CANDPSX user manual rev 2 Page 3 of 42
____________________ _
CONTENTS
1 INTRODUCTION ......................................................................................................................... 6
1.1 PRODUCT OVERVIEW ....................................................................................................................... 6
1.2 Profibus ............................................................................................................................................... 6
1.3 CAN .................................................................................................................................................... 6
1.4 RS232 ................................................................................................................................................. 7
2 QUICK GUIDE TO INSTALLATION ............................................................................................. 8
2.1 INTRODUCTION ................................................................................................................................. 8
2.2 INSTALLATION ................................................................................................................................... 8
3 SYSTEM SETTINGS ................................................................................................................... 9
3.1 introductory remarks ............................................................................................................................ 9
3.2 OPERATING MODE ............................................................................................................................ 9
3.2.1 Operating mode selection .............................................................................................................. 9
3.3 CAN COMMUNICATION ..................................................................................................................... 9
3.4 Profibus DP COMMUNICATION ........................................................................................................ 10
3.4.1 Setting the station address .......................................................................................................... 10
3.4.2 Setting packet consistency .......................................................................................................... 10
3.4.3 Memory swap function for profibus DP dual port memory............................................................. 10
3.4.4 Profibus-DP Watch-dog indication disable ................................................................................... 11
3.4.5 Baud rate autodetection .............................................................................................................. 11
3.4.6 Status of the Profibus-DP dual port .............................................................................................. 11
3.4.7 Profibus-DP driver errors ............................................................................................................. 12
4 OPERATING MODES ................................................................................................................ 13
4.1 Profibus DP slave / CAN .................................................................................................................... 13
4.1.1 CAN messages ........................................................................................................................... 13
4.2 Profibus DP / CANopen master .......................................................................................................... 13
4.2.1 CANopen master state diagram ................................................................................................... 13
4.2.2 Auto Mode ................................................................................................................................... 15
4.2.3 Configuring the network ............................................................................................................... 16
4.2.4 SDO Service ............................................................................................................................... 16
4.2.5 The Node guarding service .......................................................................................................... 19
4.2.6 Handling node alarms ................................................................................................................. 20
4.2.7 Programming PDOs .................................................................................................................... 20
4.3 Profibus DP / CANopen slave ............................................................................................................ 21
4.3.1 CANopen object dictionary for communication objects ................................................................. 21
4.3.2 Programming PDOs .................................................................................................................... 22
5 DATA EXCHANGE BETWEEN Profibus-DP AND CAN ........................................................... 23
5.1 INTRODUCTION ............................................................................................................................... 23
5.2 ACTIVATING A CAN MESSAGE ........................................................................................................ 23
5.2.1 Setting the type of message ........................................................................................................ 23
5.2.2 Setting the message ID ............................................................................................................... 24
5.2.3 Mapping data of the Profibus dual port to CAN messages ........................................................... 24
5.2.4 CAN massage triggers ................................................................................................................ 25
5.2.5 Checking the size of a CAN message .......................................................................................... 26
5.2.6 Example: configuration of an inbound CAN message................................................................... 26
5.2.7 Example: configuration of an outbound CAN message................................................................. 27
6 DATA EXCHANGE BETWEEN Profibus-DP AND THE SYSTEM ............................................ 28
6.1 INTRODUCTION ............................................................................................................................... 28
6.2 MAPPING SYSTEM PARAMETERS TO Profibus-DP ........................................................................ 28
6.3 MAPPING SYSTEM PARAMETERS FROM Profibus-DP ................................................................... 29
6.4 LIST OF THE SYSTEM PARAMETERS THAT CAN BE MAPPED TO Profibus-DP ............................ 29
To Next Page
Loading...