errors occur.
• Limit of CAN-RX-errors: Limit value for the receive error counter.

Adding CAN messages

The PN/CAN Gateway Layer 2 can transmit and receive CAN messages with 1 to 8 bytes of data and any CAN-IDs. A module with the CAN identifier must be configured in the slots of the PN/CAN gateway for each anticipated CAN message and each CAN message to be transmitted. There are two types of CAN messages: automatic receiving/transmission and controlled receiving/transmission. In the case of automatic transmission, the CAN message is transmitted as soon as the output data of the message changes. Repeat transmission of the same data is thus not possible. In the case of the automatic receive of CAN messages, the data of the most recently received CAN message is always found in the input data. If a CAN message with identical data is received several times, this can’t be recognized in the PLC. In the case of controlled transmission and the controlled receive of CAN messages the PLC program has direct control over each telegram through control and status bits.

Automatically receiving CAN messages

In the case of the Automatic Receive of CAN messages, the data of the most recently received CAN message is always found in the input data. Each configured CAN message has a clear CAN identifier. If two reception objects with the same CAN identifier are being configured, that results in a configuration error.

A CAN message always has a fixed data length. In the case of automatic reception, CAN messages with 1 to 8 bytes can be configured.

If a CAN message is received that has the correct CAN identifier but a false data length, the message is rejected, and the data is not forwarded to the PLC! CAN messages with differing data lengths can be processed with the receiving channel (Rx-FIFO) or with the receive module “RX 0-8 Bytes, controlled”.

Automatically transmitting CAN messages

In the case of automatic transmission of a CAN message, a message is always sent to the CAN bus when the output data of the module changes.Each configured CAN message has a unique CAN identifier

The repetition time enables a cyclic transmission of the CAN message with the actual data bytes. In the case of automatic transmission, CAN messages with 1 to 8 bytes can be configured. The transmission of CAN messages with changing data lengths using the same CAN-Identifier can be carried out with the transmission channel (Tx-FIFO) or with the transmit module “TX 0-8 Bytes, controlled”.

Controlled receiving of CAN messages

In the case of the controlled receive of CAN messages, the reception of each message must be acknowledged in the PLC program. In the case of controlled reception, CAN messages with 0 to 8 bytes can be configured. An RTR message can also be received

If changed data is not fetched from the PLC fast enough, the parameter “CAN-RX overwrite allowed” allows newly received telegrams to overwrite the data of the previous telegram that has not yet been fetched. The PLC then always receives the last data. If the parameter is not activated, new data are only taken over from the CAN bus when the PLC has fetched the data. If two receiving objects with the same CAN identifier are being configured, that results in a configuration error. If a CAN message is received which has the correct CAN identifier but a different data length than the configured module, the message is rejected, and the data is not transferred to the PLC! For CAN- messages with different data lengths the module “RX 0-8 Bytes, controlled” can be used, which provides the length of the CAN telegram in addition to the data. The modules for controlled reception have a control and a status byte in addition to the data bytes. The usage is explained

Controlled transmission of CAN messages

In the case of controlled transmission of a CAN message, the PLC can only directly trigger the transmission of a CAN message through a control bit, irrespective of whether the transmission data has changed. In the case of controlled transmission, CAN messages with 0 to 8 bytes can be configured. An RTR message can also be transmitted.

The module “TX 0-8 Bytes, controlled” can be used for sending CAN messages with different data lengths. In addition to the data, the length of the CAN messages can also be transferred to this module. The modules for controlled reception have a control and a status byte in addition to the data bytes. The usage is explained

Assign the PROFINET device-name

When the configuration of the PN/CAN gateway has been completed in the hardware configurator, it can be loaded into the PLC. In order for the PN/CAN gateway to 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 “Refresh 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 IPSet Tool

Programming in the PLC

Control and status

No handling blocks for simple operation are required in the PLC. The control and status query of the PN/CAN gateway can be carried out directly via the I/O image. In order to switch to normal operation, the value 3 must be written into the “Control” output word.

Control (2 bytes outputs)

The mode bits are used for the status control of the PN/CAN gateway.

• INIT (0) = CAN controller is at the bus, no messages are transmitted, received messages are discarded; outputs/inputs are set to zero; FIFOs are deleted. The INIT (0) status is automatically active in the event of a PROFINET network cancellation or stoppage of the PLC.
• PASSIV (1) = CAN Controller is at the bus; received messages are discarded, no messages are transmitted; error counters are transmitted to the PLC; FIFOs are maintained and can be operated; Rx-FIFO can be read until it is empty; Tx-FIFO can be described, but no messages are transmitted; controlled transmission modules can be operated; data from automatic receiver modules remain frozen
• RX-Only (2) = Only the CAN reception is processed. No CAN messages are transmitted.
• RX-TX (3) = Normal operation with transmitter and receiver.
• Reset: Carrying out a user reset. After setting the bit, one must wait for the bit 6 in the status byte 0. The PN/CAN gateway is in the INIT mode following the reset. The reset bit in status control can now be reset.

Note

In order to change to the desired operating mode, it is permitted to directly activate the desired mode.

Status (6 bytes inputs)

In 0

| 1= Gateway ready| 1 = Reset carried out|

–

|

–

|

–

|

–

|

–

|

–

In 1| Error code for configuration errors| –| –| Mode status
In 2| CAN receive error counter
In 3| CAN transmit error counter
In 4+5| first plug point with a configuration error

The two mode status bits show the status of the PN/CAN gateway. Principally, an attempt is made to activate the status requested in the mode of the control word. However, this can be prevented by configuration errors.

• INIT (0) = CAN controller is at the bus, no messages are transmitted, received messages are discarded; outputs/inputs are set to zero; FIFOs are deleted.
• PASSIV (1) = CAN controller is at the bus; received messages are discarded, no messages are transmitted; error counters are transmitted to the PLC; FIFOs are maintained and can be operated; Rx-FIFO can be read until it is empty; Tx-FIFO can be described, but no messages are transmitted; data from automatic receiver modules remain frozen
• RX-Only (2) = Only the CAN reception is processed. No CAN messages are transmitted.
• RX-TX (3) = Normal operation with transmitter and receiver.

Error code for configuration errors:

• 1: Dual CAN-ID assignment for receive modules or CAN-ID >0x7FF with 11 bit CAN application 3: Receive channel FIFO: Mask and codes result in more than 16 filter ranges 4: CAN hardware filter table is full 5: General configuration errors 6: the firmware doesn’t support a configured module  Firmware update required

First plug point with configuration error: In connection with the error code for configuration errors, this value indicates the plug point of the first module with a configuration error.

• CAN receive error counter: Error counter of the CAN controller
• CAN transmit error counter: Error counter of the CAN controller

Controlled receiving of CAN messages

In the PLC, every controlled receive object has a status and a control byte in addition to the CAN data:

In 0

|

–

|

–

|

–

|

Overrun

| Indication

toggle bit of new message

In 1 – n

| CAN message data depending upon the selected message length (0 – 8 bytes)
 |

Out 0

|

–

|

–

|

–

|

–

|

–

|

–

| Overrun reset| Acknowledge toggle bit of

new message

The indication and the acknowledge bit for the reception of new CAN messages are always toggled:

• Indication bit = Acknowledge bit  no new message received Indication bit ≠ Acknowledge bit  a new message has been received
• In order to be able to receive the next message, the acknowledge bit must simply be set to the indication bit.
• The “Overrun” bit indicates that another CAN telegram was received for this module before the current one was acknowledged by the PLC. With the module parameter ” CAN-RX overwrite allowed” an overrun can be ignored, and new messages are always accepted.

Controlled receiving of CAN messages with variable length

A special case is the module “RX 0-8 Bytes, controlled”, with which CAN messages with variable data length can be received.

In 0

|

Data length received (0-8)

| Receiving enabled| RTR-Bit of received

message

|

Overrun

| Indication toggle bit of

new message

In 1 – 8

| CAN message data depending on message length (0 – 8 bytes)
 |

Out 0

|

–

|

–

|

–

|

–

| Enable receiving|

–

| Overrun reset| Acknowledge

toggle bit of new message

As with the other controlled receiving modules, the data is fetched in the PLC via bit 0. In addition, the data length and the RTR bit of the received message are supplied in this module. It is also possible to deactivate the module. If bit 3 is set to 0, all received messages are discarded and indication and the data bytes remain 0 .

Controlled transmission of CAN messages

In the PLC, every controlled transmission object has a status and a control byte in addition to the CAN data:

Out 1 – n

| CAN message data depending upon the selected message length (0 – 8 bytes)

The request and the acknowledge bit for the transmission of CAN messages are always toggled:

• Request bit ≠ Acknowledge bit  Transmit message
• Request bit = Acknowledge bit  Message transmitted

Controlled transmission of CAN messages with variable length

A special case is the module “TX 0-8 Bytes, controlled”, with which CAN messages with variable data length can be transmitted

transmit

Out 1 – 8

| CAN message data

The transmission of data from the PLC is carried out via bit 0 as with the other controlled transmitter modules. In addition, the data length and the RTR bit of the telegram to be sent can be transferred in this module. Furthermore, it is possible to deactivate the module. If bit 3 is set to 0, transmission is switched off independently of bit 0.

Receive channel (Rx-FIFO)

The receive channel object can be used to receive any CAN messages. The CAN identifiers entered when receiving in the receive channel are defined by the configured filter (see Ch. 6.2.1. “Configuring gateway”).
The PLCs can collect the CAN messages program-controlled from the FIFO, which means that no CAN message is lost. In contrast with the reception objects, the CAN messages for the reception channel can also have differing data lengths.
The number of temporarily stored messages can be set in the parameters of the PN/CAN gateway (see ch. 6.2.1.) between 1 and 255.

Set receive channel filter

The filter of the receive channel is determined by the two parameters “Mask” and “Code”.

For technical reasons, the values can only be entered as decimal numbers, but must be interpreted as binary values. For each 0 in the “Mask”, 0 or 1 is accepted in the “Code” (bit in the CAN identifier is irrelevant). The CAN identifier is compared with the code for consistency for each 1 in the mask. The PN/CAN gateway automatically derives filter ranges from the mask and the code.

Example A:

Note

The PN/CAN gateway can generate and administer a maximum of 16 filter ranges. If more ranges should arise from the combination of mask and code, so error 3 “Receive channel FIFO: Mask and the code result in too many areas (max. 16)” will be displayed upon starting up of the PN/CAN gateway in status byte 1 of error 3

Collecting messages from the receive channel

The reception channel module has 1 byte of output data for the control and 15 bytes of input data for the status and the received CAN message. The exchange of the received CAN message with the PLC can be controlled via this IO data.

Out 0

|

–

|

–

|

–

|

–

|

–

|

Rx-FIFO reset

| Reset Overrun| Rx-ACK: Toggle

confirmation of receipt

 |

In 0

|

–

|

–

|

–

|

–

|

–

| Rx-FIFO Reset ACK| 1 = RX-FIFO

Overrun

| Rx-Toggle: New message in the FIFO (toggling)
In 1| Rx count: Number of CAN messages not yet collected in the FIFO

In 2 -5

|

Rx CAN identifier

In 6| Rx RTR/LEN

In 7 – 14

|

Rx data (8 bytes)

The bit 0 in the input byte 0 “Rx-Toggle” indicates with a change of its value that a new CAN message is ready in the input area (bytes 2-14).

If the message has been processed (copied or interpreted), the PLC program must also toggle the bit 0 in the output byte 0 “Rx-ACK” (invert value). The PLC program can generally compare “RX-Toggle” and “Rx-ACK”: In the event that the values are identical, nothing needs to be done. When they are unequal, a new message can be processed and “Rx-ACK” must then be inverted again.
If the messages are not retrieved quickly enough, meaning that the configured FIFO size is inadequate, this will be indicated by bit 1 “Rx-FIFO Overrun”. The oldest received message is discarded. The error bit is static and must be reset with “Reset Overrun”. With “Rx-FIFO Reset”, the content of the Rx-FIFO can be completely deleted.

Transmission channel (Tx-FIFO)

Any number of CAN messages can be transmitted with the transmission channel. The CAN identifier, the data, and the data length can be selected as desired. It is also possible to transmit CAN messages with identifiers that have already been configured as automatic or controlled modules. The PN/CAN gateway provides a transmission FIFO buffer with adjustable size.

Sending messages

The transmission channel module has 14 bytes of output data for the control and the CAN message, and 2 bytes of input data for the status. The transmission of CAN messages can be controlled by the PLC with this IO data

Out 0

|

–

|

–

|

–

|

–

|

–

| Tx-FIFO

reset

| 1 = Activate Tx-Repeat| Tx-Toggle for transmission order

Out 1 – 4

| Tx CAN identifier of the transmission message
Out 5| Tx RTR/LEN

Out 6 – 13

|

Tx data (8 bytes)

 |

In 0

|

–

|

–

|

–

|

–

|

–

| Tx-FIFO

Reset ACK

| 1 = Tx-

Repeat active

|

Tx-ACK (toggling)

In 1| Tx Free: Number of still available FIFO entries

In order to transmit a CAN message, the CAN message must be written into the output data bytes 1-13. By toggling (negate bit value) the bit 0 in byte 0 “Tx-Toggle”, the message is entered into the transmission FIFO in the PN/CAN gateway. The bit 0 in the input byte 0 “Tx-ACK” is also toggled by the PN/CAN gateway as a response.

Note

The toggling of the “Tx-Acknowledge” bit only shows that the CAN message has been transferred to the internal transmission FIFO of the PN/CAN gateway. The time at which the CAN message was actually sent is not detectable in the PLC

If a CAN message is to be transmitted cyclically with alterable data, this can be activated by setting the bit 1 in the output byte 0 “Activate Tx-Repeat”. The CAN message found in the output data is now transmitted cyclically with the “Repetition time (ms)” for the transmission channel defined in the PC/CAN parameters. All changes to the message information are adopted for the next transmission point in time. “Tx-FIFO Reset” deletes the content of the Tx-FIFO entirely. Messages that have already been forwarded to the CAN controller are still transmitted.

LED-based diagnosis

MODE|
---|---
Off| No power supply or device defective
Blue on| PN/CAN gateway is correctly configured via PROFINET Mode 3 – Transmission and receiving active
Flashing blue| PN/CAN gateway is correctly configured via PROFINET Mode is 0, 1, or 2
Red 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

PN/CAN gateway hasn’t been configured yet or No connection

CAN TX|
Flashing green| CAN frames are being transmitted

Red

| Transmission not possible (e.g. false Baud rate, CAN bus disrupted) or 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| CAN 2.0A (11-bit identifier) or CAN 2.0B (29-bit identifier)
Baud rate| 10, 50, 100, 125, 250, 500, 800, 1000 kbps
USB interface|
Protocol| Full-speed USB 2.0 device
Connection| USB-C
Electrically isolation| 500 V
Status indication|
Function status| 4 LEDs (bi-colored)
Ethernet status| 4 LEDs
Power supply|
Operating voltage| 24 V DC, 18 … 30 V DC
Current draw| Max. 150mA
Power dissipation| Max. 4 W
Ambient conditions|
Ambient temperature| -20° 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

Contact

• Helmholz GmbH & Co. KG
• Hannberger Weg 2 | 91091 Großenseebach | Germany
• Phone +49 9135 7380-0 |
• Fax +49 9135 7380-110 |
• info@helmholz.de 
• www.helmholz.de

References

• Helmholz – Compatible with you | Automatisierungstechnik

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