HMS CM CANopen User Manual

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HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
Visiting address: Stationsgatan 37, Halmstad, Sweden
Connecting Devices
TM
E-mail: info@hms-networks.com
Web: www.anybus.com
User Manual
CM CANopen
CANopen Module for SIMATIC S7-1200
Doc.Id. HMSI-216-117
Rev. 1.00

HMS CM CANopen Specifications

General

Protection Class	IP20
Mounting	DIN rail
CANopen	Yes
CAN Controller	SJA1000
CAN Transceiver	82C251
Connectors	Removable screw terminals
Galvanic Isolation	Yes
Storage Temperature	-40°C to +85°C

Summary

Important User Information

Liability

Legal disclaimer regarding the use and accuracy of the manual's content.

Chapter 2 CANopen Fieldbus Functionality

Supported Fieldbus Services

Details the CANopen services and objects supported by the module.

Chapter 3 Transparent CAN Mode

Chapter 4 Installation

Mounting

Describes how to physically install the CM CANopen module.

Chapter 5 Configuration

SIMATIC S7-1200 PLC Configuration

Steps for configuring the PLC and module using TIA Portal.

CANopen Network Configuration

Instructions for configuring the CANopen network using external tools.

Configuration Files

Configuration Example

A practical example demonstrating the TIA Portal configuration process.

Chapter 6 CANopen Module Specification

NMT State Machine

Data Exchange

Explains how data is exchanged using PDOs and SDOs.

PDO Functionality

Details the Process Data Objects (PDOs) for I/O communication.

Error Control

Covers mechanisms for monitoring and reporting errors on the CANopen network.

Heartbeat Mechanism

Node Guarding

Emergency Object (EMCY)

Diagnostics

Chapter 7 Supported Objects

Configuration Manager

Network Management Objects

Manufacturer Specific Objects

I/O Buffer Addresses and Object Dictionary Indices Relation

Chapter 8 Interface Functions

CANopen Interface Functions

Introduces the interface functions for CANopen communication.

Get Process Data In

Function to read process data from the CANopen network into the PLC.

Set Process Data Out

Function to write process data from the PLC to the CANopen network.

SDO Read/Write

Functions for performing SDO read and write operations.

Get Node & Network Status

Transparent CAN Interface Functions

CAN_SEND

CAN_RCV

CAN_CTRL

Get Diagnostic Information

Appendix D Error Codes (RET)

Function Block Error Codes

Lists error codes specific to the interface function blocks.

Message Error Codes

Details general message error codes returned by the module.