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XN-312-GW-CAN
Eaton XN-312-GW-CAN User Manual
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Manual
CANopen Gateway
XN-312-GW-CAN
06/16 MN050003-EN
2
Table of Contents
Default Chapter
5
Table of Contents
5
About this Manual
15
List of Revisions
15
Legal Disclaimer
16
Target Group
16
Device Designations and Abbreviations
17
Writing Conventions
18
1 XN-312-GW-CAN Gateway
19
Proper Use
19
Overview of Functions
20
Device Overview
21
List of I/O Slice Module Products
22
Important Data for Engineering
23
Field Bus Connection
24
Baud Rate
26
Valid Device Field Bus Addresses
27
Enabling and Disabling the Config Check Function
27
2 Installation
29
Setting the Gateway's Field Bus Address
29
Setting the Baud Rate
30
Activate the Bus Termination Resistor for Canopen
31
Mounting
32
Installation Prerequisites
32
Mounting the System Block on the DIN-Rail
32
Dismantling
35
Potential Relationship between the Components
37
Connecting the Power Supply
38
Connect Field Bus
40
Maximum Cable Length
40
Connect Diagnostics Interface
41
Connection Example
41
Wiring in Accordance with EMC Requirements
42
3 Commissioning
43
Take System Bus into Operation
43
Switching the Gateway on with or Without a Config Check
44
In Operation
46
Switching on When the Target Configuration Is Stored
47
Take the Canopen Field Bus into Operation
48
Creating Field Bus Communication Canopen
49
POW Status Display
49
Leds on the Device
49
Note on Alarms
52
XN300-Assist
52
4 Description Files for Canopen
53
Standard EDS Files
54
Project-Specific EDS File
54
Installing the EDS File
55
Xsoft-Codesys-2
55
Xsoft-Codesys-3
56
5 Connecting the PLC to the Gateway Using CODESYS
57
Connecting the Programming Computer, the PLC, and the CAN XN300 Station
57
Configuring the System with XSOFT-CODESYS-2
58
Starting XSOFT-CODESYS-2 and Creating a New Project
58
Adding the CAN Master
58
Adding the CAN Slaves
60
Configuring the XN312 Gateway
60
Configuring the XN-322 Slice Modules
61
Enabling the Default Pdos / Manually Enabling Process Data
63
Adding Canopen Communication Libraries
63
Configuring the System with XSOFT-CODESYS-3
64
Starting XSOFT-CODESYS-3 and Creating a New Project
64
Adding the CAN Manager
65
Adding Canopen Devices
68
Configuring the XN312 Gateway
68
Configuring XN-322 Slice Modules
69
Automatic PDO Mapping
70
Manual Mapping
71
Configuring Device Initialization Parameters
73
Adding Canopen
74
Communication Libraries
74
6 Object Dictionary for XN-312-GW-CAN Gateway
75
Overview of Objects 0X1000 to 0X1Aff
75
Information Regarding the XN300 Station
77
Object 1000Hex: Device Type
77
Object 1008Hex: Device Name
78
Object 1009Hex: Manufacturer Hardware Version
78
Object 100Ahex: Manufacturer Software Version
79
Object 1018Hex: Identity Object
79
Module Identification Number (Object 0X1027)
80
Serial Number XN-312-Canopen (Object 0X4000)
82
Serial Number (Object 0X4001)
82
User LED 1
83
User LED 17
84
User LED Control (Object 0X4004)
85
Boot Loader Version (Object 0X400A)
85
Product Name Gateway (Object 0X400B)
86
Product Name (Object 0X400C)
86
Error Register
86
Object 1001Hex Error Register
86
Object 1003Hex Error History
87
Objekt 1029Hex Error Behaviour Object/Communication Error (Rw)
87
Operational Readiness Monitoring
88
Object 100Chex Guard Time
88
Object 100Dhex Life Time Factor
88
Object 1016Hex Consumer Heartbeat Time
89
Object 1017Hex Producer Heartbeat Time
90
Synchronization and Emergency Identifiers
91
Object 1005Hex Sync COB-ID
91
Object 1014Hex Emcy COB-ID
92
Service Data Transmission
94
Process Output Data Transmission
94
Objects 1400Hex to 140Fhex Receive PDO Parameter
95
Objects 1600Hex to 160Fhex
97
Receive PDO Mapping Parameter
97
Process Input Data Transmission
100
Objects 1800Hex to 180Fhex
100
Transmit PDO Parameter
100
Transmit PDO Mapping Parameter
104
7 Product-Specific CAN Objects XN300 Slice Modules
109
Xn-322-8Di-Pd
110
Read Digital Input 8-Bit (Object 0X6000)
111
Read Digital Inputs (Object 0X3150)
111
Xn-322-16Di-Pd
113
Read Digital Input 8-Bit (Object 0X6000)
114
Read Digital Inputs (Object 0X3140)
114
Xn-322-20Di-Pd
116
Read Digital Input 8-Bit (Object 0X6000)
117
Read Digital Inputs (Object 0X3010)
117
Xn-322-20Di-Pf
119
Read Digital Input 8-Bit (Object 0X6000)
120
Read Digital Inputs (Object 0X3030)
121
Xn-322-20Di-Pcnt
122
Read Digital Input 8-Bit (Object 0X6000)
124
Digital Inputs X_Y (Object 0X3020 to 0X3022)
124
Counter Register (Object 0X3023-0X3026)
125
Incremental Encoder Register (Object 0X3027 - 0X3028)
126
Counter Mode Register (Object 0X4020)
128
Xn-322-20Di-Nd
129
Read Digital Input 8-Bit (Object 0X6000)
130
Read Digital Inputs (Object 0X3130)
131
Xn-322-4Do-Rno
132
Write Digital Output 8-Bit (Object 0X6200)
133
Write Digital Output (Object 0X2120)
134
Xn-322-8Do-P05
135
Write Digital Output 8-Bit (Object 0X6200)
136
Write Digital Output (Object 0X2190)
137
Input Voltage State (Object 0X3190)
138
Xn-322-12Do-P17
139
Write Digital Output 8-Bit (Object 0X6200)
140
Write Digital Output (Object 0X2040)
141
Inputvoltagestate(Object 0X3040)
142
Xn-322-16Do-P05
143
Write Digital Output 8-Bit (Object 0X6200)
144
Write Digital Output (Object 0X2050)
145
Input Voltage State (Object 0X3050)
146
Xn-322-8Dio-Pd05
147
Read Digital Input 8-Bit (Object 0X6000)
148
Write Digital Output 8-Bit (Object 0X6200)
149
Write Digital Output (Object 0X2180)
150
Read Digital Inputs (Object 0X3180)
150
Input Voltage State (Object 0X3181)
151
Xn-322-16Dio-Pd05
152
Read Digital Input 8-Bit (Object 0X6000)
153
Write Digital Output 8-Bit (Object 0X6200)
154
Write Digital Output (Object 0X2160)
154
Read Digital Inputs (Object 0X3160)
155
Input Voltage State (Object 0X3161)
156
Xn-322-16Dio-Pc05
157
Read Digital Input 8-Bit (Object 0X6000)
159
Write Digital Output 8-Bit (Object 0X6200)
160
Write Digital Output (Object 0X2170)
161
Read Digital Inputs (Object 0X3170)
161
Input Voltage State (Object 0X3171)
162
Counter Register (Object 0X3172-0X3175)
162
Incremental Encoder Register (Object 0X3176 bis 0X3177)
163
PWM High Time (Object 0X3178, 0X317A, 0X317C, 0X317E)
164
PWM Period Time (Object 0X3179, 0X317B, 0X317D, 0X317F)
165
Counter Mode Register (Object 0X4170)
167
Xn-322-4Ai-Ptni
168
Read Analog Input 16-Bit (Object 0X6401)
170
Analog Input Interrupt Trigger Selection (Object 0X6421)
171
Analog Input Global Interrupt Enable (Object 0X6423)
171
Analog Input Interrupt Upper Limit Integer (Object 0X6424)
172
Analog Input Interrupt Lower Limit Integer (Object 0X6425)
173
Analog Input Interrupt Delta Unsigned (Object 0X6426)
174
Analog Input Interrupt Negative Delta Unsigned (Object 0X6427)
175
Analog Input Interrupt Positive Delta Unsigned (Object 0X6428)
176
Module Diagnostic Messages (Object 0X3070)
177
Input Channel X (Object 0X3071 to 0X3074)
178
Wire Break Diagnostic Messages (Object 0X3075)
179
Range Diagnostic Messages (Object 0X3076)
180
Native Data Analog Input X (Object 0X3077 to 0X307E)
181
Firmware Version (Object 0X4070)
181
Sensor Type Selection Channel X (Object 0X5070 bis 0X5073)
182
Channel Measuring Configuration (Object 0X5074)
184
Filter Configuration Channel X (Object 0X5075 to 0X5078)
185
Channel Activation (Object 0X5079)
186
Xn-322-7Ai-U2Pt
187
Read Analog Input 16-Bit (Object 0X6401)
189
Analog Input Interrupt Trigger Selection (Object 0X6421)
190
Analog Input Global Interrupt Enable (Object 0X6423)
191
Analog Input Interrupt Upper Limit Integer (Object 0X6424)
191
Analog Input Interrupt Lower Limit Integer (Object 0X6425)
192
Analog Input Interrupt Delta Unsigned (Object 0X6426)
193
Analog Input Interrupt Negative Delta Unsigned (Object 0X6427)
194
Analog Input Interrupt Positive Delta Unsigned (Object 0X6428)
195
Module Diagnostic Messages (Object 0X3080)
196
Input Channel X (Object 0X3081 to 0X3087)
197
Wire Break Diagnostic Messages (Object 0X3088)
198
Firmware Version (Object 0X4080)
199
Channel Measuring Configuration (Object 0X5080)
200
Filter Configuration Channel X (Object 0X5081 to 0X5086)
201
Xn-322-8Ai-I
202
Read Analog Input 16-Bit (Object 0X6401)
204
Analog Input Interrupt Trigger Selection (Object 0X6421)
204
Analog Input Global Interrupt Enable (Object 0X6423)
205
Analog Input Interrupt Upper Limit Integer (Object 0X6424)
206
Analog Input Interrupt Lower Limit Integer (Object 0X6425)
207
Analog Input Interrupt Delta Unsigned (Object 0X6426)
208
Analog Input Interrupt Negative Delta Unsigned (Object 0X6427)
209
Analog Input Interrupt Positive Delta Unsigned (Object 0X6428)
210
Module Diagnostic Messages (Object 0X3090)
211
Input Channel X (Object 0X3091 to 0X3098)
212
Wire Break Diagnostic Messages (Object 0X3099)
213
Firmware Version (Object 0X4090)
214
Channel Measuring Configuration (Object 0X5090)
215
Channel X Filter Configuration (Object 0X5091 to 0X5098)
216
Xn-322-10Ai-Tekt
217
Read Analog Input 16-Bit (Object 0X6401)
219
Analog Input Interrupt Trigger Selection (Object 0X6421)
219
Analog Input Global Interrupt Enable (Object 0X6423)
220
Analog Input Interrupt Upper Limit Integer (Object 0X6424)
221
Analog Input Interrupt Lower Limit Integer (Object 0X6425)
222
Analog Input Interrupt Delta Unsigned (Object 0X6426)
223
Analog Input Interrupt Negative Delta Unsigned (Object 0X6427)
224
Analog Input Interrupt Positive Delta Unsigned (Object 0X6428)
225
Module Diagnostic Messages
226
Input Channel X (Object 0X30A1 to 0X30A8)
227
Reference Input Channel X (Object 0X30A9 to 0X30Aa)
228
Wire Break Diagnostic Messages (Object 0X30Ab)
228
Firmware Version (Object 0X40A0)
230
Channel X Sensor Type Selection (Object 0X50A0, 0X50A3)
230
Reference Input Select (Object 0X50A4)
232
Xn-322-8Ao-U2
233
Write Analog Output 16-Bit (Object 0X6411)
234
Output Channel X (Object 0X20D0 to 0X20D7)
235
Module Diagnostic Messages (Object 0X30D0)
236
Firmware Version (Object 0X40D0)
237
Xn-322-4Aio-U2
238
Read Analog Input 16-Bit (Object 0X6401)
240
Write Analog Output 16-Bit (Object 0X6411)
240
Analog Input Interrupt Trigger Selection (Object 0X6421)
241
Analog Input Global Interrupt Enable (Object 0X6423)
242
Analog Input Interrupt Upper Limit Integer (Object 0X6424)
242
Analog Input Interrupt Lower Limit Integer (Object 0X6425)
243
Analog Input Interrupt Delta Unsigned (Object 0X6426)
244
Analog Input Interrupt Negative Delta Unsigned (Object 0X6427)
245
Analog Input Interrupt Positive Delta Unsigned (Object 0X6428)
246
Output Channel X (Object 0X21A0 bis 0X21A1)
247
Module Diagnostic Messages (Object 0X31A0)
248
Input Channel X (Object 0X31A1 to 0X31A2)
249
Wire Break Diagnostic Messages (Object 0X31A3)
249
Firmware Version (Object 0X41A0)
250
Analog Input Selection (Object 0X51A0)
252
Filter Configuration Channel X (Object 0X51A1 bis 0X51A2)
253
Xn-322-8Aio-U2
254
Read Analog Input 16-Bit (Object 0X6401)
256
Write Analog Output 16-Bit (Object 0X6411)
257
Analog Input Interrupt Trigger Selection (Object 0X6421)
257
Analog Input Global Interrupt Enable (Object 0X6423)
258
Analog Input Interrupt Upper Limit Integer (Object 0X6424)
258
Analog Input Interrupt Lower Limit Integer (Object 0X6425)
259
Analog Input Interrupt Delta Unsigned (Object 0X6426)
260
Analog Input Interrupt Negative Delta Unsigned (Object 0X6427)
261
Analog Input Interrupt Positive Delta Unsigned (Object 0X6428)
262
Output Channel X (Object 0X20B0 to 0X20B3)
264
Module Diagnostic Messages (Object 0X30B0)
264
Input Channel X (Object 0X30B1 to 0X30B4)
266
Wire Break Diagnostic Messages (Object 0X30B5)
266
Firmware Version (Object 0X40B0)
267
Analog Input Selection (Object 0X50B0)
268
Filter Configuration Channel X (Object 0X50B1 to 0X50B4)
269
Xn-322-4Aio-I
270
Read Analog Input 16-Bit (Object 0X6401)
272
Write Analog Output 16-Bit (Object 0X6411)
273
Analog Input Interrupt Trigger Selection (Object 0X6421)
274
Analog Input Global Interrupt Enable (Object 0X6423)
275
Analog Input Interrupt Upper Limit Integer (Object 0X6424)
275
Analog Input Interrupt Lower Limit Integer (Object 0X6425)
276
Analog Input Interrupt Delta Unsigned (Object 0X6426)
277
Analog Input Interrupt Negative Delta Unsigned (Object 0X6427)
278
Analog Input Interrupt Positive Delta Unsigned (Object 0X6428)
279
Output Channel X (Object 0X21B0 to 0X21B1)
280
Module Diagnostic Messages (Object 0X31B0)
281
Input Channel X (Object 0X31B1 to 0X31B2)
282
Channel Diagnostic Messages (Object 0X31B3))
282
Input Voltage State (Object 0X31B4)
283
Firmware Version (Object 0X41B0)
284
Input Channel Configuration (Object 0X51B0)
285
Output Channel Configuration (Object 0X51B1)
286
Filter Configuration Channel X (Object 0X51B2 to 0X51B3)
287
Xn-322-8Aio-I
288
Read Analog Input 16-Bit (Object 0X6401)
291
Write Analog Output 16-Bit (Object 0X6411)
291
Analog Input Interrupt Trigger Selection (Object 0X6421)
292
Analog Input Global Interrupt Enable (Object 0X6423)
293
Analog Input Interrupt Upper Limit Integer (Object 0X6424)
293
Analog Input Interrupt Lower Limit Integer (Object 0X6425)
294
Analog Input Interrupt Delta Unsigned (Object 0X6426)
295
Analog Input Interrupt Negative Delta Unsigned (Object 0X6427)
296
Analog Input Interrupt Positive Delta Unsigned (Object 0X6428)
297
Output Channel X (Object 0X20C0 bis 0X20C3)
298
Module Diagnostic Messages (Object 0X30C0)
299
Input Channel X (Object 0X30C1 bis 0X30C4)
300
Channel Diagnostic Messages (Object 0X30C5) )
300
Input Voltage State (Object 0X30C6)
301
Firmware Version (Object 0X40C0)
302
Input Channel Configuration (Object 0X50C0)
302
Output Channel Configuration (Object 0X50C1)
304
Filter Configuration Channel X (Object 0X50C2 bis 0X50C5)
306
Xn-322-2Dms-Wm
307
Module Diagnostic Messages (Object 0X3060)
308
Input Channel X (Object 0X3061 to 0X3062)
310
Analog Digital Converter Diagnostic Messages (Object 0X3063)
311
Firmware Version (Object 0X4060)
312
Measuring Configuration Channel X (Object 0X5060, 0X5062)
312
Range Configuration Channel X (Object 0X5061, 0X5063)
313
Zero-Scale Channel X (Object 0X5064, 0X5066)
314
Full-Scale Channel X (Object 0X5065, 0X5067)
315
Xn-322-1Dcd-B35
316
Write PWM Sequenz Data (Object 0X20E0 to 0X20E3)
318
Write Period Duration of Sequence Cycle (Object 0X20E4)
319
ON Time PWM LED X (Object 0X20E5, 0X20E6)
320
Motor Control (Object 0X20E7)
321
Read PWM Sequenz Data (Object 0X30E0 to 0X30E3)
322
Read Period Duration of Sequence Cycle (Object 0X30E4)
323
DC Driver Temperature (Object 0X30E5)
325
DC Motor Current (Object 0X30E6)
325
DC Motor Diagnosis (Object 0X30E7)
326
DC Motor Status (Object 0X30E8)
327
DC Motor I T Value (Object 0X30E9)
328
Module Diagnostic Messages (Object 0X30Ea)
329
Firmware Version (Object 0X40E0)
330
PWM Prescaler Register LED X (Object 0X40E1, 0X40E2)
330
PWM Period Duration Register LED X (Object 0X40E3, 0X40E4)
331
DC Motor I2T Value Limit (Object 0X40E5)
332
Xn-322-1Cnt-8Dio
333
Write Digital Outputs (Object 0X20F0)
334
Read Digital Input (Object 0X30F0)
335
Encoder Idle Time (Object 0X30F1)
336
Encoder Measuring Value (Object 0X30F2)
338
Encoder Latch Value (Object 0X30F3)
338
Encoder Status (Object 0X30F4)
339
Latch Input Configuration (Object 0X40F0)
340
Encoder Type Configuration (Object 0X40F1)
341
Maximum Idle Time (Object 0X40F2)
342
Idle Clock Pre-Scaler (Object 0X40F3)
343
System Clock Frequency (Object 0X40F4)
344
Encoder Measuring Value SDO (Object 0X40F5)
344
Encoder Signal Configuration (Object 0X40F6)
345
Encoder Status SDO (Object 0X40F7)
347
Encoder Latch Value SDO (Object 0X40F8)
348
Xn-322-2Ssi
349
Start Read Cycle (Object 0X2100)
351
Read Cycle State (Object 0X3100)
352
Module Diagnosis (Object 0X3101)
353
Input Channel X (Object 0X3102 to 0X3103)
354
Channel Configuration Register (Object 0X4100, 0X4102)
355
Channel Transmission Configuration Register (Object 0X4101, 0X4103)
356
8 Station Variants
359
Definition of Terms
359
Reason Why this Mode was Implemented
359
How the "Station Variants" Operating Mode Works
360
General Principles / Behavior of the Gateway and the PLC
362
Startup Behavior
363
Station Variants" Function Block
364
Overview
365
Handling on the PLC
366
XN300-Assist
367
Loading New Firmware Onto the Gateway
367
CAN Objects for Station Variants
370
Activation Stationvariants Mode (Object 0X4005)
370
Checksum (Internal) (Object 0X4006)
370
Module List (Internal) (Object 0X4007)
371
Available Modules (Internal) (Object 0X4008)
372
9 What Happens if
373
10 Appendix
375
Approvals and National Approvals for XN300 System Devices
375
Dimensions
376
Technical Data
377
Slice Modules
379
Firmware Versions
379
Maximum Number of Process Data Objects
380
Index
381
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Eaton XN-312-GW-CAN Specifications
General
Product Name
Eaton XN-312-GW-CAN
Category
Gateway
Communication Protocol
CAN
Manufacturer
Eaton
Model
XN-312-GW-CAN
Product Type
Gateway
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