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1. In the field Cob ID the Cob ID of the PDO is defined In the field Dimension the number of bytes of the PDO the maximum dimension is 8 Bytes is defined If the field On Change is checked the CAN frame is sent when the data written from Modbus TCP side changes If the field On Timer is checked the CAN frame is sent cyclically In the field Timer ms insert the cyclic delay In the field Mnemonic the description for the frame is defined ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 30 of 39 Industrial Electronic Devices DEFINE PDO By pressing the Define COB button near Set Transmit PDO from the main window for SW67505 Fig 2 present only if Device till April 2014 with Jumper is set in the section Set Communication the window Define Modbus Registers for Transmit PDO Frames appears Fig 13 _ Inthe field List of Transmit CAN Frames there is the list of PDO that you inserted in Set Transmit PDO SW6 50 D section Define Modbus Registers for Transmit PDO Frames Inthe field List of Modbus Registers there are the List of Transmit PDO Frames List of Modbus Registers Create Modify a Modbus Register Modbus words Cob ID Dimension Relative to the PDO Selected Index of Modbus Register Inthe field Create Modify a Modbus Register you m o i 201 Byte 3
2. Open Configuration iia i List of Avaliable Configurations ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 15 of 39 Industrial Electronic Devices SOFTWARE OPTIONS By pressing the Settings gt button there is the possibility to change the language of the software and check the updatings for the compositor In the section Language it is possible to change the language of the software S W 6 Fs D 0 5 Software Options SW67505 Software Options Enable Internet Connection Check Software Update at Start of Program Check Available Update In the section Connection Options it is possible to check if there are some updatings of the software compositor in ADFweb com website Checking the option Check Software Update at Start of Program the SW67505 check automatically if there are updatings when it is launched ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 16 of 39 Industrial Electronic Devices SET COMMUNICATION This section defines the fundamental communication parameters of two Buses CANopen and Modbus set Cor c TCP By pressing the Set Communication button from the main window for SW67505 Fig 2 the window Set Communication Setting Set communication appears Fig 3 Select Device Device from May 2014
3. The Modbus Master can read note RW 0 to the address Modbus of the Gateway Note the one specified in the Set Communication to the word Modbus 0x1900 note Address 0x1900 the first byte of the SDO found in the low byte of the Modbus register note Lo Byte 1 the second byte of the SDO found in high byte of the Modbus word note Hi Byte 2 The SDO two byte dimension note NByte 2 belonging to a CANopen device ID 1 note Device ID 1 of the following coordinates Index 0x200A and SubIndex 1 ADFweb com S r l Industrial Electronic Devices SDO Step2 From ID 44 Gateway to ID 10 Index 3000 Subindex 2 Finish Request SDO Step To ID 44 gateway Index 3000 Subindex 2 Start Ze CANopen up to 1000 i Pr i ID 10 Generic CANopen Module HD67505 Figure 6 Chart of SDO request from Modbus side ADFweb com S r l User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 20 of 39 ID 16 Device Modbus Ethernet 10 100 a2a _ _ Polling because the modBUS Master works for the update of the following The word 3000 of the ID 27 Gateway Modbus linked at the SDO of coordinates followings D44 Gateway CANopen Index 3000 Subindex 2 iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 21 of 39 Industrial Electronic
4. User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 1 of 39 Industrial Electronic Devices User Manual Revision 3 001 English CANopen Modbus TCP Slave Converter Order Code HD67505 A1 HD67505 B2 For Website information www adfweb com Product HD67505 For Price information HD67505 Al HD67505 B2 www adfweb com Price HD67505 Al1 www adfweb com Price HD67505 B2 For other Gateways Bridges Benefits and Main Features CANopen to Modbus DeviceNET See also the following links www adfweb com product HD67001 Modbus RTU Master Very easy to configure co a Low cost www adfweb com product HD67502 Modbus RTU Slave www adfweb com Product HD67504 Modbus TCP Master Rail mountable www adfweb com product HD67134 DeviceNET Wide supply input range CAN bus to Modbus a See also the following links Galvanic isolation www adfweb com product HD67011 Modbus RTU Master 40 o AQ F o www adfweb com product HD67012 Modbus RTU Slave Temperature range 40 C 85 C 40 F 185 F www adfweb com product HD67514 Modbus TCP Master www adfweb com product HD67515 Modbus TCP Slave Do you have an your customer protocol See the following links www adfweb com Product HD67003 Do you need to choose a device do you want help Ask it to the following link www adfweb com Cmd helpme User Manual ADFweb com S r l Industrial Elec
5. Byte 4 we IOS can define the index of the Modbus register and the 202 Byte 5 Byte 6 Oe ee ees ee bytes of the PDO frame where you write it 203 Byte 7 Byte 8 EEEE A E E Fart of the Modbus Register With the field Send PDO frame on Modbus Write z it is possible to decide when to send the PDO frame If a Modbus word has written False in this field the Select the Byte to Put in the Low PDO frame is not sent immediately but it is sent when Part of the Modbus Register another word that have this field True is written Byte Send PDO frame on Modbus Write f False For example Click on the frame insert the valid address in the field Index of Modbus Register select the byte position Byte 1 in High Ocreate Ee Modbus byte and Byte 2 in Low Modbus byte click the Create button in the field List of Modbus Registers appears the new Ce Ea Modbus register created Figure 13 Define Modbus Registers for Transmit PDO Frames window ADFweb com S r l AL Industrial Electronic Devices SET NODE GUARDING Node Guarding Access Definition u Dewce1 Guard Time 1000 Koree FE oee ren Figure 14 Node Guarding Access Definition window User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 31 of 39 Life Time Factor By pressing the Set Node Guarding button from the Main Window of SW67505 Fig 2 the Node G
6. CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 27 of 39 Industrial Electronic Devices DEFINE PDO By pressing the Define PDO button near Set Receive PDO from the main window for SW67505 Fig 2 the window Define Modbus Registers for PDO Frames appears Fig 11 In the field List of Receive CAN Frames there is the list of PDO frames that you inserted in Set Receive PDO Section SW6 750 G In the field List of Modbus Registers there are Deise wade komste for Rooie PDO Fha the Modbus words List of Receive PDO Frames List of Modbus Registers Create Modify a Modbus Register Inthe field Create Modify a Modbus Register Dimension Relative to the PDO Selected Index of Modbus Register you can define the index of the Modbus register and 5 Pr the bytes of the PDO frame that you map in 20 112 Byte 3 Byte 4 113 Byte 5 Byte 6 A nes 114 Byte 7 Byte amp Select the Byte to Put in the High For exam ple Part of the Modbus Register Click on the frame insert the valid address in the field Index of Modbus Register select the byte position Byte 1 in High Modbus byte and Byte 3 in Low Modbus byte click the Create button in the field List of Modbus Registers appears the new Modbus register created with the data that it contains Select the Byte to Put in the Low Part of the Modbus Register a Delete Figure 11 Define CO
7. Hi byte of the Modbus register and a SDO byte is defined it can be set with 0 1 2 3 4 o 1 First byte of the SDO o 2 Second byte of the SDO o 3 Third byte of the SDO o 4 Fourth byte of the SDO o O No byte Inthe field Lo Byte the correspondence between the Lo byte of the Modbus register and a SDO byte is defined it can be set with 0 1 2 3 4 o 1 First byte of the SDO o 2 Second byte of the SDO o 3 Third byte of the SDO Hi word Lo Word o 4 Fourth byte of the SDO High Byte oe en o 0 No byte Word Modbus Word Modbus Inthe field R W the type of SDO is defined ReadOnly or ReadWrite Figure 5 Scheme of the word configuration ADFweb com S r l User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 19 of 39 Industrial Electronic Devices Inthe field Device ID the ID of the CANopen device is defined Inthe field Index the Index of the SDO is defined Inthe field SubIndex the SubIndex of the SDO is defined Inthe field NByte the dimension of the SDO is defined Inthe field Mnemonic a description is defined Example 1 If you want to write data in the form of SDO in the CANopen from the Modbus network on the device at the address Address 1 Index 0x200A SubIndex 1 By dimensions 2 bytes By the following word Modbus on the Gateway Address 0x1900 In the above scenario
8. appears Fig 10 In this section it is possible to define the PDO frames that the converter will receive from CANopen network If Device till April 2014 with Jumper is set in the section Set Communication the window appears like below SW67505 Receive PDO Access Definition Figure 10a Receive PDO Access Definition window In the field Cob ID the Cob ID of the PDO is defined Inthe field Dimension the number of bytes of the PDO the maximum dimension is 8 Bytes is defined Inthe field Mnemonic a description of the PDO is defined ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 26 of 39 Industrial Electronic Devices If Device from May 2014 with Dip Switches is set in the section Set Communication the window appears like below SW67505 Receive PDO Access Definition u cob Dimension _ Timedut ms Mnemonic OOOO 8 1 foem Figure 10b Receive PDO Access Definition window In the field Cob ID the Cob ID of the PDO is defined In the field Dimension the number of bytes of the PDO the maximum dimension is 8 Bytes is defined If the field TimeOut the TimeOut is defined after the TimeOut defined the value of the data of the PDO become 0 In the field Mnemonic a description of the frame is defined 444 ADFweb com S r l iT User Manual
9. connections at Modbus TCP side CONFIGURATION You need Compositor SW67505 software on your PC in order to perform the following Define the parameter of CANopen Define the parameter of Modbus TCP Define that the SDO of the CANopen are accessible from Modbus Define how to update SDO in CANopen from Modbus Define that the EMCY of the CANopen are accessible from Modbus Define how and which EMCY generated in CANopen can be filtered Define which and how the PDO of CANopen are accessible from Modbus Update the new configurations of the device ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 8 of 39 Industrial Electronic Devices POWER SUPPLY The devices can be powered at 8 24V AC and 12 35V DC For more details see the two tables below Consumption at 24V DC C Devie consumption W VAI A Caution Not reverse the polarity power OV Ground V Positive wire V AC min 8V max 24V V DC min 12V max 35V Connectori Power Supply port OV Ground V Positive wire VAC min 8V max 24V V DC min 12V max 35V HD67505 A1 HD67505 B2 ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 9 of 39 Industrial Electronic Devices FUNCTION MODES The device has got two function modes depending on the position of t
10. notice The content of the document is a under continual renewal For losses due to fire earthquake third party access or other accidents or intentional or accidental abuse misuse or use under abnormal conditions repairs are charged to the user ADFweb com S r l will not be liable for accidental loss of use or inability to use this product such as loss of business income ADFweb com S r l shall not be liable for consequences of improper use OTHER REGULATIONS AND STANDARDS WEEE INFORMATION Disposal of old electrical and electronic equipment as in the European Union and other European countries with separate ps collection systems m This symbol on the product or on its packaging indicates that this product may not be treated as household rubbish Instead it Should be taken to an applicable collection point for the recycling of electrical and electronic equipment If the product is disposed correctly you will help prevent potential negative environmental factors and impact of human health which could otherwise be caused by inappropriate disposal The recycling of materials will help to conserve natural resources For more information about recycling this product please contact your local city office your household waste disposal service or the shop where you purchased the product RESTRICTION OF HAZARDOUS SUBSTANCES DIRECTIVE 3 The device respects the 2002 95 EC Directive on the restriction of the use of certain hazardous substances in el
11. the administrator privileges In case you have to program more than one device using the UDP Update you have to cancel the ARP table every time you connect a new device on Ethernet For do this you have to launch the Command Prompt and write the command arp d Pay attention that with Windows Vista Seven 8 you have to launch the Command Prompt with Administrator Rights Take attention at Firewall lock FIRMWARE PROTECTION Figure 16 Protection window Warning A In the case of HD67505 A1 or HD67505 B2 you have to use the software SW67505 www adfweb com download filefold SW67505 zip Note The minimum version of the configuration software must be the 2 000 ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 36 of 39 Industrial Electronic Devices MECHANICAL DIMENSIONS C LEDS Blink in nan mode Lo Grd Hi v OV Q O LEDI Modbus communication CANopen port Power Supply Dip Switch C 8 24 AC 12 38V 0C Power Supply MAC aber enarara ETHERNET Taal Wo V a CANopen Modbus TCP Slave Converter 100 HD67505 A1 O LED Ethernet Link tan Mee KP Es ES EE f emernt an g E is ats Dip Switch A Nr far t www ADFweb com ERALA fraa Das Cocke 288 Serta wc 2917 woHs 2 i sa OiNioeny Madbus TCP Slave Converter 100 Hae es OOOOCOO 00008 71 mm 60 mm 2 79 inch 2 36 i
12. 8V max 24V V DC min 12V max 35V Figure 1a Connection Scheme for HD67505 A1 Hi High wire Shl Shield to Isolated Ground Lo Low wire ADFweb com S r l Industrial Electronic Devices Dip Switch A Dip1 Must be at ON Dip2 Functioning Mode Power Supply MAC HHEH Ov Y Jro Tarin Ne C3 Bay ae a a EEA iaw oC ii AEE cess par www ADFweb com HDG 505 User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 6 of 39 Dip Switch C Dipi Not Used Dip2 CANopen Termination Resistor Connector2 CANopen port Isolated port Hi High wire g ETHERNET Dever stab wW CaN comm IT Y 5 B2 CA open Modbus TCP Slave Converter 100 Dip Switch A CANopen port Dip Switenc Lo Gnd Hi SIDIS I I IOL V Positive wire V AC min 8V max 24V V DC min 12V max 35V Figure 1b Connection Scheme for HD67505 B2 ADFweb com S r l Ethernet Link iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 7 of 39 Industrial Electronic Devices CHARACTERISTICS The CANopen Modbus TCP Slave Converter allows the following characteristics two directional information between networks CAN and Modbus electrical isolation between two Buses Mountable on Rail DIN Temperature range from 40 C to 85 C This device is able to manage a maximum of ten simultaneous
13. B window ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 28 of 39 Industrial Electronic Devices TRANSMIT COB By pressing the Set Transmit COB button from the main window of SW67505 Fig 2 the window Transmit CAN Frames Definition appears Fig 12 in this section it is possible to define the PDO frames that the converter will send to the CANopen network If Device till April 2014 with Jumper is set in the section Set Communication the window appears like below SW67505 Transmit PDO Access Definition Z osme ror E reer ror Figure 12a Transmit PDO Access Definition window In the field Cob ID the Cob ID of the PDO is defined In the field Dimension the number of bytes of the PDO the maximum dimension is 8 Bytes is defined In the field Address Start the starting Modbus register where the PDO will be saved is defined In the field Mnemonic a description of the frame is defined E r s ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 29 of 39 Industrial Electronic Devices If Device from May 2014 with Dip Switches is set in the section Set Communication the window appears like below SW67505 Transmit PDO Access Definition a oo oo Figure 12b Transmit PDO Access Definition window
14. Devices SET SDO SERVER By pressing the Set SDO Server button from the main window for SW67505 Fig 2 SW6 505 the window SDO Server Access Definition SDO Server Access Definition appears Fig 7 The following objects can be defined in the section Set SDO Server 0x3001 Which SDO object are accessible from 2 0x3002 SDO3 1 2 the other devices of the CANopen 303 e 0x3002 5003 1 2 network and the Modbus registers to read write this informations Which Modbus registers are accessible to read write a SDO object Figure 7 SDO Server Access Definition The data of the columns have the following meanings Inthe field Address the Modbus register associated to the SDO is defined Inthe field Hi Byte the correspondence between the Hi byte of the Modbus register and a SDO byte is defined it can be set with 0 1 2 3 4 1 First byte of the SDO 2 Second byte of the SDO 3 Third byte of the SDO 4 Fourth byte of the SDO O No byte Inthe field Lo Byte the correspondence between the Lo byte of the Modbus register and a SDO byte is defined it can be set with 0 1 2 3 4 1 First byte of the SDO 2 Second byte of the SDO 3 Third byte of the SDO 4 Fourth byte of the SDO O No byte O O O O O O O O ADFweb com S r l ried Industrial Electronic Devices F F F F In the field R W the type of SDO is defined Rea
15. apters 3 000 25 07 2014 Ff All New hardware version 3 001 05 08 2014 Ff All Revision WARNING ADFweb com reserves the right to change information in this manual about our product without warning ADFweb com is not responsible for any error this manual may contain TRADEMARKS All trademarks mentioned in this document belong to their respective owners iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 3 of 39 Industrial Electronic Devices SECURITY ALERT GENERAL INFORMATION To ensure safe operation the device must be operated according to the instructions in the manual When using the device are required for each individual application legal and safety regulation The same applies also when using accessories INTENDED USE Machines and systems must be designed so the faulty conditions do not lead to a dangerous situation for the operator i e independent limit switches mechanical interlocks etc QUALIFIED PERSONNEL The device can be used only by qualified personnel strictly in accordance with the specifications Qualified personnel are persons who are familiar with the installation assembly commissioning and operation of this equipment and who have appropriate qualifications for their job RESIDUAL RISKS The device is state of the art and is safe The instrument can represent a potential hazard if they are inappropriately installed and operated by per
16. below appears Fig 2 4 Note a It is necessary to have installed Net Framework 4 SW67505 CANopen Modbus TCP Slave Converter Opened Configuration of the Converter Begin Example1 Step 1 p New Configuration Open Configuration Step 2 gt Set Communication step3 B Set Client spo B set Server soo Step 4 B Set Emergency B Define Emergency Step 5 B Set Receive PDO B Define PDO steps H Set Transmit Poo Step 7 B Set Node Guarding steps E05 File Step 9 zE Update Device www ADFweb com Figure 2 Main window for SW67505 ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 14 of 39 Industrial Electronic Devices NEW CONFIGURATION OPEN CONFIGURATION The New Configuration button creates the folder which contains the entire device s configuration SW67505 Create New Configuration Name of the new Configuration Example A device s configuration can also be imported or exported To clone the configurations of a programmable CANopen Modbus TCP Slave SW6 505 Converter in order to configure another device in the same manner it is necessary Open an Existing Configuration to maintain the folder and all its contents To clone a project in order to obtain a different version of the project it is sufficient Sean to duplicate the project folder with another name and open the new folder with the a button
17. dOnly or ReadWrite In the field Index the Index of the SDO is defined In the field SubIndex the SubIndex of the SDO is defined In the field NByte the dimension of the SDO is defined In the field Mnemonic a description is defined ADFweb com S r l User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 22 of 39 iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 23 of 39 Industrial Electronic Devices SET EMERGENCY Emergency Access Definition N pevcem Error code Error Register Mnemonic a1 p 0x0102 E T a Lh Me Figure 8 Emergency Access Definition window By pressing the Set Emergency button from the Main Window for SW67505 Fig 2 the window Emergency Access Definition appears Fig 8 In the field Device ID the Node ID of your CANopen device that transmit the EMCY is defined In the field Error Code the value of your error code the maximum value is OxFFFF is defined In the field Error Register the value of your error register the maximum value is OxFF is defined In the field Mnemonic a description is defined ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 24 of 39 Industrial Electronic Devices DEFINE EMERGENCY By pressing the Define Emergenc
18. ectrical and OHS electronic equipment commonly referred to as Restriction of Hazardous Substances Directive or ROHS 2002 95 EC CE MARKING The product conforms with the essential requirements of the applicable EC directives ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 39 of 39 Industrial Electronic Devices WARRANTIES AND TECHNICAL SUPPORT For fast and easy technical support for your ADFweb com SRL products consult our internet support at www adfweb com Otherwise contact us at the address support adfweb com RETURN POLICY If while using your product you have any problem and you wish to exchange or repair it please do the following Obtain a Product Return Number PRN from our internet support at www adfweb com Together with the request you need to provide detailed information about the problem Send the product to the address provided with the PRN having prepaid the shipping costs shipment costs billed to us will not be accepted If the product is within the warranty of twelve months it will be repaired or exchanged and returned within three weeks If the product is no longer under warranty you will receive a repair estimate ADFweb com S r l Via Strada Nuova 17 IT 31010 Mareno di Piave TREVISO Italy Phone 39 0438 30 91 31 Fax 39 0438 49 20 99 www adfweb com ADFweb com S r l
19. ed It must blink quickly see LEDS section Press the Next button Select which operations you want to do Press the Execute update firmware button to start the upload When all the operations are OK turn off the device Put Dip2 of Dip Switch A in OFF position Disconnect the RS232 cable Turn on the device At this point the configuration firmware on the device is correctly updated Ver 1 100 INIT Waiting FIRMWARE Waiting PROJECT Waiting n Figure 15a Update Device windows ADFweb com S r l SW67505 Update Device Using the Serial Port Follow these steps to update from RS232 1 Turn OFF the Device 2 Use the Dip Switch to set the Boot Mode 3 Select the COM Port for the Update 4 Turn ON the Device SW67505 Update Device Using the Serial Port Update Device Options Firmware Read Firmware After Write Configuration Read Configuration After Write Page 32 of 39 iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 33 of 39 Industrial Electronic Devices UPDATE VIA UDP only if Device from May 2014 with Dip Switches is set By pressing the Update Device button it is possible to load the created Configuration into the SW67505 device and also the Firmware if necessary This by using the Ethernet port et Update Firmware from Etherner UDP If you don t know
20. he Dip2 of Dip Switch A The first with Dip2 of Dip Switch A at OFF position is used for the normal working of the device The second with Dip2 of Dip Switch A at ON position is used for uploading the Project and or Firmware For the operations to follow for the updating see UPDATE DEVICE section According to the functioning mode the LEDs will have specific functions see LEDS section Dip Switch A Dipi Must be at ON E TR TE Dip2 Functioning Mode E 8 l fn Normal at Boot Dip Switch A Dipi Must be at ON Dip2 Functioning Mode A Warning Dip1 of Dip Switch A must be at ON position to work even if the Ethernet cable is not inserted ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 10 of 39 Industrial Electronic Devices LEDS The devices has got four five for HD67505 B2 LEDs that are used to give information of the functioning status The various meanings of the LEDs are described in the table below LED Normal Mode Boot Mode 1 CANopen Communication Blinks quickly Boot state green Blinks when CANopen frames are received Blinks very slowly 0 5Hz update in progress ON Ethernet cable connected ON Ethernet cable connected 2 Ethernet Link green l OFF Ethernet cable disconnected OFF Ethernet cable disconnected 3 Modbus Communica
21. n Modbus is set it is possible to send the Modbus command sender word of Operational Pre Operational State to one or all devices in CANopen network The sender word must have e The high byte with the value of 1 for Operational or 2 for Pre Operational Figure 3 Set Communication e The low byte must have the address of the device that is commanded to do the action non SUBNET Mask 255 200 L GATEWAY ADFweb com S r l User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 17 of 39 Industrial Electronic Devices Operational PreOperational if you put zero all the devices present in CANopen network take the state setted Example if you want to set the state of Operational to the device CANopen with address 3 You must write the word 259 in the field Add Word Modbus Note 259 0x0103 e In field Add Word Modbus the address of Modbus register used for this operation is defined If the field Enable NodeGuard is set it is possible to enable the NodeGuard of CANopen Slave The two fields Modbus Address are used to indicate which Modbus registers using to save the state of the CANopen device Every bit represents a CANopen device if the device is present the bit is equal to 1 otherwise 0 The means for the fields for Modbus TCP Slave are Inthe field IP Address insert the IP address that you want to give to slave Modbus Inthe field S
22. nch 120 mm 23 mm Housing PVC 4 72 inch 0 9 inch Weight 200g Approx Housing PVC Weight 200g Approx Figure 17a Mechanical dimensions scheme for HD67505 A1 Figure 17b Mechanical dimensions scheme for HD67505 B2 ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 37 of 39 Industrial Electronic Devices ORDERING INFORMATIONS The ordering part number is formed by a valid combination of the following HD67505 xx L Connectors Type 1 Removable 5mm Screw Terminal 2 Fixed 5mm Screw Terminal Enclosure Type A 1M 35mm DIN Rail mounting B 4M 35mm DIN Rail mounting Device Family HD67515 CANopen Modbus TCP Slave Converter Order Code HD67505 A1 CANopen Modbus TCP Slave Converter Housing type A Terminal Blocks Connectors Order Code HD67505 B2 CANopen Modbus TCP Slave Converter Housing type B Terminal Blocks Connectors ACCESSORIES Order Code AC34107 Null Modem Cable Fem Fem D sub 9 Pin 1 5 m Order Code AC34114 Null Modem Cable Fem Fem D sub 9 Pin 5 m Order Code AC34001 Rail DIN Power Supply 220 240V AC 50 60Hz 12 V AC Order Code AC34002 Rail DIN Power Supply 110V AC 50 60Hz 12 V AC ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 38 of 39 Industrial Electronic Devices DISCLAIMER All technical content within this document can be modified without
23. operations you want to do Press the Execute update firmware button to start the upload When all the operations are OK the device automatically goes at Normal Mode At this point the configuration firmware on the device is correctly updated K Note When you install a new version of the software if it is the first time it is better you do the update of the Firmware in the HD67505 A1 or HD67505 B2 device __f Note TA When you receive the device for the first time you also have to update the Firmware in the HD67505 A1 or HD67505 B2 device ADFweb com S r l User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 35 of 39 Industrial Electronic Devices A Warning If Fig 67 appears when you try to do the Update try these points before seeking assistance Check if the serial COM port selected is the correct one Bets TE PEETER Ver 1 100 Check if the serial cable is connected between the PC and the device Try to repeat the operations for the updating If you are using a USB amp gt RS232 converter try with a native COM port or change the PROJECT PROTECTION converter Try to repeat the operations for the updating Try with another PC Try to restart the PC Check the LAN settings If you are using the program inside a Virtual Machine try to use in the main Operating System If you are using Windows Seven Vista and 8 make sure that you have
24. sonnel untrained These instructions refer to residual risks with the following symbol This symbol indicates that non observance of the safety instructions is danger for people to serious injury or death and or the A possibility of damage CE CONFORMITY The declaration is made by us You can send an email to Ssupport adfweb com or give us a call if you need it ADFweb com S r l User Manual CANopen Modbus TCP Slave AL Document code MN67505_ENG Revision 3 001 Page 4 of 39 Industrial Electronic Devices EXAMPLE OF CONNECTION CANopen network Ethernet network CANopen devices Modbus TCP Master HD67505 Al1 ADFweb com S r l J iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 5 of 39 Industrial Electronic Devices CONNECTION SCHEME Dip Switch A Dipi Must be at ON Dip2 Functioning Mode Normal 6 LECH Blink in un mode O LEDI Modbus communication HD67505 A1 OLED Ethernet Link F Ethernet Am m cs BIBS MAC 10 64 E2 07 36 15 Rail DIN ce EEEH SAMa Date Code 24 14 Serial Nr C2917 hols Clamp Communication Lo Shl Hi V OV f as gt m i ei es Pood i a i a a f Connectori Power Supply port Dip Switch C Connector2 Dip1 CANopen Termination Resistor CANopen port Isolated port Dip2 Not used _ OV Ground Y Positive wire V AC min
25. the actual IP address of the device you have to use this procedure Insert the IP Address of HD67515 Turn off the Device 168 e 205 Put Dip2 of Dip Switch A in ON position Pe E aren een ere ence Turn on the device Sea Connect the Ethernet cable Insert the IP 192 168 2 205 Press the Ping button Device Found must appear Press the Next button Select which operations you want to do Press the Execute update firmware button to start the upload SW6 505 When all the operations are OK turn off the Device Update Firmware from Etherner UDP Put Dip2 of Dip Switch A in OFF position ie Deve ee Turn on the device W Firmware f Read Firmware when finish At this point the configuration firmware on the device is correctly updated denne Read Configuration when finish a Execute update firmware Ver 1 001 INIT Waiting FIRMWARE Waiting PROJECT Waiting Figure 15b Update device windows ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 34 of 39 Industrial Electronic Devices If you know the actual IP address of the device you have to use this procedure Turn on the Device with the Ethernet cable inserted Insert the actual IP of the Converter Press the Ping button must appear Device Found Press the Next button Select which
26. ting the CANopen line with a 120Q resistor it is necessary that the Dip1 of Dip Switch C is at ON position for the HD67505 A1 and that the Dip2 of Dip Switch C is at ON position for the HD67505 B2 Dip Switch C Dip1 Not used Dip2 CAN Termination Resistor Connector2 Dip Switch C Connector2 CAN port Isolated port Dip1 CAN Termination Resistor gt _ CAN port Isolated port Dip2 Not used L 2 Hi High wire Shl Shield to Isolated Ground Lo Low wire Hi Shl Lo Hi High wire Shl Shield to Isolated Ground wa Open 120 Ohm Lo Low wire on Cable characteristics DC parameter Impedance 70 Ohm m AC parameters Impedance 120 Ohm m Delay 5 ns m Length Baud Rate bps Length MAX m 10 K 5000 20 K 2500 50 K 1000 100 K 650 125 K 500 250 K 250 500 K 100 800 K 50 1000 K 25 ADFweb com S r l User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 13 of 39 Industrial Electronic Devices USE OF COMPOSITOR SW67505 To configure the Converter use the available software that runs with Windows called SW67505 It is downloadable on the site www adfweb com and its operation is described in this document This manual is referenced to the last version of the software present on our web site The software works with MSWindows XP Vista Seven 8 32 64bit When launching the SW67515 the window
27. tion Blinks quickly Boot state Blinks when Modbus TCP frames are received green Blinks very slowly 0 5Hz update in progress Blinks quickly Boot state 4 Device State yellow Blinks slowly 1Hz l Blinks very slowly 0 5Hz update in progress 5 Not used yellow Present ofp Blinks quickly Boot state only on HD67505 B2 Blinks very slowly 0 5Hz update in progress Led3 Green Device state Yellow Led4 CAN Yellow Led2 Communication Device State Green ed4 Ethernet Link pe d Yellow Ethernet Communication Led5 Yellow Not used ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 11 of 39 Industrial Electronic Devices ETHERNET The Ethernet connection must be made using Connector5 of HD67505 A1 HD67505 B2 with at least a Category 5E cable The maximum length of the cable should not exceed 100m The cable has to conform to the T568 norms relative to connections in cat 5 up to 100 Mbps To connect the device to a Hub Switch the use of a straight cable is recommended To connect the device to a PC PLC other the use of a cross cable is recommended m a Connector5 vil Ethernet Port 0 l RJ45 Plug ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 12 of 39 Industrial Electronic Devices CANopen For termina
28. tronic Devices INDEX INDEX UPDATED DOCUMENTATION REVISION LIST WARNING TRADEMARKS SECURITY ALERT EXAMPLES OF CONNECTION CONNECTION SCHEME CHARACTERISTICS CONFIGURATION POWER SUPPLY FUNCTION MODES LEDS ETHERNET CANOPEN USE OF COMPOSITOR SW67505 NEW PROJECT OPEN PROJECT SOFTWARE OPTIONS SET COMMUNICATION SET SDO CLIENT SET SDO SERVER SET EMERGENCY DEFINE EMERGENCY SET RECEIVE PDO DEFINE PDO SET TRANSMIT PDO DEFINE PDO SET NODEGUARDING UPDATE DEVICE MECHANICAL DIMENSIONS ORDER CODE ACCESSORIES DISCLAIMER OTHER REGULATIONS AND STANDARDS WARRANTIES AND TECHNICAL SUPPORT RETURN POLICY ADFweb com S r l p a OVANNUBWNNNNNG User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 2 of 39 UPDATED DOCUMENTATION Dear customer we thank you for your attention and we remind you that you need to check that the following document is Updated Related to the product you own To obtain the most recently updated document note the document code that appears at the top right hand corner of each page of this document With this Document Code go to web page www adfweb com download and search for the corresponding code on the page Click on the proper Document Code and download the updates REVISION LIST Revision Date Author Chapter Description 2 100 12 12 2012 Dp All Add NodeGuard 2 101 07 02 2013 Nt All Added new ch
29. uarding Access Definition window appears Fig 14 In the field Mnemonic a description is defined EDS FILE In the field Device ID the address of the device that you want to control is defined It is possible to insert up to 32 address In the field Guard Time the Guard Time is defined This value indicates the delay between two interrogations In the field Life Time Factor the number of attempts before considering the device absent is defined By Pressing the EDS File button from the main window for SW67505 Fig 2 it is possible to generate the EDS file to be imported into the CANopen Client ADFweb com S r l AL User Manual Document code MN67505_ENG CANopen Modbus TCP Slave Revision 3 001 Industrial Electronic Devices UPDATE VIA SERIAL only if Device till April 2014 with Jumper is set By pressing the Update Device button it is possible to load the created Configuration into the device and also the Firmware if is necessary using the RS232 port In order to load the parameters or update the firmware in the device follow these instructions i amp amp S E 4 Turn off the Device Connect the RS232 Null Modem cable form your PC to the Converter Put Dip2 of Dip Switch A in ON position Select the COM port and press the Connect button Turn on the device Check the Device state L
30. ubNet Mask insert the SubNet Mask In the field Gateway insert the default gateway that you want to use This feature can be enabled or disabled pressing the Check Box field This feature is used for going out of the net Inthe field Port insert the number of the port F ADFweb com S r l User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 18 of 39 Industrial Electronic Devices SET SDO CLIENT By pressing the Set SDO Client button from the main window for SW67505 Fig 2 the window SDO Client Access Definition appears Fig 4 SW67505 SDO Client Access Definition n adiess ione to eve ww ve 1 ReadOnly l D 1 The following objects can be defined in the 0x2100 RO 1 Byte SDO section Set SDO Client Di ReadOnly Ox2101 i RO 2 Bytes SDO Which SDO of the CANopen are ReadOnly 0x2102 RO 4 Bytes SDO accessible from a Modbus TCP 3 ReadOnly Ox2102 RO 4Bytes SDO Which word of the Modbus are ReadWrite 02200 RW 1 Byte SDO accessible from a SDO of the CANopen Ox2201 RW 2 Bytes SDO The data of the columns have the following l l a meanings Figure 4 SDO Client Access Definition window Inthe field Address the Modbus register associated to the SDO is defined Inthe field Hi Byte the correspondence between the
31. with Dip Switch w This window is divided in two sections one for configure the CANopen Network and the other for the Modbus TCP CANopen Device 1D In the section Select Device it is possible to select the type of converter used oes EE Device till April 2014 with Jumper Set Operational State at Start Up Device from May 2014 with Dip Switches F Network Start at Start up Delay 2 10 I SDO Client TimeOut 1 10 ms 10000 The means for the fields for the CANopen are i W Set CANopen State on Modbus 99 Inthe field Device ID the ID of the CANopen side is defined Inthe field Baud Rate the baudrate of the CAN is defined ae deaa 2 i In the field Set Operational State at Start Up the state of the CANopen is defined I e If it is Modbus TCP Slave checked the board starts in Operational State else it starts in Pre Operational IP ADDRESS Inthe field Network Start at Start Up the state of the CANopen network is defined I e If it asas is checked the board sends a command to set the Operational State of all the devices present in the network after the time defined in the Delay field Inthe field Delay s the delay before sending the Start command for the CANopen is defined In the field SDO Client TimeOut 1 10 ms the maximum time that the device attends for the answer from the Slave interrogated is defined If the field Set CANopen State o
32. y button from the main window for SW67505 Fig 2 the window Define Modbus Registers for Emergency Frames appears Fig 9 In the field List of Emergency defined there is the list of Emergency that you inserted in Set S W6 505 Emerg ency Section Define Modbus Registers for Emergency Frames Inthe field List of Modbus Registers there are List of Emergency defined List of Modbus Registers Create Modify a Modbus Register the Modbus words ID Code Register Relative to the EMCY Selected Index of Modbus Register Inthe field Create Modify a Modbus Register 108 you can define the index of the Modbus registers aa aly and the bytes of the can frame that you map in pone is ae Part of the Modbus Register For example Click on the frame insert the valid address in the field Index of Modbus Register select the byte position Byte 1 in High Modbus byte and Byte 3 in Low Modbus byte click the Create button in the field List of Modbus Registers appears the new Modbus register created with the data that it contains Figure 9 Define Modbus Registers for Emergency Frames window ADFweb com S r l iT User Manual CANopen Modbus TCP Slave Document code MN67505_ENG Revision 3 001 Page 25 of 39 Industrial Electronic Devices SET RECEIVE PDO By pressing the Receive COB button from the main window for SW67505 Fig 2 the window Receive CAN Frames Definition

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