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1. m t 12 Vac in Or e 2 24 dc CABLE CABLE Z S GE Side A Side B FEM FEM Yes Jumper Boot Mode Led2 Green No Jumper RUN Normal Mode Figure 3 Connection scheme for HD67001 M12 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ivl User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 7 of 20 Industrial Electronic Devices CHARACTERISTICS The CANopen Modbus Master Converter the following characteristics Two directional information between networks CANopen and ModBUS Galvanic isolation between two BUSes Management of SDO PDO Nodeguarding Communication Serial RS485 and or RS232 Temperature range 40 C to 85 VVVVV CONFIGURATION The CANopen Modbus Master Converter allows a CANopen network to communicate with a Modbus network You need Compositor SW67001 software on your PC in order to perform the following gt Define that the CANopen frame of the CANopen are reading from Modbus gt Define that the CANopen frame of the CANopen are writing from Modbus USE OF COMPOSITOR SW67001 ADFweb com Compositor W67001 Example1 To configure the Gateway use the available software that runs with LA Windows called SW67001 It is downloadable on the site www adfweb com fe HM Prae GE Open project and its operation is described in this document General Parameter When launching th2. Termination Modbus Line V Positive wire Open MB 120 ohm S Shield an ieee ane Open HB 220 ohm 12 18 VAC 4 VA 12 24 VDC 4 Watt N i Connector3 Modbus on RS485 Port RS232 D SUB9 Not used V V HSL SBA S Shield B Negative wire A Positive wire e PINS GND Used for A Programmation Port B Modbus on RS232 o connect the device to You have to use the i D programming cable 54 a AC34107 ae m hs Or a cable made as i E Br Bet showed here s gt Jumper3 Boot mode IMIE o B s Boot Mode 9 9 i j No Jumper CABLE CABLE Normal Mode Side A Side B FEM FEM Figure 2 Connection scheme for HD67001 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 iy User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 6 of 20 Industrial Electronic Devices Connector1 Connector3 Power Supply Jumper2 Modbus on RS485 Termination Modbus Line V Ground S Shield V Positive wire WE Open MMB 220 ohm B Negative wire J JA Positive wire 12 18 VAC 4 VA 12 24 VDC 4 Watt Connector4 Port RS232 D SUB9 Male CAN SHLD NOT USED CAN H CAN 0V CAN L A Programmation Port B Modbus on RS232 unui To connect the device to the COM port of a PC in order to set it You have to use the programming cable AC34107 Or a cable made as showed here N
3. The master CANopen need to have a timeout higher than 500 ms The reply time is the time for a serial inquery plus the serial response ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Industrial Electronic Devices PDO SETTING The gateway permit to use 4 Receive PDO and 4 Trasmit PDO All PDO are mapped to specific object for TPDO1 2100 2101 2102 2103 A PDO has 8 bytes lenght and these are divided in 4 words Each word is linked to a word in serial bus Writing an RPDO of gateway the data will be written into serial device to the specific address Requesting a TPDO this PDO will contain the data read from serial bus from a specific device and address By pressing the PDO Setting button from the main window for SW67001 Fig 4 the window PDO Setting appears Fig 8 In the right scenario The field Index is already compiled and it is not possible to modify it gt The field Description is already compiled and it is not possible to modify it In the field Add Dev insert the address of Modbus device In the field Add Data insert the address of Modbus Register In the field Delta Send insert the delta send range when at least one Modbus word exceeds Delta Send range the corrispodent transmit TPDO will be automatically transmitted gt In the field Mnemonc it is possible to insert a brief description gt In the field second d
4. 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 personnel 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 possibility of damage CE CONFORMITY The declaration is made by us You can send an email to support adfweb com or give us a call if you need it ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 iy User Manual CANopen Modbus Master Document code MN67001_ENG Revision 3 103 Page 4 of 20 Industrial Electronic Devices CONNECTION SCHEME CANopen up to 1000 Modbus up to 115200 ID10 ID24 ID 16 Generic Generic CANopen CANopen QUAM Device u Module a Module zi HD67001 Figure 1 Connection scheme of HD67001 between a CANopen and Modbus RTU ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 iV User Manual CANopen Modbus Master Document code MN67001_ENG Revision 3 103 Page 5 of 20 Industrial Electronic Devices Jumper2
5. 0 1000 If in a second moment the value change to 2100 the device don t send a TPDO because 2100 2000 100 and 100 1000 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ivl User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 15 of 20 Industrial Electronic Devices PDO SETTING BIT PDO Setting Bit The gateway permits to use 1 digital Receive PDO and 1 digital Transmit Transmit PDO 3 Bit SIBINEEOS SE PDO TPDO3 is mapped at 2110 RPDO3 is mapped at 2111 A PDO has 8 bytes lenght 5 Writing a RPDO of gateway the data will be written into serial device to the specific address Er Requesting a TPDO this PDO will contain the data read from serial bus from a specific device and address l Delete Row Insert Row Move UP Move DOWN By pressing the PDO Setting bit button from the main window for SW67001 Fig 4 the window PDO Setting bit appears Fig 9 In the right scenario MASK for Automatic SEND of PDO 0x0000003F The field Address device insert the address of device that contain the bits Receive PDO 3 Bit Bit in use 32 gt The field Address bit insert the address of bit that you would like to read Delete Row Insert Row Move UP Move DOWN gt In the field Quantity insert the number of consecutive bits you Address Device Address Bit Quan
6. Industrial Electronic Devices User Manual Revision 3 103 English CANopen Modbus Master Converter Order Code HD67001 for Website information www adfweb com Product HD67001 for Price information www adfweb com Price HD67001 Benefits and Main Features VEVEVEVEV ADFweb com Srl IT31010 Mareno Treviso Very easy to configure Low cost Master Slave CANopen Master Modbus Galvanic isolation Industrial temperature range 40 C 85 C 40 F 185 F User Manual CANopen Modbus Master Document code MN67001_ENG Revision 3 103 Page 1 of 20 HD67001 For others Gateways Bridges CANopen to Modbus See also the following links www adfweb com Product HD67502 Modbus RTU Slave www adfweb com Product HD67004 Modbus TCP Master www adfweb com Product HD67505 Modbus TCP Slave 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 HD67515 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 adfweb com Cmd helpme INFO www adfweb com Phone 39 0438 30 91 31 Industrial Electroni
7. 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 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 4 The device respects the 2002 95 EC Directive on the restriction of the use of certain hazardous substances in electrical OHS and electronic equipment commonly referred to as Restriction of Hazardous Substances Directive or RoHS 2002 95 EC CE MARKING C The product conforms with the essential requirements of the applicable EC directives ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Document code 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 wit
8. c Devices INDEX INDEX UPDATED DOCUMENTATION REVISION LIST WARNING TRADEMARKS SECURITY ALERT CONNECTION SCHEME CHARACTERISTICS CONFIGURATION USE OF COMPOSITOR SW67001 NEW PROJECT OPEN PROJECT GENERAL PARAMETER SDO SETTING SDO SETTING BIT PDO SETTING PDO SETTING BIT CREATE EDS FILE UPDATE DEVICE CHARACTERISTICS OF THE CABLES CAN BUS CABLE CHARACTERISTICS MECHANICAL DIMENSIONS ORDER CODE ACCESSORIES DISCLAIMER OTHER REGULATIONS AND STANDARDS WARRANTIES AND TECHNICAL SUPPORT RETURN POLICY PRODUCTS AND RELATED DOCUMENTS ADFweb com Srl IT31010 Mareno Treviso oO OMNNNARWNNNNNG User Manual CANopen Modbus Master Document code MN67001_ENG Revision 3 103 Page 2 of 20 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 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 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 down
9. e SW67001 the right window appears Fig 4 SDO Setting SDO Setting Bit FEl PDO Setting FE PDO Setting Bit K Create EDS File ET Update Device www ADFweb com Figure 4 Main window for SW67001 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 iy User Manual CANopen Modbus Master Document code MN67001_ENG Revision 3 103 Page 8 of 20 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 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 gt When anew project is created or an existent project is open it will be possible to access the various configuration section of the software o Set Communication o SDO Setting o PDO Setting ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 Industrial Electronic Devices GENERAL PARAMETER This section defines the fundamental communication parameters of t
10. eading word 100 on device at address 2 you have to read SDO index 30BO0 subindex 1 For reading word 101 on device at address 2 you have to read SDO index 30BO0 subindex 2 Etc Field Quantity means the number of consecutive location that can be read The object 2100 to 2119 and 2200 to 2217 are reserved and cannot be used All data will be retrived on event read of specific SDO The master CANopen need to have a timeout higher than 500 ms The reply time is the time for a serial inquery plus the serial response ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ivl User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 11 of 20 Industrial Electronic Devices SDO SETTING BIT The following objects can be defined in the section SDO SDO Setting Bit uH Setting bit iw CANopen Index Sublndex Address Device Address Bit the SDO of the CANopen give access to a ModBUS bits RO Input Status Fun 2 status RO Input Status Fun 2 OX By pressing the SDO Setting bit button from the main window for SW67001 Fig 4 the window SDO Setting bit appears Fig 7 Figure 7 SDO setting bit window In the above scenario In the field CANOpen Index insert the index of the CANopen SDO In the field Subindex insert the subindex is suggested to always be 0 In the field Address Device insert the addre
11. evice ID insert the device ID for PDO5 If the Device ID of your device is 8 see the section general parameter the COB ID are TPDO1 180 Device ID 188 TPDO2 280 Device ID 288 TPDO4 480 Device ID 488 TPDO5 180 second Device ID 184 For the same reason there is the second device ID on the recive PDO When you insert the second device ID you do not insert a device ID already present on the network VV V ADFweb com Srl IT31010 Mareno Treviso User Manual Document code MN67001_ENG PDO Setting Transmit PDO Receive PDO CANopen Modbus Master Revision 3 103 Page 13 of 20 Transmit PDO 1 Description Delta Send Mnemonic TPDO1_W1 TPDO1_W2 TPDO1_W3 TPDO1_W4 1000 1000 1000 1000 Transmit PDO 2 Description Delta Send Mnemonic TPDO2 Wi TPDO2 W2 TPDO2 W3 TPDO2 W4 1000 1000 1000 1000 Description TPDO4_W1 TPDO4 W2 TPDO4 Ww3 TPDO4 W4 Description Delta Send Delta Send Mnemonic Mnemonic TPDOS Wi TPDOS w2 TPDOS W3 TPDOS W4 1000 1000 1000 1000 x Cancel Figure 8 PDO Setting window INFO www adfweb com Phone 39 0438 30 91 31 ivl User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 14 of 20 Industrial Electronic Devices Example 1 If the initial value is 100 and my delta send is 1000 and the value change to 2000 the device transmit a TPDO because 2000 100 1900 and 190
12. h 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 HD67502 Gateway CANopen Modbus RTU www adfweb com product HD67502 HD67505 Gateway CANopen Modbus Ethernet TCP www adfweb com product HD67505 HD67134 Gateway CANopen DeviceNet www adfweb com product HD67134 HD67117 CAN bus Repeater www adfweb com product HD67117 HD67216 CAN bus Analyzer www adfweb com product HD67216 ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com User Manual MN67001 ENG CANopen Modbus Master Revision 3 103 Page 20 of 20 Phone 39 0438 30 91 31
13. l parameter window INFO www adfweb com Phone 39 0438 30 91 31 ivl User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 10 of 20 Industrial Electronic Devices SDO SETTING Dur following objects can be defined in the section SDO SDO Setting o x etting gt the SDO of the CANopen give access to a word ModBUS NA ERES Address Device Address Word Quantity Read wite Mnemonic Rw Holding Register Fun 3 6 test s By pressing the SDO Setting button from the main window for Rw Holding Register Fun 3 6 test2 SW67001 Fig 4 the window SDO Setting appears Fig 6 RW Holding Register Fun 3 6 test3 CANopen SDO gt In the field Address Device insert the address of Modbus device that contains the Modbus data Figure 6 SDO Setting window Inthe field Address word insert the Register address that contains the Modbus data In the field Quantity insert the number of consecutive words you configured In the field Read Write the SDO in reading or in writing is defined Inthe field Mnemonic a description is defined In the right scenario gt In the field CANOpen Index insert the index of the Example 1 If I want to read data from the ModBUS network but I m in a CANopen network I ll define an SDO index 300B and this will be associated to an area inside Modbus network address 100 inside device 2 For r
14. load REVISION LIST Revision Date Author Chapter Description 2 000 28 06 2007 Av All New document format 3 000 28 08 2007 Av All New version of software 3 001 19 06 2008 Av All Change figure 2 3 002 13 10 2008 Fl All Change figure 2 3 100 19 11 2008 Fl All Type M12 3 101 19 01 2009 Fl All Revision 3 102 20 06 2009 MI All Revision 3 103 04 04 2013 Nt All Added new chapters 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 INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen Modbus Master Document code MN67001_ENG Revision 3 103 Page 3 of 20 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
15. ode HD67001 CANopen Modbus Master Converter CAN connector Terminal block 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 com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 User Manual CANopen Modbus Master Document code MN67001_ENG Revision 3 103 Page 19 of 20 Industrial Electronic Devices DISCLAIMER All technical content within this document can be modified without notice The content of the document content is a recurring audit 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 collection systems mmm 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
16. ss of the device that contains the Modbus bits In the field Address Bit insert the address of bit that you would like to read or write In the field Quantity insert the number of consecutive bits you configured In the field Bit type the type of bit is defined In the field Mnemonic it is possible to insert a brief description VVVVVVV For each SDO can be read 16 bits max 4 bytes the last 2 bytes are always set to 0 For each SDO can be written 16 bits max 4 bytes 2 data bytes 2 mask bytes Data 0001 0001 0011 1111 Mask 0011 0110 1111 1111 Written bits xx01 x00x 0011 1111 bits indicated by x are not written ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 ivl User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 12 of 20 Industrial Electronic Devices Example 1 If I want to read data from the ModBUS network but I m in a CANopen network I ll define a SDO index 2300 and this will be associated to a digital area inside Modbus network device 6 starting Modbus address O number of reading bits 16 For reading all 16 bits on device at address 6 you have to read SDO index 2300 subindex 0 For reading all 8 bits on device at address 6 you have to read SDO index 2350 subindex O Etc The object 2100 to 2119 and 2200 to 2217 are reserved and cannot be used All data will be retrived on event read of specific SDO
17. tity Mnemonic configured 3 3e Inthe field Bit Type the type of bit is defined Inthe field Mnemonic you can insert a brief description Inthe field Mask for automatic SEND of PDO insert a mask Data 0001 0001 0011 1111 0001 0001 0011 1111 Mask 0011 0110 1111 1111 0011 1110 1110 1111 Written bits xx01 x00x 0011 1111 xx01 000x OO1x 1111 bits indicated by x are not written cancel For the TPDO can be read from the protocol converter 64 bits max 8data Figure 9 PDO Setting bit window bytes For the RPDO can be written to protocol converter 32 bits max 8 bytes 4 data bytes 4 mask bytes CREATE EDS FILE By clicking on this button the user can create a valid EDS file ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 iy User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 16 of 20 Industrial Electronic Devices U PDATE D EVIC E ADFweb com Compositor W67001 Example1 Section Update Device Tf New project 3 Open project Insert the boot jumper see Figure 2 In order to load the parameters after they are set set the Com FF General Parameter port you used for update you must click the button Execute update firmware on the principal window SDO Setting SDO Setting Bit FE PDO Setting F PDO Setting Bit K Create EDS File EST Update Device w
18. wo Buses CANopen and Modbus By pressing the General parameter button from the main window for SW67001 Fig 4 the window General Parameter appears Fig 5 In the field Device ID the CANopen address is defined In the fields Baud Rate the velocity of the two buses is defined Send TPDOs on SYNC if you select this choice when a SYNC command is on the network the device send PDOs The field Transmission type define the type of transmission of PDO gt Send TPDOs on change of status To allow TPDOs automatic transmission when there is a change of the TPDO s variable gt In the field Parity the serial parity is defined gt Timeout is the maximum time that the device attends for the answer from the Slave interrogated Data bits and Stop bits are a serial parameter and they are fixed in order at 8 and 1 for default The Gateway has two alternative outlets from the Modbus side RS485 or RS232 Select the desired choice VNN ADFweb com Srl IT31010 Mareno Treviso User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 9 of 20 General Parameter CAN Serial Device ID 3 ix Baud rate 115200 Baud Rate 1000 parity Timeout ms iin Send TPDOs on SYNC 255 ORS232 9 RS485 Transmission Type Send TPDOs on Change SubIndex 0 Enable wv ok X cancel Figure 5 Genera
19. ww ADFweb com Generate Firmware Setup Port COMI w E Programmi 4DFweb Compositor_SW67001 PROJECTS Examplel Ne STEP Wait for device Figure 10 Update device procedure ADFweb com Srl IT31010 Mareno Treviso INFO www adfweb com Phone 39 0438 30 91 31 d Industrial Electronic Devices CHARACTERISTICS OF THE CABLES User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 17 of 20 The connection from RS232 socket 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 RS232C Cable not exceed 15 meters CAN BUS CABLE CHARACTERISTICS DC parameter Impedance AC parameters Impedance delay Length Baud Rate bps 10K 20K 50K 100 K 125 K 250K 500 K 800 K 1000 K ADFweb com Srl IT31010 Mareno Treviso 70 Ohm m 120 Ohm m 5 ns m Length MAX m 5000 2500 1000 650 500 250 100 50 25 INFO www adfweb com Phone 39 0438 30 91 31 itl User Manual CANopen Modbus Master Document code MN67001 ENG Revision 3 103 Page 18 of 20 Industrial Electronic Devices MECHANICAL DIMENSIONS 120 mm 4 72 inch e pa E oO 5 N 2 m C Not wel X gs be o 9 Housing PVC 23 mm Weight 200g Approx 0 9 inch Figure 11 Mechanical dimensions scheme for HD67001 ORDER CODE Order C
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