User Manual - ADFWeb.com
Contents
1. CONSIDERATIONS When all BITS of all activation registers are at zero all EMCY are transmitted by the filter because there is not a single BIT that actives the comparison BIT to 1 This is true for any value of entering data 5 EMCY registers generated and for any mask value CONFIGURATIONS EMCY WORD Section Define EMCY Word THE ROLE We mentioned that an EMCY from BUS A can pass filter permitting to BUS B In this case on the ModBUS Side NECESSITY After having transmitted the filter coming from CANopen an EMCY remains available on the MosBUS Side of the Gateway Therefore any ModBUS device can verify the EMCY conditions SOLUTION The Gateway acts as SDO server for the ModBUS The EMCY coming from CANopen gets reduced in a ModBUS word dimension of two bytes ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Vy User Manual CANopen to Modbus RTU Slave Document code MN67002_ ENG Revision 2 000 Page 17 of 24 Industrial Electronic Devices DEFINITIONS OF A EMCY WORD By pressing the Define EMCY word button from the Main Window for Wades ani SW67002 Fig 3 the window EWMCY appears Fig 10 Steps for the definition of an EMCY Word gt to create a word use the New button in the window Define EMCY Word i Word n 0 Emey Define gt In the fields Index SDO BUS B and SubIndex SDO BUS B m5 eee ee ee insert the coordinates of2. Industrial Electronic Devices User Manual Revision 2 000 English Gateway Bridge CANopen to Modbus RTU Slave Order Code HD67002 for Website information www adfweb com Product HD67002 for Price information www adfweb com Price HD67002 Benefits and Main Features Very easy to configure Low Cost Master Slave CANopen Slave Modbus Galvanic isolation Industrial temperature range 30 C 70 C 22 F 158 F ADFweb com Srl IT31010 Mareno Treviso User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 1 of 24 Logical Modbus RTU RS485 RS232 Scheme 4 L en HD67002 Master Slave For others Gateways Bridges CANopen to Modbus Similiar See also the following links Products www adfweb com Product HD67001 Modbus RTU Master n _ gt www adfweb com Product HD67004 Modbus TCP Master www adfweb com Product HD67005 Modbus TCP Slave Benefit For others Gateways Bridges For CAN bus 2 0A and or CAN bus 2 0B to Modbus See also the following links www adfweb com Product HD67011 Modbus RTU Slave www adfweb com Product HD67012 Modbus RTU Master www adfweb com Product HD67014 Modbus TCP Slave www adfweb com Product HD67015 Modbus TCP Master 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 adf
3. ModBus Cand gt In the field cobid insert the Cob_ID of the original PDO gt In the field id_dev_ori insert the address of the original device of BUS A note an alias can be inserted in the field instead of the actual address of the PDO generator Selected PDO Byte gt In the field dimension insert the number of byte of PDO SET STORE PDO By pressing the Define store PDO button from the Main Window for SW67002 Fig 3 the window INFOPDO appears Fig 12 gt Figure 12 INFOPDO window ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Vy User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 20 of 24 Industrial Electronic Devices SET TRANSMIT PDO It is possible to write the PDOs using the Preset Multiple Registers Function Modbus function 16 You have to write Transmit FBO all the modbus register that rapresent the PDO Data Transmit PDO with one modbus command Dimension Start Modbus 4ddress By pressing Set Transmit PDO button the window Transmit PDO appears User who have to write a PDO from Modbus to CANopen needs to insert the coordinates of the PDO to be transmitted in the field SET Transmit PDO of the window gt In the field COB ID insert the COB ID of the PDO gt In the field Dimension ins
4. VV VV ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Industrial Electronic Devices 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 16 Index 0x2003 Subindex 0 By dimensions 2 bytes By the following word ModBUS gt Addr Word 3000 VV V WV In the above scenario Fig 5 The Modbus master can read or write note RW 1 gt tothe address of the ModBUS side Gateway slave note the one specified in the Set communication gt to the word ModBUS 3000 note Addr word 3000 gt the first byte of the SDO found in the low byte of the ModBUS word note Lo Word 1 gt the second byte of the SDO found in high byte of the ModBUS word note Hi Word 2 ADFweb com Srl IT31010 Mareno Treviso User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 10 of 24 SDO Bytel SDO Byte2 le SDO Byte3 eee SDO Byte4 Figure 6 Scheme of the word configuration SDO Bytel a SDO Byte2 innan SDO Byte3 SDO Byte4 Hi word Lo Word High Byte Low Byte Word Modbus Word Modbus INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 11 of 24 Industrial Electronic Devices The SDO gt two byte dimension note nByte 2 g
5. Mask_Error_Code to compare 0000 0000 0110 0110 Ox0063 0000 0000 0110 0011 OxOO6A 0000 0000 0110 1010 OxOO6B 0000 0000 0110 1011 The Mask must be calculated by doing the operations NOT XOR BIT to BIT of all values to 0x0072 0000 0000 0111 0010 be intercepted 0x0073 0000 0000 0111 0011 0x007A 0000 0000 0111 1010 Instead the activation must be calculated by doing the operations AND BIT to BIT of all Ox007B 0000 0000 0111 1011 values to be intercepted Note how the BITS that are A P undetermined create the extra EMCY And so all the EMCY that will have the following ERROR CODE values they will transmit _ gt aa ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Vy User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 16 of 24 Industrial Electronic Devices SUMMARY OF THE EMCY FILTER The EMCY generated by the device and the respective filter for Gateway are composed of the following gt 5 Registers Error_Code Error_Reg Manul Manu2 Manu3 respectively 16 8 16 16 8 BIT gt 5 masks used to compare the 5 registers of course of the same dimension in BITS as the registers respectively mask_eq_ec mask_eg_er mask_eq_m1 mask_eq_m2 mask_eg_m3 gt 5 activations BIT to BIT of the masks Enable_Mask_Error_Code Enable_Mask_Error_Reg Enable _Mask_Manul Enable_Mask_Manu2 Enable_Mask_Manu3 respectively 16 8 16 16 8 BIT
6. The following objects can be defined within the section Set SDO Access EEEE gt the SDO of the CANopen are accessible from a word ModBUS Hi SubIndex nByte gt Which word of the ModBUS are accessible from a SDO of the 7 aac CANopen By pressing the Set SDO Access button from the Main Window for SW67002 Fig 3 the window SDO appears Fig 5 oo Figure 5 SDO window The data of the columns have the following meanings gt In the field Addr Word insert the address of the SDO that supports the ModBUS word gt In the field Hi Word insert the correspondence between the high byte of the ModBUS word and a SDO byte note its number can be O 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 gt In the field Lo word insert the correspondence between the low byte of the ModBUS word and a SDO byte note its number can be O 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 In the field R W insert number O if the SDO is only in reading or insert number 1 if the SDO is also in writing In the field ID insert the address of the CANopen device In the fields index SubIndex are the coordinates of the SDO in the CANopen In the field nbyte indicates the length of the SDO
7. the SDO of the BUS B where it is fi possible for the BUS B device to access a part of the last EMCY m E which came from a particular device of BUS A i Mask BIT n 0 Define gt In the field ID EMCY BUS A the ID of the device that generates the EMCY of BUS A is inserted Mask Byte 1 po Emey byte 1 p gt Now write each of the 16 BITS of the EMCY Word i i C Mask byte 2 Emcy Byte 2 Writing the 16 BITS of the EMCY WORD Each EMCY Word is composed of the 16 BITS Each bit is obtained by using the masks provided by the EMCY package Note see the above structure of the EMCY package gt Maski Range 0 255 gt Pointerl Range 0 8 steal gt Mask2 Range 0 255 gt Figure 10 EWMCY window ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 18 of 24 Industrial Electronic Devices The pointers 1 and 2 indicated which byte of the entering EMCY is to be examined The selected bytes by the pointers are put in AND with their respective masks The O or 1 result gets inserted in to the defined EMCY Word in the established binary position Packet EMCY that was generated in the CAN COB ID 10 BYTE 1 Error Code BYTE 2 Error Code Pointerl BIT4 2 Byte n 2 BYTE 3 Error reg BYTE 4 Manu 1 Pointer2 BIT4 6 Byte n 6 BYTE 5 Manu 1 BYTE 6 Manu 2 BYT
8. write the word 259 in the field Add Word Modbus Note 257 0x01 11 If the field Add Word Modbus you can set 0 then this action commands all the devices gt The Gateway has two alternative for PDO 15RPDO and 3RPDO or 8 RPDO and 8 TPDO Select the desired choice gt The Gateway has two alternative outlets from the Modbus side RS485 or RS232 Select the desired choice gt In the field Parity the serial parity is defined gt SDO Timeout is the maximum time that the device attends for the answer from the Slave interrogated gt Data bits and Stop bits are a serial parameter and they are fixed in order at 8 and 1 for default ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Document code MN67002_ ENG User Manual CANopen to Modbus RTU Slave Revision 2 000 Page 8 of 24 SET COMMUNICATION Candpen bus DevID Baud rate 1000 Set Operational State at Start Up Network Start at Start Up o Can Start on Modbus command dd Word modbus os 15 RPDO and 3 TPDO 8 RPDO and 8 TPDO Serial Interface Parameter 232 465 Baudrate 2090 Parity NC PARITY DevID SDO Timeout 1 10 ms 1000 Figure 4 Set communication window Phone 39 0438 30 91 31 Vy User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 9 of 24 Industrial Electronic Devices SET SDO ACCESS Section Set SDO Access
9. Code 0x0B15 Means when Bytel 00001011 Byte2 00010101 In this case the following fields are inserted in the window SET Translate EMCY gt ID_EMCY 10 gt Mask_Error_Code 0x0B15 0000101100010101 gt Enable_Mask_Error_Code 1111111111111111 All the BITS of Error Code will be examined Note the window SET Translate EMCY accepts decimal and hexadecimal values in the format with the prefix Ox or ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Vy User Manual CANopen to Modbus RTU Slave Aneb Document code MN67002_ENG Revision 2 000 Page 15 of 24 Industrial Electronic Devices SPECIFIC LIMITATION OF THE FILTER MASK ACTION We want the EMCY to translate if Its Error Code Register has the value 0x007C or Its Error Code Register has the value 0x0063 or Its Error Code Register has the value 0x0062 Note the OR operations in all above conditions CONSEQUENCE The Gateway can transmit the EMCY only with values that raise the same bits but in this case the messages also transmits with other specific conditions MOTIVE 1 valore di Error_Code per traslare EMCY 0x007B 0000 0000 0111 1011 2 valore di Error_Code per traslare EMCY Ox0063 0000 0000 0110 0011 3 valore di Error_Code per traslare EMCY Ox0062 0000 0000 0110 0010 Enable_Mask_Error_Code to activate the comparison 1111 111111100110 Ox0062 0000 0000 0110 0010
10. E 7 Manu 2 BYTE 8 Manu 3 BYTE 2 Error Code LW EMCY Word how it is available in Maski BIT4 the ModBUS BYTE 6 Manu 2 HI Mask2 BIT4 gt gt gt Z Z Z J 0 0 1 0 NOTE if Pointer 1 gt lt O0 and Pointer 2 gt lt 0 and if only are true the following condition Mask 1 data that is indicated from Pointer 1 and Mask 2 data that is indicated from Pointer 2 Because the bit is set to 1 in the EMCY Word if Pointer 1 gt lt O0 and Pointer 2 is sufficient that the following condition is true Mask 1 data that is indicated from Pointer 1 gt Because the bit is set to 1 in the EMCY Word if Pointer 1 0 and Pointer 2 0 follows that the bit isn t set to 1 in the EMCY word alelslals s 7 s s fio 16 BIT MAP of the selected EMCY Word ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Vy User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 19 of 24 Industrial Electronic Devices SET TRANSLATE PDO ModBus Cand By pressing the Set Translate PDO button from the Main Window for SW67002 Fig 3 the window RPDO appears Fig 11 id _deyv_orig N 0 1 E 3 4 User who have to memorize a PDO from CAN open to Modbus needs to M Sh dios Figure 11 RPDO window insert the coordinates of the PDO to be transmitted in the field SET g Translate PDO of the window
11. adfweb com product HD67117 HD67216 CAN bus Analyzer www adfweb com product HD67216 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31
12. d up to a maximum 1600 SDO While the maximum number of the following EMCY EMCY Word PDO Store PDO VV V Y Depend on the available memory of the Gateway and the number defined SDO ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 4 of 24 Industrial Electronic Devices CONNECTION SCHEME CANopen up to 1000 Modbus up to 115200 ID 24 ID 10 Module Master Modbus RTU Genenc CANopen Module Generic CANopen Figure 1 Connection scheme of HD67002 between a CANopen and Modbus TCP ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Va User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 5 of 24 Industrial Electronic Devices Connector2 CANopen Jumper2 Jumperi oe Termination Modbus Line Termination CANopen Line H High wire S Shield L Low wire S Open MB 120 ohm E Open WB 220 ohm Connector1 Power Supply Connectors3 V Ground Modbus on RS485 V Positive wire Led3 12 18 VAC 4 VA Port RS232 D SUB9 Male S Shield B Negative wire A Positive wire PIN2 TX PIN3 RX PIN4 GND Used for A Programmation Port Rail B Modbus on RS232 DIN Clamp To connect the device t
13. de and download the updates To obtain the updated documentation for the product that you own note the Document Code Abbreviated written Doc Code on the label on the product and download the updated from our web site www adfweb com download REVISION LIST INFO www adfweb com Revision Date Author Chapter Description 1 000 09 07 2004 Mt All First release version 1 005 19 06 2005 Ddt All documentation code changed 1 006 22 06 2007 Av All Revision 1 100 26 06 2007 Av All Software changed 2 000 05 06 2007 Av All New document format 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 Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 3 of 24 Industrial Electronic Devices CHARACTERISTICS The Configurable CANopen Modbus RTU Slave Gateway allows the following two directional information between networks CANopen and ModBUS electrical isolation between two BUSes to write SDO from ModBUS Word to read SDO from ModBUS Word to read EMCY from ModBUS Word to read PDO from ModBUS Word Communication Serial RS232 485 Temperature range 30 C to 70 C VV VV VV V WV The Gateway can be configure
14. de linked at the EMCY the fs Mask_Manu2 0 65535 ID 10 CANopen of the CANopen side YY Enabled Mask Manu 0 65535 Mask Manu3 fo 255 Enabled Mask Manus Oe ss CANopen up to 1000 Modbus up to 115200 ID 24 ID 16 Device Modbus Generic CANopen Module Generic CANopen Module Delete EMEY New EMEY Modify ENCY Figure 9 Chart of diffused EMCY in Modbus from CANopen Figure 8 Set Translate EMCY window HDG7002 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Vy User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 13 of 24 Industrial Electronic Devices CREATION OF AN EMCY Packet CAN of the EMCY How it result from registers structure see left In order to intercept the EMCY of a device it is necessary to first define the EMCY and then fill in the window SET Translate EMCY as desidered Use the button New EMCY to define a new EMCY DEFINING STRUCTURE OF THE EMCY REGISTERS Error_reg lt n ID_ ID_EMCY 7 7bit i elie a 6 Manu3 Mask Manu3 8 bit TRANSLATION OF AN EMCY FROM CANOPEN TO MODBUS In order to intercept the EMCY of the device it is necessary gt push the New EMCY button at the bottom of the window SET Translate EMCY gt complete the field ID_EMCY with the CANopen device address whose EMCY you wish to interce
15. e that runs with Windows called SW67002 The SW67002 iS downloadable on the site http www adfweb com home download download asp When launching the SW67002 the right window appears gt gt a l Set Translate PDO Ti Define store POO ges Set Transmit PDO Lay Up date Device The following explains the function of the buttons Figure 3 Main window for SW67002 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 7 of 24 Industrial Electronic Devices NEW PROJECT OPEN PROJECT The New Project button creates the folder which contains the entire device configuration A device configuration can also be imported and exported gt To clone the configurations of a Programmable CANopen to Modbus Gateway in order to configure another device in the same manner it is necessary to maintain the folder and all its contents gt To clone a project in order to obtain a different version of the project it is sufficient to duplicate the project folder with another name and open the new folder with the button Open Project When a new project is created or an existent project is open it will be possible to access the various configuration sections of the software gt Set Communication Set SDO Access gt Set Translate EMCY Otherwise the Define EMCY Word gt Se
16. ert the number of byte of PDO gt In the field Stert Modbus Address insert the number of modbus register that would you like start for writing the PDO Figure 13 Transmit PDO window ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG_ Revision 2 000 Page 21 of 24 Industrial Electronic Devices ADFweb com Compositor SW67002 Traslate CAN TO MODBUS Example1 UPDATE DEVICE Section UP Date Device Insert the boot jumper see figure 2 In order to load the parameters after they are set set the com port you IG Set SDO Access used for update you must click the button execute update firmware on the principal window Dar Set Communication A Set Translate EMCY ABN Define EMCY Word pE Set Transmit PDO l Set Translate PDO 5 Define store PDO ET Up date Device Generate Firmware Execute update firmware COMI x Flash Write Setup Port C Programmi amp 4DFweb Compositorl CP2ATUSPROJECT S progetto New_ Figure 14 Update device procedure STEP Wait for erasing PO ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 22 of 24 Industrial Electronic Devices CHARACTERISTICS OF THE CABLES The connection from RS232 sock
17. et to a serial port example one from a personal computer must be made with a Null Modem cable a serial cable where the pins 2 and 3 are crossed It is recommended that the RS232 Cable not exceed 15 meters The connection at RS485 socket must be done with twisted and shielded cable The terminal resistor must be inserted when the HD67102 is at the end of the line using the Terminator jumper Can bus 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 Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Vy User Manual CANopen to Modbus RTU Slave Document code MN67002_ ENG Revision 2 000 Page 23 of 24 Industrial Electronic Devices MECHANICAL DIMENSIONS 120 mm 4 72 inch lo RE o s 8 101 mm 3 98 inch you TZ Pp LULU ZOT Housing PVC Weight 200g Approx 23 mm 0 9 inch Figure 15 Mechanical dimensions scheme ORDER CODE Order Code HD67002 Gateway CANopen to Modbus RTU Slave ACCESSORIES Order Code AC34107 Null Modem Cable Fem Fem DSub 9 Pin 1 5 m Order Code AC34114 Null Modem Cable Fem Fem DSub 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 c
18. o the COM port of a PC in order to set it Ta iiac You have to use the Or programming cable AC34107 24 de Hi Grd Lo S Or a cable made as showed here Jumpers Boot mode TEETER TT B yes sumper l _ Boot Mode ef F E i i 2 reen No Jumper HD67002 PC Green Gree Normal Mode D SUB9 COM Port Figure 2 Connection Scheme for HD67002 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Vy User Manual CANopen to Modbus RTU Slave Document code MN67002_ ENG Revision 2 000 Page 6 of 24 Industrial Electronic Devices CONFIGURATION The Gateway CANopen to Modbus allows a CANopen network to communicate with a Modbus network You need Compositor SW67002 software on your PC in order to perform the following gt Define that the SDO of the CANopen are accessible from Modbus gt Define how to update SDO in CANopen from Modbus gt Define that the EMCY of the CANopen are accessible from Modbus gt Define how and which EMCY generated in CANopen can be ADFweb com Compositor SW67002 Traslate CAN TO MODBUS Example1 filtered gt Define which and how the PDO of CANopen are accessible from Modbus gt Update the new configurations of the device T Set Communication gt Save duplicate modify export the configurations l Set SDO Access USE OF COMPOSITOR SW67002 FIGs ae ny To configure the Gateway use the available softwar
19. om Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Vy User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 24 of 24 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 1 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 2 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 PRODUCTS AND RELATED DOCUMENTS Part Description URL HD67121 Gateway CANopen Canopen www adfweb com product HD67121 HD67001 Gateway CANopen Modbus RTU Master www adfweb com product HD67001 eee Gateway CANopen Modbus Ethernet TCP www adfweb com product HD67004 HD67134 Gateway CANopen DeviceNet www adfweb com product HD67134 HD67117 CAN bus Repeater www
20. pt gt Put the following zero values in the fields Enable_Mask_Error_Code 0 Enable_Mask_Error_Reg 0 Enable_Mask_Manul 0 Enable_Mask_Manu2 0 Enable_Mask_Manu3 0 These operations enables the Gateway gt to intercept all the EMCY coming from devices with the specific address from ID EMCY in the CANopen BUS gt And the possibility to register the EMCY in a word on the ModBUS side of the Gateway ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 14 of 24 Industrial Electronic Devices EXAMPLE OF FILTER SETTINGS FOR THE EMCY ACTION The device of the ID 10 BUS generates an EMCY The Gateway individualizes and memorizes it in a ModBUS Word CONSEQUENCE The Gateway ID 27 on the ModBUS verifies the set conditions on the window Define EMCY word Then it memorizes part of the EMCY coming from the CANopen BUS in a readable word from the ModBUS EXAMPLE OF THE CONDITION The translation must be done when the ERROR CODE register of the generated EMCY takes the value for example Ox0B15 In this case the message must be translated from CANopen BUS where it is available under the form of ModBUS Word Note the filter functions therefore in all other cases Therefore see EMCY structure and the corresponded CAN Package Error
21. t belonging to a CANopen device ID 16 note ID 16 gt of the following coordinates Index 2003 and Subindex 0 spa Step Polling because the modBus Master From ID 44 Gat ta lD 1 works for the update of the following 0 Fish amp Gateway Modbus linked at the SDO l of coordinates followings Request SDO Step1 D44 Gateway CANopen To ID 44 gateway Index 3000 Index 3000 Subindex 2 Subindex 2 Start CANopen up to 1000 Modbus up to 115200 ID 24 ID 10 ID 16 Generic Generic CANopen CANopen k p pe Modbus Module Module HDE7002 Figure 7 Chart of SDO request from Modbus side ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 12 of 24 Industrial Electronic Devices CONFIGURATION EMCY __ TS By pressing the Set Translate EMCY button from the Main pesky cone Window for SW67002 Fig 3 ID_EMCY 1127 The window Set Translate EMCY appears Fig 8 4 Mask_error_code 0 65535 fs Enabled mask_error_code ee ris Mask error_Reg 0 aa Below a figure to exemplification Fig 9 Enabled_mask_error_Reg Boos Polling because the modBUS Master Start can to read the following fs Enabled Mask Manu 0 65535 Device ID 10 cause a EMCY in The word 3003 of the ID 27 CANopen line ModBUS si
22. t Translate PDO Otherwise the Define Store PDO v ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 AL Industrial Electronic Devices SET COMMUNICATION This section defines the fundamental communication parameters of two Buses CANopen and Modbus By pressing the Set Communication button from the main window for SW67002 Fig 3 the window Set communication appears Fig 4 gt In the fields DevID the Gateway address is defined in the respective CANopen and Modbus gt In the fields Baud Rate the velocity of the two Buses are defined gt The check box Set Operational State at Start Up is used to set the operational state of the device at start up gt The check box Network Start at Start Up is used to send the command of the operational to the CANopen Network i e when the device start up sen at Modbus Network a command and all device is in operational gt The check box Can Start on Modbus Command is used for send the Modbus command sender word of Operational Pre Operational State to one or all devices in CAN network o The sender word must have The high byte with the value of 1 for Operational or 2 for Pre Operational The low byte must have the address of the device that is commanded to do the action Operational PreOperational e Example if you want to set the state of Operational to the device canopen with address 3 You must
23. web com Cmd helpme INFO www adfweb com Phone 39 0438 30 91 31 AL Industrial Electronic Devices INDEX UPDATED DOCUMENTATION REVISION LIST WARNING TRADEMARKS INDEX CHARACTERISTICS CONNECTION SCHEME CONFIGURATION USE OF COMPOSITOR SW67002 NEW PROJECT OPEN PROJECT SET COMMUNICATION SET SDO ACCESS CONFIGURATION EMCY CREATION OF AN EMCY TRANSLATION OF AN EMCY FROM CANOPEN TO MODBUS EXAMPLE OF FILTER SETTINGS FOR THE EMCY SPECIFIC LIMITATION OF THE FILTER MASK SUMMARY OF THE EMCY FILTER DEFINITION EMCY WORD SET OF TRANSLATE PDO SET STORE PDO SET TRANSMIT PDO UPDATE DEVICE CHARACTERISTICS OF THE CABLES MECHANICAL DIMENSIONS ORDER CODE ACCESSORIES WARRANTIES AND TECHNICAL SUPPORT RETURN POLICY PRODUCTS AND RELATED DOCUMENTS ADFweb com Srl IT31010 Mareno Treviso o m Q Ny OANAADAWNNNNNG User Manual CANopen to Modbus RTU Slave Document code MN67002_ENG Revision 2 000 Page 2 of 24 UPDATED DOCUMENTATION Dear customer we thank you for your attention and we remind you that you need to check that the following document is gt Updated gt 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 Co
Download Pdf Manuals
Related Search