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User Manual
®
Anybus X-gateway Modbus-TCP
CANopen
Doc.Id. HMSI-168-38
Rev. 1.10
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 is intended to provide a good understanding of the functionality offered by the Anybus X-gateway
Modbus-TCP - CANopen. The reader of this document is expected to be familiar with high level software design,
and communication systems in general.
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.
Warning:
DO NOT USE SD CARD OR USB CONNECTOR WHILE CIRCUIT IS LIVE UNLESS THE AREA IS
KNOWN TO BE FREE OF IGNITABLE CONCENTRATIONS OF FLAMMABLE GAS OR VAPORS.
Anybus X-gateway Modbus-TCP - CANopen User Manual
Rev 1.10
Copyright© HMS Industrial Networks AB
Nov 2012 Doc Id HMSI-168-38
Table of Contents
Table of Contents
Preface
About This Document ..................................................................... 5
Related Documents..................................................................................................................... 5
Document History ...................................................................................................................... 5
Conventions & Terminology..................................................................................................... 6
Sales and Support ........................................................................................................................ 7
Chapter 1
Getting Started ................................................................................. 8
Chapter 2
Anybus X-gateway Modbus-TCP .................................................... 9
Introduction ................................................................................................................................. 9
Features....................................................................................................................................... 10
Configuring the CANopen Network ..................................................................................... 10
CANopen Electronic Data Sheet (EDS-file) ........................................................................ 10
Functional Overview ................................................................................................................ 11
Data Exchange........................................................................................................................... 12
I/O Mapped Data ..................................................................................................................... 13
Parameter Data .......................................................................................................................... 13
Control/Status Word................................................................................................................ 13
Live List ...................................................................................................................................... 14
Transaction Status List ............................................................................................................. 15
Exception Code List ................................................................................................................. 16
Chapter 3
About the Anybus X-gateway Modbus-TCP ..................................17
External View ............................................................................................................................ 17
Mounting the X-gateway .......................................................................................................... 18
DIN-rail Mounting .......................................................................................................... 18
Wall Mounting................................................................................................................. 19
Status LEDs ............................................................................................................................... 20
CANopen Connector ............................................................................................................... 21
USB Connector.......................................................................................................................... 21
Modbus-TCP Connectors........................................................................................................ 21
Power Connector ...................................................................................................................... 22
Anybus X-gateway Modbus-TCP - CANopen
Doc.Rev. 1.10
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Chapter 4
SD Card Functionality.................................................................... 23
General Advice and Guidelines............................................................................................... 23
Starting Up.................................................................................................................................. 23
Easy Backup ............................................................................................................................... 24
Simple Configuration Copy ..................................................................................................... 24
Easy Replacement...................................................................................................................... 24
SD Card Synchronization Failure ........................................................................................... 25
Chapter 5
Modbus-TCP Functions................................................................. 26
Chapter 6
Network Configuration .................................................................. 27
General Information ................................................................................................................. 27
Introduction ............................................................................................................................... 28
Overview..................................................................................................................................... 29
Home................................................................................................................................ 30
Configuration ............................................................................................................................. 31
Authentication .................................................................................................................. 31
Modbus Client .................................................................................................................. 32
Modbus Servers................................................................................................................. 33
CANopen (Slave Interface)............................................................................................... 36
Tools............................................................................................................................................ 38
X-gateway Management .................................................................................................... 38
Backup and Restore .......................................................................................................... 38
Mapping Overview ............................................................................................................ 39
Transaction Monitor ......................................................................................................... 40
Chapter 7
CANopen Object Dictionary.......................................................... 41
Standard Objects ....................................................................................................................... 41
General............................................................................................................................. 41
Object Entries................................................................................................................... 41
Appendix A Technical Specification .................................................................. 44
Protective Earth (PE) Requirements...................................................................................... 44
Power Supply ............................................................................................................................. 44
Environmental Specification ................................................................................................... 44
Temperature...................................................................................................................... 44
Relative Humidity............................................................................................................. 44
EMC (CE) Compliance ............................................................................................................ 45
Appendix B Anybus IPconfig Tool .................................................................... 46
Appendix C Copyright Notices .......................................................................... 47
Anybus X-gateway Modbus-TCP - CANopen
Doc.Rev. 1.10
Doc.Id. HMSI-168-38
Preface
P. About This Document
For more information, documentation etc., please visit the HMS website, www.anybus.com.
P.1 Related Documents
Document
Modbus Application Protocol Specification V1.1B
Author
Modbus Organization
P.2 Document History
Summary of Recent Changes (1.00... 1.10)
Change
Updated information about data exchange to reflect the parameter data features
Added information about I/O mapped data and parameter data
Added information about the transaction status list
Added information about the exception code list
Added information about the identification LED sequence
Added available Modbus functions
Updated the configuration web pages to reflect new and revised functionality
Updated information about the Anybus IPconfig tool
Page(s)
12
13
15
16
20
26
27
46
Revision List
Revision
1.00
1.10
Date
Author(s)
2011-06-28 KaD
2012-11-23 KaD
Anybus X-gateway Modbus-TCP
Doc.Rev. 1.10
Chapter(s) Description
First official release
2, 3, 5, 6, B Major update
Doc.Id. HMSI-168-38
About This Document P-6
P.3 Conventions & Terminology
The following conventions are used throughout this manual:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The terms ‘Anybus’, ‘X-gateway’ or ‘module’ refers to the Anybus X-gateway module
•
Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value
•
A byte always consists of 8 bits
•
The terms ‘master’, ‘scanner’, ‘client’ and ‘controller’ will be used interchangeably to describe a
controlling unit on the network
•
The terms ‘slave’, ‘adapter’, ‘server’ and ‘device’ will be used interchangeably to describe units
that are controlled by controlling units on the network
Anybus X-gateway Modbus-TCP
Doc.Rev. 1.10
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About This Document P-7
P.4 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
Online:
Fax:
+46 (0) 35 - 17 29 09
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:
HMS Germany
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+49 (0) 721-96472-0
Phone:
+49 (0) 721-96472-0
Fax:
+49 (0) 721-96472-10
Fax:
+49 (0) 721-96472-10
Online:
www.anybus.de
Online:
www.anybus.de
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+81 (0) 45-478-5340
Phone:
+81 (0) 45-478-5340
HMS Japan
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
HMS China
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
HMS Italy
Fax:
+39 039 59662 31
Fax:
+39 039 59662 31
Online:
www.anybus.it
Online:
www.anybus.it
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
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
HMS UK & Eire
HMS Denmark
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 India
Anybus X-gateway Modbus-TCP
Doc.Rev. 1.10
Doc.Id. HMSI-168-38
Chapter 1
1. Getting Started
The purpose of this chapter is to give a short description on how to install the X-gateway and get it up
and running, transferring I/O data between the Modbus-TCP network and the CANopen network.
Perform the following steps when installing the module:
1. Mount the module. See “Mounting the X-gateway” on page 18 for details.
2. Connect the X-gateway to the Modbus-TCP network. See “External View” on page 17.
3. Connect the power cable and apply power.
4. Access the configuration web pages.
• Connect a PC to the Modbus-TCP network (see “External View” on page 17) and open a
web browser. Enter the IP address of the X-gateway and access the configuration web pages.
If the IP address of the X-gateway is unknown, use the Anybus IPconfig tool to find it. See
“Anybus IPconfig Tool” on page 46.
• Configure the Modbus-TCP client. See “Modbus Client” on page 32.
• Set up all Modbus servers and transactions using the configuration web pages. See “Modbus
Servers” on page 33 and “Network Configuration” on page 27.
• Configure the X-gateway CANopen (slave) interface. See “CANopen (Slave Interface)” on
page 36.
5. Download the appropriate EDS file from www.anybus.com. See “CANopen Electronic Data
Sheet (EDS-file)” on page 10.
6. Configure the CANopen master. See “Configuring the CANopen Network” on page 10.
7. Connect the X-gateway to the CANopen network. See “External View” on page 17.
Anybus X-gateway Modbus-TCP
Doc.Rev. 1.10
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Chapter 2
2. Anybus X-gateway Modbus-TCP
2.1 Introduction
The Anybus X-gateway Modbus-TCP is a series of network gateways, used to provide a seamless connection between a Modbus-TCP network and a controlling network. This particular product connects a
Modbus-TCP network to a CANopen network. The X-gateway enables the master of the CANopen network to control the Modbus-TCP network. These X-gateways makes it possible to integrate ModbusTCP devices into almost any other PLC system and their supported networks.
The X-gateway is based on patented Anybus
technology, a proven industrial communication solution used all over the world by leading manufacturers of industrial automation
products. Each module offers Modbus-TCP
master connectivity to one of these industrial
networks: EtherNet/IP, ControlNet,
PROFINET, CC-Link, Modbus-TCP, Modbus RTU, CANopen, EtherCAT, DeviceNet
and PROFIBUS DP-V1.
No proprietary configuration software is
needed. All necessary configuration is made
via the built-in web interface.
Control Network
Master
(e.g. PLC)
Slave
Anybus X-gateway
Modbus-TCP
Slave
Slave
Slave
Control
Network
Slave
Modbus-TCP
Master
Slave
Slave
Slave
Slave
The CANopen fieldbus slave interface is
configured with a standard device description Device Level with Modbus-TCP Slaves
file (EDS file) and the standard engineering tool of the PLC. No programming is required.
The X-gateway transmits I/O data transparently between the two networks.
Anybus X-gateway Modbus-TCP
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Anybus X-gateway Modbus-TCP 10
2.2 Features
Anybus X-gateways for Modbus-TCP act as intelligent links between two industrial networks. On the
Modbus-TCP network, they function as clients (masters) while they function as slaves on the CANopen
network. The implementation is based on the Anybus NP30 ASIC technology.
2.3 Configuring the CANopen Network
The Anybus X-gateway Modbus-TCP is a CANopen slave on the CANopen network. The general settings for the slave interface are configured using the configuration web pages (see “CANopen (Slave Interface)” on page 36). All data transfers must be configured using the CANopen configuration tool.
Please note that the size of the I/O data that can be read from and written to the module is defined when
configuring the X-gateway using the configuration web pages.
There are a number of different configuration tools for CANopen available on the market. The choice
of tool depends on the application and the CANopen master of the network. An .EDS file for the slave
interface is available at ‘www.anybus.com’.
An application note, describing how to configure an Anybus CANopen slave interface with Twidosoft,
is available on the support pages for the Anybus X-gateway Modbus-TCP - CANopen module at
‘www.anybus.com’.
2.4 CANopen Electronic Data Sheet (EDS-file)
Each device in a CANopen network is associated with an Electronic Data Sheet (an EDS file), which
describes the implementation of the product. This file is used by the network configuration tool during
network configuration.
The latest version of the EDS file for the Anybus X-gateway CANopen interface can be downloaded
from the HMS website, ‘www.anybus.com’.
Anybus X-gateway Modbus-TCP
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Anybus X-gateway Modbus-TCP 11
2.5 Functional Overview
Anybus X-gateway Modbus-TCP
Doc.Rev. 1.10
Industrial network
Anybus network
slave interface
Anybus Modbus-TCP
Master Interface
Modbus-TCP network
Internally, the X-gateway consists of an intelligent gateway platform, an Anybus Modbus-TCP interface
and an Anybus CANopen (slave) interface. The Modbus-TCP interface and the Anybus CANopen
(slave) interface are interconnected through the intelligent gateway platform, which basically forwards
data from one network to the other and vice versa as shown below. This design allows almost any other
industrial network to be connected to a Modbus-TCP master on a separate Modbus-TCP network.
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Anybus X-gateway Modbus-TCP 12
2.6 Data Exchange
Each of the two network interfaces exchanges data on its network through two buffers. The X-gateway
forwards the data between these buffers as shown below. Note that this process is separated from the
network data exchange. While the X-gateway ensures data consistency (where applicable), it does not
feature any built-in mechanisms for synchronization between the Modbus-TCP network and the CANopen network.
Modbus-TCP Network Interface
Data From
the Modbus-TCP
Network
Industrial Network Interface
Control Word
Data From
the Modbus-TCP
Network
Data to
the Modbus-TCP
Network
Industrial network
Modbus-TCP network
Status Word
Data To
the Modbus-TCP
Network
Each buffer holds a maximum of 256 bytes of data, including control/status information and a live list.
Through the dedicated control word, the master on the CANopen network starts/stops the exchange
of data on the Modbus-TCP network, and also resets the X-gateway if needed. The master on the CANopen network can see the status of the Modbus-TCP network in the corresponding status word. The
live list feature gives the master on the CANopen network the opportunity to continuously see and monitor the status of each individual transaction on the Modbus-TCP network.
Two additional lists, transaction status and exception codes, retrievable from the module by the scanner
on the CANopen network, provides detailed error information about all transactions.
The amount of data that shall be exchanged, and the use of the control/status word and the live list, is
specified separately for each application. This means that even though up to 256 bytes of data can be
potentially forwarded to an interface, the amount of data that will actually be exchanged on that network
is determined by the Modbus-TCP settings and the limitations of the master side fieldbus.
The available control/status functionality is described below, as well as the live list and the transaction
status and exception code lists. Also note that the terminology and definitions used for different types
of data vary greatly between different networking systems.
Anybus X-gateway Modbus-TCP
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Anybus X-gateway Modbus-TCP 13
2.7 I/O Mapped Data
I/O mapped data is cyclic data, exchanged between the networks and/or devices at a high transfer rate.
It is associated with data that is continuously sent on the network.
2.8 Parameter Data
Parameter data is usually exchanged acyclically, to set or change parameters in devices before or during
normal process. Typical parameter data that can be retrieved from the module by the scanner of the
CANopen network includes the transaction status list and the exception code list.
2.9 Control/Status Word
The Control word is a 16-bit word (UNSIGNED16) used by the CANopen network to control the
Anybus X-gateway and subsequently also the Modbus-TCP network.
For information about how to access the control/status word, see “Mapping Overview” on page 39.
Bit
0 (Least significant bit)
1
2-7
8-15
Value
0
1
Set to zero
Set to zero
Description
Puts the X-gateway in idle state
Puts the X-gateway in run state
A reboot of the X-gateway is triggered by a rising edge, i.e. a transition from 0 to 1
Unused
Unused
The Status word is a 16-bit word used by the X-gateway to report its current actual status to the CANopen network.
Bit
0 (Least significant bit)
1
Value
0
1
-
2-7
8-15
(reserved)
(reserved)
Anybus X-gateway Modbus-TCP
Doc.Rev. 1.10
Description
The X-gateway is in idle state
The X-gateway is in run state
This bit is reflecting the state of bit 1 in the control word
Either 0 or 1
Unused
Unused
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Anybus X-gateway Modbus-TCP 14
2.10 Live List
The live list features the possibility for the CANopen network to retrieve a list containing the status of
every transaction on the Modbus-TCP network.
For information about how to access the live list, see “Mapping Overview” on page 39.
All transactions and their places in the live list are also visible in the Transaction Monitor on the configuration web pages.
The live list consists of a bit array with 64 elements, where each bit corresponds to a transaction on the
Modbus-TCP network as in the table below.
Byte 7
Byte 6-1
Bit 63
Bit 62-56
Bit 55-8
Status of trans- Status of trans- ...
action no 63
action no 62-56
•
Byte 0
Bit 7
Bit 6 - 2
Bit 1
Bit 0
Status of trans- Status of trans- Status of trans- Status of transaction no 7
action no 6 - 2 action no 1
action no 0
Bit set to 1
Transaction successful.
•
Bit set to 0
Transaction not successful.
Note: the reason for the unsuccessful transaction can be found on the corresponding index in
the transaction status list.
The order of the transactions in the live list conforms to the order in which they are stored in the Modbus Server list.
Example
Consider the following configuration:
•
Server 1 : a total of 2 transactions
•
Server 2 : a total of 3 transactions
•
Server 3 : a total of 1 transaction
This scenario will produce a live list as follows (assuming that the transactions are successful):
Bit 63
-
Bit 62 - 6
-
0
0
Anybus X-gateway Modbus-TCP
Doc.Rev. 1.10
Bit 5
Server 3,
transaction 1
1
Bit 4
Server 2,
transaction 3
1
Bit 3
Server 2,
transaction 2
1
Bit 2
Server 2,
transaction 1
1
Bit 1
Server 1,
transaction 2
1
Bit 0
Server 1,
transaction 1
1
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Anybus X-gateway Modbus-TCP 15
2.11 Transaction Status List
This list holds information about the transactions between the Modbus network and the module, from
the perspective of the module.
It is a list available from the module, which is possible to be retrieved acyclically (using SDO access) by
the CANopen network. It contains a byte array with 64 elements, where each byte contains a transaction
status code as in the table below.
The indexes in the transaction status list correspond completely to the indexes in the transaction live list.
Byte 0
Byte 1
Byte 2-6
Byte 7
Byte 8 - 55
Status of trans- Status of trans- Status of trans- Status of trans- ...
action no 0
action no 1
action no 2-6
action no 7
Byte 56-62
Byte 63
Status of trans- Status of transaction no 56-62 action no 63
Transaction status codes
Transaction Status
Code
0
1
2
3
4
5
6
7
8
9
10
11
12
Anybus X-gateway Modbus-TCP
Doc.Rev. 1.10
Description
Running ok
Gateway idle
No link
Modbus exception
Timeout
Gateway disconnect
Server disconnect
Cannot connect
Modbus header error
Internal gateway error
No valid data
Stop sending data to Modbus server
Unconfigured transaction
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Anybus X-gateway Modbus-TCP 16
2.12 Exception Code List
If Modbus transactions fail, the slaves can respond with an exception code. These can be found in the
exception code list available from the module, possible to be retrieved acyclically (using SDO access) by
the CANopen network. It contains a byte array with 64 elements, where each byte contains an transaction exception code as in the table below. The indexes in the exception code list correspond completely
to the indexes in the transaction live list.
Byte 0
Exception code
for transaction
no 0
Byte 1
Exception code
for transaction
no 1
Byte 2-6
Exception code
for transaction
no 2 - 6
Byte 7
Exception code
for transaction
no 7
Byte 8-55
Exception code
for transaction
no 8 - 55
Byte 56-62
Exception code
for transaction
no 56 - 62
Byte 63
Exception code
for transaction
no 63
Standard Modbus exception codes
Exception Code
00
01
02
03
04
05
06
08
0A
0B
Description
No error
Illegal function
Illegal data address
Illegal data value
Slave device failure
Acknowledge
Slave device busy
Memory parity error
Gateway path unavailable
Gateway target device failed to respond
Note: The exception codes found in the exception code list are only relevant if the corresponding transaction status codes equals 3: “Modbus exception”. See “Transaction Status List” on page 15 for more
information.
Note: If the slave responds with an exception code not in the list, refer to the documentation of the
slave for details.
Anybus X-gateway Modbus-TCP
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Chapter 3
3. About the Anybus X-gateway Modbus-TCP
3.1 External View
•
•
A: Power Connector
This connector is used to apply power to the Xgateway. It is also possible to connect protective
earth (PE) to the power connector. See “Power
Connector” on page 22.
B: SD Card Slot
This slot adds the possibility to store and load configurations from an SD card. See “SD Card Functionality” on page 23.
•
C: USB Port
This port adds the possibility to connect a PC to the
X-gateway to perform firmware upgrades. See
“USB Connector” on page 21.
•
D: Status LEDs
See “Status LEDs” on page 20.
•
E: DIN-rail Connector
The DIN-rail mechanism fastens the X-gateway to
a DIN-rail and connects the module to protective
earth (PE). See “Mounting the X-gateway” on page
18.
•
•
F: CANopen Connector
See “CANopen Connector” on page 21.
A
B
C
D
E
F
G
G: Modbus-TCP Connectors
2-port switch with daisy-chain functionality. See
“Modbus-TCP Connectors” on page 21.
Anybus X-gateway Modbus-TCP
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About the Anybus X-gateway Modbus-TCP 18
3.2 Mounting the X-gateway
The Anybus X-gateway Modbus-TCP can be physically installed either by mounting it onto a DIN-rail
or, if installed in areas exposed to vibration, by mounting it on a wall for more stability.
3.2.1 DIN-rail Mounting
Make sure the DIN-rail fastening mechanism on the back of
the module is in a fixed and closed position, i. e. pushed all the
way up.
To mount the module, first hook it on to the DIN-rail (1),
then push it against the DIN-rail to make it snap on (2).
To unmount the module, a screwdriver is needed. Use the
screwdriver to push the DIN-rail fastening mechanism on the
back of the module down until it locks in a fixed and open position (1). Then unhook the module from the DIN-rail (2).
Note: Do not leave the module with the DIN-rail fastening
mechanism in a fixed and open position. This may eventually
wear the fastening mechanism out so it cannot be used efficiently. Be sure to push the DIN-rail fastening mechanism
back into the fixed and closed position after unmounting the
module.
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About the Anybus X-gateway Modbus-TCP 19
3.2.2 Wall Mounting
Use the wall mounting option if there is a need to place the X-gateway in an environment exposed to
vibration. This way of mounting the module offers more stability than the traditional DIN-rail mounting.
Note 1: The X-gateway should be fastened in a standing-up position, to ensure a constant air flow.
Note 2: When mounting the X-gateway to a wall using the wall mount option, do not forget to connect
the module to protective earth (PE) via the power connector. See “Power Connector” on page 22.
Mounting Instructions
Step
1
Description
Visual description
Open up the package containing the wall
mounting accessories.
- One metal frame
- Industrial velcro
- Four plastic vibration dampers
2
Remove the plastic protection from one
side of the velcro.
Attach the velcro to the metal frame.
Attach the four plastic vibration dampers
to the X-gateway, on the side that will face
the wall.
3
Remove the plastic protection from the
other side of the velcro.
4
Turn the X-gateway around, so that the
plastic vibration dampers face downwards.
Fasten the metal frame to the X-gateway
by pressing the frame firmly against the Xgateway, making the two velcro parts
attach to each other.
5
Attach the metal frame and the X-gateway
to a wall using screws and washers (not
enclosed).
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3.3 Status LEDs
Note: A test sequence is performed on all LEDs during startup.
Note: An identification LED sequence can be performed on LEDs 1, 5 and 6 by clicking the “Wink
device” button in the X-gateway Management section in the web configuration interface.
X-gateway and Modbus-TCP Network LEDs
LED no
1 - Gateway Status
(GW)
State
Off
Alternating red/green
Flashing green
Green
Flashing red
Red
5 - SD card
Green
(SD)
Flashing red
6 - Modbus-TCP Status Off
(MTCP)
Green
7, 8 - Ethernet Link 1
(LA1), Ethernet Link 2
(LA2)
Flashing red
Red
Off
Flashing green
Status
Power off
Missing configuration
Idle
Running
Invalid configuration
Fatal error
Accessing SD card
Failure
Power off
Communicating with Modbus-TCP network
Transaction error or timeout
Fatal error
No link
Receiving/transmitting Ethernet packets
at 10/100 Mbit
CANopen Network LEDs
LED no
2
3 - RUN
State
Not used
Off
Green
Flashing green
Green, single flash
Flickering green
Red
4- ERROR
Off
Red, single flash
Flickering red
Red, double flash
Red
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Status
Power off
The module is in ‘OPERATIONAL’-state
The module is in ‘PREOPERATIONAL’state
The module is in ‘STOPPED’-state
Baud rate detection in progress
Fatal error (the X-gateway needs a
restart)
Power off, or module in working condition
A bus error counter reached or exceeded
its warning level
LSS services in progress
An error control event has occurred
Bus off, fatal error
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3.4 CANopen Connector
The connector for the CANopen network is found at the lower front of the module.
Pin no
1
2
3
4
5
6
7
8
9
Signal
CAN_L
CAN_GND
CAN_SHLD
CAN_H
-
Description
-
1
5
6
9
(male)
3.5 USB Connector
At the upper front of the module there is a USB connector used for firmware upgrades.
Pin no.
1
2
3
4
Housing
Description
+5V Input
USBDM (USB communication signals)
USBDP (USB communication signals)
Signal GND
Cable Shield
2
1
3
4
3.6 Modbus-TCP Connectors
The Modbus-TCP connectors are found at the bottom of the module.
Pin no.
1
2
3
4
5
6
7
8
Housing
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Description
TX+
TXRX+
Not connected
Not connected
RXNot connected
Not connected
Shield
1
8
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3.7 Power Connector
Pin no.
1
2
3
Description
+24V DC
GND
PE (Protective Earth)
1
2
3
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)
See also...
- “Power Supply” on page 44.
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Chapter 4
4. SD Card Functionality
Using an SD card with the X-gateway adds the following features:
•
Easy backup.
Every applied change in the configuration will automatically be saved to the X-gateway and the
SD card. See “Easy Backup” on page 24.
•
Simple configuration copy.
Using the SD card, the configuration on one X-gateway can be copied to other X-gateways. See
“Simple Configuration Copy” on page 24.
•
Easy replacement.
If an X-gateway malfunctions during operation, a replacement module can easily be configured
by moving the SD card to the new module. See “Easy Replacement” on page 24.
A configuration on the X-gateway is saved automatically to the SD card in any of these two events:
•
A configuration is applied in the X-gateway Management section
•
A configuration is restored from a backup file
Important
The SD card acts as a master in the X-gateway. When an X-gateway is turned on with an SD card inserted, and that SD card contains a valid configuration file, the configuration on the SD card will always
overwrite any configuration on the X-gateway.
4.1 General Advice and Guidelines
Turn the power off before inserting or removing an SD card from the X-gateway.
Do not turn the X-gateway off while the SD LED indicates that the SD card is being accessed. Refer to
“Status LEDs” on page 17 for more information.
The X-gateway will not write any data to a write-protected SD card.
4.2 Starting Up
1. Format the SD card for the FAT file system using a PC. The X-gateway cannot use an unformatted SD card.
2. Make sure the SD card is empty and that it is not write-protected.
3. Turn the X-gateway off.
4. Insert the SD card into the SD card slot in the X-gateway.
5. Turn the X-gateway on.
6. Create the configuration. When finished, press the apply button in the X-gateway Management
section to reboot using the new configuration. During the reboot, the latest applied configuration
will automatically be copied and saved to the SD card.
7. Now, the SD card is synchronized with the X-gateway. Both the SD card and the X-gateway contain the latest applied configuration.
Every time a new configuration is applied in the X-gateway Management section, it is also copied to the
SD card to ensure synchronization.
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4.3 Easy Backup
Every time a configuration change is applied in the X-gateway Management section using the configuration web pages, the configuration is saved both in the memory of the X-gateway and on the SD card.
This is the easiest way of keeping a continuously updated configuration backup.
4.4 Simple Configuration Copy
If a configuration on one X-gateway needs to be copied to one or more other X-gateways, it is easily
done using an SD card.
1. Turn the X-gateway running the desired configuration off.
2. Remove the SD card from the X-gateway containing the desired configuration and insert it into
another one.
Note 1: The firmware version must be the same or higher in the new X-gateway.
Note 2: The new X-gateway must support the same network type as the first X-gateway.
3. Turn the new X-gateway on. The new X-gateway will automatically start up using the configuration found on the SD card.
Important
If the configuration was protected by authentication information, the same information will be needed
to alter the configuration in the new X-gateway.
4.5 Easy Replacement
If an X-gateway malfunctions during operation, the SD card functionality makes it easy to get the application up and running again fast.
1. Turn the malfunctioning X-gateway off.
2. Replace the old X-gateway with a new one.
Note 1: The firmware version must be the same or higher in the new X-gateway.
Note 2: The new X-gateway must support the same network type as the old X-gateway.
3. Remove the SD card containing the configuration file from the old X-gateway and insert it into
the new one.
4. Turn the new X-gateway on. If the SD card contains a valid configuration file, the X-gateway will
automatically start up using the configuration found on the SD card.
Important
If the configuration was protected by authentication information, the same information will be needed
to alter the configuration in the new X-gateway.
Depending on the settings of the master network, the communication link between the X-gateway and
the master may no longer be valid. X-gateway settings that were configured from outside the configuration web pages will need to be set again.
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4.6 SD Card Synchronization Failure
In the event of applying a configuration or restoring a configuration from a backup file, the SD card
synchronization can fail. There are many possible reasons for an SD card write failure:
•
The SD card is write-protected.
•
The configuration file on the SD card is write-protected.
•
The SD card memory is full.
•
The SD card file system is corrupt.
•
The SD card is damaged.
If the SD card write process fails, the reboot cycle of the X-gateway will halt. The GW LED will indicate
“invalid configuration” and the SD LED will indicate “failure”. See “Status LEDs” on page 17.
To eliminate the problem, follow the steps below:
1. Turn the X-gateway off.
2. Remove the SD card. Find the cause of the problem.
3. Insert an SD card.
Note: This SD card must not contain a configuration file. If it does, the configuration on the SD
card will overwrite the configuration on the X-gateway.
4. Turn the X-gateway on. The X-gateway will run the configuration that was applied or restored
when the SD card write process failed.
5. Apply the configuration in the X-gateway Management section to save the configuration to the
SD card.
6. Now, the SD card is synchronized with the X-gateway. Both the SD card and the X-gateway contain the latest applied configuration.
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Chapter 5
5. Modbus-TCP Functions
The Modbus-TCP protocol is an implementation of the standard Modbus protocol, running on top of
TCP/IP. The same function codes and addressing model are used.
The Anybus X-gateway Modbus-TCP supports a subset of the functions described in the Modbus-TCP
specification.
Modbus-TCP transactions are normally transmitted and received on TCP port no. 502. The X-gateway
features the possibility to set TCP ports individually for each Modbus-TCP server.
For detailed information regarding the Modbus-TCP protocol, consult the Open Modbus-TCP Specification.
The Anybus X-gateway Modbus-TCP supports the following Modbus-TCP functions:
Function Code No. of Bits/Registersa
Read Coils
1
1-2000
Read Discrete Inputs
2
1-2000
Read Holding Registers
3
1-125
Read Input Registers
4
1-125
Write Single Coil
5
1
Write Single Register
6
1
Write Multiple Coils
15
1-1968
Write Multiple Registers
16
1-123
Read/Write Multiple Registers 23
1-125 read
1-121 write
Modbus Function
Direction
Associated with Buffer
Modbus to Gateway Input buffer
Gateway to Modbus Output buffer
Bidirectional
Input and output buffers
a. Please refer to the Modbus Application Protocol Specification V1.1B for more detailed information.
Modbus-TCP functions are used as important parts of transactions to Modbus-TCP servers. After configuring a server within the Modbus-TCP network, functions can be assigned to it by clicking the ‘Add
transaction’ button in the built-in web interface.
See also...
•
“Network Configuration” on page 27
•
“Modbus Servers” on page 33
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Chapter 6
6. Network Configuration
6.1 General Information
The Anybus X-gateway features built-in web pages for easy configuration. The web pages are all described in this chapter. To access the web configuration pages, the following system requirements need
to be met:
•
Internet Explorer 8.0 or 9.0
•
Javascript enabled
Note: Altering the configuration while the X-gateway is exchanging data between the two networks may
affect performance.
Note: Only one user at a time should be accessing the configuration web pages. If two or more users
make simultaneous changes to the configuration, the configuration saved last will overwrite other changes.
There are things to take into consideration when making the configuration.
•
Remember to apply the configuration in order for changes to take effect. See “X-gateway Management” on page 38. As soon as you have saved data to the configuration but not yet applied it,
you will see the box below at the top of the web pages:
•
A maximum of 64 Modbus-TCP servers can be added to the configuration.
•
A maximum of 64 transactions can be set up to the servers in the configuration.
•
Take care when choosing scan times for the transactions. The mimimum allowed scan time (ms)
is the total number of transactions multiplied by three and cannot be less than 10 ms.
•
Take care not to map too much data. The data limits are 256 bytes input data and 256 bytes output data, including control/status word and live list.
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6.2 Introduction
To display the configuration and status web pages of the X-gateway, start a web browser and type the
IP address of the module in the address field.
The default IP address of the X-gateway is 192.168.0.100. To connect a computer to the X-gateway,
make sure that both the computer and the module are using the same subnet mask, e.g. 255.255.255.0.
Change the IP address of the computer to 192.168.0.X, where X is any number between 0 and 255 except 100.
If, for example, there is a DHCP server on the network, the IP address might be unknown. In that case,
use the Anybus IPconfig tool to find it. The Anybus IPconfig tool can be downloaded from www.anybus.com.
If a list of connected devices does not show automatically, press the scan button. Identify the IP address
of the X-gateway by its type ‘Anybus X-gateway Modbus-TCP’ or by its MAC address. The MAC address of the X-gateway can be found at the bottom of the module.
For additional information about the Anybus IPconfig tool, see “Anybus IPconfig Tool” on page 46.
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6.3 Overview
The configuration and status web pages are divided into three sections:
1
3
2
1. Headline Section
Shows the Anybus logo and the name of the product.
2. Navigation Section
All functionality is easily accessed from the different links. Every link and its corresponding functionality will be explained later in this chapter.
3. Content Section
Clicking a link will display its contents in the content section. A short text describing the functionality of the current page will be available at the top of the section.
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6.3.1 Home
The introductory window of the configuration and status web pages presents important error tracking
information, as well as general information and statistics.
Operation Mode
The table below shows the correlation between the operation modes of the CANopen network and the
Modbus-TCP network.
Modbus-TCP
(Network 2)
Run
Idle
CANopen (Network 1)
I/O data exchanged
No I/O data exchanged
Data is exchanged between the two net- The CANopen network exchanges no data.
works
Data to the Modbus-TCP network is in clear,
freeze, stop or safe value state
The Modbus-TCP network exchanges no No data is exchanged. Both networks, indedata. Data to the CANopen network is in pendently, are in clear, freeze, stop or safe
clear or freeze state
value state
In case of an error on the CANopen network, the following additional fieldbus statuses may appear:
CANopen (Network 1)
Error
Shut down
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Bus off
Configuration error or unexpected error (the X-gateway needs a restart)
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6.4 Configuration
Please note that changes made to the configuration will not be used by the X-gateway until they have
been applied and saved. See “X-gateway Management” on page 38.
6.4.1 Authentication
Authentication can be enabled or disabled. If enabled, it is possible to set a username and password to
protect the configuration.
When choosing a username and a password, use only the valid characters shown below.
Item
Username
Password
Valid characters
A-Z, a-z, 0-9, _ (underscore). Max length: 13 characters
A-Z, a-z, 0-9, _ (underscore). Max length: 12 characters
Important Notice
Note that it is very important to save the authentication information. There is no way to retrieve a lost
username or password. If the authentication information is lost, the only way to restore the X-gateway
is to download new firmware via the USB interface. This will erase any configuration currently on the
module.
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6.4.2 Modbus Client
Configuration of the client side of the Modbus-TCP network. On this side, the X-gateway will act as a
Modbus-TCP client. To the right, in the “Actual” column, the currently used values can be seen.
Available IP Configuration Settings
Item
IP address
Subnet mask
Router IP address
DHCP
Anybus IPconfig
(HICP)
Description
If not set by DHCP (or HICP), set these values manually
Enabled by default. When enabled, the X-gateway can obtain the TCP/IP settings dynamically
from the DHCP server of the Modbus-TCP network
Enabled by default. When enabled, the TCP/IP settings for the Modbus-TCP network can be configured temporarily with the Anybus IPconfig tool. See “Anybus IPconfig Tool” on page 46
Start-up Operation Mode
Value
Running
Idle
Description
The Modbus-TCP client starts to exchange data with the servers as soon as possible
after start-up
The Modbus-TCP client does not exchange any data with the servers and waits for
instructions via the control word
Action in Case of Irrecoverable Error
If the X-gateway encounters an irrecoverable error, there are two possible options.
Value
Shutdown
Restart
Description
The X-gateway will shut down. All LEDs will display red.
The X-gateway will restart.
When finished configuring the Modbus-TCP client, click ‘Save settings’. Note that the changes will not
take effect until they are applied in the X-gateway management section. See “X-gateway Management”
on page 38.
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6.4.3 Modbus Servers
The configuration of the servers on the Modbus-TCP network is made here. The X-gateway can handle
up to 64 different servers, and a maximum of 64 transactions distributed among those servers. It is possible to map up to 256 bytes of data in either direction, including control/status word and live list.
The global configuration limits box keeps track of the number of added transactions and the current
amount of I/O mapped input and output data. It also keeps track of the total amount of data in the
configuration (both I/O mapped and not I/O mapped data).
Add Server
Click ‘Add server’ to add a server to the configuration. Click ‘Edit’ to see and edit the settings:
Available editable settings:
Setting
Name
Server address
Protocol
Port
Description
While not required, renaming the server makes the configuration easier to comprehend. Note that it
is only possible to use uppercase and lowercase characters, numerals and underscore (_)
Default name is ‘New_Server’, followed by an incremental suffix
Max length: 32 characters
The IP address of the server
TCP
Default Modbus-TCP port is 502. If the server requires it, it is possible to change
Value range: 0 - 65535
When the server is configured, click ‘Ok’.
Note: When the server and its settings are configured, transactions must be added to the server. See
“Add Transactions” on page 34. At any time, it is possible to have only one server without specified
transactions.
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Add Transactions
Transactions represent the data that is read from/written to the servers of the Modbus-TCP network.
The global configuration limits box keeps track of the number of added transactions, the current minimum allowed scan time, and the current amount of I/O mapped data as well as total amount of data
(both I/O mapped and not I/O mapped data).
To add transactions, find the server in the server list and click ‘Transactions’. This presents a list of all
transactions configured for that server. Click ‘Add transaction’ to add a new default transaction to the
list and click ‘edit’.
See a detailed explanation of the settings on the next page.
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Available settings
Setting
Function code
Description
The function code defines the purpose of the transaction
Choose from the available different Modbus functions, see “Modbus-TCP Functions” on page 26
Data encoding
Decides in what order the different bytes of the received/transmitted data shall be sent on the network
Trigger
Only applicable for write transactions
Cyclic
On data change
I/O mapped
Decides whether to map the data to the memory that is cyclically exchanged between the CANopen network and the Modbus-TCP network (I/O mapped data)
Name
While not required, renaming the transaction makes the configuration easier to comprehend. Note
that it is only possible to use uppercase and lowercase characters, numerals and underscore (_)
Default name is ‘New_Trans’, followed by an incremental suffix
Max length: 32 characters
Timeout (ms)
The time span within which the server must return a response to the transaction
If no response is received within the timeout period, the connection to the server will be closed
If the connection to the server is closed, all transactions to that server will be affected
Value range: 10 - 65535 (ms)
Scan time (ms)
The scan time defines how often the transaction shall be resent, e.g. the time cycle of a repeating
transaction
Minimum scan time (ms) is calculated by multiplying the total number of transactions by three
The minimum scan time will increase by adding more transactions
Value range: 10 - 10000 (ms)
Unit ID
Only applicable for Modbus RTU servers. If the Modbus-TCP server functions as a router to Modbus RTU servers, it is possible to send transactions to a single Modbus RTU server using the unit
ID
Value range: 0 - 247; 255
If not communicating with a Modbus RTU server, use the value 255 (default)
Starting register/bit The starting Modbus server register or bit to write to/read from
Value range: 1 - 65536
Elements
The number of elements to write/read
Value range: See “Modbus-TCP Functions” on page 26.
When CANopen
Note: Only available for I/O mapped write transactions
(network 1) is not
Clear data to Modbus server: only zeros will be transmitted
exchanging I/O data Freeze data to Modbus server: the data that was stored last will be repeated
Write safe value: choose a specific value to transmit for every element (See safe element value
below)
Stop: no data will be transmitted to the Modbus server
Data type
Write/read data either as two byte integers (uint16) or four byte integers (uint32)
Registers
The resulting amount of registers to write/read.
The calculation is based on the number of elements to read/write and the chosen data type
Safe Element Value Note: Only available for write transactions
A numeric value to send for every element if network 1 (CANopen) is not exchanging I/O data
Startup-mode
Wait for data: all data for the transaction must have been sent from the CANopen network and
received by the X-gateway before the transaction is carried out
Directly
When finished editing the transaction, click ‘Ok’. All data resulting from configured transactions will be
mapped to the internal memory of the X-gateway. Read transactions will be mapped to the input area,
and write transactions will be mapped to the output area. See “Mapping Overview” on page 39 for more
information.
Note: The X-gateway needs to be restarted before any changes will take effect. See “X-gateway Management” on page 38.
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6.4.4 CANopen (Slave Interface)
Configuration of the CANopen slave interface of the X-gateway.
What is shown is the currently stored configuration, provided that all changes are saved and applied to
the X-gateway.
The column ‘Actual’ presents the settings that are currently used. The device address and the baud rate
can be changed by the CANopen network during runtime and will then override the chosen values in
the configuration web pages. If the X-gateway is restarted, the values need to be set again.
The X-gateway supports the Layer Setting Service (LSS). This service can be used to set the device address and baud rate from the CANopen network. For more information see “LSS (Layer Setting Service)” on page 37.
Note that no changes will take effect until the configuration has been applied. See “X-gateway Management” on page 38.
Available settings for the CANopen network.
Setting
Device Address
Description
The X-gateway slave address on the CANopen network.
Default value: 255 (Enforce LSS at start-up)a
Value range: 1 - 127 (Valid CANopen device address)
Baud rate
Default: LSSa
Values (kbps): 10, 20, 50, 100, 125, 250, 500, 800, 1000
Auto (auto baud): The X-gateway is able to receive a baud rate value automaticallyb
LSS: The baud rate can be set from the CANopen network
The “Freeze data to master” option instructs the X-gateway to keep sending the latest
received data from the Modbus-TCP network to the CANopen master
The “Clear data to master” option instructs the X-gateway to clear the input data area
and send only zeros to the CANopen master
0: dynamic
2 - 128: The number of bytes that shall be reserved for bit transactions
Note: the chosen value must be even
0: dynamic
2 - 128: The number of bytes that shall be reserved for bit transactions
Note: the chosen value must be even
When Modbus (Network 2)
error
Reserved bytes, read bit
transactions
Reserved bytes, write bit
transactions
a. See “LSS (Layer Setting Service)” on page 37.
b. See “Auto Baud” on page 37.
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LSS (Layer Setting Service)
The X-gateway supports the Layer Setting Service (LSS). The following settings in the X-gateway can be
modified via LSS:
•
Device Address
Setting the device address value to 255 makes the X-gateway try to use a device address previously saved via LSS. If there is none saved, the X-gateway will wait for a device address sent via
LSS before sending a Boot-up message.
•
Baud Rate
Setting the baud rate to LSS makes the X-gateway try to use a baud rate previously saved via LSS.
If there is none saved, the X-gateway will switch to autobaud to find the baud rate of the CANopen network. As soon as communication is established, the X-gateway may be configured using
LSS.
Auto Baud
The X-gateway supports automatic baud rate detection, i.e. if no valid baud rate is set, the module will
measure the bus traffic at different speeds until the correct baud rate has been established. Under normal
conditions, i.e. with cyclic bus traffic of at least 2Hz, the baud rate should be detected within 5 seconds.
Note: The automatic baud rate detection will not work if there is no traffic on the network.
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6.5 Tools
6.5.1 X-gateway Management
Apply changes
Permanently store changes made to the configuration and reboot, using the new configuration.
No changes made in the configuration will be permanently stored or used by the X-gateway until they
are applied by clicking ‘Apply’.
Before storing and rebooting, the X-gateway will validate the not yet stored configuration. If errors are
found, the X-gateway will produce an information message with instructions to correct the errors. The
X-gateway will not store an invalid configuration.
Reboot and undo changes
The X-gateway will be restarted. All changes made since the last configuration was loaded will be undone.
Undo changes
Undo all changes made since the last configuration was loaded.
Factory reset
Reset the X-gateway to completely remove the configuration currently stored in the module.
Wink device
Clicking the “Wink device” button will start a 15 second LED sequence on LEDs 1, 5 and 6 on the Xgateway. For identification purposes.
6.5.2 Backup and Restore
Backup the configuration that is currently used to file, or restore a previously saved configuration from
file.
It is not possible to backup or restore the configuration until all changes are either applied or undone.
See “X-gateway Management” on page 38.
Two things can happen when loading an old configuration:
•
Configuration valid:
The X-gateway will reboot and automatically use the previously stored configuration.
•
Configuration not valid:
The X-gateway will produce an error message. The chosen configuration will not be accepted or
loaded into memory.
Important Notice
Before loading a previously stored configuration, locate any authentication information associated with
it. If a valid configuration is loaded that is protected by a password, the X-gateway can not be reconfigured until the authentication information has been provided.
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Network Configuration 39
6.5.3 Mapping Overview
This example (illustrated on the next page) includes three transactions.
The I/O mapped data is presented in the input and output data boxes.
- New_Trans1: an I/O mapped read/write transaction, reading eight bytes and writing 16
bytes.
- New_Trans2: an I/O mapped read transaction, reading 12 bytes.
- New_Trans3: a not I/O mapped write transaction, writing 6 bytes.
Note how this transaction is only visible in the parameter data.
In the parameter data box, all configured data is presented. The control/status word and live list are always enabled on the CANopen network, and are mapped before all other data. Details for acyclically
accessing control/status word, live list, exception and transaction status list, as well as both I/O mapped
and not I/O mapped data are available here.
All data is accessed using the appropriate index and subindex.
Note that changes to the configuration that are not applied and saved will not show here.
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Network Configuration 40
6.5.4 Transaction Monitor
The transaction monitor interface presents a detailed list of all transactions currently operating on the
Modbus-TCP network. The data is automatically updated, and it is possible to choose to view the data
either in decimal or in hexadecimal values. The time that has passed since the last update is visible at the
top of the transaction list. Every post in the list contains the following transaction information:
•
Server name and transaction name
•
The type of Modbus function chosen for the transaction
•
The size of the data read from or written to the Modbus-TCP network
•
The actual data read from or written to the Modbus-TCP network
•
The bit position of the transaction in the live list (also presented as byte.bit).
If there is a transaction error, an error message will appear instead of the data.
A red frame around the list indicates that the web browser has lost connection to the web server of the
X-gateway. If this happens, try reloading the page by clicking on “Transaction Monitor” in the menu to
the left.
Note: Viewing the transaction monitor may affect performance.
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Chapter 7
7. CANopen Object Dictionary
7.1 Standard Objects
7.1.1 General
The standard object dictionary is implemented according to the DS301 specification (v4.02) from CiA
(CAN in Automation).
7.1.2 Object Entries
Index
0005h
0006h
0007h
1000h
1001h
1003h
Object Name
Dummy Object
Dummy Object
Dummy Object
Device Type
Error register
Predefined
error field
1005h COB-ID Sync
1008h Manufacturer
device name
100Ah Manufacturer
software version
100Ch Guard time
100Dh Life time factor
1010h Store Parametersa
Subindex
00h
00h
00h
00h
00h
00h
01h...06h
00h
00h
Description
Dummy Object
Dummy Object
Dummy Object
Device Type
Error register
Number of errors
Error field
COB-ID Sync
Manufacturer device name
Type
U8
U16
U32
U32
U8
U8
U32
U32
Visible
string
Visible
string
Access
WO
WO
WO
RO
RO
RW
RO
RW
RO
Notes
0000 0000h (no profile)
Default value: 0000 0080h
X-gateway Modbus-TCP
00h
Manufacturer software version
RO
Example string: 1.03
00h
00h
00h
01h
02h
U16
U8
U8
U32
U32
RW
RW
RO
RW
RW
02h
Baud rate and node ID cannot be stored using this command
U8
U32
RO
RW
04h
-
U32
RW
-
U32
RW
00h
00h
Guard time
Life time factor
Largest subindex supported
Store all parameters
Store communication parameters
Largest subindex supported
Restore all default parameters
Restore communication
default parameters
Restore manufacturer
parameters to default
COB ID EMCY
Inhibit time EMCY
U32
U16
RO
RW
All CANopen related parameters are reset
Default value: 0000h
00h
01h
Number of entries
Consumer Heartbeat Time
U8
U32
RO
RW
Producer Heartbeat Time
U16
RW
1011h Restore param- 00h
eters
01h
02h
04h
1014h COB ID EMCY
1015h Inhibit time
EMCY
1016h Consumer
Heartbeat Time
1017h Producer Heart- 00h
beat Time
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01h
Node ID + Heartbeat Time.
Value must be a multiple of 1
ms
-
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CANopen Object Dictionary 42
Index Object Name
1018h Identity object
Type
U8
U32
U32
U32
U32
U8
U32
U8
U8
Access
RO
RO
RO
RO
RO
RO
RW
RW
RW
Notes
04h
1Bh
1Ch
02h
-
U32
U32
U32
U32
U32
U32
U32
U32
U8
U32
U8
U16
U16
U8
RW
RW
RW
RW
RW
RW
RW
RW
RO
RW
RW
RW
RW
RW
05h
-
2100h Status word
01h
02h
03h
04h
05h
06h
07h
08h
00h
Description
No. of entries
Vendor ID
Product Code
Revision Number
Serial Number
Largest subindex supported
COB ID used by PDO
Transmission type
No. of mapped application
objects in PDO
Mapped object #1
Mapped object #2
Mapped object #3
Mapped object #4
Mapped object #5
Mapped object #6
Mapped object #7
Mapped object #8
Largest subindex supported
COB ID used by PDO
Transmission type
Inhibit time
Event Timer (ms)
No. of mapped application
objects in PDO
Mapped object #1
Mapped object #2
Mapped object #3
Mapped object #4
Mapped object #5
Mapped object #6
Mapped object #7
Mapped object #8
Status word
U32
U32
U32
U32
U32
U32
U32
U32
U16
RW
RW
RW
RW
RW
RW
RW
RW
RO
2101h Control word
00h
Control word
U16
RW
2102h Live list
00h
01h
...
08h
00h
01h
No. of entries
Transaction 7...0
...
Transaction 63...56
No. of entries
Exception code for transaction 0
...
Exception code for Transaction 63
U8
U8
U8
U8
U8
U8
RO
RO
RO
RO
RO
RO
“Control/Status Word” on
page 13
“Control/Status Word” on
page 13
08h
“Live List” on page 14
U8
U8
RO
RO
1400h Receive PDO
...
parameter
141Fh
1600h Receive PDO
...
mapping
161Fh
1800h Transmit PDO
...
parameter
181Fh
1A00h Transmit PDO
...
mapping
1A1Fh
2103h Exceptions
Subindex
00h
01h
02h
03h
04h
00h
01h
02h
00h
01h
02h
03h
04h
05h
06h
07h
08h
00h
01h
02h
03h
05h
00h
...
40h
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40h
“Exception Code List” on
page 16
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CANopen Object Dictionary 43
Index Object Name
2104h Transaction
Status
Subindex
00h
01h
...
40h
210Ah Mapped Mod- 00h
bus Read Data 01h
...
7Bh
210Bh Unmapped
00h
Modbus Read 01h
Reg 1
...
40h
210Ch Unmapped
00h
Modbus Read 01h
Reg 2
...
40h
210Dh Unmapped
00h
Modbus Read 01h
Bits 1
...
80h
210Eh Unmapped
00h
Modbus Read 01h
Bits 2
...
80h
2185h Mapped Mod- 00h
bus Write Data 01h
...
7Fh
2186h Unmapped
00h
Modbus Write 01h
Reg 1
...
40h
2187h Unmapped
00h
Modbus Write 01h
Reg 2
...
40h
2188h Unmapped
00h
Modbus Write 01h
Bits 1
...
80h
2189h Unmapped
00h
Modbus Write 01h
Bits 2
...
80h
Description
No. of entries
Transaction status code for
transaction 0
...
Transaction status code for
transaction 63
No. of entries
Mapped read data #0
...
Mapped read data #122
No. of entries
Unmapped read data #0
...
Unmapped read data #63
No. of entries
Unmapped read data #64
...
Unmapped read data #127
No. of entries
Unmapped read bits #0
...
Unmapped read bits #127
No. of entries
Unmapped read bits #128
...
Unmapped read bits #255
No. of entries
Mapped write data #0
...
Mapped write data #126
No. of entries
Unmapped write data #0
...
Unmapped write data #63
No. of entries
Unmapped write data #64
...
Unmapped write data #127
No. of entries
Unmapped write bits #0
...
Unmapped write bits #127
No. of entries
Unmapped write bits #128
...
Unmapped write bits #255
Type
U8
U8
Access
RO
RO
Notes
40h
“Transaction Status List” on
page 15
U8
U8
RO
RO
U8
U16
RO
RO
7Bh
-
U8
U16
RO
RO
40h
-
U8
U16
RO
RO
40h
-
U8
U8
RO
RO
80h
-
U8
U8
RO
RO
80h
-
U8
U16
RO
RW
7Fh
-
U8
U16
RO
RW
40h
-
U8
U16
RO
RW
40h
-
U8
U8
RO
RW
80h
-
U8
U8
RO
RW
80h
-
a. Relevant only for communication parameters
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Appendix A
A. Technical Specification
A.1 Protective Earth (PE) Requirements
In order to achieve proper EMC behavior, the product must be connected to protective earth (PE) via
the DIN-rail connector. If the DIN-rail cannot be used, PE must be connected to the power connector.
HMS Industrial Networks does not guarantee proper EMC behavior unless these PE requirements are
fulfilled.
Note: Make sure the DIN-rail is properly connected to PE.
A.2 Power Supply
Supply Voltage
The X-gateway requires a regulated 24 V (20.4 V to 28.8 V) DC power source.
Power Consumption
The typical power consumption is 150 mA at 24 V.
A.3 Environmental Specification
A.3.1 Temperature
Operating
-25º to +70º Celsius
Non-operating
-40º to +85º Celsius
A.3.2 Relative Humidity
The product is designed for a relative humidity of 5% to 95% noncondensing.
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Technical Specification 45
A.4 EMC (CE) Compliance
EMC compliance testing has been conducted according to the Electromagnetic Compatibility Directive
2004/108/EC. For more information please consult the EMC compliance document, see product/support pages for Anybus X-gateway Modbus-TCP at www.anybus.com.
Anybus X-gateway Modbus-TCP
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Appendix B
B. Anybus IPconfig Tool
The X-gateway supports the HICP protocol used by the Anybus IPconfig tool and all Anybus products.
It is possible to see and alter the TCP/IP settings for the X-gateway manually by using the
IPconfig Tool.
At start-up, the IPconfig tool presents a list of
all Anybus products that are connected to the
network. The list can be refreshed by clicking
‘scan’. The X-gateway is identified in the list
by its type ‘Anybus X-gateway Modbus-TCP’
or by its MAC address (found at the bottom
of the module).
Right-clicking a row in the list makes it possible to either visit the web interface of the
product, or bring up the configuration window. Double-clicking a row also brings up the
configuration window.
In the configuration window the TCP/IP settings can be set or changed. Save the new settings by clicking ‘set’, or exit without saving by clicking ‘cancel’.
Note: the IPconfig tool provides the opportunity to set a username and a password. The X-gateway,
however, will not accept any configuration changes where the password has been altered.
Note: if the X-gateway configuration is protected by a password, it is not possible to alter the TCP/IP
settings.
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Appendix C
C. Copyright Notices
This product includes software developed by Carnegie Mellon, the Massachusetts Institute of Technology, the University of California, and RSA Data Security:
*****************************************************************************
Copyright 1986 by Carnegie Mellon.
*****************************************************************************
Copyright 1983,1984,1985 by the Massachusetts Institute of Technology
*****************************************************************************
Copyright (c) 1988 Stephen Deering.
Copyright (c) 1982, 1985, 1986, 1992, 1993
The Regents of the University of California. All rights reserved.
This code is derived from software contributed to Berkeley by Stephen Deering of Stanford University.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
following conditions are met:
•
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
•
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
•
Neither the name of the University nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' ANDANY EXPRESS OR
IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*****************************************************************************
Copyright (C) 1990-2, RSA Data Security, Inc. All rights reserved.
License to copy and use this software is granted provided that it is identified as the "RSA Data Security, Inc. MD4
Message-Digest Algorithm" in all material mentioning or referencing this software or this function.
License is also granted to make and use derivative works provided that such works are identified as "derived from
the RSA Data Security, Inc. MD4 Message-Digest Algorithm" in all material mentioning or referencing the derived
work.
RSA Data Security, Inc. makes no representations concerning either the merchantability of this software or the
suitability of this software for any particular purpose. It is provided "as is" without express or implied warranty of
any kind.
These notices must be retained in any copies of any part of this documentation and/or software.
*****************************************************************************
Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All rights reserved.
License to copy and use this software is granted provided that it is identified as the "RSA Data Security, Inc. MD5
Message-Digest Algorithm" in all material mentioning or referencing this software or this function.
License is also granted to make and use derivative works provided that such works are identified as "derived from
the RSA Data Security, Inc. MD5 Message-Digest Algorithm" in all material mentioning or referencing the derived
work.
RSA Data Security, Inc. makes no representations concerning either the merchantability of this software or the
suitability of this software for any particular purpose. It is provided "as is" without express or implied warranty of
any kind.
These notices must be retained in any copies of any part of this documentation and/or software.
Anybus X-gateway Modbus-TCP
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