User Manual, Anybus Communicator for CANopen

User Manual
Anybus® Communicator™ for CANopen
Doc. Id. SCM-1200-099
Rev. 3.01
Connecting DevicesTM
+$/067$'‡&+,&$*2‡.$5/658+(‡72.<2‡%(,-,1*‡0,/$12‡08/+286(‡&29(175<‡381(‡&23(1+$*(1
HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
Visiting address: Stationsgatan 37, Halmstad, Sweden
E-mail: [email protected]
Web: www.anybus.com
Important User Information
This document contains a general introduction as well as a description of the technical features provided by the
Anybus Communicator, including the PC-based configuration software.
The reader of this document is expected to be familiar with PLC and software design, as well as communication
systems in general. The reader is also expected to be familiar with the Microsoft Windows operating system.
Liability
Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any
inaccuracies or omissions. The data and illustrations found in this document are not binding. We, HMS Industrial
Networks AB, reserve the right to modify our products in line with our policy of continuous product development.
The information in this document is subject to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that
may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure that all the
necessary steps have been taken to verify that the applications meet all performance and safety requirements including any applicable laws, regulations, codes, and standards.
HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that
may arise as a result from the use of undocumented features, timing, or functional side effects found outside the
documented scope of this product. The effects caused by any direct or indirect use of such aspects of the product
are undefined, and may include e.g. compatibility issues and stability issues.
The examples and illustrations in this document are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular implementation, HMS Industrial Networks AB cannot
assume responsibility for actual use based on these examples and illustrations.
Intellectual Property Rights
HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product described in this document. These intellectual property rights may include patents and pending patent applications
in the US and other countries.
Trademark Acknowledgements
Anybus ® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their
respective holders.
Warning:
This is a class A product. in a domestic environment this product may cause radio interference in
which case the user may be required to take adequate measures.
ESD Note: This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged if ESD
control procedures are not followed. Static control precautions are required when handling the product. Failure to observe this may cause damage to the product.
CANopen protocol mode for Anybus Communicator
Rev 3.01
Copyright© HMS Industrial Networks AB
Sept 2011 Doc Id SCM-1200-099
Table of Contents
Table of Contents
Preface
About This Document
Related Documents.................................................................................................................................. 7
Document History ................................................................................................................................... 7
Conventions & Terminology.................................................................................................................. 8
Glossary ..................................................................................................................................................... 8
Sales and Support ..................................................................................................................................... 9
Chapter 1
About the Anybus Communicator for CANopen
External View ......................................................................................................................................... 11
Status LEDs ............................................................................................................................................ 12
Configuration Switches ......................................................................................................................... 13
Hardware Installation ............................................................................................................................ 14
Software Installation .............................................................................................................................. 15
Anybus Configuration Manager ..................................................................................................... 15
Electronic Data Sheet .................................................................................................................... 15
Chapter 2
Basic Operation
General..................................................................................................................................................... 16
Data Exchange Model ........................................................................................................................... 17
Memory Map................................................................................................................................. 17
Data Exchange Example.............................................................................................................. 18
Subnetwork Protocol............................................................................................................................. 19
Protocol Modes............................................................................................................................... 19
Protocol Building Blocks ................................................................................................................ 19
Master Mode ................................................................................................................................. 20
Generic Data Mode ....................................................................................................................... 21
DF1 Master Mode ........................................................................................................................ 21
Data Representation on CANopen ..................................................................................................... 22
General.......................................................................................................................................... 22
Data Representation ...................................................................................................................... 22
Memory Layout (Internal Memory Buffer)...................................................................................... 23
Chapter 3
Navigating the Anybus Configuration Manager
Main Window ......................................................................................................................................... 24
Pull-down Menu ............................................................................................................................ 25
Toolbar Icons ................................................................................................................................. 28
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IV
Chapter 4
Basic Settings
Fieldbus Settings..................................................................................................................................... 29
ABC Parameters ..................................................................................................................................... 30
Subnetwork Parameters......................................................................................................................... 32
Chapter 5
Nodes
General..................................................................................................................................................... 33
Adding & Managing Nodes.................................................................................................................. 33
Node Parameters.................................................................................................................................... 33
Master Mode and Generic Data Mode........................................................................................... 33
Chapter 6
Transactions
General..................................................................................................................................................... 34
Adding & Managing Transactions ....................................................................................................... 35
Transaction Parameters (Master Mode).............................................................................................. 36
Parameters (Query & Broadcast)................................................................................................... 36
Parameters (Response).................................................................................................................... 38
Transaction Parameters (Generic Data Mode).................................................................................. 38
Produce-Transactions ..................................................................................................................... 38
Consume-Transactions ................................................................................................................... 39
Transaction Editor ................................................................................................................................. 40
Chapter 7
Frame Objects
General..................................................................................................................................................... 41
Adding and Editing Frame Objects .................................................................................................... 41
Constant Objects (Byte, Word, Dword)............................................................................................. 42
Limit Objects (Byte, Word, Dword) ................................................................................................... 43
Data Object ............................................................................................................................................. 44
Variable Data Object ............................................................................................................................. 44
Checksum Object ................................................................................................................................... 46
Chapter 8
Commands
General..................................................................................................................................................... 47
Adding & Managing Commands ......................................................................................................... 47
Pull-Down Menu........................................................................................................................... 48
Toolbar Icons ................................................................................................................................. 48
The Command Editor ........................................................................................................................... 49
General.......................................................................................................................................... 49
Basic Navigation ........................................................................................................................... 49
Pull-down Menu ............................................................................................................................ 50
Editing a Command ...................................................................................................................... 51
Example: Specifying a Modbus-RTU Command in Master Mode ................................................. 52
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V
Chapter 9
DF1 Protocol Mode
General..................................................................................................................................................... 53
ABC Parameters ..................................................................................................................................... 54
Subnetwork Parameters......................................................................................................................... 55
Node Parameters.................................................................................................................................... 56
Services .................................................................................................................................................... 56
Available Services .......................................................................................................................... 57
Integrity Check ....................................................................................................................................... 58
Read Diagnostics .................................................................................................................................... 58
Read Data ................................................................................................................................................ 59
Write Data ............................................................................................................................................... 59
Chapter 10
Subnetwork Monitor
Chapter 11
Node Monitor
General..................................................................................................................................................... 61
Navigating the Node Monitor.............................................................................................................. 62
Pull-Down Menu........................................................................................................................... 63
Toolbar Icons ................................................................................................................................. 64
Chapter 12
Data Logger
General..................................................................................................................................................... 65
Operation................................................................................................................................................. 65
Configuration .......................................................................................................................................... 66
Chapter 13
Configuration Wizards
General..................................................................................................................................................... 67
Selecting a Wizard Profile ..................................................................................................................... 67
Wizard - Modbus RTU Master ............................................................................................................ 68
Chapter 14
Control and Status Registers
General..................................................................................................................................................... 69
Handshaking Procedure ................................................................................................................. 69
Data Consistency ........................................................................................................................... 70
Status Register Contents (Gateway to Control System)................................................................... 71
General Information....................................................................................................................... 71
Status Codes in Master Mode and DF1 Master Mode................................................................... 71
Status Code in Generic Data Mode ............................................................................................... 72
Control Register Contents (Control System to Gateway)................................................................ 73
General Information....................................................................................................................... 73
Control Codes in Master Mode and DF1 Master Mode................................................................. 73
Control Codes in Generic Data Mode ............................................................................................ 73
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VI
Chapter 15
Object Dictionary Implementation
Standard Objects .................................................................................................................................... 74
General.......................................................................................................................................... 74
Object Entries................................................................................................................................ 74
Manufacturer Specific Objects............................................................................................................. 76
Input Buffer, Byte Access ............................................................................................................... 76
Input Buffer, Word Access............................................................................................................. 76
Input Buffer, Double Word Access................................................................................................. 77
Output Buffer, Byte Access ............................................................................................................ 77
Output Buffer, Word Access .......................................................................................................... 78
Output Buffer, Double Word Access.............................................................................................. 78
Anybus Status & Diagnostics ....................................................................................................... 79
Chapter 16
Advanced Fieldbus Configuration
General..................................................................................................................................................... 80
Mailbox Editor........................................................................................................................................ 80
Appendix A Connector Pin Assignments
CANopen Connector ............................................................................................................................ 81
Power Connector ................................................................................................................................... 81
PC Connector ......................................................................................................................................... 82
Subnetwork Interface ............................................................................................................................ 83
General Information....................................................................................................................... 83
Bias Resistors (RS485 Only)......................................................................................................... 83
Termination (RS485 & RS422 Only) ......................................................................................... 83
Connector Pinout (DB9F) ............................................................................................................. 83
Typical Connection (RS485).......................................................................................................... 84
Typical Connection (RS422 & 4-Wire RS485) ........................................................................... 84
Typical Connection (RS232).......................................................................................................... 84
Appendix B Technical Specification
Mechanical Properties............................................................................................................................ 85
Electrical Characteristics ....................................................................................................................... 85
Environmental Characteristics ............................................................................................................. 85
Regulatory Compliance ......................................................................................................................... 86
Appendix C Troubleshooting
Appendix D ASCII Table
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Preface
About This Document
For more information, documentation etc., please visit the HMS website, www.anybus.com.
Related Documents
Document name
ABC-COP Installation Leaflet
Anybus-S CANopen Fieldbus Appendix
CiA Draft Standard 301 v4.02
DF1 Protocol and Command Set - Reference Manual, 1770-6.5.16, October 1996
Author
HMS
HMS
CAN in Automation
Allen-Bradley
Document History
Summary of Recent Changes (3.00... 3.01)
Change
Updated software name “Anybus Config Tool” to “Anybus Configuration Manager”
Changed the number of possible transactions
Updated information about the trigger byte
Updated information about the CRC-algorithm
Updated frontpage information
Updated sales and support page
Updated System Requirements for Anybus Configuration Manager
Page(s)
34
39
46
15
Revision List
Revision
2.00
2.10
2.50
2.51
2.52
2.53
3.00
3.01
Date
2003-06-18
2005-08-25
2006-03-28
2006-12-22
2008-02-08
2009-04-23
2011-02-09
2011-09-30
Author
PeP
PeP
PeP
PeP
PeP
KeL
KaD
KaD
Anybus Communicator for CANopen
Doc.Rev. 3.01
Chapter
All
All
All
1
All
All
All
Description
Second major release
Major update
Major rewrite
Minor corrections & updates
Minor update
Minor corrections and updates
Misc. corrections, new template and DF1 functionality
Misc corrections and updates, new Anybus Configuration Manager
name
Doc.Id. SCM-1200-099
About This Document P-8
Conventions & Terminology
The following conventions are used throughout this document:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The term ‘user’ refers to the person or persons responsible for installing the Anybus Communicator in a network.
•
The term ‘gateway’ refers to the Anybus Communicator.
•
Hexadecimal values are written in the format 0xNNNN, where NNNN is the hexadecimal value.
•
Decimal values are represented as NNNN where NNNN is the decimal value
•
As in all communication systems, the terms “input” and “output” can be ambiguous, because
their meaning depend on which end of the link is being referenced. The convention in this document is that “input” and “output” are always being referenced to the master/scanner end of the
link.
Glossary
Term
ABC
Gateway
Broadcaster
COP
Command
Configuration
Fieldbus
Fieldbus Control System
Frame Object
Monitor
Node
Subnetwork
Transaction
User
Higher Level Network
Network
Fieldbus
Meaning
Anybus Communicator™
A protocol-specific node in the configuration that handles transactions destined to all nodes.
CANopen
A predefined transaction.
List of configured nodes with transactions on the subnetwork.
The higher level network to which the Anybus Communicator is connected.
Fieldbus master
Low level entities which are used to describe the different parts of a transaction.
A tool for debugging the Anybus Communicator and the network connections.
A device in the configuration which defines the communication with a node on the subnetwork
The network that is logically located on a subsidiary level with respect to the fieldbus, and to
which the Anybus Communicator acts as a gateway.
A generic building block that is used in the subnetwork configuration and defines the data that
is sent and received on the subnetwork.
Person or persons responsible for installing the Anybus Communicator
In this case, CANopen
Anybus Communicator for CANopen
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About This Document P-9
Sales and Support
Sales
Support
HMS Sweden (Head Office)
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+46 (0) 35 - 17 29 56
Phone:
+46 (0) 35 - 17 29 20
Fax:
+46 (0) 35 - 17 29 09
Fax:
+46 (0) 35 - 17 29 09
Online:
www.anybus.com
Online:
www.anybus.com
HMS North America
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+1-312 - 829 - 0601
Phone:
+1-312-829-0601
Toll Free:
+1-888-8-Anybus
Toll Free:
+1-888-8-Anybus
Fax:
+1-312-629-2869
Fax:
+1-312-629-2869
Online:
www.anybus.com
Online:
www.anybus.com
HMS Germany
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+49 (0) 721-989777-000
Phone:
+49 (0) 721-989777-000
Fax:
+49 (0) 721-989777-010
Fax:
+49 (0) 721-989777-010
Online:
www.anybus.de
Online:
www.anybus.de
HMS Japan
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+81 (0) 45-478-5340
Phone:
+81 (0) 45-478-5340
Fax:
+81 (0) 45-476-0315
Fax:
+81 (0) 45-476-0315
Online:
www.anybus.jp
Online:
www.anybus.jp
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+86 (0) 10-8532-3183
Phone:
+86 (0) 10-8532-3023
Fax:
+86 (0) 10-8532-3209
Fax:
+86 (0) 10-8532-3209
Online:
www.anybus.cn
Online:
www.anybus.cn
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+39 039 59662 27
Phone:
+39 039 59662 27
Fax:
+39 039 59662 31
Fax:
+39 039 59662 31
Online:
www.anybus.it
Online:
www.anybus.it
HMS China
HMS Italy
HMS France
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+33 (0) 3 68 368 034
Phone:
+33 (0) 3 68 368 033
Fax:
+33 (0) 3 68 368 031
Fax:
+33 (0) 3 68 368 031
Online:
www.anybus.fr
Online:
www.anybus.fr
HMS UK & Eire
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+44 (0) 1926 405599
Phone:
+46 (0) 35 - 17 29 20
Fax:
+44 (0) 1926 405522
Fax:
+46 (0) 35 - 17 29 09
Online:
www.anybus.co.uk
Online:
www.anybus.com
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+45 (0) 22 30 08 01
Phone:
+46 (0) 35 - 17 29 20
Fax:
+46 (0) 35 17 29 09
Fax:
+46 (0) 35 - 17 29 09
Online:
www.anybus.com
Online:
www.anybus.com
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+91 (0) 20 40111201
Phone:
+46 (0) 35 - 17 29 20
Fax:
+91 (0) 20 40111105
Fax:
+46 (0) 35 - 17 29 09
Online:
www.anybus.com
Online:
www.anybus.com
HMS Denmark
HMS India
Anybus Communicator for CANopen
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Chapter 1
1. About the Anybus Communicator for CANopen
The Anybus Communicator for CANopen acts as a gateway between virtually any serial application protocol and a CANopen-based network. Integration of industrial devices is enabled without loss of functionality, control and reliability, both when retro-fitting to existing equipment as well as when setting up
new installations.
CANopen Master
(e.g a PLC)
HMI
INVERTER
(CANopen Network)
(CANopen Network)
CANopen Master
(e.g a PLC)
HMI
INVERTER
PC configuration
and monitoring
PC configuration
and monitoring
Multi-drop up to 31 nodes
Serial communication devices
Serial communication
device
Single-Node Serial Sub Network
Multi-Node Serial Sub Network
Subnetwork
The gateway can address up to 31 nodes, and supports the following physical standards:
•
RS-232
•
RS-422
•
RS-485
CANopen Interface
CANopen connectivity is provided through patented Anybus technology; a proven industrial communication solution used all over the world by leading manufacturers of industrial automation products.
•
Galvanically isolated bus electronics
•
Supports all standard baudrates
•
Customizable PDO mapping
•
Up to 512+512 bytes of slow I/O
•
Up to 80 RPDO’s and 80 TPDO’s
•
Transmission types: PDO Sync, Change-of-state, Event based and RTR
•
Network store/restore functionality
•
Heartbeat & Node Guarding support
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About the Anybus Communicator for CANopen 11
1.1 External View
For wiring and pin assignments, see “Connector Pin Assignments” on page 81.
A: CANopen Connector
This connector is used to connect the gateway to the fieldbus.
See also...
- “CANopen Connector” on page 81
C
B
B: Configuration Switches
See also...
- “Configuration Switches” on page 13
A
C: Status LEDs
See also...
- “Status LEDs” on page 12
D: PC Connector
This connector is used to connect the gateway to a PC for
configuration and monitoring purposes.
See also...
D
E
G
F
- “Hardware Installation” on page 14
- “PC Connector” on page 82
E: Subnetwork Connector
This connector is used to connect the gateway to the serial subnetwork.
See also...
- “Hardware Installation” on page 14
- “Subnetwork Interface” on page 83
F: Power Connector
This connector is used to apply power to the gateway.
See also...
- “Hardware Installation” on page 14
- “Power Connector” on page 81
- “Technical Specification” on page 85
G: DIN-rail Connector
The DIN-rail mechanism connects the gateway to PE (Protective Earth).
See also...
- “Hardware Installation” on page 14
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About the Anybus Communicator for CANopen 12
1.2 Status LEDs
#
1 - Run
2 - Error
3 - Status
4 - Power
5 - Subnet Statusa
State
Off
Single Flash
Blinking
On
Off
Single Flash
Double Flash
Triple Flash
On
Off
Red
Off
On
Off
Green, flashing
Green
Red
6 - Device Status
Off
Alternating Red/Green
Green
Green, flashing
Red
Red, flashing
Status
Device in STOPPED state
Device in PRE-OPERATIONAL state
Device in OPERATIONAL state
No error
Warning limit reached
Error Control Event
Sync Error
Bus off
Normal operation
Unrecoverable fault detected
Device not powered
Device powered
Power off
Running correctly, but one or more transaction error(s) have occurred
Running
Transaction error/timeout or subnet
stopped
Power off
Invalid or missing configuration
Initializing
Running
1
2
3
4
5
6
Bootloader modeb
If the Device Status LED is flashing in a
sequence starting with one or more red
flashes, please note the sequence pattern
and contact the HMS support department
a. This led turns green when all transactions have been active at least once. This
includes any transactions using “change of state” or “change of state on trigger”. If
a timeout occurs on a transaction, this led will turn red.
b. The gateway is in bootloader mode, and firmware must be restored in order for it to
work properly. Start up the Anybus Configuration Manager and connect to the Anybus Communicator. Choose Tools/Options/ABC. Click “Factory Restore” to restore
firmware. See “Tools” on page 26.
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About the Anybus Communicator for CANopen 13
1.3 Configuration Switches
The on-board switches are used to set the CANopen node address and operating
baudrate. Normally, these switches are covered by a plastic hatch. When removing the
hatch, avoid touching the circuit boards and components. If tools are used when opening the hatch, be cautious. Note that these settings cannot be changed during runtime,
i.e. the gateway must be restarted in order for any changes to have effect.
The node address is configured using two rotary switches as follows:
A
B
C
Node Address = (Switch B x 10) + (Switch A x 1)
Example: To set node address 42, set switch A to ‘2’ and switch B to ‘4’.
The baudrate is set via switch C, and is interpreted as follows:
#
0
1
2
3
4
Baudrate
(reserved)
10 kbit/s
20 kbit/s
50 kbit/s
125 kbit/s
Anybus Communicator for CANopen
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#
5
6
7
8
9
Baudrate
250 kbit/s
500 kbit/s
800 kbit/s
1 Mbit/s
(reserved)
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About the Anybus Communicator for CANopen 14
1.4 Hardware Installation
Perform the following steps when physically installing the gateway:
1. Snap the gateway on to the DIN-rail (See “External View” on page 11)
The DIN-rail mechanism works as follows:
1
To snap the gateway on, first press it downwards (1) to compress the
spring in the DIN-rail mechanism, then push it against the DIN-rail as to
make it snap on (2)
2
1
To snap the gateway off, push it downwards (1) and pull it out from the
DIN-rail (2), as to make it snap off from the DIN-rail
2
2. Connect the gateway to the CANopen network
3. Set the CANopen node ID and operating baudrate (see “Configuration Switches” on page 13)
4. Connect the gateway to the serial subnetwork
5. Connect the gateway to the PC via the Configuration Cable
6. Connect the power cable and apply power
7. Start the Anybus Configuration Manager program on the PC
(The Anybus Configuration Manager attempts to detect the serial port automatically. If not successful, select the correct port manually in the “Port”-menu)
8. Configure the gateway using the Anybus Configuration Manager and download the
configuration
9. Set up the CANopen communication in accordance with the gateway configuration
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About the Anybus Communicator for CANopen 15
1.5 Software Installation
1.5.1 Anybus Configuration Manager
System requirements
•
Pentium 133 MHz or higher
•
650 MB of free space on the hard drive
•
32 MB RAM
•
Screen resolution of 800x600 (16 bit color) or higher
•
Microsoft Windows™ 2000 / XP / Vista / 7 (32 bit)
•
Internet Explorer 4.01 SP1 or newer
Installation
•
Anybus Communicator resource CD
Insert the CD and follow the on-screen instructions. If the installation does not start automatically, right-click on the CD-drive icon and select Explore. Execute ‘setup.exe’ and follow the onscreen instructions.
•
From website
Download and execute the self-extracting .exe-file from the HMS website (www.anybus.com).
1.5.2 Electronic Data Sheet
Each device on CANopen is associated with an Electronic Data Sheet (a.k.a .EDS-file), which holds a
description of the device and its functions. Most importantly, the file describes the object dictionary implementation in the device.
The latest version of the .EDS-file for the Anybus Communicator for CANopen can be downloaded
from the HMS website, www.anybus.com.
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Chapter 2
2. Basic Operation
2.1 General
The Anybus Communicator is designed to exchange data between a serial subnetwork and a higher level
network. Unlike most other gateway devices of similar kind, it does not have a fixed protocol for the
subnetwork, and can be configured to handle almost any form of serial communication.
The gateway can issue serial telegrams cyclically, on change of state, or based on trigger events issued by
the control system of the higher level network (i.e. the fieldbus master or PLC). It can also monitor certain aspects of the subnetwork communication and notify the higher level network when data has
changed.
An essential part of the Anybus Communicator package is the Anybus Configuration Manager, a Windows™ application which is used to supply the gateway with a description of the subnetwork protocol.
No programming skills are required; instead, a visual protocol description-system is used to specify the
different parts of the serial communication.
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Basic Operation 17
2.2 Data Exchange Model
Internally, the data exchanged on the subnetwork, and
the data exchanged on the higher level network, resides
in the same memory.
ABC Internal Memory
This means that in order to exchange data with the subnetwork, the higher level network simply reads and
writes data to memory locations specified using the Anybus Configuration Manager. The very same memory
locations can then be exchanged on the subnetwork.
Input Data (512 bytes)
This area can be read by the higher level network.
(how this data is represented on the higher level
network will be described later in this chapter).
•
Higher Level Network
•
Output Data
(512 bytes)
Subnetwork
The internal memory buffer is divided into three areas
based on their function:
Input Data
(512 bytes)
General Data
Output Data (512 bytes)
This area can be written to by the higher level
network.
(how this data is represented on the higher level
network will be described later in this chapter).
•
General Data
This area is not exchanged on the higher level network, and can be used for transfers between
individual nodes on the subnetwork, or as a general “scratch pad” for data. The actual size of this
area depends on the amount of data that is exchanged on the subnetwork. The gateway can handle up to 1024 bytes of general data.
2.2.1 Memory Map
When building the subnetwork configuration using the Anybus Configuration Manager, the different areas described above are mapped to the memory locations (addresses) specified below.
Input Data
0x000
Output Data
0x200
Subnetwork:
Fieldbus:
Read/Write
Read Only
0x1FF
Anybus Communicator for CANopen
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Subnetwork:
Fieldbus:
0x3FF
General Data
0x400
Read Only
Read/Write
Subnetwork:
Fieldbus:
Read/Write
-
0x???
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Basic Operation 18
2.2.2 Data Exchange Example
In the following example, a temperature regulator on the subnetwork exchanges information with a PLC
on the higher level network, via the internal memory buffers in the gateway.
PLC (CANopen Master)
PLC Memory (Inputs)
PLC Memory (Outputs)
Actual Temperature
Temperature Setpoint
CANopen
The PLC Memory associated with
the ABC is exchanged;
Data from the Input Data area is copied to
PLC Input Memory, and PLC Output
Memory is copied to the Output Data
area.
The PLC exchange data between the internal
PLC memory and the slaves (in this case the
ABC) on the CANopen network.
ABC
Input Data
Output Data
0x000
Actual Temperature
General Data
0x200
0x400
Temperature Setpoint
(not used in this example)
0x3FF
The ABC copies the Output Register of
the Temperature Regulator to the InputData area.
The ABC copies the TemperatureSetpoint from the Output Data area to
the Input Register in the TemperatureRegulator.
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0x???
Subnetwork
0x1FF
Output Register
Input Register
Actual Temperature
Temperature Setpoint
Serial Device - Temperature Regulator
The Temperature Regulator has two
registers, holding the Setpoint Temperature
and the Actual Temperature respectively.
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Basic Operation 19
2.3 Subnetwork Protocol
2.3.1 Protocol Modes
The gateway features three distinct modes of operation regarding the subnetwork communication, called
‘Master Mode’, ‘DF1 Master Mode’ and ‘Generic Data Mode’. Note that the protocol mode only specifies the basic communication model, not the actual subnetwork protocol.
•
Master Mode
In this mode, the gateway acts as a master on the subnetwork, and the serial communication takes
place in a query-response fashion. The nodes on the network are not permitted to issue messages
unless they have been addressed by the gateway first.
For more information about this mode, see “Master Mode” on page 20.
•
DF1 Master Mode
In this mode, the gateway acts as a master on the subnetwork, using the DF1 protocol. The serial
communication takes place in a query-response fashion. For more information about this mode,
see “DF1 Protocol Mode” on page 53.
•
Generic Data Mode
In this mode, there is no master-slave relationship between the subnetwork nodes and the gateway; any node on the subnetwork, including the gateway, may spontaneously produce or consume messages.
For more information about this mode, see “Generic Data Mode” on page 21.
2.3.2 Protocol Building Blocks
The following building blocks are used in Anybus Configuration Manager to describe the subnetwork
communication. How these blocks apply to the three protocol modes will be described later in this document.
•
Node
A node represents a single device on the subnetwork. Each node can be associated with a
number of transactions, see below.
•
Transaction
A ‘transaction’ represents a complete serial telegram, and consists of a number of frame objects
(see below). Each transaction is associated with a set of parameters controlling how and when to
use it on the subnetwork.
•
Commands
A ‘command’ is simply a predefined transaction stored in a list in the Anybus Configuration Manager. This simplifies common operations by allowing transactions to be stored and reused.
•
Frame Object
‘Frame objects’ are low level entities used to compose a transaction (see above). A frame object
can represent a fixed value (a constant), a range of values (limit objects), a block of data or a calculated checksum.
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2.3.3 Master Mode
In this mode, the communication is based on a query-response scheme; when the gateway issues a query
on the subnetwork, the addressed node is expected to issue a response to that query. Nodes are not permitted to issue responses spontaneously, i.e. without first receiving a query.
There is one exception to this rule; the broadcaster. Most protocols offer some way of broadcasting messages to all nodes on the network, without expecting them to respond to the broadcasted message. This
is also reflected in the gateway, which features a dedicated broadcaster node.
Control System
Gateway
Subnetwork Devices
In Master Mode, Anybus Configuration Manager comes preloaded with most commonly used Modbus
RTU commands, which can conveniently be reached by right-clicking on a node in the Anybus Configuration Manager and selecting ‘Insert New Command’. Note however that this does not in any way prevent other protocols based on the same query-response message-scheme to be implemented.
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Basic Operation 21
2.3.4 Generic Data Mode
In this mode, there is no master-slave relationship between the nodes on the subnetwork and the gateway. Any node, including the gateway, may spontaneously produce or consume a message. Nodes do
not have to respond to messages, nor do they have to wait for a query in order to send one.
Control System
Gateway
Subnetwork Devices
In the figure above, the gateway ‘consumes’ data that is ‘produced’ by a node on the subnetwork. This
‘consumed’ data can then be accessed from the higher level network. This also works the other way
around; the data received from the higher level network is used to ‘produce’ a message on the subnetwork to be ‘consumed’ by a node.
2.3.5 DF1 Master Mode
Please refer to “DF1 Protocol Mode” on page 53.
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Basic Operation 22
2.4 Data Representation on CANopen
2.4.1 General
The Anybus Communicator acts as a slave on the CANopen network. As such, it does not initiate communication towards other nodes by itself, but can be read from/written to by a CANopen master.
2.4.2 Data Representation
On CANopen, the input and output data areas are represented as object entries in the manufacturer specific range (2000h...5FFFh). Separate object ranges are used for byte, word, and double-word access.
A portion of these objects may be exchanged as Process Data Objects (PDO). The gateway supports up
to 80 RPDOs and 80 TPDOs, each capable of carrying up to 8 bytes of data.
Which objects that can be exchanged this way depend on two factors:
•
PDO Mapping
The objects that shall be exchanged as PDOs on the bus are specified (i.e. mapped) by the network configuration tool.
If no mapping has been specified, the gateway defaults to the following mapping scheme:
RPDO no.
1
2
3
4
5
6
7
8
9...80
TPDO no.
1
2
3
4
5
6
7
8
9...80
Default COB IDs
Node ID 1... 63 Node ID >= 64
200h + Node ID 200h + Node ID
300h + Node ID 300h + Node ID
400h + Node ID 400h + Node ID
500h + Node ID 500h + Node ID
240h + Node ID 500h
340h + Node ID 500h
440h + Node ID 500h
540h + Node ID 500h
500h
500h
Default COB IDs
Node ID 1... 63 Node ID >= 64
180h + Node ID 180h + Node ID
280h + Node ID 280h + Node ID
380h + Node ID 380h + Node ID
480h + Node ID 480h + Node ID
1C0h + Node ID 500h
2C0h + Node ID 500h
3C0h + Node ID 500h
4C0h + Node ID 500h
500h
500h
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Default State
Output Data buffer, bytes 0... 7 Enabled
Output Data buffer, bytes 8...15
Output Data buffer, bytes 16... 23
Output Data buffer, bytes 24... 31
Output Data buffer, bytes 32... 39 Disabled
Output Data buffer, bytes 40... 47
Output Data buffer, bytes 48... 55
Output Data buffer, bytes 56... 63
Disabled
Mapped to...
Default State
Input Data buffer, bytes 0... 7
Input Data buffer, bytes 8... 15
Input Data buffer, bytes 16... 23
Input Data buffer, bytes 24... 31
Input Data buffer, bytes 32... 39
Input Data buffer, bytes 40... 47
Input Data buffer, bytes 48... 55
Input Data buffer, bytes 56... 63
-
Eabled
Disabled
Disabled
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Basic Operation 23
•
I/O Data Size
Object entries which do not correspond directly to I/O Data (see “Memory Layout (Internal
Memory Buffer)” on page 23) may not be mapped as PDOs. Any attempt to map an object entry
which does not fit this criteria will result in an error.
For more information about the object dictionary implementation, see “Object Dictionary Implementation” on page 74.
2.4.3 Memory Layout (Internal Memory Buffer)
The I/O sizes specified in Anybus Configuration Manager correlate to gateway memory as follows:
Example:
In this example, the I/O sizes for the gateway have been set to the following values:
IO Size In= 128 bytes(0x0080)
IO Size Out= 32 bytes(0x0020)
Resulting memory layout:
Input Data
0x000
Can be exchanged as TPDO
Output Data
0x200...0x21F
0x220
Can be exchanged as RPDO
General Data
0x400
0x07F
0x080
(Not represented
on CANopen)
Exchanged acyclically
Exchanged acyclically
0x1FF
0x3FF
0x???
See also...
•
“Data Representation” on page 22
•
“Object Dictionary Implementation” on page 74
•
“Fieldbus Settings” on page 29
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Chapter 3
3. Navigating the Anybus Configuration Manager
3.1 Main Window
The main window in the Anybus Configuration Manager can be divided into 4 sections as follows:
A
C
B
D
•
A: Pull-down Menus & Tool Bar
The second drop-down menu from the left will change depending on the current context. The Tool Bar provides
quick access to the most frequently used functions.
•
This menu entry is expanded
B: Navigation Section
Sub-entries
This section is the main tool for selecting and altering different levels of the subnetwork configuration.
Entries preceded by a ‘+’ holds further configuration parameters or ‘sub menus’. To gain access to these parameters, the entry must be expanded by clicking ‘+’.
This menu entry holds additional
sub-entries / parameters
There are three main levels in the navigation window,
namely Fieldbus, ABC and subnetwork.
Right-clicking on entries in this section brings out additional selections related to that particular entry.
•
C: Parameter Section
This section holds a list of parameters or options related to
the currently selected entry in the Navigation Section.
The parameter value may be specified either using a selection box or manually, depending on the parameter itself.
Values can be specified in decimal form (e.g. ‘42’), or in
hexadecimal format (e.g. ‘0x2A’).
•
Parameter Section
D: Information Section
This section holds information related to the currently selected parameter.
Information Section
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3.1.1 Pull-down Menu
File
This menu features the following entries:
•
New
Create a new configuration.
See also “Configuration Wizards” on page 67.
•
Open...
Open a previously created configuration.
•
Save
Save the current configuration.
•
Save As...
Save the current configuration under a new name.
•
Print...
Send details about the current configuration to a printer.
•
Properties...
This brings out the following window:
Item
Select a Name for the
Configuration
Download Password(6)
Upload Password(6)
Description
A name for the configuration
may be entered here
These fields can be used to
password-protect the configuration in the gateway.
CAUTION: Always keep a copy of the password
in a safe place. A lost password cannot be retrieved!
•
Exit
Close the Anybus Configuration Manager.
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Tools
This menu features the following entries:
•
Port
This entry selects the COM-port used
for the configuration of the gateway.
•
Upload configuration from ABC
Upload the configuration from the
gateway to the Anybus Configuration
Manager.
•
Download configuration to ABC
Download the current configuration
into the gateway.
•
Start Logging
Start the Data Logger (see “Data Logger” on page 65).
Note that when the Data Logger is active, this menu entry is changed to ‘Stop Logging’.
•
Options
This will bring out the following window:
Item
Warning on Delete
Description
A confirmation dialog is displayed each
time something is deleted.
Warning on unsaved
A confirmation dialog is displayed when
data
closing the Anybus Configuration Manager with unsaved data.
Show Wizard when
The Wizard is displayed each time a new
“New” menu is selected configuration is created.
Language next time the Selects which language to use. The new
program is launched
setting will be active the next time the program is launched.
Selecting the ‘ABC’-tab will reveal additional properties:
Item
Size of logbuffer
Firmware Download
Factory Restore
Block Configuration
Create Error log
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Description
By default, the Data Logger can log up to
512 entries in each direction. If necessary,
it is possible to specify a different number
of entries (valid settings range from
1...512). Click ‘Apply’ to validate the new
settings. See also “Data Logger” on page
65.
Download firmware to the embedded fieldbus interface.
Warning: Use with caution.
Restores the gateway firmware to it’s original state (does not affect the embedded
fieldbus interface).
When selected, the downloaded configuration will not be executed by the gateway.
Warning: Use with caution.
Creates an error log file
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View
This menu features the following entries:
•
Toolbar
This entry enables/disables the toolbar icons at the top of the
main window.
•
Status Bar
This entry enables/disables the status bar at the bottom of the
main window.
Help
This menu features the following entries:
•
Contents
Display the table of contents of the online help
system.
Note: At the time of writing, no online help system exists.
•
Search For Help On...
Search for a particular topic in the online help system.
Note: At the time of writing, no online help system exists.
•
About...
Display general information about the gateway and the current build of Anybus Configuration
Manager.
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3.1.2 Toolbar Icons
The toolbar features icons for the most commonly used functions.
•
New, Open & Save
See “File” on page 25.
•
New
Open
Save
Upload from ABC & Download to ABC
See “Tools” on page 26.
Upload
•
Download
Up one Level
Clicking on this icon will move the selection in the navigation section.
•
Cut, Copy, Paste, Delete, Insert
These icons are used for common editing functions in the navigation section.
•
Up one Level
Cut
Copy
Paste
Delete
Insert
Connect
Clicking on this icon will cause the Anybus Configuration Manager to attempt to
connect to the gateway.
•
Connect
Disconnect
Clicking on this icon will cause the Anybus Configuration Manager to disconnect
from the gateway.
•
Disconnect
Start Logging & Stop Logging
See “Tools” on page 26 & “Data Logger” on page 65.
Start Log.
•
Stop Log.
Subnetwork Monitor
Clicking on this icon will launch the subnetwork Monitor
(see “Subnetwork Monitor” on page 60).
•
Sub-Network
Monitor
Add Command
This icon is used to add commands to the currently selected node.
•
Add Command
Add Mailbox
(Advanced functionality, see “Mailbox Editor” on page 80)
Add Mailbox
•
Add Node & Add Broadcaster
These icons are used to add nodes to the configuration.
Node
•
Node Monitor
Clicking on this icon will launch the Node Monitor (see “Node Monitor” on
page 61)
•
Broadcaster
Node Monitor
Add Transaction(s)
These icons are used to add transactions to the currently selected node.
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Add
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Chapter 4
4. Basic Settings
4.1 Fieldbus Settings
(Select ‘Fieldbus’ in the Navigation Section to gain access to the parameters described in this section).
General
During start-up the fieldbus interface of the gateway is initialized to fit the configuration created in the
Anybus Configuration Manager. Optionally, some initialization parameters can be set manually to provide better control over how the data shall be treated by the gateway.
Fieldbus Type
The Anybus Configuration Manager supports a wide range of networking systems. Make sure that this parameter is set to ‘CANopen’.
IO Sizes
Fieldbus Type
These parameters specify how data from the internal memory
buffer shall be exchanged on CANopen.
This can either be handled automatically based on the subnetwork
configuration, or specified manually.
•
Automatic
All data can be exchanged both cyclically and acyclically.
See also...
- “Data Representation on CANopen” on page 22
•
I/O Sizes
User defined
Additional parameter properties appear; ‘IO Size In’ and ‘IO Size Out’. The specified amount,
starting at address 0x0000 of the respective memory buffers, can be exchanged both cyclically
and acyclically. The remainder will only be exchanged acyclically.
See also...
- “Data Representation on CANopen” on page 22
Note: Excessive I/O sizes may have a negative influence on the overall performance of the gateway. It
is therefore generally recommended to set the I/O sizes manually instead of using the ‘Automatic’-option.
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4.2 ABC Parameters
(Select ‘ABC’ in the Navigation Section to gain access to the parameters
described in this section).
Interface
Currently, only serial communication is supported.
Status / Control Word
(See “Control and Status Registers” on page 69).
Value
Description
Enabled
Enable the Control and Status Registers. The ‘Data Valid’-bit in the Control Register must
be set to start the subnetwork communication.
Enabled but no startup lock
This setting is similar to ‘Enabled’, except that the control system is not required to set the
‘Data Valid’-bit to start the subnetwork communication.
Disabled
This setting completely disables the Control and Status Registers.
Module Reset
This parameter specifies how the gateway will behave in the event of a fatal error.
Value
Description
Enabled
The gateway will be restarted, and no error will be indicated to the user.
Disabled
The gateway will halt and indicate an error.
Protocol Mode
This parameter specifies which protocol mode to use for the subnetwork.
Value
Description
Generic Data Mode
This mode is primarily intended for Produce & Consume-based protocols, where there are
no Master-Slave relationship between the gateway and the nodes on the subnetwork.
Master Mode
This mode is intended for ‘Query & Response’-based protocols, where a single Master
exchanges data with a number of Slaves.
DF1
This mode is intended for the DF1 protocol. The Anybus Communicator can only be configured as a Master with half-duplex communication.
Note: This is the only mode available if you intend to configure an ABC module for DF1.
See also “Protocol Modes” on page 19.
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Statistics
The Transmit- and Receive Counters indicate how many transactions that have successfully been exchanged on the subnetwork. This feature is primarily intended for debugging purposes.
•
Receive Counter Location
Specifies the location of the Receive Counter in the internal memory buffer.
•
Transmit Counter Location
Specifies the location of the Transmit Counter in the internal memory buffer.
Both counters are enabled by setting ‘Statistics’ to ‘Enabled’.
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4.3 Subnetwork Parameters
(To gain access to the parameters described in this section, select ‘Subnetwork’ in the Navigation Section).
Communication
These parameters specify the actual communication settings used for the subnetwork.
Parameter
Description
Master Mode and Generic Mode
Bit rate (baud rate)
Selects the bit rate
1200
2400
4800
9600
19200
35700
38400
57600
Data bits
Selects the number of data bits
7, 8
Parity
Selects the parity mode
None, Odd, Even
Physical standard
Selects the physical interface type
RS232, RS422, RS485
Start bits
Number of start bits.
1
Stop bits
Number of stop bits.
1, 2
Start- and End Character
Note: These parameters are only available in Generic Data Mode.
Start and end characters are used to indicate the beginning and end of a serial message. For example, a
message may be initiated with <ESC> and terminated with <LF>. In this case, the Start character would
be 0x1B (ASCII code for <ESC>) and the End character 0x0A (ASCII code for <LF>)
Parameter
Description
Valid settings
End Character Value
End character for the message, ASCII
0x00 - 0xFF
Use End Character
Determines if the End character shall be used or not
Enable / Disable
Start Character Value
Start character for the message, ASCII
0x00 - 0xFF
Use Start Character
Determines if the Start character shall be used or not
Enable / Disable
Timing (Message Delimiter)
The parameters in this category differs slightly between the different protocol modes.
•
Master Mode
The Message Delimiter specifies the time that separates two messages in steps of 10ms. If set to
0 (zero), the gateway will use the standard Modbus delimiter of 3.5 characters (the actual number
of ms will be calculated automatically based on the currently used communication settings).
•
Generic Data Mode
The Message Delimiter specifies the time that separates two messages in steps of 10µs.
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Chapter 5
5. Nodes
5.1 General
In Anybus Configuration Manager, a node represents a single device on the network. While the gateway
doesn’t feature a scanlist in the traditional sense, all nodes, and their transactions, will be processed in
the order they have been defined in the Anybus Configuration Manager.
The maximum number of nodes that can be created in the Anybus Configuration Manager is 31.
5.2 Adding & Managing Nodes
(Right-click on ‘Sub Network’ in the Navigation Section to gain access to these functions)
Function
Description
Paste
Paste a node from the clipboard
Subnetwork Monitor
Launch the subnet monitor ( “Subnetwork Monitor” on page
60)
Add Node
Add a node to the configuration
Add Broadcastera
Add a broadcaster node to the configuration
Load Node
Add a previously saved node
Subnetwork Status...
View diagnostic information about the subnetwork
a. This function is only available in Master Mode.
5.3 Node Parameters
5.3.1 Master Mode and Generic Data Mode
(To gain access to the parameters described in this section, select a node
in the Navigation Section).
Parameter
Description
Slave Address
The value entered here may be used to set the node address in
certain commands.
For more information, see “The Command Editor” on page 49.
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Chapter 6
6. Transactions
6.1 General
As mentioned previously, transactions are representations of the actual serial telegrams exchanged on
the serial subnetwork. While the gateway doesn’t feature a scanlist in the traditional sense, all nodes, and
their transactions, will be processed in the order they have been defined in the Anybus Configuration
Manager.
Transactions are handled slightly differently in the three protocol modes:
•
Master Mode
For regular nodes, transactions always come in pairs; a query and a response. The query is issued
by the gateway, while responses are issued by the slaves on the subnetwork. The Broadcaster can
only send transactions.
•
Generic Data Mode
Transactions can be added as desired for both directions. Transactions sent to the subnetwork
are called ‘Transaction Produce’, and transactions issued by other nodes are called ‘Transaction
Consume’.
•
DF1 Master Mode
Please refer to “DF1 Protocol Mode” on page 53.
Theoretically, the gateway supports up to 150 transactions. The actual number may however be less depending on the memory requirements of the defined transactions.
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6.2 Adding & Managing Transactions
(Right-click on a node in the Navigation Section to gain access to these functions)
Function
Description
Cut
Cut a node to the clipboard
Copy
Copy a node to the clipboard
Insert
Insert a node from the clipboard
Delete
Delete a node
Node Monitor
Add Transaction(s)
Launch the node monitor ( “Node Monitor” on page 61)
a
On regular nodes, this adds a Query and a Response.
The two transactions will be grouped in order to
increase readability.
On the Broadcaster, a single transaction will be added.
Add Transaction Consumeb Add a ‘Consume’-transaction
Add transaction Produceb
Add a ‘Produce’-transaction
Add Command
Add predefined transactions to the node
Insert New Node
Insert a new node above the currently selected one
Save Node
Save the selected node
Insert from File
Insert a previously saved node above the currently
selected node
Rename
To increase readability, each node can be given a
unique name using this function
a. Only available in Master Mode
b. Only available in Generic Data Mode
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6.3 Transaction Parameters (Master Mode)
6.3.1 Parameters (Query & Broadcast)
(To gain access to these parameters, select a Query- or Broadcast- transaction in the Navigation Section)
Parameter
Description
Minimum time between
broadcasts (10 ms)
This parameter specifies how long the gateway shall wait after transmitting a broadcast transaction before processing the next entry in the scanlist. The value should be set high enough to
allow the slave devices time to finish the handling of the broadcast.
The entered value is multiplied by 10. For instance, an entered value of 5 results in 50 ms.
Note: This setting is only relevant for the Broadcaster node.
Offline options for fieldbus
This parameter specifies the action to take for this transaction if the higher level network goes
offline. This affects the data that is sent to the subnetwork.
• Clear - The data destined for the slave-devices is cleared (set to zero)
• Freeze - The data destined for the slave-device is frozen
• NoScanning -The updating of the subnetwork is stopped
Offline options for subnetwork
This parameter specifies the action to take for this transaction if the subnetwork goes offline.
This affects the data that is reported to the control system.
• Clear - Data is cleared (0) on the higher level network if the subnetwork goes offline
• Freeze - Data is frozen on the higher level network if the subnetwork goes offline
Reconnect time (10 ms) This parameter specifies how long the gateway shall wait before attempting to reconnect a disconnected node. A node will be disconnected in case the maximum number of retries (below)
has been reached.
The entered value is multiplied by 10. For instance, an entered value of 5 results in 50 ms.
Note: This setting is not relevant for the Broadcaster node.
Retries
This parameter specifies how many times a timeout may occur in sequence before the node is
disconnected.
Timeout time (10 ms)
This parameter specifies how long the gateway will wait for a response from a node. If this time
is exceeded, the gateway will retransmit the Query until the maximum number of retries (see
above) has been reached.
Trigger byte address
This parameter specifies the location of the trigger byte in internal memory (only relevant when
‘Update mode’ is set to ‘Change of state on trigger’).
Update mode
This parameter is used to specify when the transaction shall be sent to the slave:
The entered value is multiplied by 10. For instance, an entered value of 5 results in 50 ms.
Valid settings range from 0x200... 0x3FF and 0x400... 0xNNN
• Cyclically
The transaction is issued cyclically at the interval specified in the ‘Update time’ parameter.
• On data change
The data area is polled for changes at the time interval defined by Update time. A transaction is issued when a change in data is detected.
• Single shot
The Query is issued once at start up.
• Change of state on trigger
The Query is issued when the trigger byte value has changed. This feature enables the
control system to notify the gateway when to issue a particular Query. To use this feature
correctly, the control system must first update the data area associated with the Query/
transaction, then increase the trigger byte by one. The location of the trigger byte is specified by the ‘Trigger byte address’ parameter.
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Parameter
Description
Update time (10 ms)
This parameter specifies how often the transaction will be issued in steps of 10 ms (only relevant when ‘Update mode’ is set to ‘Cyclically’).
The entered value is multiplied by 10. For instance, an entered value of 5 results in 50 ms.
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6.3.2 Parameters (Response)
(To gain access to these parameters, select a Response-transaction in the Navigation Section)
Parameter
Description
Trigger byte
This parameter is used to enable/disable the trigger functionality for the response. If
enabled, the gateway will increase the trigger byte by one when the gateway receives new
data from the subnetwork. This can be used to notify the control system of the updated
data.
The location of the trigger byte is specified by the ‘Trigger byte address’ parameter below.
Trigger byte address
This parameter specifies the location of the trigger byte in the internal memory buffer.
Valid settings range from 0x000... 0x1FF and 0x400... 0xNNN
6.4 Transaction Parameters (Generic Data Mode)
6.4.1 Produce-Transactions
(To gain access to these parameters, select a Produce Transaction in the Navigation Section)
Parameter
Description
Offline options for fieldbus
This parameter specifies the action to take for this transaction if the higher level network
goes offline. This affects the data that is sent to the subnetwork.
• Clear
Data is cleared (0) on the subnetwork if the higher level network goes offline
• Freeze
Data is frozen on the subnetwork if the higher level network goes offline
• NoScanning
Stop subnet scanning for this transaction if the higher level network goes offline
Update mode
The update mode for the transaction:
• Cyclically
The transaction is sent cyclically at the interval specified in the ‘Update Time’-parameter.
• On data change
The data area is polled for changes at the time interval defined by Update time. A
transaction is issued when a change in data is detected.
• Single shot
The transaction is sent once at startup.
• Change of state on trigger
The transaction is sent when the trigger byte has changed. This feature enables the
control system to notify the gateway when to issue a particular transaction. To use this
feature correctly, the control system must first update the data area associated with
the transaction, then increase the trigger byte by one. The location of the trigger byte
is specified by the ‘Trigger byte address’ parameter.
Update time (10 ms)
This parameter specifies how often the transaction will be issued in steps of 10ms (only
relevant when ‘Update mode’ is set to ‘Cyclically’).
The entered value is multiplied by 10. For instance, an entered value of 5 results in 50 ms.
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Parameter
Trigger byte address
Description
This parameter specifies location of the trigger byte in the internal memory buffer.
If ‘Update mode’ is set to ‘Change of state on trigger’, the memory location specified by
this parameter is monitored by the gateway. Whenever the trigger byte is updated, the
gateway will produce the transaction on the subnetwork.
This way, the control system can instruct the gateway to produce a specific transaction on
the subnetwork by updating the corresponding trigger byte.
The trigger byte should be incremented by one for each activation. Please note that the
trigger byte address must be unique to each transaction. It can not be shared by two or
more transactions.
Note: This parameter has no effect unless the ‘Update mode’ parameter is set to ‘Change
of state on trigger’.
Valid settings range from 0x200... 0x3FF and 0x400... 0xNNN
6.4.2 Consume-Transactions
(To gain access to these parameters, select a Consume Transaction in the Navigation Section)
Parameter
Description
Offline options for subnetwork
This parameter specifies the action to take for this transaction if the subnetwork goes
offline. This affects the data that is sent to the higher level network.
• Clear
Data is cleared (0) on the higher level network if the subnetwork goes offline
• Freeze
Data is frozen on the higher level network if the subnetwork goes offline
Offline timeout time (10 ms) This parameter specifies the maximum allowed time between two incoming messages in
steps of 10ms. If this time is exceeded, the subnetwork is considered to be offline. A value
of 0 disables this feature, i.e. the subnetwork can never go offline.
The entered value is multiplied by 10. For instance, an entered value of 5 results in 50 ms.
Trigger byte
• Enable
Enables the trigger byte. The location of the trigger byte must be specified in the ‘Trigger byte address’ (below).
The trigger byte value will be increased each time a valid transaction has been consumed by the gateway.
The trigger byte will also be increased if the offline option is set to “Clear” and the
offline timeout time value is reached.
This feature enables the control system to be notified each time new data has been
consumed on the subnetwork.
• Disable
Disables the trigger byte functionality.
Trigger byte address
This parameter specifies the location of the trigger byte in the internal memory buffer.
Valid settings range from 0x000... 0x1FF and 0x400... 0xNNN.
Please note that the trigger byte address must be unique to each transaction. It can not be
shared by two or more transactions.
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6.5 Transaction Editor
The Transaction Editor can be used to edit the individual frame objects of a transaction. The same settings are also available in the parameter section of the main window, however the Transaction Editor
presents the frame objects in a more visual manner.
Frame
Objects
To edit the value of a parameter, click on it and enter a new value using the keyboard. When editing
transactions which are based on predefined commands, certain parts of the transaction may not be editable.
The File menu features the following entries:
•
Apply Changes
This will save any changes and exit to the main
window.
•
Exit
Exit without saving.
Example:
The transaction created in this example are built up as follows:
The first byte holds the STX (0x02) followed by two bytes specifying the length of the data field
(in this case 8). The next 8 bytes are data and since this is a ‘query’-transaction, the data is to be
fetched from the Output Area which starts at address location 0x202. No swapping will be performed on the data. This is followed by a two-byte checksum. The checksum calculation starts
with the second byte in the transaction.
The transaction ends with a byte constant, the ETX (0x03).
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Chapter 7
7. Frame Objects
7.1 General
Each transaction consists of Frame Objects which makes up the serial telegram frame. Each Frame Object specifies how the gateway shall interpret or generate a particular part of the telegram.
There are 5 types of frame objects, which are described in detail later in this chapter:
•
Constant Objects
•
Limit Objects
•
Data Objects
•
Variable Data Objects
•
Checksum Objects
Example:
The following Transaction consists of several frame objects; three constants, a data object, and
a checksum object.
Transaction
Constant
Constant
Variable Length Data
Checksum
Constant
7.2 Adding and Editing Frame Objects
To add a frame object to a Transaction, right-click on the Transaction in the Navigation Section and select one of the entries in the
menu that appears.
The entry called ‘Transaction Editor’ will launch the Transaction
Editor, which is used to edit transactions and frame objects in a
more visual manner. For more information, see “Transaction Editor” on page 40.
To edit parameters associated with a particular frame object, select
the frame object in the Navigation Section. The settings for that
frame object will be displayed in the Parameter Section.
Data Object, Parameters
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It is also possible to edit the frame objects in a transaction in a
more visual manner using the Transaction Editor, see “Transaction Editor” on page 40
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7.3 Constant Objects (Byte, Word, Dword)
Constant Objects have a fixed value and come in three sizes:
•
Byte
8 bits
•
Word
16 bits
•
Dword
32 bits
Constants are handled differently depending on the direction of the transaction:
•
Produce/Query Transactions
The gateway will send the value as it is without processing it.
•
Consume/Response Transactions
The gateway will check if the received byte/word/dword matches the specified value. If not, the
message will be discarded.
To set the value of the object, select it in the Navigation Section and enter the desired value in the Parameter section.
Parameter
Description
Value
Constant value
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7.4 Limit Objects (Byte, Word, Dword)
Limit Objects have a fixed range and come in three sizes:
•
Byte
8 bits
•
Word
16 bits
•
Dword
32 bits
Limit Objects are handled differently depending on the direction of the transaction:
•
Produce/Query Transactions
This object shall not be used for such transactions (value will be undefined).
•
Consume/Response Transactions
The gateway will check if the received byte/word/dword fits inside the specified boundaries. If
not, the message will be discarded.
There are 3 types of interval objects:
•
Byte
8 bit interval
•
Word
16 bit interval
•
Dword
32 bit interval
To set the range of the object, select it in the Navigation Section and enter the desired range in the Parameter section as follows:
Parameter
Description
Maximum Value
This is the largest allowed value for the range.
Range:0x00... 0xFFh(byte)
0x0000... 0xFFFFh(word)
0x00000000... 0xFFFFFFFFh(dword)
Note: Value must be larger than the Minimum Value (below)
Minimum Value
This is the smallest allowed value for the range.
Range:0x00... 0xFEh(byte)
0x0000... 0xFFFEh(word)
0x00000000... 0xFFFFFFFEh(dword)
Note: Value must be less than the Maximum Value (above)
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7.5 Data Object
Data Objects are used to represent raw data as follows:
•
Produce/Query Transactions
The specified data block is forwarded from the higher level network to the subnetwork.
•
Consume/Response Transactions
The specified data block is forwarded from the subnetwork to the higher level network.
To specify the properties of the object, select it in the Navigation Section and enter the desired settings
in the Parameter section as follows:
Parameter
Description
Byte Swapping
• No Swapping
No swapping is performed on the data
• Swap 2 bytes
A, B, C, D becomes B, A, D, C
• Swap 4 bytes
A, B, C, D becomes D, C, B, A
Data Length
The length of the data block, in bytes. In case of a Response or Consume transaction, incoming messages where the data size differs from the value specified here will be discarded. Maximum data length allowed for one frame is 300 bytes.
Data Location
The location of the data block in the internal memory buffer
7.6 Variable Data Object
Note: Only one Variable Data Object is permitted for each transaction.
This object is similar to the Data Object, except that it has no predefined length. Instead, an End or
Length-character specifies the size of the data block as follows:
(Variable Data Object)
Data
Data of arbitrary length
•
(Variable Data Object)
0x00
End Character
0x04
Length Character
Data
4 bytes of data
Produce/Query Transactions
The specified data block will be forwarded from the higher level network to the subnetwork. The
control system must supply an End- or Length-character in order for the gateway to know the
size of the data block.
The End- or Length-character itself may either be forwarded to the subnetwork or discarded.
•
Consume/Response Transactions
The specified data block is forwarded from the subnetwork to the higher level network. The
End- or Length-character will be generated by the gateway automatically (if applicable).
The End- or Length-character itself may either be forwarded to the higher level network or discarded.
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To specify the properties of the object, select it in the Navigation Section enter the desired settings in
the Parameter section as follows:
Parameter
Description
Byte Swapping
• No Swapping
No swapping will be performed on the data
• Swap 2 bytes
A, B, C, D becomes B, A, D, C
• Swap 4 bytes
A, B, C, D becomes D, C, B, A
Fill unused bytes
• Enableda
Fill unused data with the value specified in ‘Filler byte’.
• Disabled
Don’t fill
Filler byte
Filler byte value. Only used if ‘Fill unused bytes’ has been enabled.
Data Location
The offset in the internal memory buffer where the data shall be read from / written to
Object Delimiter
• Length Character
Length character is visible in the internal memory buffer but not on the subnetwork
• Length Character Visible
The length character is visible both in the internal memory buffer and on the subnetwork.
• End Character
The end character is visible in the internal memory buffer but not on the subnetwork.
• End Character Visible
The end character is visible both in the internal memory buffer and on the subnetwork
• No Charactera
No End- or Length-character is generated in the internal memory buffer.
End Character Value
End Character valueb
Maximum Data Length
The maximum allowed length (in bytes) of the variable data object. If the actual length of the
data exceeds this value, the message will be discarded. The value must not exceed 300 bytes,
which is the maximum data length allowed for one frame.
a. Only relevant for Consume/Response transactions
b. Only used if ‘Object Delimiter’ is set to ‘End Character’ or ‘End Character Visible’
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7.7 Checksum Object
Most serial protocols features some way of verifying that the data has not been corrupted during transfer. The Checksum Object calculates and includes a checksum in a transaction.
Parameter
Description
Error Check Start byte This parameter specifies the byte offset in the transaction to start checksum calculations on
Error Check Type
This parameter specifies which type of algorithm to use:
• CRC (2 bytes)
CRC-16 with 0xA001 polynome (Modbus RTU standard)
• LRC (1 byte)
All bytes are added together as unsigned 8-bit values. The 2’s complement of the result will
be used as a checksum.
• XOR (1 byte)
All bytes are logically XOR:ed together. The resulting byte will be used as a checksum.
• ADD (1 byte)
All bytes are added together as unsigned 16-bit values. The lowest 8 bits in the result will be
used as a checksum.
• AddInvASCII (2 bytes)
All bytes are added together as unsigned 8-bit values. The lowest 8 bits in the result are
inversed and used as a checksum, represented as hexadecimal ASCII (2 bytes).
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Chapter 8
8. Commands
This information is only valid for master mode and generic mode. For DF1 master mode, please refer
to “Services” on page 56.
8.1 General
As mentioned previously, commands are actually predefined transactions that can be stored and reused.
Just like regular transactions, commands consist of frame objects and are representations of the actual
serial telegrams exchanged on the serial subnetwork.
Adding a command to a node actually results in (a) transaction(s) being added according to the directions
specified in the command. The frame objects in such a transaction may retrieve their values not only
from parameters in the parameter section, but also from other sources such as the ‘SlaveAddress’-parameter (see “Node Parameters” on page 33). In such case, the parameters in the parameter section will
be greyed out and cannot be edited directly.
In Master Mode, Anybus Configuration Manager comes preloaded with commands for most common
Modbus RTU functions. Additional commands can easily be added using the Command Editor (see
“The Command Editor” on page 49). For DF1 Master Mode, see “Services” on page 56. In Generic
Data Mode, no predefined commands exist, but custom ones may be implemented as desired.
8.2 Adding & Managing Commands
To add a command to a node, right-click on the node in the Navigation Section and select ‘Add Command’.
A list of commands will appear:
Select the desired command in the list, and select ‘Add Command’
in the ‘Command’-menu. The specified command will be added
to the node.
Just like other transactions, the frame objects of added command
may be edited in the Navigation/Parameter Section or using the
Transaction Editor. Note however that certain frame objects may
be locked for editing.
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8.2.1 Pull-Down Menu
File
This menu features the following entries:
•
Select
Add the currently selected Command to the node.
•
Exit
Exit without adding a command to the node.
Command
This menu is used to manage the commands in the list:
•
Add Command
Add a custom command to the list, and open the
new command in the Command Editor.
See also “The Command Editor” on page 49.
•
Edit Command
Edit the currently selected command using the
Command Editor.
See also “The Command Editor” on page 49.
•
Delete Command
Delete the currently selected command from the list. Note that some commands are fixed and
cannot be deleted.
8.2.2 Toolbar Icons
The toolbar features icons for the most commonly used functions.
•
Add Command
(Same as ‘Add Command’ in the ‘Command’-menu).
Add Command
•
Edit Command
(Same as ‘Edit Command’ in the ‘Command’-menu).
Edit Command
•
Delete Command
(Same as ‘Delete Command’ in the ‘Command’-menu).
Delete Command
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8.3 The Command Editor
8.3.1 General
The Command Editor is used to define new commands and edit existing ones. This makes it possible
to build a library of commands, which can be stored and reused at a later stage.
Note that the Command Editor is somewhat protocol-dependent in the sense that certain frame objects
may not be deleted or altered.
The examples in this section use Master Mode. The procedures involved are similar in Generic Data
Mode, but without the limitations imposed by the Modbus RTU protocol.
8.3.2 Basic Navigation
Open the Command Editor by selecting ‘Edit Command’ or ‘Add Command’ from the ‘Command’menu.
A
B
D
E
C
A: Pull-down Menu
See “Pull-down Menu” on page 50.
B: Name of Command
Actual name of the command, in text form.
C: Command Transactions
This section holds the actual transactions associated with the command. This can either be a query-response pair, or a single transaction, depending on the protocol mode etc.
D: Command ID
This can be used as desired when building the command, e.g. to specify the function code.
E: Other Settings
Setting
Allow Broadcasting
Produce
Consume
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Description
Specifies if it is allowed to broadcast the command (only relevant in Master Mode)
The command is producing data (Generic Data Mode only)
The command is consuming data (Generic Data Mode only)
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8.3.3 Pull-down Menu
File
This menu features the following entries:
•
Apply Changes
Save changes and exit to the main window.
•
Exit
Exit without saving.
Column
The functions in this menu alters the structure of the command.
•
Append Column
Add another column to the command.
•
Insert Column
Insert a column at the selected position.
•
Delete Command
Delete the column at the selected position.
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8.3.4 Editing a Command
As mentioned previously, the transaction section in the Command Editor represents the actual transactions associated with the command. Each column represents a frame object within the transaction.
Each column features four rows with the following parameters:
•
Query/Response/Produce/Consume
The upper right cell indicates the direction of the transaction.
•
DisplayName
Each column can be named so that the different parts of the command appears in a more user
friendly manner when editing its settings in the Transaction Editor or in the Parameter Section
of the Main Window.
•
ObjectType
This row specifies the type of frame object that shall be used for the column.
•
Value
This row specifies where the frame object shall retrieve its value/settings.
Value
Description
Depend
This setting is only relevant for Responses in Master Mode.
The value will be retrieved from the corresponding part of the ‘Query’-transaction.
Id
The value will be retrieved from the ‘Command ID’-setting (see “Basic Navigation” on page
49).
User
The settings associated with the object can be edited by the user.
[SlaveAddress] The value will be retrieved from the ‘SlaveAddress’-parameter (see “Node Parameters” on
page 33).
(other settings) Other settings are no longer supported.
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8.3.5 Example: Specifying a Modbus-RTU Command in Master Mode
In the following example, a Modbus-RTU command is created in Master Mode. In Modbus-RTU, a
transaction always feature the following parts:
•
Slave Address (1 byte)
•
Function Code (1 bytes)
•
A data field
•
CRC (CRC-16)
Furthermore, each command always consists of a query and a response.
•
Example Query
Query
•
1
2
3
4
DisplayName Slave Address
Function
Data
Checksum
Object Type
Byte Object
Byte Object
Data Object
Checksum Object
Value
[SlaveAddress]
ID
User
User
The value of this byte
constant will be set
using the ‘SlaveAddress’ parameter (see
“Node Parameters” on
page 33).
The value of this byte
constant will be set
using the ‘Command
ID’-field.
The size and location
of the data associated
with this object is
determined by the
user.
The checksum type
etc can be selected by
the user. By default,
this is set to match the
Modbus-RTU standard.
2
3
4
DisplayName Slave Address
Function
Data
Checksum
Object Type
Byte Object
Byte Object
Data Object
Checksum Object
Value
[SlaveAddress]
ID
User
Depend
This value is linked to
the ‘SlaveAddress’
parameter in the
parameter window.
The value of this byte
constant will be set
using the ‘Command
ID’-field.
The size and location
of the data associated
with this object is
determined by the
user.
This object will
retrieve its settings
from the corresponding object in the
Query.
Example Response
Response
1
By default, the Modbus-RTU-specific frame objects are already in place, and a data object is inserted
between the function code and the CRC. These objects cannot be moved or deleted, however it is possible to add additional objects between the function code and the CRC as desired.
Name the new command by entering its name in the ‘Command Name’-field, and enter a suitable function code in the ‘Command ID’-field. If the command is allowed to be broadcasted, check the ‘Allow
Broadcasting’-checkbox.
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Chapter 9
9. DF1 Protocol Mode
This mode makes it possible to let the Anybus Communicator act as a DF1 protocol master on the subnetwork.
9.1 General
In DF1 master mode, communication is based on ‘services’. A ‘service’ represents a set of commands
and operations on the subnetwork, that is predefined in the Anybus Communicator. Each service is associated with a set of parameters controlling how and when to use it on the subnetwork.
The communication is based on a query-response scheme, where the gateway issues a query on the subnetwork. The addressed node on the subnetwork is expected to issue a response to that query. Nodes
are not permitted to issue responses spontaneously, i. e. without first receiving a query.
Control System
Gateway
Subnetwork Devices
In DF1 Master Mode, Anybus Configuration Manager comes preloaded with a number of services, that
can be selected by the user. The actual DF1 commands, that perform the services during runtime, are
predefined in the Anybus Communicator. The configuration of the services is performed by right-clicking on a node in the Anybus Configuration Manager and selecting ‘Add Command’.
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9.2 ABC Parameters
(Select ‘ABC’ in the Navigation Section to gain access to the parameters
described in this section).
Interface
Currently, only serial communication is supported.
Status / Control Word
(See “Control and Status Registers” on page 69).
Value
Description
Enabled
Enable the Control and Status Registers. The ‘Data Valid’-bit in the Control Register must
be set to start the subnetwork communication.
Enabled but no startup lock
This setting is similar to ‘Enabled’, except that the control system is not required to set the
‘Data Valid’-bit to start the subnetwork communication.
Disabled
This setting completely disables the Control and Status Registers.
Module Reset
This parameter specifies how the gateway will behave in the event of a fatal error.
Value
Description
Enabled
The gateway will be restarted, and no error will be indicated to the user.
Disabled
The gateway will halt and indicate an error.
Protocol Mode
This parameter specifies which protocol mode to use for the subnetwork.
Value
Description
DF1
This mode is intended for the DF1 protocol. The Anybus Communicator can only be configured as a Master with half-duplex communication.
Note: This is the only mode available if you intend to configure an ABC module for DF1.
See also “Protocol Modes” on page 19.
Statistics
The Transmit- and Receive Counters indicate how many transactions that have successfully been exchanged on the subnetwork. This feature is primarily intended for debugging purposes.
•
Receive Counter Location
Specifies the location of the Receive Counter in the internal memory buffer.
•
Transmit Counter Location
Specifies the location of the Transmit Counter in the internal memory buffer.
Both counters are enabled by setting ‘Statistics’ to ‘Enabled’.
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9.3 Subnetwork Parameters
(To gain access to the parameters described in this section, select ‘Subnetwork’ in the Navigation Section).
Communication
These parameters specify the actual communication settings used for the subnetwork.
Parameter
Description
Valid Settings
Bit rate (baud rate)
Selects the bit rate
2400
4800
9600
19200
38400 (Default)
Data bits
Selects the number of data bits
8
Parity
Selects the parity mode
None, Odd, Even
Physical standard
Selects the physical interface type
RS232, RS422, RS485
Start bits
Number of start bits.
Stop bits
Number of stop bits.
1
DF1 Settings
Parameter
Master Node Address
Poll time, active slaves (10 ms)
Description
Node address of the master, valid values: 0 - 254, default 1
Determines how often the slave shall be polled in steps of 10 ms, default 100 msa
Poll time, inactive slaves (10 ms) Determines how often the slave shall be polled in steps of 10 ms, default 1000 msb
a. The default value is given as 10 in the parameter window. Each change of 10 ms either increases or decreases
this value by 1, i.e. 9 represents a poll time of 90 ms and 11 represents a poll time of 110 ms.
b. The default value is given as 100 in the parameter window. Each change of 10 ms either increases or decreases
this value by 1, i.e. 99 represents a poll time of 990 ms and 101 represents a poll time of 1010 ms.
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9.4 Node Parameters
To gain access to the parameters described in this section, select a node
in the navigation section. For more information about nodes, see
“Nodes” on page 33.
Parameter
Checksum
Description
Selects the type of checksum on the network.
Slave Address
Type
The value entered here sets the node address.
The PLC type of the slave
Valid Settings
BCC
CRC (default)
0-254
PLC-5
SLC500
MicroLogix
9.5 Services
Services are commands that can be stored and reused. The user configures each slave with services that
can be issued from the master. A total of 50 services are allowed.
The Anybus Communicator supports a selection of DF1 commands. When the gateway is going to execute a service, it automatically chooses the appropriate DF1 command(s) that are used to perform the
service on the selected DF1 node type.
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9.5.1 Available Services
Right click on the node, and choose Add Command.
A pop-up window will show the four different services that are available:
•
Integrity check
•
Read diagnostics
•
Read data
•
Write data
A maximum of 50 services in total (for all nodes) can
be selected.
The predefined services can be configured to suit the
application. Select a service to show the parameters.
General Configuration Parameters
These parameters are common to all services, but the settings
are individual to each instance of a service.
General:
Parameter
Offline options for
fieldbus
Offline options for
subnetwork
Update mode
Description
The action to take for this service
if the fieldbus goes offline. This
option affects the data that is sent
out to the subnetwork.
The action to take for this service
if the subnetwork goes offline.
This option affects the data that is
reported to the fieldbus master.
The update mode for this service
Valid settings
Clear
Freeze
Noscanning
Clear
Freeze
Cyclically
On data change
Single shot
Change of state
on trigger
Timing:
Parameter
Retries
Timeout time (10 ms)
Description
The number of times to resend this service before the node is disconnected
The time to wait before resending this service (in steps of 10 ms)a
Default
3
1000 ms
Update time (10 ms)
The minimum time between two services of this kind (in steps of 10 ms)a
1000 ms
a. The default value is given as 100 in the parameter window. Each change of 10 ms either increases or decreases
this value by 1, i.e. 99 represents a poll time of 990 ms and 101 represents a poll time of 1010 ms.
Trigger:
Parameter
Request Trigger byte
address
Response Trigger byte
Response Trigger byte
address
Description
The memory location of the trigger byte this service uses for updates on trigger
byte changes
Enables/disables the trigger byte
The memory location of the trigger byte this service uses for updates on trigger
byte changes
Valid settings range from 0x200... 0x3FF and 0x400... 0xNNN
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0x05FF
Disabled
0x05FF
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9.6 Integrity Check
This service checks that a node is up and running correctly. A telegram is sent to the node. The node
mirrors and returns the telegram. No configuration is needed, apart from the general parameters, common to all services.
9.7 Read Diagnostics
This service reads diagnostic information from the module.
Command parameters
The command parameter Size decides the amount of data that can be read. The size is given in bytes
which means that it always has to be an even number as only whole elements can be read from the slave.
One bit/integer element is 2 bytes and one float element is 4 bytes. The range of the size differs, depending on node type:
Size range (in bytes)
PLC-5
1-26
SLC500
1-28
MicroLogix
1-26
Data options:
Parameter
Byte swap
Data length
Offset
Description
Determines if the data shall be swapped
Valid settings
No byte swap
Swap words
Swap double words
The number of bytes, read from the DF1 network, to write to the area determined ≤ Size
by the Offset parameter
The offset in the internal memory buffer in the module, where the data shall be
read. See “Memory Map” on page 17
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9.8 Read Data
This service is used to read data from the nodes in the subnetwork.
Command Parameters
Parameter
Description
Element Number The element number of the data file to be accessed within the slave.
File number
File type
Size
Valid settings
PLC-5: 0-999
SLC500: 0-255
MicroLogix: 0-255
The file number of the data file to be accessed.
PLC-5: 3, 7, 8, 10-999
SLC500: 3, 7, 8, 10-255
MicroLogix: 3, 7, 8, 10-255
The file type of the data to be accessed.
Integer
Bit
Float
The number of bytes to read from the slave. One bit/integer element is PLC-5: 2-240
2 bytes and one float element is 4 bytes. The parameter must have an SLC500: 2-236
even value as only whole elements can be read from the slave.
MicroLogix: 2-242
Data Options
Parameter Description
Byte swap Determines if the data shall be swapped.
Valid settings
No byte swap
Swap words
Swap double words
Data length The number of bytes, read from the DF1 network, to write to the area determined ≤ Size
by the Offset parameter
Offset
The offset in the internal memory buffer in the module, where the data shall be
read. See “Memory Map” on page 17.
Note: If the control and status registers are enabled (default), first available data
location will be: Input area 0x002, Output area 0x202.
9.9 Write Data
This service is used to write data to the nodes in the subnetwork. The parameters to be configured are
the same as for the service Read Data. The only difference is that data is read from the internal memory
buffer in the Anybus Communicator and written to the subnetwork bus, instead of being written to the
internal memory buffer.
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Chapter 10
10. Subnetwork Monitor
General
The Subnetwork Monitor is intended to simplify configuration and troubleshooting of the subnetwork.
Its main function is to display the data allocated for subnetwork communication and detect if any area
has been allocated twice (i.e if a collision has occurred).
All configured nodes, and their transactions, are listed in the middle of the screen (B). Selecting and deselecting single transactions makes it possible to view any combination of allocated data.
Note: The subnetwork monitor has a negative influence on the overall performance of the gateway.
Therefore the monitor functionality should be used with care.
Operation
A
B
C
A: Start Network & Stop Network Icons
These icons controls the subnetwork activity. To stop all subnetwork
activity, click on the red light. To start the subnetwork again, click on
the green light.
Start
Stop
B: Nodes / Transactions
To view data blocks associated with a transaction, select the transaction in the list. The corresponding data will then appear in the Monitor Section (C).
C: Monitor Section
This section visualizes how data is allocated in the Input, Output and General Data areas.
Color
White
Yellow
Blue
Red
Grey
Green
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Meaning
Not allocated.
Data allocated by a Response or Consume transaction.
Data allocated by a Query or Produce transaction
Collision; area has been allocated more than once.
Reserved (illustrates memory consumption, area can be allocated if necessary)
Data allocated by Trigger byte, Transmit/Receive Counter, or Control/Status Registers.
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Chapter 11
11. Node Monitor
11.1 General
The Node Monitor can provide valuable information when setting up the communication with the subnetwork, by allowing individual commands to be issued manually, and monitoring the response (if applicable). It also provides an overview of the memory used by a particular node.
Note: The node monitor has a negative influence on the overall performance of the gateway, i.e. it
should be used only when necessary.
The Node Monitor behaves somewhat differently in the three protocol modes:
•
Master Mode and DF1 Master Mode
The selected Command (Query Transaction) or Service is sent to the subnetwork. The response
to the Query can be monitored in the Response Section.
Command Section (Query)
Subnetwork
Response Section
•
Generic Data Mode
The selected command (Transaction Produce) is sent to the subnetwork. It is not possible to
monitor any responses etc. generated by other nodes.
Command Section (Produce)
Subnetwork
(Not used)
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11.2 Navigating the Node Monitor
A
B
C
D
A: Pull-down Menu & Toolbar Icons
See “Pull-Down Menu” on page 63 and “Toolbar Icons” on page 64.
B: Command Section
This section holds the currently selected command. The individual frame objects in the command can be edited in a similar way as in the Transaction and Command Editors.
C: Response Section (Master Mode and DF1 Master Mode only)
This section holds the response to the selected Command.
D: Monitor Section
This section displays the data associated with the node. Areas in dark grey are reserved for the
Status & Control Registers, and areas displayed in light grey represent the data that is used by the
node.
The data displayed in this section will be refreshed based on the refresh-icons in the toolbar. For
more information, see “Toolbar Icons” on page 64.
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11.2.1 Pull-Down Menu
File
There is only one entry in this menu:
•
Exit
This will close the Node Monitor. Note however that if the node has
been disabled using ‘Stop Node’ (see below), it will not resume data
exchange until enabled again using ‘Start node’.
Node
This menu controls the data exchange for the node. This feature can
help isolate problems associated with a particular node.
•
Start Node
Enable the transactions associated with the node.
•
Stop Node
Disable the transactions associated with the node.
Command
This menu is used to specify and issue a command manually.
•
Select Command
Select a command to be sent to the subnetwork.
•
Send Command
Send the specified command to the subnetwork.
Columns
This menu specifies the number of columns in the Monitor
Section.
•
Free
The number of columns depends on the width of the window.
•
8 Multiple
The number of columns will be fixed to 8.
View
This menu specifies the data representation in the Monitor Section.
•
Hex
Display the data in hexadecimal format.
•
Decimal
Display the data in decimal format.
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11.2.2 Toolbar Icons
The toolbar features icons for the most commonly used functions.
•
Start Node & Stop Node
These icons corresponds to the functions in the ‘Node’-menu.
See also “Node” on page 63.
•
Start
Stop
Select
Send
Stop
Resume
Select Command & Send Command
These icons corresponds to the functions in the ‘Command’-menu.
See also “Command” on page 63.
•
Resume Refresh & Stop Refresh
When enabled, the data displayed in the Monitor Section will be refreshed cyclically. When disabled, i.e. stopped, the data will have to be
refreshed manually using the ‘Refresh’-icon (see below).
•
Refresh
When clicking on this icon, the data displayed in the Monitor Section will be refreshed.
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Chapter 12
12. Data Logger
12.1 General
This feature allows the subnetwork traffic to be logged into a buffer for examination. This may provide
valuable information when debugging the lowest levels of the subnetwork communication.
Note that the logger function is part of the gateway itself and is separate from the Anybus Configuration
Manager. This means that logging can be performed even if the gateway is physically disconnected from
the PC running the Anybus Configuration Manager.
12.2 Operation
Start & Stop Logging
•
Start logging
Select ‘Start Logging’ in the ‘Tools’-menu. Anybus Configuration Manager will then prompt for
the desired mode of operation, see below.
•
Stop logging
Select ‘Stop Logging’ in the ‘Tools’-menu. This will open the log-window, see below.
Modes of Operation
Select the desired mode of operation and click ‘OK’ to start logging data.
•
Log until full
Data will be logged until the log-buffer is full.
•
Log continuously
Data will be logged continuously until logging is
stopped by clicking ‘Stop Logging’. The log-buffer
will contain the most recent data.
Log Window
The logged data is displayed in hexadecimal, decimal and ASCII format for both directions. The time between the log-entries is displayed in a separate column.
The data may optionally be saved in ASCII text format by
clicking ‘Create Text file’.
Click ‘Close’ to exit.
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12.3 Configuration
By default, the log-buffer can hold 512 bytes of data in each
direction. To specify a different size for the buffer, select
‘Options’ in the ‘Tools’-menu.
A window with various settings will appear. Select the ‘ABC’tab, and enter the desired number of buffer entries under
‘Size of logbuffer’ (valid settings range from 1...512).
Click ‘Apply’ to validate the new settings.
Click ‘OK’ to exit.
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Chapter 13
13. Configuration Wizards
13.1 General
When creating a new subnetwork configuration, the Anybus Configuration Manager provides a choice
between starting out with a blank configuration, or using a predefined template, a.k.a a wizard.
The wizard automatically creates a subnetwork configuration based on information supplied by the user,
i.e the user simply has to “fill in the blanks”. Note however that this will only work when the subnetwork
fits the wizard profile; in all other cases the ‘Blank Configuration’ option must be used.
13.2 Selecting a Wizard Profile
The following window appears each time the Anybus Configuration Manager is started, or upon selecting the ‘New’ entry in the ‘File’-menu (unless it has been disabled in the ‘Options’-menu, see “Tools”
on page 26).
Currently, the following wizards are available:
•
ABCC ExtLink Wizard
This wizard is intended for use with the Anybus-CompactCom Modbus-RTU fieldbus communication
module.
•
Wizard - Modbus RTU Master
This option is suitable for Modbus RTU-based networks.
See also “Wizard - Modbus RTU Master” on page 68.
•
Blank Configuration
This option creates an empty configuration.
Highlight the desired wizard and click ‘OK’ to continue.
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13.3 Wizard - Modbus RTU Master
This wizard can be used to create a Modbus-RTU-based network configuration based on certain information about the subnetwork. The online help system explains each configuration step in detail.
•
Important Notes:
Many OEM devices do not fully comply with the Modbus standard. For example, they may implement a variation of this standard or be limited to the use of specific Modbus commands other
than the ones used by this wizard. In all cases, the user should consult the documentation of the
devices that shall be used on the subnetwork for information about their serial communication
requirements, and if necessary contact the manufacturer of the device to obtain further information about the serial communication protocol.
In the event that the wizard doesn’t handle a particular Modbus command required by a device,
it is possible to specify this command manually as a transaction in the Anybus Configuration
Manager.
Using this wizard involves the following steps:
Step 1: Communicator Type
Select ‘CANopen’.
Click ‘Next’ to continue.
Tip: It is possible to return to a previous
menu at any time without losing any settings by clicking ‘Previous’.
Step 1a: I/O Sizes
Specify the sizes of the input and output
data areas. For more information, see
“IO Sizes” on page 29.
Click ‘Next’ to continue.
Step 2: Physical Settings
Select the physical properties of the subnetwork.
Click ‘Next’ to continue.
Steps 3 - 6
Consult the online help system for further information.
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Chapter 14
14. Control and Status Registers
14.1 General
The Control and Status Registers are disabled by default, but can be enabled using the Anybus Configuration Manager (see “Status / Control Word” on page 30). These registers form an interface for exchanging status information between the subnetwork and the fieldbus control system.
The main purpose of these registers is to...
•
Report subnetwork related problems to the fieldbus control system
•
Ensure that only valid data is exchanged in both directions
•
Enable the fieldbus control system to start/stop data exchange with selected nodes on the subnetwork
If enabled, these registers occupy the first two bytes in the input and output data areas (0x000-0x001 and
0x200-0x201 respectively), which means they can be accessed from the fieldbus just like any other data
in these areas.
Note: Internally, these registers are stored in Motorola-format (i.e. MSB first). If the higher level network uses a different byte order, the upper and lower bytes will appear swapped.
14.1.1 Handshaking Procedure
A special handshaking procedure, which is illustrated in the two flowcharts below, must be followed
when accessing these registers to ensure that both parts receive proper information.
Read Status Register
Write to Control Register
Start
Start
CR_HS_CONFIRM=
SR_HS_SEND?
No
Yes
SR_HS_CONFIRM=
CR_HS_SEND?
Yes
Read Status Register
Write to Control Register
Set CR_HS_CONFIRM
to SR_HS_SEND
Toggle CR_HS_SEND
Done
Done
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14.1.2 Data Consistency
The ‘Data Valid’-bits in the Control and Status Registers are used to ensure data consistency during startup and fieldbus offline/online transitions.
If the ‘Status / Control Word’-parameter in Anybus Configuration Manager is set to ‘Enabled’, the gateway will wait for the fieldbus control system to set the ‘Data Valid’-bit in the Control Register before it
starts exchanging data on the subnetwork.
If the same parameter is set to ‘Disabled’ or ‘Enabled but no startup lock’, communication will start as
soon as the fieldbus goes online.
State Machine
The fieldbus network participation can be described using a state machine as described below.
A: Offline (No data exchange)
1. Clear the ‘Data Valid’-bit in the Control Register.
2. Write initial data to the Output Area
according to the subnetwork configuration.
A
Start
Offline
(no data exchange)
3. Wait until the fieldbus control system
and the gateway are online on the fieldbus network, and shift to state B.
B
Online
(not yet exchanging data)
B: Online (Not yet exchanging data)
4. Wait until the ‘Data Valid’-bit in the
Status Register is cleared by the gateway.
5. Set the ‘Data Valid’-bit in the Control
Register.
C
Online
(exchanging data)
6. When the ‘Data Valid’-bit in the Status
Register is set by the gateway, shift to
state C.
7. If the gateway goes offline on the fieldbus, shift to state A.
C: Online (Exchanging data)
Exchanging valid data in both directions.
If the gateway goes offline on the fieldbus, shift to state A.
Note: The gateway cannot spontaneously clear the ‘Data Valid’-bit in the Status Register.
Latency
The ‘Data Valid’-bit in the Status Register may in some cases be delayed. This latency can be caused by
a missing node or a bad connection to a node with a long timeout value assigned to it.
Therefore, the fieldbus control system should not wait for this bit to be set before communicating with
the subnetwork devices; it should be considered as an aid for the fieldbus control system to know when
all data has been updated.
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14.2 Status Register Contents (Gateway to Control System)
14.2.1 General Information
The Status Register is (if enabled) located at 0x000-0x001 and constitutes a bit-field as follows:
bit(s)
Name
Description
15
Send
(SR_HS_SEND)
These bits control the handshaking towards the fieldbus control system.
14
Confirm
(SR_HS_CONFIRM)
See also...
- “Handshaking Procedure” on page 69
- “Control Register Contents (Control System to Gateway)” on page 73
13
Data Valid
(Master Mode and DF1
Master Mode Only)
This bit is set when all transactions have been executed successfully at least once.
Once set, it will not change.
1:Data Valid
0:Data not Valid
Note: This bit is not used in Generic Data Mode.
12... 8 Status Code
This field holds the last status report from the gateway.
7... 0
See also...
- “Status Codes in Master Mode and DF1 Master Mode” on page 71
- “Status Code in Generic Data Mode” on page 72
Data
Note: Internally, this is treated as a Motorola-format word (i.e. MSB first). If the higher level network
uses a different byte order, the upper and lower bytes will appear swapped.
14.2.2 Status Codes in Master Mode and DF1 Master Mode
(This table is valid only in Master Mode and DF1 Master Mode).
Code
Condition
Type
Data
Description
0x00
Retransmission
Counter Updated
Warning
Counter
The number of retransmissions on the subnetwork has increased. If this problem persists,
this may eventually trigger a Single- or Multiple Node(s) Missing condition.
0x01
Single Node Missing
Error
Slave address
A single node is missing.
0x02
Multiple Nodes Missing
Error
Number of nodes Multiple nodes are missing.
0x03
Buffer Overrun
Warning
Slave address
A node returned more data than expected.
0x04
Other Error
Error
Slave address
Undefined error
0x1F
No Error
Warning
-
No errors
Note: Conditions of type ‘Error’ will eventually be followed by a ‘No Error’ condition when the cause
has been resolved. Conditions of type ‘Warning’ are however considered informational and may not necessarily be followed by a ‘No Error’ condition later on.
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14.2.3 Status Code in Generic Data Mode
(This table is valid only in Generic Data Mode).
Code
Condition
Type
Data
Description
0x00
Invalid Transaction
Counter Updated
Error
Counter
The number of invalid transactions (i.e. received transactions which doesn’t match any of the consume-transactions
defined in the subnetwork configuration) has increased.
0x01
Frame Error
Warning
-
End character is enabled, but a message delimiter timeout
occurs prior to receiving it.
0x02
Offline Timeout
Counter Updated
Error
Counter
The of number of timed out consume-transactions has
increased.
See also...
- “Consume-Transactions” on page 39 (Offline timeout
time)
0x03
Buffer Overrun
Warning
-
A node returned more data than expected - or - the gateway was unable to finish processing a message prior to
receiving a new one.
0x04
Other Error
Error
-
Undefined error
0x1F
No Error
Warning
-
No errors
Note: Conditions of type ‘Error’ will eventually be followed by a ‘No Error’ condition when the cause
no longer is detected. Conditions of type ‘Warning’ are however considered informational and may not
necessarily be followed by a ‘No Error’ condition later on.
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14.3 Control Register Contents (Control System to Gateway)
14.3.1 General Information
The Control Register is (if enabled) located at 0x200-0x201 and constitutes a bit-field as follows:
bit(s)
Name
Description
15
Confirm
(CR_HS_CONFIRM)
These bits control the handshaking towards the gateway.
14
Send
(CR_HS_SEND)
See also...
- “Handshaking Procedure” on page 69
- “Status Register Contents (Gateway to Control System)” on page 71
13
Data Valid
This bit controls data consistency (see “Data Consistency” on page 70).
1:Output Area valid; exchange data on the subnetwork
0:Output Area not valid; do not exchange data on the subnetwork
Note: This bit is only relevant if the Control/Status Registers are set as ‘Enabled’
12
Execute Command
If set, the specified command will be executed by the gateway (see below).
11... 8 Control Code
This field holds commands which can be executed by the gateway (see below).
7... 0
See also...
- “Control Codes in Master Mode and DF1 Master Mode” on page 73
- “Control Codes in Generic Data Mode” on page 73
Data
Note: Internally, this is treated as a Motorola-format word (i.e. MSB first). If the higher level network
uses a different byte order, the upper and lower bytes will appear to be swapped.
14.3.2 Control Codes in Master Mode and DF1 Master Mode
(This table is valid only in Master Mode and DF1 Master Mode).
Code
Instruction
Data
Description
0x00
Disable Node
Actual node address
Disables the specified node.
0x01
Enable Node
Actual node address
Enables a previously disabled node.
0x02
Enable Nodes
Actual number of nodes to enable
Enables the specified number of nodes, starting from the first node in the configuration.
Remaining nodes will be disabled.
14.3.3 Control Codes in Generic Data Mode
(No Control Codes are currently supported in this mode).
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Chapter 15
15. Object Dictionary Implementation
15.1 Standard Objects
15.1.1 General
The standard object dictionary is implemented according to the DS301 specification (v4.02) from CiA
(CAN in Automation).
15.1.2 Object Entries
Index
1000h
1001h
1003h
Object Name
Device Type
Error register
Pre-defined
error field
1005h COB-ID Sync
1008h Manufacturer
device name
1009h Manufacturer
hardware version
100Ah Manufacturer
software version
100Ch Guard time
100Dh Life time factor
1010h Store Parametersa
Sub-Index
00h
00h
00h
01h...05h
00h
00h
Description
Device Type
Error register
Number of errors
Error field
COB-ID Sync
Manufacturer device
name
Manufacturer hardware
version
Type
U32
U8
U8
U32
U32
Visible
string
Visible
string
00h
Manufacturer software
version
Visible RO
string
Current software revision
00h
00h
00h
Guard time
Life time factor
Largest sub index supported
Store all parameters
Largest sub index supported
Restore all default
parameters
COB ID EMCY
Number of entries
Consumer Heartbeat
Time
U16
U8
U8
RW
RW
RO
01h
U32
U8
RW
RO
01h
U32
RW
-
U32
U8
U32
RO
RO
RW
Producer Heartbeat
Time
Number of entries
Vendor ID
Product Code
Revision Number
Serial Number
Largest sub-index supported
COB ID used by PDO
Transmission type
U16
RW
01h
Node ID + Heartbeat Time.
Value must be a multiple of
1ms.
-
U8
U32
U32
U32
U32
U8
RO
RO
RO
RO
RO
RO
04h
1Bh (HMS Industrial Networks)
14h (Anybus Communicator)
Current software revision
32 bit serialnumber
02h
U32
U8
RW
RW
-
00h
01h
1011h Restore param- 00h
eters
01h
1014h COB ID EMCY 00h
1016h Consumer
00h
Heartbeat Time 01h
1017h Producer Heart- 00h
beat Time
1018h Identity object 00h
01h
02h
03h
04h
1400h Receive PDO 00h
...
parameter
144Fh
01h
02h
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RO
RO
RW
RO
RW
RO
Notes
0000 0000h (No profile)
“Anybus-C”
RO
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Index Object Name
1600h Receive PDO
...
mapping
164Fh
1800h Transmit PDO
...
parameter
184Fh
1A00h Transmit PDO
...
mapping
1A4Fh
Sub-Index Description
00h
No. of mapped application objects in PDO
01h
Mapped object #1
02h
Mapped object #2
03h
Mapped object #3
04h
Mapped object #4
05h
Mapped object #5
06h
Mapped object #6
07h
Mapped object #7
08h
Mapped object #8
00h
Largest sub-index supported
01h
COB ID used by PDO
02h
Transmission type
03h
Inhibit time
05h
Event Timer (ms)
00h
No. of mapped application objects in PDO
01h
Mapped object #1
02h
Mapped object #2
03h
Mapped object #3
04h
Mapped object #4
05h
Mapped object #5
06h
Mapped object #6
07h
Mapped object #7
08h
Mapped object #8
Type
U8
Access
RW
Notes
-
U32
U32
U32
U32
U32
U32
U32
U32
U8
RW
RW
RW
RW
RW
RW
RW
RW
RO
05h
U32
U8
U16
U16
U8
RW
RW
RW
RW
RW
-
U32
U32
U32
U32
U32
U32
U32
U32
RW
RW
RW
RW
RW
RW
RW
RW
-
a. Relevant only for communication parameters
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15.2 Manufacturer Specific Objects
15.2.1 Input Buffer, Byte Access
Index Object Name
2000h Input area
2001h Input area
...
...
2003h Input area
2004h
...
200Fh
Sub-Index
00h
01h
02h
...
80h
00h
01h
02h
...
80h
...
00h
01h
02h
...
80h
Description
No. of entries
Input area byte #0
Input area byte #1
...
Input area byte #127
No. of entries
Input area byte #128
Input area byte #129
...
Input area byte #255
...
No. of entries
Input area byte #384
Input area byte #385
...
Input area byte #511
-
-
Type
U8
U8
Access
RO
RO
Notes
129
-
U8
U8
RO
RO
129
-
U8
U8
RO
RO
129
-
-
-
(reserved)
Type
U8
U16
Access
RO
RO
Notes
65
-
U8
U16
RO
RO
65
-
U8
U16
RO
RO
65
-
-
-
(reserved)
15.2.2 Input Buffer, Word Access
Index Object Name
2020h Input area
2021h Input area
...
...
2023h Input area
2024h
...
202Fh
Sub-Index
00h
01h
02h
...
40h
00h
01h
02h
...
40h
...
00h
01h
02h
...
40h
Description
No. of entries
Input area word #0
Input area word #1
...
Input area word #63
No. of entries
Input area word #64
Input area word #65
...
Input area word #127
...
No. of entries
Input area word #192
Input area word #193
...
Input area word #255
-
-
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15.2.3 Input Buffer, Double Word Access
Index Object Name
2040h Input area
2041h Input area
...
...
2043h Input area
2044h
...
204Fh
Sub-Index
00h
01h
02h
...
20h
00h
01h
02h
...
20h
...
00h
01h
02h
...
20h
Description
No. of entries
Input area dword #0
Input area dword #1
...
Input area dword #31
No. of entries
Input area dword #32
Input area dword #33
...
Input area dword #63
...
No. of entries
Input area dword #96
Input area dword #97
...
Input area dword #127
Type
U8
U32
Access
RO
RO
Notes
33
-
U8
U32
RO
RO
33
-
U8
U32
RO
RO
33
-
-
-
-
-
(reserved)
15.2.4 Output Buffer, Byte Access
Index Object Name
2100h Output area
2101h Output area
...
...
2103h Output area
2104h
...
210Fh
Sub-Index
00h
01h
02h
...
80h
00h
01h
02h
...
80h
...
00h
01h
02h
...
80h
Description
No. of entries
Output area byte #0
Output area byte #1
...
Output area byte #127
No. of entries
Output area byte #128
Output area byte #129
...
Output area byte #255
...
No. of entries
Output area byte #384
Output area byte #385
...
Output area byte #511
-
-
Anybus Communicator for CANopen
Doc.Rev. 3.01
Type
U8
U8
Access
RO
R/W
Notes
129
-
U8
U8
RO
R/W
129
-
U8
U8
RO
R/W
129
-
-
-
(reserved)
Doc.Id. SCM-1200-099
Object Dictionary Implementation 78
15.2.5 Output Buffer, Word Access
Index Object Name
2120h Output area
2121h Output area
...
...
2123h Output area
2124h
...
212Fh
Sub-Index
00h
01h
02h
...
40h
00h
01h
02h
...
40h
...
00h
01h
02h
...
40h
Description
No. of entries
Output area word #0
Output area word #1
...
Output area word #63
No. of entries
Output area word #64
Output area word #65
...
Output area word #127
...
No. of entries
Output area word #192
Output area word #193
...
Output area word #255
-
-
Type
U8
U16
Access
RO
R/W
Notes
65
-
U8
U16
RO
R/W
65
-
U8
U16
RO
R/W
65
-
-
-
(reserved)
Type
U8
U32
Access
RO
R/W
Notes
33
-
U8
U32
RO
R/W
33
-
U8
U32
RO
R/W
33
-
-
-
(reserved)
15.2.6 Output Buffer, Double Word Access
Index Object Name
2140h Output area
2141h Output area
...
...
2143h Output area
2144h
...
214Fh
Sub-Index
00h
01h
02h
...
20h
00h
01h
02h
...
20h
...
00h
01h
02h
...
20h
Description
No. of entries
Output area dword #0
Output area dword #1
...
Output area dword #31
No. of entries
Output area dword #32
Output area dword #33
...
Output area dword #63
...
No. of entries
Output area dword #96
Output area dword #97
...
Output area dword #127
-
-
Anybus Communicator for CANopen
Doc.Rev. 3.01
Doc.Id. SCM-1200-099
Object Dictionary Implementation 79
15.2.7 Anybus Status & Diagnostics
Index Object Name
2200h Bus State Indicator
Sub-Index Type
00h
U8
Access
RO
2205h Module State Indicator
00h
U8
RO
Notes
Reflects the actual state of the bus.
1: Bus running
2: Bus error
Reflects the state of the module on the network:
1: Init error
2: Prepared
3: Pre-operational
4: Operational
-
-
-
(reserved)
00h
U16
R/W
Number of ms needed before the node re-initiates
and enters pre-operational.
(Default = 2000ms)
2210h
...
2263h
2800h Bus-off timeout
Anybus Communicator for CANopen
Doc.Rev. 3.01
Doc.Id. SCM-1200-099
Chapter 16
16. Advanced Fieldbus Configuration
16.1 General
The fieldbus interface of the gateway consists of an embedded Anybus-S communication interface. Normally, the Anybus-S configuration settings are set up automatically by the gateway. However, advanced
users can configure the Anybus-S card for specific features. This chapter assumes that the reader is familiar with the Anybus-S and it’s application interface. For more information about the Anybus-S platform, consult the Anybus-S Parallel Design Guide.
The standard initialization parameters are determined by the subnetwork configuration. Information
about the amount of input and output data used for subnetwork communication is used by Anybus Configuration Manager to create the configuration message that sets the sizes of the input and output data
areas in the Dual Port RAM of the embedded Anybus-S interface. It is possible to add fieldbus specific
mailbox messages to customize the initialization. This is done in the Mailbox Editor, see below.
(A mailbox message is a HMS specific command structure used for low-level communication with an
Anybus-S interface. Consult the Anybus-S Parallel Design Guide and the fieldbus appendix for the desired fieldbus for further information.)
16.2 Mailbox Editor
To add a mailbox message to the configuration, right-click on
‘EndInit’ and select ‘Insert New Mailbox’.
A mailbox message consists of a Header section and a data section where the Header consists of 16 words (32 bytes) and the data
section consists of up to 128 words (256
bytes). All fields are editable except the Message information field that is fixed to 0x4002,
which means that only fieldbus specific mailbox messages can be entered here.
A
B
The mailbox message is presented as two columns; one contains header information (A),
the other one contains the message data (B).
To add message data, simply change the Data
size parameter in the header column (A), and
the corresponding number of bytes will appear in the message data column (B).
For more information about fieldbus specific mailbox messages, consult the separate Anybus-S Fieldbus
Appendix for the fieldbus you are using. For general information about the Anybus-S platform, consult
the Anybus-S Design Guide.
Anybus Communicator for CANopen
Doc.Rev. 3.01
Doc.Id. SCM-1200-099
Appendix A
A. Connector Pin Assignments
A.1 CANopen Connector
Pin
Signal
Description
Housing
Shield
CAN_SHLD
1
-
-
2
CAN_L
CAN_L bus line (dominant low)
3
CAN_GND
CAN ground
4
-
-
5
CAN_SHLD
Optional CAN shield
6
GND
Optional ground
7
CAN_H
CAN_H bus line (dominant high)
8
-
-
9
(reserved)
-
1
(male)
5
6
9
A.2 Power Connector
Pin
Description
1
+24V DC
2
GND
1
2
Notes:
•
Use 60/75 or 75×C copper (CU) wire only.
•
The terminal tightening torque must be between 5... 7 lbs-in (0.5... 0.8 Nm)
Anybus Communicator for CANopen
Doc.Rev. 3.01
Doc.Id. SCM-1200-099
Connector Pin Assignments 82
A.3 PC Connector
Configuration Cable Wiring
DP9F (PC)
RJ11 (ABC)
1
1
Ground
RS232 Rx
2
2
Ground
RS232 Tx
3
3
Rx
4
4
Tx
Ground
5
6
7
8
9
RJ11 (4P4C modular)1 : ABC
Pin
Description
1
Signal ground
2
3
RS232 Rx (Input)
4
RS232 Tx (Output)
4
3
2
1
DB9F : PC
Pin
Description
1
-
2
RS232 Rx (Input)
3
RS232 Tx (Output)
4
-
5
Signal Ground
6-9
-
5 (female) 1
9
6
1. The RJ11 (4P4C modular) is sometimes referred to as an RJ9.
Anybus Communicator for CANopen
Doc.Rev. 3.01
Doc.Id. SCM-1200-099
Connector Pin Assignments 83
A.4 Subnetwork Interface
A.4.1 General Information
The subnetwork interface provides for RS232, RS422 and RS485 communications. Depending on the
configuration specified in the Anybus Configuration Manager, different signals are activated in the subnetwork connector.
A.4.2 Bias Resistors (RS485 Only)
When idle, RS485 enters an indeterminate state, which may cause the serial receivers to pick up noise
from the serial lines and interpret this as data. To prevent this, the serial lines should be forced into a
known state using pull-up and pull-down resistors, commonly known as bias resistors.
The bias resistors form a voltage divider, forcing the voltage between the differential pair to be higher
than the threshold for the serial receivers, typically >200mV.
Note that bias resistors shall only be installed on one node; installing bias resistors on several nodes may
compromise the signal quality on the network and cause transmission problems.
A.4.3 Termination (RS485 & RS422 Only)
To avoid reflections on the serial lines, it is important to properly terminate the subnetwork by placing
termination resistors between the serial receivers near the end nodes.
The resistor value should ideally match the characteristic impedance of the cable, typically 100... 120R.
A.4.4 Connector Pinout (DB9F)
Pin
Description
RS232
RS422
RS485
1
2
+5V Output(100mA max)



RS232 Rx

3
RS232 Tx

4
(reserved)
RS485
5 (female) 1
a
5
Signal Ground
6
RS422 Rx +

7
RS422 Rx -

8
RS485 + /RS422 Tx+


9
RS485 - /RS422 Tx-


(housing)
Cable Shield






9
6
a. Connecting this signal directly to Protective Earth (PE) of other nodes may, in case of grounding loops etc., cause
damage to the on-board serial transceivers. It is therefore generally recommended to connect it only to Signal
Ground (if available) of other nodes.
Anybus Communicator for CANopen
Doc.Rev. 3.01
Doc.Id. SCM-1200-099
Connector Pin Assignments 84
A.4.5 Typical Connection (RS485)
+5V
470R
RS485 +
RS485 +
120R
120R
RS485 -
RS485 470R
Signal
Ground
Signal
Ground
Node
RS485 +
RS485 -
Signal
Ground
Node
RS485 +
RS485 -
Signal
Ground
Node
RS485 +
RS485 -
Signal
Ground
Node
RS485 +
Anybus Communicator
RS485 -
Signal
Ground
Cable
Shield
End Node
A.4.6 Typical Connection (RS422 & 4-Wire RS485)
+5V
470R
RS422 Rx+
RS422 Tx+
120R
RS422 Rx-
RS422 Tx470R
470R
RS422 Tx+
RS422 Rx+
120R
RS422 Tx-
RS422 Rx470R
Signal
Ground
Signal
Ground
Cable
Shield
Anybus Communicator
Device
Note: Bias resistors are normally not needed on RS422, but may be required when using 4-wire RS485.
A.4.7 Typical Connection (RS232)
RS232 Tx
RS232 Rx
RS232 Rx
RS232 Tx
Signal
Ground
Signal
Ground
Cable
Shield
Anybus Communicator
Anybus Communicator for CANopen
Doc.Rev. 3.01
Device
Doc.Id. SCM-1200-099
Appendix B
B. Technical Specification
B.1 Mechanical Properties
Housing
Plastic housing with snap-on connection to DIN-rail, protection class IP20
Dimensions
120 mm x 75 mm x 27 mm, L x W x H (inches: 4.72” x 2.95” x 1.06”; L x W x H)
B.2 Electrical Characteristics
Power Supply
Power: 24V ± 10%
Power Consumption
Maximum power consumption is 280mA on 24V. Typically around 100mA
B.3 Environmental Characteristics
Relative Humidity
The product is designed for a relative humidity of 0 to 95% non-condensing
Temperature
Operating:
Non Operating:
±0°C to +55°C
-25°C to +85°C
Anybus Communicator for CANopen
Doc.Rev. 3.01
Doc.Id. SCM-1200-099
Technical Specification 86
B.4 Regulatory Compliance
EMC Compliance (CE)
This product is in accordance with the EMC directive 89/336/EEC, with amendments 92/31/EEC and
93/68/EEC through conformance with the following standards:
•
EN 50082-2 (1993)
EN 55011 (1990)Class A
•
EN 61000-6-2 (1999)
EN 61000-4-3 (1996)10V/m
EN 61000-4-6 (1996)10V/m(all ports)
EN 61000-4-2 (1995)±8kVAir Discharge
±4kVContact discharge
EN 61000-4-4 (1995)±2kVPower port
±1kVOther ports
EN 61000-4-5 (1995)±0.5kVPower ports (DM/CM)
±1kVSignal ports
UL/c-UL compliance
The certification has been documented by UL in file E214107.
Galvanic isolation on subnetwork interface
•
EN 60950-1 (2001)
Pollution Degree 2
Material Group IIIb
250 VRMS or 250 VDCWorking voltage
500 VSecondary circuit transient rating
Anybus Communicator for CANopen
Doc.Rev. 3.01
Doc.Id. SCM-1200-099
Appendix C
C. Troubleshooting
Problem
Solution
Problem during configuration Upload / Download.
•
Serial communication failed. Try again
•
The serial port may be in use by another application.
The Config Line “LED” turns red in the Anybus Configuration Manager.
The serial port seems to be available, but it is not possible
to connect to the gateway
Exit the Anybus Configuration Manager and close all
other applications including the ones in the system
tray.
Try again
•
Select another serial port
Try again
Poor performance
•
Right click ‘subnetwork’ in the Navigation window and
select ‘subnetwork Status’ to see status / diagnostic
information about the subnetwork.
If the gateway reports very many retransmissions,
check your cabling and/or try a lower baud rate setting
for the subnetwork (if possible).
•
Is the Subnet Monitor in the Anybus Configuration
Manager active?
The subnetwork monitor has a negative influence on
the overall performance of the gateway, and should
only be used when necessary.
•
Is the Node Monitor in the Anybus Configuration Manager active?
The node monitor has a negative influence on the
overall performance of the gateway, and should only
be used when necessary.
No subnetwork functionality
Anybus Communicator for CANopen
Doc.Rev. 3.01
•
Use the ‘Data logger’-functionality to record the serial
data communication on the subnetwork.
•
If no data is being transmitted, check the configuration
in Anybus Configuration Manager.
•
If no data is received, check the subnetwork cables.
Also verify that the transmitted data is correct.
Doc.Id. SCM-1200-099
Appendix D
D. ASCII Table
x0
x1
x2
x3
x4
x5
x6
x7
x8
x9
xA
xB
xC
xD
xE
xF
BS
8
HT
9
LF
10
VT
11
FF
12
CR
13
SO
14
SI
15
FS
28
GS
29
RS
30
US
31
0x
NUL SOH STX ETX EOT ENQ ACK BEL
0
1
2
3
4
5
6
7
1x
DLE DC1 DC2 DC3 DC4 NAK SYN ETB CAN
16
17
18
19
20
21
22
23
24
EM
25
2x
(sp)
32
!
33
"
34
#
35
$
36
%
37
&
38
'
39
(
40
)
41
*
42
+
43
,
44
45
.
46
/
47
3x
0
48
1
49
2
50
3
51
4
52
5
53
6
54
7
55
8
56
9
57
:
58
;
59
<
60
=
61
>
62
?
63
4x
@
64
A
65
B
66
C
67
D
68
E
69
F
70
G
71
H
72
I
73
J
74
K
75
L
76
M
77
N
78
O
79
5x
P
80
Q
81
R
82
S
83
T
84
U
85
V
86
W
87
X
88
Y
89
Z
90
[
91
\
92
]
93
^
94
_
95
6x
`
96
a
97
b
98
c
99
d
100
e
101
f
102
g
103
h
104
i
105
j
106
k
107
l
108
m
109
n
110
o
111
7x
p
112
q
113
r
114
s
115
t
116
u
117
v
118
w
119
x
120
y
121
z
122
{
123
|
124
}
125
~
126
DEL
127
Anybus Communicator for CANopen
Doc.Rev. 3.01
SUB ESC
26
27
Doc.Id. SCM-1200-099