476-7323-Anybus Communicator CAN CANopen Slave user manual

476-7323-Anybus Communicator CAN CANopen Slave user manual
User Manual
Anybus Communicator CAN
CANopen
®
Doc.Id. HMSI-168-56
Rev. 1.20
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 Communicator CAN - CANopen.
The reader of this document is expected to be familiar with high level software design, and communication
systems in general. The use of advanced CANopen specific functionality may require in-depth knowledge of
CANopen networking internals and/or information from the official CANopen specifications. In such cases, the
people responsible for the implementation of this product should either obtain the CANopen specification to gain
sufficient knowledge or limit their implementation in such a way that this is not necessary.
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.
The “Silk” icon set, used in the Anybus Configuration Manager tool, is created by Mark James, Birmingham, England. The complete icon set is found at http://famfamfam.com/lab/icons/silk/. The icon set is licensed under the
Creative Commons Attribution 2.5 License (http://creativecommons.org/licenses/by/2.5).
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.
Anybus Communicator CAN - CANopen User Manual
Rev 1.20
Copyright© HMS Industrial Networks AB
Sep 2012 Doc Id HMSI-168-56
Anybus Communicator CAN to CANopen
Doc.Rev. 1.20
Doc.Id. HMSI-168-56
Table of Contents
Table of Contents
Preface
About This Document
Related Documents.................................................................................................................................. 1
Document History ................................................................................................................................... 1
Conventions & Terminology .................................................................................................................. 2
Sales and Support ..................................................................................................................................... 3
Chapter 1
About the Anybus Communicator CAN
Introduction .............................................................................................................................................. 4
Anybus Communicator CAN Concept................................................................................................. 5
General............................................................................................................................................ 5
Data Exchange Model..................................................................................................................... 6
Chapter 2
About the Module
External view............................................................................................................................................. 7
Mounting.................................................................................................................................................... 8
Status LEDs .............................................................................................................................................. 9
Connectors .............................................................................................................................................. 10
CANopen Connector and Switches................................................................................................. 10
USB Connector.............................................................................................................................. 11
CAN Connector............................................................................................................................ 11
Power Connector.................................................................................................................................... 11
Software Installation .............................................................................................................................. 12
Anybus Configuration Manager ..................................................................................................... 12
Firmware Update........................................................................................................................... 12
Chapter 3
Getting Started
Chapter 4
CAN Network Communication
General..................................................................................................................................................... 14
Types of Messages.................................................................................................................................. 14
Query-Response.............................................................................................................................. 14
Produce and Consume .................................................................................................................... 15
Protocol Building Blocks....................................................................................................................... 15
Control/Status Word ............................................................................................................................. 17
Transaction Live List ............................................................................................................................. 18
Chapter 5
Data Representation on CANopen
General..................................................................................................................................................... 19
Data Representation............................................................................................................................... 19
Memory Layout (Internal Memory Buffer) ........................................................................................ 20
Data Area Addresses and Object Dictionary Indices Relation ........................................................ 20
Anybus Communicator CAN
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II
Chapter 6
Configuration
Configuring the Anybus Communicator CAN.................................................................................. 22
Configuring the CANopen Network .................................................................................................. 22
Chapter 7
Anybus Configuration Manager
Main Window.......................................................................................................................................... 23
Pull-down Menus ........................................................................................................................... 24
Chapter 8
Basic Settings
Project ...................................................................................................................................................... 27
Network Settings .................................................................................................................................... 27
Communicator Settings ......................................................................................................................... 28
Subnetwork Settings............................................................................................................................... 29
Chapter 9
Groups and Transactions
General..................................................................................................................................................... 30
Groups ..................................................................................................................................................... 30
Transactions ............................................................................................................................................ 30
Produce .......................................................................................................................................... 31
Consume ........................................................................................................................................ 32
Query/Response............................................................................................................................. 33
Dynamic Produce ........................................................................................................................... 34
Dynamic Consume ......................................................................................................................... 35
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III
Chapter 10 Configuration of CAN Frames
General..................................................................................................................................................... 36
CAN Identifiers ............................................................................................................................ 36
Produce/Query CAN Frame................................................................................................................ 37
Consume/Response CAN Frame........................................................................................................ 37
CAN Frames in Dynamic Transactions.............................................................................................. 38
Chapter 11 Online
Select Connection................................................................................................................................... 39
Connect/Disconnect ............................................................................................................................. 40
Download and Upload Configuration................................................................................................. 40
Chapter 12 Anybus Configuration Manager Tools
Monitor/Modify ..................................................................................................................................... 41
CAN Line Listener ................................................................................................................................. 42
Address Overview .................................................................................................................................. 43
Diagnostics/Status ................................................................................................................................. 44
Reassign Addresses ................................................................................................................................ 45
Project Summary .................................................................................................................................... 46
Password .................................................................................................................................................. 47
Options .................................................................................................................................................... 48
Appendix A Technical Specification
Protective Earth (PE) Requirements................................................................................................... 49
Power Supply .......................................................................................................................................... 49
Environmental Specification ................................................................................................................ 49
Temperature................................................................................................................................... 49
Relative Humidity.......................................................................................................................... 49
EMC (CE) Compliance ......................................................................................................................... 50
Appendix B Configuration Example
Appendix C CANopen Object Dictionary
Standard Objects .................................................................................................................................... 55
General.......................................................................................................................................... 55
Object Entries................................................................................................................................ 55
Manufacturer Specific Objects ............................................................................................................. 57
Input Buffer, Byte Access ............................................................................................................... 57
Input Buffer, Word Access ............................................................................................................. 57
Input Buffer, Double Word Access................................................................................................. 58
Output Buffer, Byte Access............................................................................................................. 58
Output Buffer, Word Access .......................................................................................................... 59
Output Buffer, Double Word Access .............................................................................................. 59
Anybus Status & Diagnostics ....................................................................................................... 60
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Preface
P. About This Document
For more information, documentation etc., please visit the HMS website, ‘www.anybus.com’.
P.1 Related Documents
Document
CiA Draft Standard 301 v4.2
CiA Draft Standard Proposal 302 Part 1-5
CiA Draft Standard 305
CAN specification
Author
CAN in Automation
CAN in Automation
CAN in Automation
CAN in Automation
P.2 Document History
Summary of Recent Changes ( 1.11 ... 1.20)
Change
Updated main window screenshot in chapter 7
Removed “cut”, “copy” and “paste” from the edit menu
Added parameter “Silence Time” to “Subnetwork Settings”
Added parameter “Produce Alias” to “Produce”
Added parameters “Consume Alias”, “Consistency Check”, “Transaction Status Byte” and Transaction Status Address” to “Consume”
Changed screenshots and added information in “Select Connection”
Added new item “Reassign Addresses” under “Anybus Configuration Manager Tools”
Added information on byte order when storing the control/status word
Added dynamic transactions
Added information on transaction status byte
Added new state to CAN subnetwork status LED
Page(s)
23
24
29
31
32
39, 40
45
17
15, 38, 34, 35
32
9
Revision List
Revision
1.00
1.10
1.11
1.20
Date
2011-06-23
2011-09-22
2012-02-13
2012-09-10
Author(s)
KeL
KeL
KeL
KaD, KeL
Anybus Communicator CAN to CANopen
Doc.Rev. 1.20
Chapter(s)
All
12
2, 4, 7, 8, 9,
10, 11, 12
Description
First official release
Major update
Minor updates
Service pack 1 updates
Doc.Id. HMSI-168-56
About This Document 2
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’ or ‘module’ refers to the Anybus Communicator CAN module.
•
The terms ‘host’ or ‘host application’ refers to the device that hosts the Anybus module.
•
Hexadecimal values are written in the format NNNNh or 0xNNNN, where NNNN is the hexadecimal value.
•
A byte always consists of 8 bits.
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About This Document 3
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
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
HMS Denmark
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+45 (0) 35 38 29 00
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 India
E-mail:
[email protected]
E-mail:
[email protected]
Phone:
+91 (0) 20 40111201
Phone:
+91 (0) 20 40111201
Fax:
+91 (0) 20 40111105
Fax:
+91 (0) 20 40111105
Online:
www.anybus.com
Online:
www.anybus.com
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Chapter 1
1. About the Anybus Communicator CAN
1.1 Introduction
The Anybus Communicator CAN is a series of products that acts as a gateway between a subnetwork,
running the standard CAN protocol, and a number of popular industrial networks. 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.
The Anybus Communicator CAN 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 integration of industrial CAN devices to one of these industrial networks: EtherCAT, PROFIBUS, ControlNet, Modbus-RTU, Modbus-TCP, PROFINET, PROFINET IRT, EtherNet/IP, DeviceNet, CC-Link and CANopen. The scope of this manual is the Anybus Communicator
CAN for CANopen. The manual primarily describes the functionality and the configuration of the CAN
network and the connection between the CAN network and the CANopen network. Relevant information on the CANopen interface of the module is given, with the intention to facilitate the configuration
of the interface into a CANopen network. For more information about CANopen, please refer to official specifications.
No proprietary configuration software is needed. All necessary configuration is performed using the
Anybus Configuration Manager that accompanies the product.
Fieldbus Control System
(e.g a PLC)
(Fieldbus Network)
(Fieldbus Network)
Fieldbus Control System
(e.g a PLC)
HMII
HM
INVE
IN
VERT
VE
RTER
RT
ER
PC configuration
and monitoring
HMII
HM
INVE
IN
VERT
VE
RTER
RT
ER
PC configuration
and monitoring
CAN communication
device
CAN communication devices
Single-Node Standard CAN Network
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Multi-Node Standard CAN Network
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About the Anybus Communicator CAN 5
Subnetwork
The Anybus Communicator CAN recognizes and supports communication that conforms to the CAN
standards 2.0A and 2.0B. The Communicator can adapt to any predefined network using CAN frames
as means for data exchange, using the Anybus Configuration Manager tool, that is included with the
product.
•
0 - 8 bytes of data in each frame
•
11-bit (CAN 2.0A) identifier or 29-bit (CAN 2.0B) identifier
•
Bit rates supported: 20, 50, 100, 125, 200, 250, 500, 800 and 1000 kbit/s.
CANopen Interface
CANopen connectivity is provided through patented Anybus technology:
•
Supports all standard baud rates
•
Customizable PDO mapping
•
Up to 512 bytes of I/O in each direction
•
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
1.2 Anybus Communicator CAN Concept
1.2.1 General
The Anybus Communicator is designed to exchange data between a subnetwork, running CAN, and a
higher level network. The CAN protocol uses frames, that are individually configurable, offering great
flexibility.
Through the configuration of the CAN frames, the Communicator will adapt to a predefined CAN network. It will be possible to send data to and receive data from the subnetwork, but also to act as a relay
for data on the CAN subnetwork.
The Communicator can issue frames cyclically, on change of data, or based on trigger events issued by
the control system of the higher level network (i.e. the fieldbus master or PLC) or by the CAN network.
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 Communicator 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 CAN frames.
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About the Anybus Communicator CAN 6
1.2.2 Data Exchange Model
Internally, the data exchanged on the subnetwork, and
the data exchanged on the higher level network, resides
in the same memory.
Anybus Communicator CAN
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 (Up to 512 bytes)
This area can be read by the higher level network.
CANopen Network
•
Output Data
(512 bytes)
CAN Network
The internal memory buffer is divided into three areas
based on their function:
Input Data
(512 bytes)
General Data
•
Output Data (Up to 512 bytes)
This area can be written to by the higher level
network.
•
General Data
This area can not be accessed from the higher
level network, but may be used for transfers between individual nodes on the subnetwork, or
as a general “scratch pad” for data. The size of the General Data area is 1024 bytes. How much
of the area that is used for subnetwork communication is decided by the configuration.
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
CAN network: Write Only
Fieldbus:
Read Only
0x1FF
Anybus Communicator CAN to CANopen
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General Data
0x400
CAN network: Read Only
Fieldbus:
Write Only
0x3FF
CAN network:
Fieldbus:
Read/Write
-
0x7FF
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Chapter 2
2. About the Module
2.1 External view
A: Status LEDs
See also...
A
- “Status LEDs” on page 9
B
B: Fieldbus Specific Connectors and Switches
This connector (connectors) and, if available,
these switches are used to connect the Anybus
Communicator CAN module to the CANopen
network. They are described in “CANopen
Connector and Switches” on page 10.
C: USB connector
This connector is used for uploading and downloading the configuration and for software upgrade of the module.
C
D
See also...
F
- “USB Connector” on page 11
E
D: CAN Connector
This connector is used to connect the communicator to the CAN network.
See also...
- “CAN Connector” on page 11
E: Power Connector
This connector is used to apply power to the communicator.
See also...
- “Power Connector” on page 11
F: DIN-rail Connector
The DIN-rail mechanism connects the communicator to PE (Protective Earth).
See also...
- “Mounting” on page 8
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About the Module 8
2.2 Mounting
Perform the following steps when physically installing the Communicator:
1. Snap the Communicator on to the DIN-rail (See “External view” on page 7)
The DIN-rail mechanism works as follows:
1
To snap the Communicator 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 Communicator 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 Communicator to the CAN network
3. Connect the Communicator to the CANopen network.
4. Set the CANopen configuration switches
5. Connect the power cable and apply power
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About the Module 9
2.3 Status LEDs
The status LEDs on the front indicate the status of the module as shown in the table below.
Status LEDs 1 - 4 indicate the status of the CANopen network and status LEDs
5 - 6 indicate the status of the CAN subnetwork and the device.
#
1 - Run
2 - Error
3 - Status
4 - Power
5 - CAN subnetwork status
State
Off
Single flash, green
Blinking green
Blinking red
Green
Off
Single flash, red
Double flash, red
Triple flash, red
Red
Off
Red
Off
Green
Off
Green
Flashing green
Flashing red
6 - Device status
Red
Off
Alternating red/green
Green
Flashing green
Red
Anybus Communicator CAN to CANopen
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Status
No power
Stopped
Pre-operational
Bus initialization fault
Operational
No error
Warning limit reached
Error Control Event
Sync Error
Bus off
Normal operation
Unrecoverable fault detected
No power
Power
Power off/no CAN communication
Running with no transaction error/timeout
Not all transactions have been executed at
least once since startup and no transaction
error/timeout has occurred.
Transaction error/timeout or subnetwork
stopped
Fatal error
Power off
Invalid or missing configuration
Operation mode Run
Operation mode Idle
Fatal error
1
2
3
4
5
6
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About the Module 10
2.4 Connectors
2.4.1 CANopen Connector and Switches
Connector
Pin no
2
5
7
1, 4, 8, 9
3, 6
Description
CAN_L
Housing, CAN cable shield
CAN_H
(not connected)
CAN GND
1
6
5
(male)
9
Configuration Switches
The configuration switches are used to set the CANopen node address and baud rate.
Note that the node address can not be changed during runtime, i.e. the Anybus Communicator CAN requires a reset for any changes to have effect.
The node address is configured using two rotary switches as follows:
Node Address = (Switch B x 10) + (Switch A x 1)
A
B
Example:
C
To set node address 42, set switch A to ‘2’ and switch B to ‘4’.
The switches provide an address range from 1 to 99.
The baud rate is set via switch C, and is interpreted as follows:
#
0
1
2
3
4
Baud Rate
(reserved)
10 kbit/s
20 kbit/s
50 kbit/s
125 kbit/s
#
5
6
7
8
9
Baud Rate
250 kbit/s
500 kbit/s
800 kbit/s
1 Mbit/s
(reserved)
Note: Normally the configuration 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 careful.
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About the Module 11
2.4.2 USB Connector
At the bottom of the module you find a USB connector used for software upgrade
of the module and for uploading and downloading configurations.
Pin no.
1
2
3
4
Housing
Description
+5 V input
USBDM (USB communication signals)
USBDP (USB communication signals)
Signal GND
Cable Shield
2
1
3
4
Note: USB is used for configuration and software upgrade only. Remove the USB
cable when the configuration of the module is finished.
2.4.3 CAN Connector
Next to the USB connector the CAN connector is found.
Pin no.
2
5
7
1, 4, 8, 9
3, 6
Description
CAN_L
Housing, CAN cable shield
CAN_H
(not connected)
CAN GND
1
6
5
(male)
9
2.5 Power Connector
Pin no.
1
2
Description
+24V DC
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)
See also...
- “Power Supply” on page 49
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About the Module 12
2.6 Software Installation
2.6.1 Anybus Configuration Manager
System Requirements
•
Pentium 233 MHz or higher (300 MHz recommended)
•
64 MB RAM or more (128 MB recommended)
•
Microsoft Windows XP, Windows Vista, or Windows 7
Installation
•
Anybus Communicator CAN resource CD
Insert the CD and follow the onscreen 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).
2.6.2 Firmware Update
Updates of the Communicator firmware will be published on the support pages at www.anybus.com.
Also available is the tool Firmware Download TP, that is used to download the updated firmware to the
Communicator.
Note: Before downloading the new firmware, save a copy of the configuration, as the configuration in
the module will be erased during the installation process of the new firmware. When download of the
firmware is finished, the configuration can be restored from the safety copy.
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Chapter 3
3. Getting Started
The purpose of this chapter is to give a short description of how to install the module and get it up and
running, transferring I/O data between the CAN network and the CANopen network. Before starting,
make sure that you have access to knowledge about the CAN protocol to be configured, e.g. access to
the CAN protocol specification.
Perform the following steps when installing the Communicator:
1. Download the Anybus Configuration Manager from the product pages at www.anybus.com or
copy it from the CD that accompanies the product. Install it on your PC.
2. Download the EDS file from the product pages at www.anybus.com or copy it from the CD that
accompanies the product.
3. Build your configuration in the Anybus Configuration Manager tool, for an example see “Configuration Example” on page 51, for a description of the tool see chapters 7 to 12.
4. Connect the Communicator to your PC using the USB connector.
5. Connect the power cable and apply power.
6. Download the configuration from the Anybus Configuration Manager to the Communicator.
See “Online” on page 39.
7. Remove the USB cable, turn off the power and disconnect the power cable.
8. Snap the Communicator on to the DIN-rail (See “Mounting” on page 9).
9. Connect the Communicator to the CAN network.
10. If necessary, configure the other nodes in the CAN network.
11. Connect the Communicator to the CANopen network.
12. Set the baud rate and the node address on the CANopen network using the configuration switches on the Communicator.
13. Connect the power cable and apply power.
14. Install the EDS file in the CANopen configuration tool.
15. Configure the CANopen network. Please adapt the configuration to the one stored in the Communicator.
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Chapter 4
4. CAN Network Communication
4.1 General
The CAN protocol is message-based and offers the possibility to exchange up to 8 bytes of data in each
message. How these bytes are interpreted, is defined in each application. The CAN protocol is a transparent protocol, meaning that it only acts as a data carrier, and it is up to the users (the application) to
define and interpret the data content of the messages.
Data on CAN is exchanged using frames. Each frame has a unique identifier for the data it exchanges.
The identifier also represents the message priority on the CAN network. The Anybus Communicator
CAN supports either 11-bit (CAN 2.0A) or 29-bit (CAN 2.0B) identifiers, depending on what is defined
during configuration.
CAN is essentially a produce-consume network, where all nodes listen to all messages. The devices recognize what data to collect by what identifier the CAN frame carries. The Communicator is also able to
act as a Master and issue queries that demand responses. It is possible to use both methods in the same
configuration of the module.
4.2 Types of Messages
The Anybus Communicator CAN features three different message types regarding the subnetwork communication, called ‘Query/Response’, ‘Produce’ and ‘Consume’. Note that these messages only specify
the basic communication model, not the actual CAN protocol. All three types of messages can be used
in the same configuration.
4.2.1 Query-Response
The Communicator acts as a master on the subnetwork, and the CAN communication takes place in a
query-response fashion. The Communicator sends a query and expects an answer within the specified
timeout.
Control System
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4.2.2 Produce and Consume
When using these messages, there is no master-slave relationship between the Communicator and the
nodes on the subnetwork. Any node, including the Communicator, may spontaneously produce a message. The message is sent on the network. The nodes on the network listen to all traffic and decide independently which messages to consume (read). Nodes do not have to respond to messages, nor do they
have to wait for a query to send a message on the network.
Control System
Communicator
Subnetwork Devices
Node 2
Node 1
Node 3
In the figure above, the Communicator ‘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.
Note: When configuring the Communicator using the Anybus Configuration Manager, ‘produce’ and
‘consume’ are defined from the Communicator’s perspective.
4.3 Protocol Building Blocks
The following building blocks are used in Anybus Configuration Manager to describe the subnetwork
communication. How these blocks apply to the two modes of operation will be described later in this
document.
•
Group
A group in the Anybus Configuration Manager does not represent any special device on the CAN
network. It is a means to structure the transactions that are defined for the Communicator. Each
group can be associated with a number of transactions, see below.
•
Transaction
A transaction consists of one or more CAN frames. Each transaction is associated with a set of
parameters controlling how and when to use it on the subnetwork. There are five kinds of transactions: produce, consume, query-response, dynamic produce and dynamic consume. A group
can contain transactions of all three types simultaneously. A total of 128 transactions can be configured.
•
Dynamic Transaction
In normal transactions, all parameters are changed using the Anybus Configuration Manager. A
dynamic transaction makes it possible for a network master to change selected parameters during
runtime. The parameters are mapped to the output data area or to the general data area and it
will not be possible to change them using the Anybus Configuration Manager. A dynamic trans-
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action may only consist of one CAN frame that can hold up to one data object. Also only one
produce and one consume dynamic transaction are allowed.
•
CAN Frames
The CAN frames are low level entities used to compose transactions (see above). Each frame
carries an 11-bit or 29-bit identifier and can hold up to 8 bytes of data. See “Configuration of
CAN Frames” on page 36. A total of 256 CAN frames can be configured.
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4.4 Control/Status Word
An optional control/status word can be used to control the startup mode of the module and to read the
status of the CAN network. The control word is always mapped to the first two bytes of the output data
area, and the status word is mapped to the first two bytes of the input data area. It is not possible to
change these locations.
Input Data
0x000
Output Data
0x200
Status Word (2 bytes)
CAN network: Write Only
Fieldbus:
Read Only
Control Word (2 bytes)
General Data
0x400
CAN network: Read Only
Fieldbus:
Write Only
0x1FF
0x3FF
CAN network:
Fieldbus:
Read/Write
-
0x7FF
Note 1: The picture shows the maximum available data areas in the Communicator. Not all fieldbuses
can access all addresses in the input and output data areas, please see section Data Exchange Model in
chapter 1.
Note 2: The control/status words are stored in the first two bytes of the data areas, with the least significant byte (bit 0-7) in the first byte (byte #0).
Through the control word it is possible to reset the CAN controller, reboot the module and decide the
start-up mode of the Communicator:
Bit
15 - 3
2
1
0
Name
(Reserved)
Reset CAN
Reboot module
Operation mode
Description
A transition from 0 to 1 resets the CAN controller (used when the CAN interface is bus off).
A transition from 0 to 1 reboots the Communicator (software reset)
This bit sets the start-up operation mode of the Communicator:
0 - Idle (No new data issued to the CAN network. Data received from the CAN network is
sent on the CANopen network.)
1 - Run (Data is exchanged between the CAN network and CANopen.)
The status word holds status information from the CAN network:
Bit
15 - 6
5
Name
(Reserved)
CAN overrun
4
Error passive
3
Bus off
2
Reset CAN
complete
(Reserved)
Operation mode 0 - Idle
1 - Run
1
0
Description
0 - OK
1 - CAN reception overrun
0 - The CAN interface is NOT in error passive state
1 - The CAN interface is in error passive state
0 - Bus running
1 - Bus off
If set, the CAN controller has been reset (used when the CAN interface is bus off).
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4.5 Transaction Live List
An optional transaction live list is available. It consists of a bit array where each bit corresponds to a
transaction on the CAN subnetwork. (bit 0 corresponds to transaction 1 etc.). A set bit indicates normal
functionality. The bit is not set if the transaction is non-working or non-existent. The live list is mapped
in the input data area of the memory, either at the start of the area or directly after the status word. From
8 transactions up to 128 transactions in steps of 8 can be monitored using the live list. Thus, up to 16
bytes of the input data area of the memory can be occupied by the live list.
The latest live list is always available from the Anybus Configuration Managers Diagnostics/Status window, whether the live list is mapped in the input data area or not, see “Diagnostics/Status” on page 44.
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Chapter 5
5. Data Representation on CANopen
5.1 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.
5.2 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 Communicator 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 Communicator 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
Mapped to...
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
-
Enabled
Disabled
Disabled
Data is by default mapped as UINT8.
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Data Representation on CANopen 20
•
I/O Data Size
Object entries which do not correspond directly to I/O Data (see “Memory Layout (Internal
Memory Buffer)” on page 20) 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 “CANopen Object Dictionary”
on page 55.
5.3 Memory Layout (Internal Memory Buffer)
The I/O sizes specified in the Anybus Configuration Manager correlate to Communicator memory as
follows:
Example:
In this example, the control/status word is disabled and the I/O sizes for the Communicator
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)
Not used
Not used
0x1FF
0x3FF
0x7FF
In the Local Object Dictionary input data bytes are mapped to objects starting from index 2000h
and output data bytes are mapped to objects starting from index 2100h.
See also...
•
“Data Representation” on page 19
•
“Manufacturer Specific Objects” on page 57
5.3.1 Data Area Addresses and Object Dictionary Indices Relation
The Input Data Area data bytes are mapped to three different areas in the Local Object Dictionary. the
same data is mapped to each area, but in different data types. For example: byte to index 2000h, word
to index 2020h and 2021h, sub-index 1 -128 and double-word (long) to index 2040h, sub-index 1 - 128.
Output Data Area data bytes are handled similarly, but with indices starting at 2100h.
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Data Representation on CANopen 21
The picture shows the Input Data Area. The Output Data Area has the same structure, but with indices
for byte objects starting at 2100h. The first two bytes are occupied by the control/status word, and are
used internally by the Communicator. These bytes can not be used for data exchange.
Word object
Index, sub-index
Byte object
Index, sub-index
Input data area
Byte 0 - 1
Control
Byte 2 - 9
Byte 2
2000h, 1
Byte 10 - 17
Byte 3
2000h, 2
Byte 18 - 25
Byte 4
2000h, 3
Byte 26 - 33
Byte 5
2000h, 4
Byte 34 - 41
Byte 6
2000h, 5
Byte 7
2000h, 6
Byte 8
2000h, 7
Byte 9
2000h, 8
Byte 10
2000h, 9
Byte 11
2000h, 10
Byte 12
2000h, 11
Byte 13
2000h, 12
Byte 14
2000h, 13
Byte 15
2000h, 14
Byte 16
2000h, 15
Byte 17
2000h, 16
Byte 18
2000h, 17
Byte 19
2000h, 18
Byte 20
2000h, 19
Byte 21
2000h, 20
Byte 22
2000h, 21
Byte 23
2000h, 22
Byte 24
2000h, 23
Byte 25
2000h, 24
Byte 26
2000h, 25
Byte 27
2000h, 26
Byte 28
2000h, 27
Byte 29
2000h, 28
Byte 30
2000h, 29
Byte 31
2000h, 30
Byte 32
2000h, 31
Byte 33
2000h, 32
Byte 464 - 471
Byte 472
2003h, 83
Byte 472 - 479
Byte 473
2003h, 84
Byte 480 - 487
Byte 474
2003h, 85
Byte 488 - 495
Byte 475
2003h, 86
Byte 506
2003h, 121
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
Long object
Index, sub-index
2020h, 1
2020h, 2
}
2040h, 1
}
2040h, 2
}
2040h, 3
}
2040h, 4
}
2040h, 5
}
2040h, 6
}
2040h, 7
}
2040h, 8
}
2040h, 119
}
2040h, 126
}
2040h, 127*
2020h, 3
2020h, 4
2020h, 5
2020h, 6
2020h, 7
2020h, 8
2020h, 9
2020h, 10
2020h, 11
2020h, 12
2020h, 13
2020h, 14
2020h, 15
2020h, 16
2021h, 111
2021h, 112
Byte 496 - 503
Byte 504 - 511
Byte 507
2003h, 122
Byte 508
2003h, 123
Byte 509
2003h, 124
Byte 510
2003h, 125
Byte 511
2003h, 126
}
}
}
2021h, 125
2021h, 126
2021h, 127
*The last two bytes are filled up with zeroes
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Chapter 6
6. Configuration
6.1 Configuring the Anybus Communicator CAN
The configuration of the Anybus Communicator CAN is performed using the configuration tool Anybus Configuration Manager for Communicator CAN (ACM). The tool is included on the CD that accompanies the module, and it is also available for download at ‘www.anybus.com’. Chapters 7 to 12 in
this manual describe the configuration tool and its features. A configuration example is given in Appendix B on page 51.
The USB connector at the bottom of the module is used for uploading and downloading the configuration. Please remove the USB cable when the configuration of the Communicator is finished.
6.2 Configuring the CANopen Network
The Anybus Communicator CAN - CANopen is a CANopen slave on the CANopen network. The general settings for the adapter interface are configured using the ACM (see “Network Settings” on page
26). 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 Communicator using the ACM tool.
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.
Each device in a CANopen network is associated with an EDS file, which describes the implementation
of the product. This file is used by the network configuration tool during network configuration. An
EDS file for the Anybus Communicator CAN CANopen slave interface is available at the HMS website
‘www.anybus.com’ and on the CD that accompanies the Communicator. To ensure that the latest version of the file is used, download the file from ‘www.anybus.com’.
An application note, describing how to configure an Anybus CANopen slave interface, is available on
the support pages for the Anybus Communicator CAN - CANopen module at ‘www.anybus.com’.
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Chapter 7
7. Anybus Configuration Manager
The Anybus Configuration Manager (ACM) is used to configure all aspects of the Communicator CAN.
It also provides different tools for monitoring the module and the CAN subnetwork.
Note: The configuration manager automatically allocates addresses and memory space in the input and
output areas of the Communicator for the data objects that are configured. It is possible to change these
addresses, but it is recommended to finish the configuration using default addresses before starting to
change any addresses. A valid address range is always shown in the information section of the main window.
7.1 Main Window
The main window in the Anybus Configuration Manager (ACM) is divided into 4 sections as follows:
1
1
3
2
4
1. Pull-down Menus & Toolbar
The toolbar provides quick access to frequently used functions.
2. Navigation Section
This section is the main tool for building, selecting and altering different levels of the subnetwork
configuration. On most entries, right-clicking will give access to the different selections related
to that particular entry.
3. 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 entering a value manually,
depending on parameter.
4. Information Section
This section presents information related to the parameter where the pointer is hovering.
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Anybus Configuration Manager 24
7.1.1 Pull-down Menus
Some of these entries are available directly on the toolbar as well. The toolbar icon is shown next to these
entries.
File
This menu features the following entries:
•
New
Create a new configuration.
•
Open...
Open a previously created configuration.
A configuration is saved with the file extension .hcg.
•
Save
Save the current configuration.
•
Save As...
Save the current configuration under a
new name.
•
Recent Files
Displays a list of recently accessed configurations
•
Exit
Close the Anybus Configuration Manager.
Edit
This menu features the following entries:
•
Undo
Undo the most recent action. Repeat to undo more actions.
•
Redo
Redo the most recent undo.
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Anybus Configuration Manager 25
Online
This menu features the following entries:
•
Select Connection
This entry gives the opportunity to select
connection for the module.
See also
- “Select Connection” on page 39
•
Connect/Disconnect
This entry connects/disconnects the configuration tool to the
module.
•
Upload Configuration
This entry uploads a previously downloaded configuration to
the Anybus Configuration Manager.
•
Download Configuration
This entry downloads the configuration to the Anybus Communicator CAN. Any previously downloaded configuration will be
overwritten.1
1. ‘Download Configuration’ will only be available if there is a valid configuration to download. Please check
the Diagnostics/Status page for information about warnings and faults. See “Diagnostics/Status” on page
44.
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Anybus Configuration Manager 26
Tools
This menu features the following entries:
•
Monitor/Modify
This entry opens the Monitor/Modify window that gives easy access to
monitoring and modifying the transaction data.
- See “Monitor/Modify” on page 41
•
CAN Line Listener
Listen in on the CAN communication on the subnetwork.
- See “CAN Line Listener” on page 42
•
Address Overview
Displays the usage of the different parts of the internal memory of the
module.
- See “Address Overview” on page 43
•
Diagnostics/Status
Displays diagnostics and status of the Communicator and the present
configuration.
- See “Diagnostics/Status” on page 44
•
Change Module Password
Gives the opportunity to change the download and upload passwords
for the module.
- See “Password” on page 47
•
Project Summary
Displays information and a summary of the present configuration. The
information is saved in html format and can be displayed in any browser.
- See “Project Summary” on page 46
•
Options
Selecting this entry gives access to more settings, that can be
used to adapt the behavior of the Communicator.
- See “Options” on page 48
Help
This menu features the following entry:
•
About...
Displays information about the Anybus Configuration Manager.
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Chapter 8
8. Basic Settings
8.1 Project
Selecting ‘Project’ will give the opportunity
to enter and store project information.
Project name, project creator, version and
description can be entered.
8.2 Network Settings
Select ‘Network’ in the Navigation Section to gain access to the parameters described in this section.
General
During start-up the fieldbus interface of the Communicator 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 Communicator.
Network Type
The Anybus Configuration Manager supports a wide
range of networking systems. Make sure that this parameter is set to the correct network type.
Offline Option
Select what event will cause the Communicator to
report the CANopen network as offline.
Offline Option
Description
Bus Error
The Communicator receives a Bus Error signal on the CANopen network
Node Guarding/Heart A Node Guarding or Heart Beat Event is detected on the CANopen network
Beat Event
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Basic Settings 28
8.3 Communicator Settings
Select ‘Communicator’ in the Navigation Section
to gain access to the parameters described in this
section. The figure shows the available parameters.
General
Parameter
Comment
If the Control/Status word is enabled it occupies the first two bytes of the out/in area of the memory.
See also..
“Control/Status Word” on page 17
Start-up Operation
If the Control Word is enabled, it is possible to decide the start-up mode of the subnetwork. The
Mode
start-up mode can be either ‘Run’ or ‘Idle’.
a If the Transaction Live List is enabled it is mapped from the beginning of the input area or, if the
Transaction Live List
Control/Status Word is enabled, after the Status Word. It is possible to map from 8 to 128 transactions, in steps of 8. Each transaction is represented by a bit that tells the system whether the
transaction is alive or not.
See also ...
“Transaction Live List” on page 18
Control/Status Worda
a. If the Control/Status Word or the Transaction Live List are going to be used, it is recommended to enable these
before any frames are added when building the configuration, to avoid memory address collisions.
Statistics
Parameter
a
Counters
Receive Counter
Addressa
Transmit Counter
Addressa
Comment
The receive counter and the transmit counter count successful CAN messagesb on the subnetwork. If enabled, the counters can be mapped to the input data area. The first free address
in the input data area is selected by default.The counters can be disabled and enabled separately.
Enter the address in the input data area where the receive counter shall be mapped. The
receive counter occupies 2 bytes.
Enter the address in the input data area where the transmit counter shall be mapped. The
transmit counter occupies 2 bytes.
a. If any counters are going to be used, it is recommended to enable these before any frames are added when building the configuration, to avoid address collisions in the memory.
b. The messages are counted only if they are configured in the Anybus Configuration Manager
Fatal Event
The action in case of a fatal software event is decided by this parameter
Parameter Values
Action
Stay in Safe-State
Software Reset
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Comment
The Communicator will be locked in the safe state
The software will be reset and the Communicator will be restarted automatically
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Basic Settings 29
8.4 Subnetwork Settings
Select ‘Subnetwork’ in the Navigation Section to gain
access to the settings described in this section.
General
Parameter
Bit Rate
Values
20 kbit/s
50 kbit/s
100 kbit/s
125 kbit/s
200 kbit/s
250 kbit/s
500 kbit/s
800 kbit/s
1000 kbit/s
Bus Off Action No action
Automatic Reset
11/29-bit CAN 11 bit
Identifier
29 bit
Silence Time
(ms)
0 - 65535
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Comment
Select CAN bit rate on the subnetwork.
Select what will happen to the CAN controller when the CAN network goes bus
off. Available only when the Control/Status Word is not used.
Select CAN identifier size on the subnetwork
If there are transactions configured when this parameter is changed, the following will happen:
- a change from 11 bit to 29 bit identifier will cause the identifier to be padded
with zeroes up to 29 bits, keeping the 11 bits at the same location.
- a change from 29 bit to 11 bit identifier will cause the upper 18 bits to be
deleted and the lower 11 bits kept.
WARNING! This may in some cases cause faulty CAN identifiers.
Default = 0 (disabled)
The minimum time that must elapse between the end of a message and the
beginning of the next message. If, for example, a device on the subnetwork is
slow and/or does not have a queue for messages, it may be necessary to enter
a pause in between messages to ensure that all messages are handled correctly.
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Chapter 9
9. Groups and Transactions
9.1 General
The configuration of the Communicator is set up in groups, each containing one or more transactions.
Please note that the groups do not represent a physical device on the CAN network. They are a means
for structuring the application, and maintaining an overview of it. The maximal number of groups is 128.
A transaction can be either a Produce, a Consume or a Query/Response transaction. Each transaction
holds one or more CAN frames, which transport the data on the network. A total of 128 transactions is
allowed, and a total of 256 CAN frames.
Each CAN frame can hold up to 8 bytes of data.
Groups and transactions as well as frames and objects (described in the next section) can be copied and
pasted in the configuration tree, but only at the same level as they were copied from, or their parent.
9.2 Groups
To create a group, right click on ‘Subnetwork’ and select ‘Add Group’. The name
of the group can be changed by selecting
‘Group’ and then entering a new name at
‘Group Alias‘.
If you want to insert another group, right
click on ‘Subnetwork’ once more. The
new group will be added to the end of the list of groups.
If you right click on a group and select ‘Insert Group’, the new group will be inserted before the selected
group.
It is recommended to change the group name, to better present the configuration.
9.3 Transactions
There are five kinds of transactions: Produce,
Consume, Query/Response, Dynamic Produce
and Dynamic Consume.
Selecting the transaction will give the option to
give the transaction an alias. The order of the
transactions in the tree is given as the transaction
number in the parameter section. Each transaction number corresponds to a bit in the transaction live list that can be mapped to the input data
area.
Note: The transaction live list is always available
in the Diagnostics/Status window, even when it is
not mapped to the input data area in the memory.
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To add a transaction to the group, right click on the group and select either
Add Produce, Add Consume, Add Query/Response, Add Dynamic Produce or Add Dynamic Consume.
Each transaction holds one CAN frame by default when added to a group.
The dynamic transactions can not hold more than one CAN frame.
9.3.1 Produce
A produce transaction transmits CAN frames
on the CAN network for all devices on the
network to listen to. A CAN device on the
network will use the identifier of the produce
transaction to decide if the data is meant for it
or not. The Communicator operates as any
other device on the CAN network, that produces and transmits data on the network. Selecting ‘Produce’ gives access to the following parameters:
Parameter
Produce Alias
Offline Options
Update Mode
Update on RTR
Value
Clear Data
Freeze Data
Stop Transaction
Cyclically
On Data Change
Single Shot
Trigger Byte
Disabled
Enabled
Comment
An alias for the produce transaction (max 16 characters)
Select what will happen to the output data if the CANopen network goes
offline
Defines how the transmission of the transaction is triggered
If a message on the configured CAN identifier for a produce transaction is
received with the RTR (Remote Transmission Request) bit set, the produce
transaction is triggered to be sent. Only available if only one CAN frame is
configured in the transaction.
When enabled, the Transmission Complete Byte is incremented each time a
produce transmission is completed.
Transmission Complete Disabled
Byte
Enabled
Transmission Complete First available
If the Transmission Complete Byte is enabled, enter the address here.
Address
address (default)
Update Time (ms)
1000 (default)
When Update Mode ‘Cyclically’ is selected, this parameter defines the time
interval (ms) between two transmissions. Valid range: 5 - 65535
Trigger Byte Address
First available
When Update Mode ‘Trigger Byte’ is selected, this parameter specifies the
address (default) address of the trigger byte. The transaction will be triggered on a change in
this byte.
Right click on ‘Produce’ to add another CAN frame. For the setup of CAN frames see “Configuration
of CAN Frames” on page 36.
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9.3.2 Consume
A consume transaction listens to CAN frames
on the CAN network and collects data from a
frame with a matching CAN identifier. The
Communicator operates as any other device on
the CAN network that listens to all data that is
available on the network. Selecting ‘Consume’
gives access to the following parameters:
Parameter
Consumer Alias
Offline Options
Consistency Check
Offline Timeout
Value
Clear Data
Freeze Data
Disabled
Enabled
0 (default)
Reception Trigger Byte Disabled
Enabled
Reception Trigger
First available
Address
address (default)
Transaction Status Byte Disabled
Enabled
Transaction Status
First available
Address
address (default)
Comment
An alias for the consume transaction (max 16 characters).
Select what will happen to the input data if the CAN subnetwork goes offline.
When enabled, all frames in the transaction must be received before evaluation. The frames are verified to contain expected data according to the configuration. Once verified, the fieldbus process data is updated with the
recieved data.
When disabled, all frames will be evaluated individually and the fieldbus
process data is updated directly. The Offline Timeout will be set to 0.
The maximum time before the transaction is considered to be lost. Use 0 to
disable the timeout. Valid Range: 0, 10 - 65535.
When enabled, the Reception Trigger Byte is incremented each time a consume transaction is received.
If the Reception Trigger Byte is enabled, enter the address here.
When enabled, the Transaction Status Byte is updated every time the status
of the transaction is changed.
If the Transaction Status Byte is enabled, enter the address here.
Right click on ‘Consume’ to add another CAN frame. For the setup of CAN frames see “Configuration
of CAN Frames” on page 36.
Transaction Status Byte
If enabled, the transaction status byte holds the following status information for each separate transaction.
Bit
0
Name
Timeout
1
Data error
2
Not executed
3-7
(Reserved)
Description
0 - The transaction has not timed out.
1 - The transaction has timed out.
0 - The transaction does not have data errors.
1 - The transaction has data errors.a
0 - The transaction has been executed at least once.
1 - The transaction has not been executed yet.
(Always 0)
a. Data errors that can be detected are ‘data out of range’, ‘invalid data size’ and ‘non-matching constant bytes’ (in
Constant object).
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9.3.3 Query/Response
In Query/Response mode the Communicator operates as a master and issues queries to the CAN network. The Communicator will then expect a response within the specified timeout. A Query/Response transaction
includes both query CAN frames and response CAN frames.
Selecting Query will give the same options as selecting Produce, except ‘Update on RTR’, see:
•
“Produce” on page 31.
Selecting Response will give the same options as selecting Consume, see
•
“Consume” on page 32.
Please note that the Offline Timeout value indicates the maximum time that the Communicator will wait
for an answer before an error is issued. For a cyclic query, the offline timeout must be lower than the
update time.
Right click on either ‘Query’ or ‘Response’ to add a new CAN frame. For the setup of CAN frames see
“Configuration of CAN Frames” on page 36.
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9.3.4 Dynamic Produce
Only one dynamic produce transaction can be
added to a configuration. The function and parameters are similar to a produce transaction with
the exception that some parameters can be accessed by the network master in the output data
area or the general data area. At the same time,
these parameters are not accessible via the Anybus Configuration Manager.
Parameters that are available in the Anybus Configuration Manager are given in the table below.
Parameter
Produce Alias
Offline Options
Value
Clear Data
Freeze Data
Stop Transaction
Update Mode
Cyclically
On Data Change
Single Shot
Trigger Byte
Transmission Complete Disabled
Byte
Enabled
Transmission Complete First available
Address
address (default)
Trigger Byte Address
First available
address (default)
Dynamic Config
Address
Comment
An alias for the dynamic produce transaction (max 16 characters)
Select what will happen to the output data if the CANopen network goes
offline
Defines how the transmission of the transaction is triggered
When enabled, the Transmission Complete Byte is incremented each time a
produce transmission is completed.
If the Transmission Complete Byte is enabled, enter the address here.
When Update Mode ‘Trigger Byte’ is selected, this parameter specifies the
address of the trigger byte. The transaction will be triggered on a change in
this byte.
First available
This parameter specifies the memory address for the dynamically configuraaddress (default) ble parameters.
Parameters that can be changed dynamically are stored at the specified memory address in the order given in the table below. These parameters are initialized at 0.
Parameter
CAN-ID
Update time
Size
2 or 4 bytes
2 bytes
Data length (bit 0-3)
1 byte
RTR bit (bit 4)
Reserved (bit 5 - 7)
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Comment
11 bit or 29 bit CAN identifier
When Update Mode ‘Cyclically’ is selected, this parameter defines the time
interval (ms) between two transmissions. Valid range: 5 - 65535.
Cyclic update is stopped if this parameter is set to 0.
The data length is given in bits 0-3 in this byte. At initialization this value is set
to 0 and can later be changed up to the maximal data length entered for the
data object in the Anybus Configuration Manager.
Signals a remote transmission request.
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9.3.5 Dynamic Consume
Only one dynamic consume transaction can be
added to a configuration. The function and parameters are similar to a consume transaction with
the exception that some parameters can be accessed by the network master in the output data
area or the general data area. At the same time,
these parameters are not accessible via the Anybus Configuration Manager.
Parameters that are available in the Anybus Configuration Manager are given in the table below.
Parameter
Consumer Alias
Offline Options
Value
Clear Data
Freeze Data
Reception Trigger Byte Disabled
Enabled
Reception Trigger
First available
Address
address (default)
Transaction Status Byte Disabled
Enabled
Transaction Status
First available
Address
address (default)
Dynamic Config
First available
Address
address (default)
Comment
An alias for the dynamic consume transaction (max 16 characters).
Select what will happen to the input data if the CAN subnetwork goes offline.
When enabled, the Reception Trigger Byte is incremented each time a consume transaction is received.
If the Reception Trigger Byte is enabled, enter the address here.
When enabled, the Transaction Status Byte is updated every time the status
of the transaction is changed.a
If the Transaction Status Byte is enabled, enter the address here.
This parameter specifies the memory address for the dynamically configurable parameters.
a. See “Transaction Status Byte” on page 32.
Parameters that can be changed dynamically are stored at the specified memory address in the order given in the table below. These parameters are initialized at 0.
Parameter
CAN-ID
Offline Timeout
Size
2 or 4 bytes
2 bytes
Data length (bit 0-3)
1 byte
Comment
11 bit or 29 bit CAN identifier
The maximum time before the transaction is considered to be lost. Use 0 to
disable the timeout. Valid Range: 0, 10 - 65535.
The data length is given in bits 0-3 in this byte. At initialization this value is set
to 0 and can later be changed up to the maximal data length entered for the
data object in the Anybus Configuration Manager.
Reserved (bit 4 - 7)
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Chapter 10
10. Configuration of CAN Frames
10.1 General
Each transaction includes one or more CAN frames. A total of 256 CAN frames is allowed. Right-clicking on a transaction will give the opportunity to add another frame to the transaction.
The Anybus Configuration Manager makes it possible to decide the configuration of the 8 bytes of data
that can be included in each frame. The configuration manager automatically allocates memory space in
the input and output areas of the Communicator for the data objects that are configured in the frames.
The result can be seen in the Address Overview, see page 43. Any address conflicts will turn up red in
this view.
Note: A CAN frame can not contain more than 8 bytes of data. It is possible to configure the data area
in each frame, but the size of the combination of objects must not exceed 8 bytes.
10.1.1 CAN Identifiers
Each frame has a CAN identifier, to make it possible for each node on the CAN network to recognize
data meant for it. Default identifier is ‘0’. It can be changed by selecting the CAN Frame and enter the
new CAN Identifier in the Parameter window.
The CAN frame has either a 11-bit identifier or a 29-bit identifier. If the size of the identifier is changed,
an 11-bit identifier will have the 11 original bits padded with zeroes in front. A 29 bit identifier will have
its 18 highest bits cut, which may cause a not valid 11-bit identifier.
It is possible to have several frames in one transaction. The first frame in a Consume or Response transaction must have a CAN identifier that does not appear in any other Consume or Response transaction.
Consecutive frames within a received transaction may have the same identifier, on two conditions:
•
The first part of the data area in the frame is a byte, word or Dword constant with a unique value
compared to other frames with the same identifier within the transaction.
•
If any frame with another identifier is added to the transaction, it must not break the sequence
of frames with identical identifiers.
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Configuration of CAN Frames 37
10.2 Produce/Query CAN Frame
The following objects and parameters are configurable in a CAN frame in a
produce transaction, or when used in the query part of a query/response
transaction. To add objects to the 8 byte data area of the frame, right-click on
CAN Frame.
Object
Data
Byte Constant
Word Constant
Dword Constant
Parameters
Description/Comment
Data Length (Bytes) A data object can occupy 1 - 8 bytes (default =1).
Data Address
Address in the data area where the object shall
be mapped. Default: The first available position is
used.
Swap
Values:
Result (original value =
0102 0304):
No Swapping (default) 0102 0304
Word Swap
0201 0403
Double Word Swap
0403 0201
Value (1 byte, valid Constant value to be transmitted (little endian).
range: 0x00 - 0xFF)
Value(2 bytes, valid Constant value to be transmitted (little endian).
range: 0x0000 0xFFFF)
Value (4 bytes, valid Constant value to be transmitted (little endian).
range: 0x00000000 0xFFFFFFFF)
10.3 Consume/Response CAN Frame
The following objects and parameters are configurable in a CAN frame in a
consume transaction, or when used in the response part of a query/response
transaction. To add objects to the 8 byte data area of the frame, right-click on
CAN Frame.
Object
Data
Byte Constant
Word Constant
Dword Constant
Parameters
Description/Comment
Data Length (Bytes) A data object can occupy 1 - 8 bytes (default =1).
Data Address
Address in the data area where the object shall
be mapped. Default: The first available position
shall be used.
Swap
Values:
Result (original value =
0102 0304):
No Swapping (default) 0102 0304
Word Swap
0201 0403
Double Word Swap
0403 0201
Value (1 byte, valid When receiving a message with a constant, the
range: 0x00 - 0xFF) received value will be checked against this value.
If the values differ, the message will be ignored
(little endian).
Value(2 bytes, valid When receiving a message with a constant, the
range: 0x0000 received value will be checked against this value.
0xFFFF)
If the values differ, the message will be ignored
(little endian).
Value (4 bytes, valid When receiving a message with a constant, the
range: 0x00000000 - received value will be checked against this value.
0xFFFFFFFF)
If the values differ, the message will be ignored
(little endian).
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Configuration of CAN Frames 38
Object
Byte Limit
(1 byte, valid
range: 0x00 0xFF
Parameters
Minimum Value
Maximum Value
Word Limit
(2 bytes, valid
range: 0x0000 0xFFFF)
Minimum Value
Maximum Value
Dword Limit
(4 bytes, valid
range:
0x00000000 0xFFFFFFFF)
Minimum Value
Maximum Value
Description/Comment
When receiving a message with a limit object, the
received value will be checked against the minimum value. If the received value is lower than the
minimum value, the message will be ignored.
When receiving a message with a limit object, the
received value will be checked against the maximum value. If the received value is larger than
the maximum value, the message will be ignored.
When receiving a message with a limit object, the
received value will be checked against the minimum value. If the received value is lower than the
minimum value, the message will be ignored.
When receiving a message with a limit object, the
received value will be checked against the maximum value. If the received value is larger than
the maximum value, the message will be ignored.
When receiving a message with a limit object, the
received value will be checked against the minimum value. If the received value is lower than the
minimum value, the message will be ignored.
When receiving a message with a limit object, the
received value will be checked against the maximum value. If the received value is larger than
the maximum value, the message will be ignored.
10.4 CAN Frames in Dynamic Transactions
A dynamic transaction must consist of one frame.
Only one object, a data object, can be added to the 8
byte data area of this frame. .
The CAN Identifier of the CAN frame in a dynamic
transaction can not be set in the Anybus Configuration Manager. The identifier is stored in the output
data area or the general data area.
The Max Data Length of the data object is entered in the configuration manager, but the actual data
length is given by the parameter mapped to the output data area or the general data area.
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Chapter 11
11. Online
The entries in the Online menu are used to select and connect to
a Anybus Communicator CAN module and to upload/download the configuration.
•
Select Connection
•
Connect/Disconnect
•
Upload Configuration
•
Download Configuration
Connect the Communicator that is to be configured to your PC. The configuration can always be downloaded to the Communicator using the USB type 2 connector and the included USB cord. If the industrial network interface supports Ethernet, a suitable LAN cable can be used to download the
configuration. Apply power to the module.
11.1 Select Connection
To be able to access the module, start by
choosing ‘Select Connection’.
The module supports Ethernet and USB connections.
Note: Although the Anybus Ethernet
(UCOM) connection is available in the connection list, it can in practice only be used if the
module has an RJ45 connector for Ethernet.
General
When a connections is selected, the PC running the ACM will lock to that specific Communicator. If
the USB connection is used, the Communicator will be identified by its serial number. If the Ethernet
connection is used, the IP address will be used for identification. If the configuration is to be downloaded to another module, using the same PC, the process of selecting connection will have to be repeated
for that specific module.
It is recommended to select a specific Communicator for the connection, as this will diminish the risk
of downloading the wrong configuration.
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Online 40
Anybus Ethernet (UCOM) Connection
Selecting ‘Anybus Ethernet (UCOM)’ and pressing ‘Configure’ opens a window where available
Anybus Communicator CAN modules are listed.
To scan the network for further modules, press
the ‘Scan’ button at the bottom of the window.
If the IP settings for a module are not set, it is
possible to set these by pressing the ‘Set IP’ button. The module can be identified by the MAC
Id listed in the rightmost column.
Note: These IP settings will be overwritten at
the next power up of the module, if the settings
are changed within the configuration.
Anybus USB (UCOM) Connection
To use a USB connection, select ‘Anybus USB
(UCOM)’. Continue by pressing ‘Configure’ to
open the ACM USB Connection window. The
dropdown menu in this window shows available
Anybus Communicator CAN modules.
There are also the options to either manually enter the serial number of a desired device or to select ‘first available device’ to download a
configuration to.
11.2 Connect/Disconnect
The Communicator is connected/disconnected using this entry in the menu.
11.3 Download and Upload Configuration
Selecting “Download Configuration” downloads the configuration to the Communicator. Any configuration previously present in the ACM will be overwritten.
Selecting ‘Upload Configuration’ will fetch the configuration in the connected Communicator to the Anybus Configuration Manager.
If the configuration is to be downloaded to another Communicator, change the connection, see “Select
Connection” on page 39.
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Chapter 12
12. Anybus Configuration Manager Tools
The Anybus Configuration Manager (ACM) gives access to different tools for monitoring and controlling the module and the CAN subnetwork:
•
Monitor/Modify
•
CAN Line Listener
•
Address Overview
•
Diagnostics/Status
•
Reassign Addresses
•
Project Summary
•
Password
•
Options
12.1 Monitor/Modify
Selecting this option in the Tools menu opens this window, where the data areas of the transactions can
be monitored. If the configuration downloaded to the Communicator is the same as is open in the ACM,
it is possible to monitor and modify the transactions. Pressing the green button on the left starts the
monitoring/modifying:
If Modify is enabled, it is possible to change the data values during runtime in Produce transactions and
in the Query part of Query/Response transactions, i.e. only the out area of the Communicator can be
modified. This will inhibit any data from the industrial network (CANopen), but input data from the
CAN network will still be updated.
Note 1: Addresses in the general area range can not be modified. If a transaction only has addresses in
the general area, the Modify check box will be disabled.
Note 2: If a transaction is defined to transmit on a change of state in a trigger byte, this transaction can
not be modified by this tool.
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12.2 CAN Line Listener
The CAN Line Listener gives the opportunity to log the traffic on the CAN network. Any log can be
saved for later use. The 5000 latest frames are logged. This is done continuously, or it is possible to stop
logging after 5000 frames from a defined time.
The CAN Line Listener shows all CAN frames present on the CAN network, not only those sent or
received by the Communicator. Information about CAN frames, that have identifiers present in the configuration, that is downloaded to the Communicator, is shown in black text. Information about all other
frames is shown in gray text. Clicking on the save icon will save the log at the location entered in the
Tools/Options dialogue, see “Options” on page 48.
Please note that the configuration in the ACM and the configuration in the Communicator have to
match.
Note: The CAN Line Listener will only display data if the RTR bit is NOT set.
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12.3 Address Overview
The Address Overview tool shows the usage of the different memory areas in the module. It gives an
easy view of any collisions of data that are present in the different memory areas. If needed, the memory
location for the data of one transaction at a time, can be shown.
Note: The Address Overview is an offline tool with no reference to the module. It shows the memory
usage of the the configuration that is present in the Anybus Configuration Manager at the moment.
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12.4 Diagnostics/Status
The Diagnostics/Status tool gives access to diagnostics and status information of different kinds.
Item
Configuration Tool
Description
The configuration is validated by the ACM and any errors will be reported here, e.g. if the some
address has been used for several transactions or if the same CAN identifier is used for more
than one transaction. This is the only section of the Diagnostic/Status window that can be used
when the configuration tool is not connected to a Communicator.
Note: This information is valid for the configuration in the tool only, and does not relate to any
configuration stored in the module.
CAN
Information on the status of the CAN subnetwork
Identification
Information on the module
Communicator
This item gives the operation mode and the configuration status of the Communicator
Network
Network state
Transaction
The live list will be shown here. It can also be kept in the input memory area, see 4-18 “Transaction Live List”.
Fatal Error Information If the Communicator is subject to a fatal error, this information is used by HMS support when
troubleshooting the module. Please contact HMS support at www.anybus.com if a fatal error
occurs.
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The figure below shows an example of what the section Fatal Error Information may look like.
The information in the Diagnostics/Status window can be saved by clicking on the save icon (file format
CSV). The file will be saved at the location entered in the Tools/Options dialogue, see “Options” on
page 48.
12.5 Reassign Addresses
This tool sorts all assigned data and puts it in order, from the beginning of the memory area and on. It
also removes any collisions. The result can be seen using the tool “Address Overview”.
Note that there will be no confirmation notice after clicking the “Reassign Addresses” button.
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12.6 Project Summary
Project information and a summary of the configuration is saved as a html file and can be read in any
browser. The file is saved as the location entered in the Tools/Options dialogue, see “Options” on page
48.
Selecting ‘Project Summary’ will open a browser window that displays the summary:
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12.7 Password
It is possible to password protect a configuration. Passwords can be set both for uploading and downloading a configuration.
Passwords are set in the Options window, see “Options” on page 48. The same password can be used
for uploading a configuration and for downloading a configuration. If the “Set Module Password on
Download” parameter is enabled, the password will be downloaded to the module along with the configuration. When a configuration is protected by passwords you can still use the tools that are listed in
this chapter. It is only the configuration by itself that is protected.
The passwords in a connected module can be changed directly from the ‘Change Module Password’ entry in the Tools menu. If no password has been set previously, the “Old Password” box should be left
empty.
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12.8 Options
Selecting this entry gives access to more settings, that can be used
to adapt the behavior of the Communicator.
Item
General
Securityb
File Paths
Subitem
Comment
Language
Monitor/Modify Update Time Enter the time between monitor/modify updates in millisecondsa.
(ms)
Valid range: 1000 to 60000
Default: 2000
Module Upload Password
Module Download Password
Set Module Password on
Default: Disabled
Download
Diagnostics & Line Listener By default the logs and the project summary are saved in the user
catalog in Windows (\My Documents\HMS\ACM Communicator
CAN\). To change this, browse to or enter the name of the folder
where the logs shall be saved.c If the folder entered does not exist,
the ACM will use the default address.
a. If a low value is entered, it may affect the performance of the Communicator, i.e. the data throughput delay will be
longer.
b. See “Password” on page 47.
c. The log files contain time stamped versions of the CAN Line Listener, Diagnostics/Status and Project Summary.
When the “Project Summary” button is pressed a time stamped version is automatically saved in a subfolder
named “Project Summary Logs”.
When the Save button in the CAN Line Listener window is pressed a time stamped version is automatically saved
in a subfolder named “Line Listener Logs”.
When the Save button in the Diagnostics/Status window is pressed a time stamped version is automatically saved
in a subfolder named “Diagnostics Logs”.
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Appendix A
A. Technical Specification
A.1 Protective Earth (PE) Requirements
The product must be connected to protective earth (PE) via the DIN-rail connector in order to achieve
proper EMC behavior.
HMS Industrial Networks does not guarantee proper EMC behavior unless these PE requirements are
fulfilled.
A.2 Power Supply
Supply Voltage
The Communicator requires a regulated 24 V±10% 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 +55º Celsius
(Test performed according to IEC-60068-2-1 and IEC 60068-2-2.)
Non Operating
-40º to +85º degrees Celsius
(Test performed according to IEC-60068-2-1 and IEC 60068-2-2.)
A.3.2 Relative Humidity
The product is designed for a relative humidity of 5 to 95% non-condensing.
Test performed according to IEC 60068-2-30.
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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 Communicator CAN to CANopen (slave) at www.anybus.com.
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Appendix B
B. Configuration Example
This appendix gives an example of the configuration of an
Anybus Communicator CAN to collect data from a temperature sensor and to control and monitor a motor.
Fieldbus Control System
(e.g a PLC)
(Fieldbus Network)
1. Start the Anybus Configuration Manager - Communicator CAN (ACM).
2. Choose industrial network. The example is the same
irrespective of industrial network, but in an application it
is important to choose network first, as the ACM will
show the amount of data that can be transferred.
HMII
HM
INVE
IN
VERT
RTER
ER
PC configuration
and monitoring
Motor
Temperature sensor
CAN Network
3. Select ‘Communicator’.
- Enable the Control/Status Word.
If the Control/Status Word is to be used in a
configuration, it is recommended to enable it
before adding any transactions to the configuration. The Control/Status Word is positioned
at the start of the memory, and this may cause
address conflicts if any data objects have been
configured previously.
For more information on the Control/Status
Word, see page 18.
- Leave the rest of the parameters at default values.
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Configuration Example 52
4. Select ‘Subnetwork’.
If the Control/Status Word is enabled no Bus Off Action can be defined.
5. Add Groups.
- Right-click on ‘Subnetwork’ and add two groups
to the navigation tree, one for each device on the
CAN network.
- Rename them e.g. Temp. Sensor and Motor. Renaming is essential to enable other users than
the designer of the application to comfortably
monitor and modify the application.
The CAN network is message-based, but using the group to structure the transactions will make
it conceptually easier to build a configuration.
6. Add transactions to Temp. Sensor group.
The temperature sensor needs to be initialized. It
needs instructions during runtime, and it will deliver
temperature data to the Communicator.
A suitable transaction for an initialization is a queryresponse transaction which is run once at start up.
A query-response transaction ensures an acknowledgement of a successful initialization. In this example, the initialization is performed in two steps.
Also, instructions and information need to be sent
to the sensor and data collected. A produce transaction sends information to the network and a consume transaction will collect information.
- Add two query-response transactions and rename them ‘Initialize 1’ and ‘Initialize 2’.
- On each, select Query and change Update Mode to Single Shot. The transactions will be run
once at startup to initialize the communication with the temperature sensor.
- Leave the rest of the parameters at default values.
- Add one Produce transaction to send information and instructions to the temperature sensor. Rename the transaction to ‘Cels/Farenh’ and set Update Mode to Cyclically.
- Leave the rest of the parameters at default values.
- Finally add one Consume transaction to collect the data cyclically from the temperature sensor. Rename the transaction to ‘Temperature’ and set Update Mode to Cyclically.
- Leave the rest of the parameters at default values.
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Configuration Example 53
7. Add frames to the transactions.
- Right-click on ‘Query’ in ‘Initialize 1’ and add a CAN
frame.
- Select the frame.
- Set a unique CAN identifier to the frame. The CAN
identifier shall be recognized on the network by the
temperature sensor.
- Right click on the frame to define the components of
the 8 byte data area in the frame, see figure to the right.
- Enter constant values where applicable.
- Right-click on ‘Response’ in ‘Initialize 1’ and repeat the
procedure.
Addresses in the input and output areas of the internal
memory will automatically be allocated to the data objects.
It is possible to change these addresses, but it is recommended to finish configuration using default values. If any
collisions appear, the addresses can be changed at a later
stage. The ACM will not allow you to add a data or a constant object, that is larger than the remaining data area in the selected frame.
8. Repeat according to step 7 to add frames and contents to ‘Initialize 2’, ‘Cels/Farenh’ and ‘Temperature’.
9. Add transactions to Motor group.
The motor needs to be initialized. It also needs instructions during runtime, and it will return status
information to the Communicator. It is also possible to remotely set the speed of the motor.
- Add a query-response transaction and rename it
‘Initialize’.
- Select Query and change Update Mode to Single
Shot.
- Add one Query-Response transaction (‘Motor Control’) to control the motor during runtime.
- Set Update Mode to On Data Change.
- Add one Consume transaction (‘Motor Status’) to collect status cyclically from the motor.
- Finally add a Produce transaction (‘Speed’) to be able to change the speed of the motor.
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Configuration Example 54
10. Add frames to the transactions, see step 7 above.
11. Check the validity of configuration in
the Diagnostics/Status window.
If address conflicts are present, check the
Address Overview to see which transactions cause the conflict. Change the addresses of the data objects in the frames to
remove conflicts.
12. Download the configuration to the Communicator using the USB connection. Remove the USB
cable when finished
A configuration can be saved at any time and opened at a later time for editing. Once it is valid it can be
downloaded to the Anybus Communicator CAN.
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Appendix C
C. CANopen Object Dictionary
This chapter holds the object dictionary implementation for the CANopen slave interface of the module.
C.1 Standard Objects
C.1.1 General
The standard object dictionary is implemented according to the DS301 specification (v4.02) from CiA
(CAN in Automation).
C.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
U16
RW
01h
Node ID + Heartbeat Time.
Value must be a multiple of
1ms.
-
U8
U32
U32
U32
U32
RO
RO
RO
RO
RO
04h
-
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
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Access
RO
RO
RW
RO
RW
RO
Notes
0000 0000h (No profile)
-
RO
Current hardware revision
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CANopen Object Dictionary 56
Index Object Name
1400h Receive PDO
...
parameter
144Fh
1600h Receive PDO
...
mapping
164Fh
1800h Transmit PDO
...
parameter
184Fh
1A00h Transmit PDO
...
mapping
1A4Fh
Sub-Index Description
00h
Largest sub-index supported
01h
COB ID used by PDO
02h
Transmission type
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
RO
Notes
02h
U32
U8
U8
RW
RW
RW
-
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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CANopen Object Dictionary 57
C.2 Manufacturer Specific Objects
C.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)
C.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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CANopen Object Dictionary 58
C.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)
C.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
-
-
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Type
U8
U8
Access
RO
R/W
Notes
129
-
U8
U8
RO
R/W
129
-
U8
U8
RO
R/W
129
-
-
-
(reserved)
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CANopen Object Dictionary 59
C.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)
C.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
-
-
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CANopen Object Dictionary 60
C.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 slave interface:
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
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