AXEL S.r.l.

Via del Cannino 3

21020 Crosio della Valle (Va)
tel. 0332 949600 fax. 0332 969315
e-mail: info@axelsw.it
web: www.axelsw.it

PROFIBUS DP – CAN/CANopen Gateway

CANDPSX
User Manual

User Manual Rev. 2 of December 11, 2008

 CANDPSX user manual rev 2 Page 2 of 41
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Specification document nr. SP07012

Version Author Date Note

Rev. 2 M. BIANCHI 11/12/2008 New firmware version Candpsx_101.sre.
Rev. 1 M. BIANCHI 10/10/2007 First version
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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
7 SAVING AND VALIDATING A CONFIGURATION....................................................................30
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7.1 INTRODUCTION..................................................................................................................................30
7.2 SAVING THE SETTINGS.....................................................................................................................30
7.3 CHECKING THE RESULT OF A CONFIGURATION...........................................................................31
8 DATA REPRESENTATION in Profibus DP..............................................................................32
8.1 INTRODUCTION..................................................................................................................................32
8.2 THE Configuration telegram.................................................................................................................32
8.2.1 Structure of the configuration telegram..........................................................................................32
8.2.2 Checking the octets of configuration telegram..............................................................................33
9 SYSTEM ALARMS....................................................................................................................34
9.1 INTRODUCTION..................................................................................................................................34
9.2 TESTING SYSTEM ALARMS..............................................................................................................34
9.3 PROBLEM SOLVING...........................................................................................................................34
10 PC Tools..................................................................................................................................35
10.1 GENERAL DESCRIPTION.................................................................................................................35
10.2 THE configuraTion TOOL...................................................................................................................35
10.2.1 Overview......................................................................................................................................35
10.2.2 Program layout............................................................................................................................36
10.2.3 Main functions..............................................................................................................................36
10.2.4 Communication settings.............................................................................................................36
10.3 Firmware upgrade..............................................................................................................................37
11 hardware data.........................................................................................................................38
11.1 general description.............................................................................................................................38
11.2 BOARD Layout...................................................................................................................................38
11.3 VOLTAGE SUPPLY...........................................................................................................................38
11.4 ConneCTORS....................................................................................................................................39
11.4.1 Supply connector M3...................................................................................................................39
11.4.2 Profibus connector DP J3............................................................................................................39
11.4.3 CAN connector M1......................................................................................................................39
11.4.4 RS232 connector J1....................................................................................................................39
11.5 JUMPERs...........................................................................................................................................40
11.6 LEDs..................................................................................................................................................40
11.7 GUIDE TO HARDWARE INSTALLATION..........................................................................................40
11.8 MECHANICAL DATA.........................................................................................................................40
12 INTERNAL DATABASE..........................................................................................................41
12.1 GENERAL DESCRIPTION..................................................................................................................41
13 VERSION HISTORY................................................................................................................41
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Reference
/ 1: CiA DS301 V4.01
Figures
Fig. .1: State diagram of the CANopen master...........................................................................14

Fig. .2: Principles of CAN message mapping.............................................................................24

Fig. .3: How to code the information about a parameter being mapped..................................28

Fig. .4: Structure of the configuration telegram.........................................................................32

Fig. .5: Structure of an octet of the configuration telegram......................................................33

Fig. .6: The layout of the board...................................................................................................38

Tables
Tab. .1: CANopen Object dictionary...........................................................................................21

Tab. .2: Table of the system parameters that can be mapped to PDP.....................................29

Tab. .3: Voltage supply connector..............................................................................................39

Tab. .4: Profibus-DP connector...................................................................................................39

Tab. .5: CAN connector................................................................................................................39

Tab. .6: RS232 connector.............................................................................................................39

Tab. .7: Jumpers...........................................................................................................................40

Tab. .8: Meaning of LEDs.............................................................................................................40

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1 INTRODUCTION

1.1 PRODUCT OVERVIEW

The CANDPSX module is a gateway serving as a coupler between a CAN bus system and a
Profibus-DP network. It supports three operating modes for data exchange between the two
networks:
1. Profibus-DP slave / CAN (see § 4.1).
2. Profibus-DP slave / CANopen Master (see § 4.2).
3. Profibus-DP slave / CANopen Slave (see § 4.3).
CAN message programming and mapping are the principles underlaying the function of the
module. For each byte making up a CAN message, they allow to define the offset of the
corresponding byte in the Profibus dual port (see § 5).
The CANDPSX module is endowed with a standard 9-pole connector for the Profibus network and
a standard 5-pole open-style connector for the CAN bus network (see § 11.4). There is also a
RS232 port supporting the Modbus protocol for module configuration (from PC running LogicView,
from PC running a Modbus configurator, from PLC, etc.)
CANDPSX is also endowed with 9 LEDs for immediate diagnostics.
All the functions of the module can be configured and the configuration can be saved to non-
volatile memory. It is also possible to save the settings to file. The board is supplied together with a
setup program containing a configuration tool and a firmware upgrade tool.
The configuration software, named LogicView, has an HTML interface supporting the
implementation of configuration pages to ease the interaction with operators.
The module is designed for installation on standard omega support.

1.2 PROFIBUS

A processor implementing the full PROFIBUS-DP slave protocol manages the interface with the
Profibus system. The module can be configured in a Profibus network by means of the GSD file,
which contains all the information on characteristics of communication and on data configuration. A
word (16 bits) is the minimum unit of data that can be exchanged (see § 8).

Below you find the characteristics of Profibus communication on CANDPSX:

Profibus communication
Data configuration according to file CanDps.gsd, up to 104 words IO
Baud rate autodetected, max 12Mbit/s
Sync mode supported
Freeze mode supported
Station address programmable
Ident. Nr. programmable
Consistency programmable

1.3 CAN

CAN is a fieldbus initially developed by Robert Bosh for the automotive sector and now extended
to industrial applications. Thanks to its reliability, robustness, expandibility and flexibility, it has
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become a standard, specified in ISO 11898 (Controller Area Network CAN for high-speed
communication). The maximum baud rate of CAN bus is 1Mbit/s.
The CAN interface is managed by a microprocessor integrating a CAN controller. The Layer-1/2
(Physical layer e Data Link layer) protocol implemented in all CAN modules provides, among other
things, the requirements for data encoding. Data transportation or data requests are executed by
means of a Data Frame containing up to 8 bytes of user data. An identifier, which also determined
the priority level, characterizes each COB (Communication OBject).

Below you find the characteristics of CAN communication on CANDPSX:

CAN communication
Baud rate programmable

1.4 RS232

The following table shows the characteristics of RS232 communication on CANDPSX:

RS232 communication
Start bit 1
Data bits 8
Stop bits 1
Parity No
Baud rate 38400 bits/s
Protocol Modbus
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2 QUICK GUIDE TO INSTALLATION

2.1 INTRODUCTION

This quick guide refers to the LogicView configuration tool (see § 10.2).
What you need to install the CANDPSX module is:

• a PC
• the setup CD
• a crossover RS232 serial cable (Rx and Tx must be crossed over)

2.2 INSTALLATION

Here below you find the steps for installing the CANDPSX module:

1. Execute the hardware installation of the module (see § 11.7).

2. Connect the CANDPSX module to the voltage supply.
3. Run the configuration program setup contained in the setup CD.
4. Connect your PC to the RS232 port of CANDPSX through an RS232 serial cable.
5. Run the configuration program, named LogicView, from the system menu Start → Program
Files → Axel PC tools → CANDPSX.
6. Open the configuration file named CANDPS_Gateway_default.par. This file is located in
Targets directory, in \Program Files\Axel PC Tools\CANDPS\Targets\Vx_x.
7. Change the settings of serial communication, if necessary (see § 10.2), and connect to the
CANDPSX.
8. Select an operating mode (see § 4) and build the map of CAN messages (see § 5).
9. Set the parameters of the module with LogicView (see § 10.2).
10. Save the current settings (see § 7).
11. Also save the settings to a file, if you wish.
12. The GSD file of the CANDPSX is located in Targets directory, in \Program Files\Axel PC
Tools\CANDPSX\Targets\Vx_x.
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3 SYSTEM SETTINGS

3.1 INTRODUCTORY REMARKS

All the functions of CANDPSX can be configured, therefore this module implements an internal
database with a set of parameters for setting the operating characteristics.
Any changes to configuration parameters are actually applied only when the module is switched on
again or reset after the settings have been saved to non-volatile memory (see § 7).

3.2 OPERATING MODE

CANDPSX supports three operating modes for real-time data exchange between a Profibus-DP
and a CAN bus network.

3.2.1 Operating mode selection

To select an operating mode, set the parameter 2011h:

Property Value
Parameter 2011h
Logic View menu All parameters/System
Data type 8 bit unsigned int
Measurement unit --
0 = Profibus-DP slave / CAN
Value 1 = Profibus-DP slave / CANopen Master
2 = Profibus-DP slave / CANopen Slave
Default value 0
Access Read/Write

3.3 CAN COMMUNICATION

To specify the baud rate of the CAN line, set the parameter 2040h:

Property Value
Parameter 2040h
Logic View menu All parameters/System/CAN
Data type 8 bit unsigned int
Measurement unit --
0 = 1000 Kbits/s;
2 = 500 Kbits/s;
3 = 250 Kbits/s;
Value
4 = 125 Kbits/s;
5 = 100 Kbits/s;
8 = 50 Kbits/s;
Default value 4
Access Read/Write
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3.4 PROFIBUS DP COMMUNICATION

It is the Profibus master which establishes directly the communication settings of the Profibus-DP
network, thus the only specific settings needed by the module are the station address and packet
consistency.

3.4.1 Setting the station address

To specify the address of the Profibus-DP station, set the parameter 2020h:

Property Value
Parameter 2020h
Logic View menu All parameters/System/Profibus-DP
Data type 8 bit unsigned int
Value 1 to 125
Default value 1
Access Read/Write

3.4.2 Setting packet consistency

To enable/disable consistency, set the parameter 2022h:

Property Value
Parameter 2022h
Logic View menu All parameters/System/Profibus-DP
Data type 8 bit unsigned int
0 = consistency across word
Value
1 = consistency across the entire packet
Default value 0
Access Read/Write

3.4.3 Memory swap function for profibus DP dual port memory

To enable/disable memory swap, set the parameter 2023h:

Property Value
Parameter 2023h
Logic View menu All parameters/System/Profibus-DP
Data type 8 bit unsigned int
0 = memory swap disable
Value
1 = memory swap enable
Default value 0
Access Read/Write
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3.4.4 Profibus-DP Watch-dog indication disable

To disable the Profibus-DP watch-dog indication, in CANopen Master and CANopen Slave
modality, set the parameter 2024h:

Property Value
Parameter 2024h
Logic View menu All parameters/System/Profibus-DP
Data type 8 bit unsigned int
0 = enable wath-dog Profibus-DP indication
Value
1 = disable wath-dog Profibus-DP indication
Default value 0
Access Read/Write

3.4.5 Baud rate autodetection

The baud rate is set by the Profibus-DP Master and can be monitored by reading the parameter
2030h:

Property Value
Parameter 2030h
Logic View menu All parameters/System/Profibus-DP
Data type 32 bit int
Measurement unit bit/s
3FFFFFFFh = autodetection running
Value 12000000, 6000000, 3000000, 1500000, 500000,
187500, 93750, 19200, 9600
Access Read-only

3.4.6 Status of the Profibus-DP dual port

To monitor the status of the Profibus-DP dual port, read the parameter 2031h:

Property Value
Parameter 2031h
Menu selection Logic View All parameters/System/Profibus-DP
Data type 32 bit int
Measurement unit --
0 = awaiting parameters assignment
1 = awaiting configuration
Value
2 = data exchange
3 = error
Access Read-only

The data-exchange status is also reported by the DEA-PB yellow led (see § 11.6).
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3.4.7 Profibus-DP driver errors

An active error of the Profibus-DP driver is signalled by the ERR-PB red led. To know the error
code, read the parameter 2032h:

Property Value
Parameter 2032h
Logic View menu All parameters/System/Profibus-DP
Data type 16 bit int
Measurement unit --
0 = no errors
1 = VPC3 failure
2 = VPC3 initialization error
4 = VPC3 system error
5 = VPC3 system error
6 = VPC3 system error
7 = VPC3 system error
9 = VPC3 system error
Value
10 = VPC3 system error
11 = VPC3 system error
15 = parameter setup request error
16 = invalid length of configuration telegram
17 = bad configuration
19 = watch dog
20 = size of data to be exchanged too large
21 = invalid station address
Access Read-only
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4 OPERATING MODES

4.1 PROFIBUS DP SLAVE / CAN

In this operating mode, CANDPSX serves as a gateway with no specific protocol.

Data exchange between Profibus network and CAN network is carried out by means of standard
messages (data frames) having a programmable 11-bit identifier. Up to 32 CAN messages can be
programmed in transmission or reception.
This mode does not support any automatic function for managing the CAN bus network.

4.1.1 CAN messages

Up to 32 CAN messages can be programmed in transmission or reception. Data transmission is

evaluated at every data exchange request from Profibus. The data of any CAN message received
are immediately moved to the Profibus dual port and are available for any data exchange request.
Type-1 and type-2 CAN messages are supported. See § 5 for information on how to program
them.

4.2 PROFIBUS DP / CANOPEN MASTER

In this operating mode, CANDPSX serves as a gateway which, on the CAN side, can automatically
perform some CANopen master functions of node supervision.
The module can control up to 24 nodes on the basis of the programmed presences. Up to 24 CAN
messages are available for real-time data exchange (asynchronous PDOs of type 254), which can
be programmed as inbound or outbound messages.
The CANopen master functions supported are:

• NMT protocol
• Node Guarding protocol
• SDO protocol
• Emergency object management
• 24 asynchronous PDOs that can be programmed in transmission or
reception
• Automatic detection of CANopen nodes for validation of a programmed
configuration
• Automatic configuration of node guarding control
• Automatic supervision of CANopen nodes with NMT commands

4.2.1 CANopen master state diagram

The system checks the slave nodes by applying the algorithm represented by the state diagram
below. This process may be executed either automatically (auto mode enabled, see § 4.2.2) or
through commands from the Profibus dual port (auto mode disabled, see § 4.2.2).
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Fig. .1: State diagram of the CANopen master

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It is possible to monitor the current status by reading the parameter 2092h:

Property Value
Parameter 2092h
Logic View menu All parameters/System/CANopen Master
Data type 8 bit unsigned int
Measurement unit --
0 = initializing
1 = awaiting Profibus-DP
2 = scan of the configured nodes
Value 3 = node guarding configuration
4 = running
5 = fault reaction
6 = awaiting recovery from fault
Access Read-only

4.2.2 Auto Mode

To activate the auto mode function, set the parameter 2097h:

Property Value
Parameter 2097h
Logic View menu All parameters/System/CANopen Master
Data type 8 bit unsigned int
Measurement unit --
0 = control from Profibus-DP
Value
1 = automatic control
Default value 1
Access Read/Write

If the auto mode function is disabled, it is the Profibus Master which checks the change of NMT
status of the nodes (see Fig. .1). To make this possible you will have to map the command word of
the CANopen Master (parameter 2090h) and the status word (parameter 2091h) in the Profibus
dual port (see § 6).
Control word codes (parameter 2090h):

Property Value
Parameter 2090h
Logic View menu All parameters/System/CANopen Master
Data type 16 bit unsigned int
Measurement unit --
bit 0 = operational request to nodes, if set to 1
Value bit 1 = request of alarm reset (see § 4.2.6)
bit 2 = request of restart system and alarms recovery.
Default value 0
Access Read-only
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Status word codes (parameter 2091h):

Property Value
Parameter 2091h
Logic View menu All parameters/System/CANopen Master
Data type 16 bit unsigned int
Measurement unit --
bit 0 = running status of the driver
Value bit 1 = data exchange status of the driver
bit 2 = fault status of the driver (see § 9.2)
Default value 0
Access Read-only

4.2.3 Configuring the network

In this operating mode, the module can control up to 24 CANopen slave nodes. Each node under
supervision must be assigned the address of the corresponding, complying with what stated in the
CiA DS301 standard.
To configure the network under control, set the parameters 2070h - 2087h:

Property Value
Parameters 2070h - 2087h
Logic View menu All parameters/System/CANopen Master/Nodes configuration
Data type 8 bit unsigned int
Measurement unit --
0 = not present
Value
1 to 127 = node ID
Default value 0
Access Read/Write

The CANopen master scans the programmed nodes and publishes the presence status in the
parameter 2093h. Each bit of the parameter set to 1 means that the associated node has been
detected. Namely, bit 0 shows the presence status of the node programmed with the parameter
2070h, bit 1 shows the presence status of the node programmed with the parameter 2071h, etc. It
is possible to map the configuration control parameter in the Profibus dual port (see § 6).

4.2.4 SDO Service

The CANDPSX module enables a Profibus master to exchange parameters with the slave nodes
connected via the SDO protocol. To activate this function, you will have to enable the SDO protocol
and to map the SDO control structures (parameters 20A3h and 20A4h) and the data transportation
buffers (parameters 20A5h and 20A6h) in the Profibus dual port (see § 6).
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To enable the SDO service, set the parameter 20A0h:

Property Value
Parameter 20A0h
Logic View menu All parameters/System/CANopen Master/SDO services
Data type 8 bit unsigned int
Measurement unit --
0 = service disabled
Value
1 = service enabled
Default value 0
Access Read/Write

To specify the maximum time SDO requests must be fulfilled within, set the parameter 20A1h:

Property Value
Parameter 20A1h
Logic View menu All parameters/System/CANopen Master/SDO services
Data type 16 bit unsigned int
Measurement unit ms
Default value 500
Access Read/Write

Format and elements of the request control structure mapped in the Profibus dual port (parameter
20A3h):

Elements of the SDO control structure

SDO request type:
0 = reset request
cmd
1 = read request
2 = write request
node ID of the node to which the request is sent
Ind low lower part of the index of the exchanged object
Ind high higher part of the index of the exchanged object
Sub ind subindex of the exchanged object
len number of valid byte in SDO buffer value

Note: if the memory swap function is active, the elements of the control structure will be swapped.
The field “len” will be in “byte 0” and “cmd” will be in “byte 5”.
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Format and elements of the result control structure mapped in the Profibus dual port (parameter
20A4h):

Elements of the SDO result control structure

ack request acknoledgement
request result according to CANopen:
0 = request fulfilled
1 = the object does not exist
2 = the subindex does not exist
3 = read-only object
4 = the object cannot be written while in this state
5 = lower bound
6 = higher bound
7 = internal control failed
8 = illegal value
9 = illegal access to the object
10 = generic error
11 = unable to save
12 = invalid signature
13 = toggle error
esi
14 = time out
15 = invalid command
16 = write-only object
17 = mismatching length
18 = length too large
19 = length too small
20 = the object cannot be mapped
21 = object too large for PDO
100 = time out
101 = system error
102 = system error
103 = invalid command
104 = inconsistent data
105 = invalid protocol length
106 = toggle error
len size of received data in the buffer 20A6h

Note: if the memory swap function is active, the elements of the control structure will be swapped.
The field “len” will be in “byte 1” and “ack” will be in “byte 3”. .Profibus-DP master’s algorithm to
exchange objects with slave nodes:

1. If a write-object request is to be executed, it writes to the parameter 20A5h the data of

the object to be sent to the slave node
2. It writes to the parameter 20A3h the index and subindex of the object to be exchanged,
the ID of the node with which the object is to be exchanged and, if a write-object request is
to be sent, the length of the data stored in the parameter 20A5h
3. It reads the status of the acknowledgment byte from the parameter 20A4h
4. It writes the type of request to the parameter 20A3h
5. It waits for the acknowledgement byte in the parameter 20A4h to vary
6. It checks the result of the request in the parameter 20A4h
7. If a write-object request was sent, it retrieves the data from the parameter 20A6h
8. It resets the request in the parameter 20A3h
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4.2.5 The Node guarding service

The CANDPSX module can perform node guarding, complying with what stated in the CiA DS301
standard.
To activate this service, set the parameter 20B0h:

Property Value
Parameter 20B0h
Logic View manu All parameters/System/CANopen Master/Node guarding services
Data type 8 bit unsigned int
Measurement unit --
0 = control disabled
Value
1 = control enabled
Default value 0
Access Read/Write

If the service is enabled, after scanning the network the CANopen master sends the nodes the
Guard time and Life time factor values as programmed in the parameters 20B2h and 20B1h
respectively, in order to activate Node guarding of the nodes themselves. Once the nodes have
entered the running state, the CANopen master begins to poll them with the Node guarding
protocol. Guard time is the polling period of each node. In order to disable Node guarding, just set
the Guard time or the Life time factor to zero. The master executes anyway Node guarding with a
polling period of 100 ms.
Like what mentioned in § 4.2.3 concerning validation of a configuration, the CANopen master
publishes the Node guarding status of nodes in the parameter 20B3h, which can also be mapped
in the Profibus dual port (see § 6).

To specify the Guard time, set the parameter 20B2h:

Property Value
Parameter 20B2h
Logic View menu All parameters/System/CANopen Master/Node guarding services
Data type 16 bit unsigned int
Measurement unit ms
Default value 0
Access Read/Write

To specify the Life time factor, set the parameter 20B1h:

Property Value
Parameter 20B1h
Logic View menu All parameters/System/CANopen Master/Node guarding services
Data type 8 bit unsigned int
Measurement unit --
Default value 0
Access Read/Write
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The CANopen master knows the NMT status of the connected slave nodes by means of the Node
guarding protocol and publishes it in the parameters 20C0h - 20D7h, that can also be mapped in
the Profibus dual port:

Property Valye
Parameters 20C0h - 20D7h
Logic View menu All parameters/System/CANopen Master/Node status
Data type 8 bit unsigned int
Measurement unit --
0 = not present
1 = node guarding
2 = toggle error in the node guarding protocol
Value
4 = stopped
5 = operating
127 = pre-operating
Access Read-only

The NMT status of the connected nodes is also published in the parameters 20B8h – 20BDh and
can also be mapped in the Profibus dual port. These are 32 bit parameters and each byte
represents the status of one node:

Property Valye
Parameters 20B8h - 20BDh
Logic View menu All parameters/System/CANopen Master/Node status
Data type 32 bit unsigned int
Measurement unit --
Each byte represents the NMT status of a node. The
Value value of each byte is the same of parameters 20C0h -
20D7h
Access Read-only

4.2.6 Handling node alarms

The CANDPSX module handles the emergency messages sent by nodes and saves each node’s
error code – defined according to the CANopen standard – to the parameters 20E0h - 20F7h, that
can also be mapped in the Profibus dual port (see § 6).
Like what mentioned in § 4.2.3 concerning validation of a configuration, the CANopen master
publishes the past alarms mask and the active alarms in the parameters 2094h and 2095h
respectively. It is also possible to map these parameters in the Profibus dual port.
The past alarms mask can be reset by setting up a bit mask (parameter 2096h) and by sending a
reset alarms command (see § 4.2.2). The reset alarms mask can also be mapped in the Profibus
dual port.

4.2.7 Programming PDOs

Up to 24 CAN messages, which can be programmed in transmission or reception, are available for
real-time data exchange as defined in the standard (asynchronous PDOs of type 254). Data
transmission is evaluated at each data exchange request from Profibus. The data of any CAN
message received are immediately moved to the Profibus dual port and are available for any data
exchange request.
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Type-5 and type-6 CAN messages are active. To know how to program PDOs, see § 5.

4.3 PROFIBUS DP / CANOPEN SLAVE

In this operating mode, the CANDPSX module serves as a gateway, seen from the CAN side as a
CANopen slave that can be controlled by a standard CANopen Master.
The communication protocol complies with the CANopen standard as specified in the CiA Draft
Standard 301 (version 4.01 of 06/01/2000).
The available CANopen slave services are:
• NMT protocol
• Node Guarding protocol
• SDO protocol
• Emergency protocol
• 24 asynchronous PDOs of type 254 to be programmed in trasmission or
reception
• Characteristics of communication according to the file CanDpsx.eds

The NMT status of the CANopen slave driver is published in the parameter 20B5h, which can be
mapped in the Profibus dual port (see § 6):

Property Value
Parameter 20B5h
Logic View menu All parameters/System/CANopen Slave
Data type 8 bit unsigned int
Measurement unit --
0 = boot up
1 = reset application
2 = reset communication
Value 3 = initialising
4 = stopped
5 = operating
127 = pre-operating
Access Read-only

4.3.1 CANopen object dictionary for communication objects

Index Description
1000h Device type
1001h Error register
1002h Manufacturer status register
1008h Manufacturer device name
1009h Manufacturer hardware version
100Ah Manufacturer software version
100Ch Guard time
100Dh Life time factor
1018h Identity object
Tab. .1: CANopen Object dictionary

The whole parameter database of CANDPSX is accessible via SDO.

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4.3.2 Programming PDOs

Up to 24 CAN messages, which can be programmed in transmission or reception, are available for
real-time data exchange as defined in the standard (asynchronous PDOs of type 254). Data
transmission is evaluated at each data exchange request from Profibus. The data of any CAN
message received are immediately moved to the Profibus dual port and are available for any data
exchange request.
Type-5 and type-6 CAN messages are active. To know how to program PDOs, see § 5.
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5 DATA EXCHANGE BETWEEN PROFIBUS-DP AND CAN

5.1 INTRODUCTION

Data exchange between Profibus and CAN is carried out by means of standard CAN messages
with 11-bit identifier. The maximum length of messages is 8 bytes. For each byte making up the
message it is possible to specify the corresponding source offset (if the message is outbound) or
destination offset (if the message is inbound) in the Profibus dual port.
The procedure to set up CAN messages and to map the data is the same for all the operating
modes. Up to 32 CAN messages are available which can be programmed for transmission or
reception, but each operating mode defines the maximum number of messages it can handle and
the methods to drive data transmission.
Data exchange between the Profibus dual port and CAN messages is performed synchronously
every time a data exchange request arrives from the Profibus-DP Master.

5.2 ACTIVATING A CAN MESSAGE

A CAN message is composed of the following elements:

• The type of message

• The ID
• 8 byte of user data
• The trigger object of the message (for outbound messages only)

5.2.1 Setting the type of message

To select the type of CAN message, set the parameters 2140h - 215Fh:

Property Value
Parameters 2140h to 215Fh
Logic View menu All parameters/Messages/Message n
Data type 8 bit unsigned int
Measurement unit --
0 = inactive message
1 = generic inbound message
Value 2 = generic outbound message
5 = asynchronous inbound PDO of type 254
6 = asynchronous outbound PDO of type 254
Default value 0
Access Read/Write
 CANDPSX user manual rev 2 Page 24 of 41
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5.2.2 Setting the message ID

To set the message ID, set the parameters 2100h - 211Fh:

Property Value
Parameters 2100h to 211Fh
Logic View menu All parameters/Messages/Message n
Data type 32 bit unsigned int
Measurement unit --
Value 000h to 7FFh
Default value 000h
Access Read/Write

5.2.3 Mapping data of the Profibus dual port to CAN messages

The maximum length of user data in a CAN message is 8 bytes. Each byte can be assigned
independently the offset of the associated byte in the Profibus dual port. Therefore, let us assume
that up to 8 objects can be mapped to a CAN message. The corresponding offset in the Profibus
dual port and and the size must be specified for each object. The total size of the mapped objects
must be included between 0 and 8 bytes. If this condition is not satisfied, the module will display a
configuration error the next time the settings are saved and the board is switched on or reset. The
first null-size object determines the end of the map.

Fig. .2: Principles of CAN message mapping

 CANDPSX user manual rev 2 Page 25 of 41
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In order to assign the corresponding offset in the Profibus dual port to CAN message objects, set
the parameters 2300h - 23FFh. The parameters are aggregated into groups of 8 elements (e.g.
parameters 2300h - 2307h mapped to message 1, 2308h - 230Fh mapped to message 2, etc.):

Property Value
Parameters 2300h to 23FFh
Logic View manu All parameters/Messages/Message n/Mapping object n
Data type 8 bit unsigned int
Measurement unit --
Value 0 to 208
Default value 0
Access Read/Write

To configure the size of the mapped objects, set the parameters 2500h - 25FFh. The parameters
are aggregated into groups of 8 elements (e.g. parameters 2500h - 2507h mapped to message 1,
2508h - 250Fh mapped to message 2, etc.):

Property Value
Parameters 2500h to 25FFh
Logic View menu All parameters/Messages/Message n/Mapping object n
Data type 8 bit unsigned int
Measurement unit byte
Value 0 to 8
Default value 0
Access Read/Write

5.2.4 CAN massage triggers

Transmission of CAN messages is executed depending on the evaluation of a trigger event,

consistsing of the variation of a data in the Profibus dual port.
To assign the offset in the Profibus dual port to the trigger objects of a CAN message, set the
parameters 2180h - 219Fh:

Property Value
Parameters 2180h to 219Fh
Logic View menu All parameters/Messages/Message n
Data type 8 bit unsigned int
Measurement unit --
Value da 0 a 208
Default value 0
Access Read/Write
 CANDPSX user manual rev 2 Page 26 of 41
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To specify the size of the trigger objects of a CAN message, set the parameters 21C0h - 21DFh:

Property Value
Parameters 21C0h to 21DFh
Logic View menu All parameters/Messages/Message n
Data type 8 bit unsigned int
Measurement unit byte
Value 1 to 8
Default value 1
Access Read/Write

5.2.5 Checking the size of a CAN message

To check the actual size of a CAN message, read the parameters 2200h - 221Fh (but only after
having saved the settings and having reset the module):

Property Value
Parameters 2200h to 221Fh
Logic View menu All parameters/Messages/Message n
Data type 8 bit unsigned int
Measurement unit byte
Value 0 to 8
Access Read-only

5.2.6 Example: configuration of an inbound CAN message

Let us consider the configuration of message 1 with the following characteristics:

• inbound asynchronous PDO of type 254
• ID = 204h
• objects mapped according to Fig. .2
How to set the parameters:

Parameter Description Value

2140h Type of message 5
2100h Message ID 204h
2300h Dual port offset of object 1 0
2301h Dual port offset of object 2 14
2302h Dual port offset of object 3 26
2500h Size of object 1 [bytes] 2
2501h Size of object 2 [bytes] 1
2502h Size of object 3 [bytes] 4
2503h Size of object 4 [bytes] 0
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5.2.7 Example: configuration of an outbound CAN message

Let us consider the configuration of message 2 with the following characteristics:

• outbound asynchronous PDO of type 254

• ID = 182h
• objects mapped according to Fig. .2
• 2-byte long trigger object, located at offset 5 of the Profibus dual port

How to set the parameters:

Parameter Description Value

2141h Type of message 6
2101h Message ID 182h
2181h Offset of the trigger object in the DP 5
21C1h Size of the trigger object [bytes] 2
2308h Dual port offset of object 1 0
2309h Dual port offset of object 2 14
230Ah Dual port offset of object 3 26
2508h Size of object 1 [bytes] 2
2509h Size of object 2 [bytes] 1
250Ah Size of object 3 [bytes] 4
250Bh Size of object 4 [bytes] 0
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6 DATA EXCHANGE BETWEEN PROFIBUS-DP AND THE SYSTEM

6.1 INTRODUCTION

CANDPSX makes it possible to map system data in the Profibus dual port in order to enable the
Profibus Master to interact with the system. The objects are published in the internal database and
thus they are seen as parameters. It is possible to map up to 16 parameters from the system to
Profibus-DP and up to 16 parameters from Profibus-DP to the system. The parameters are
mapped consecutively in the Profibus dual port, starting from offset 0. The first null parameter
determines the end of the map.
The system also includes a set of parameters for building the system data map from and to the
Profibus dual port. The procedure to set up these parameters complies with the CiA DS301
document about PDO dynamic mapping, which states that the information about any parameter
being mapped must be encoded in a 32-bit double word.

Fig. .3: How to code the information about a parameter being mapped

6.2 MAPPING SYSTEM PARAMETERS TO PROFIBUS-DP

To map parameters to the Profibus-PD system in the dual port, set the parameters 2060h - 2067h:

Property Value
Parameters 2060h to 206Fh
Logic View menu All parameters/PDP objects mapping/PDP input objects mapping
Data type 32 bit unsigned int
Measurement unit --
Value 0 = end of map, see § 6.4.
Default value 0
Access Read/Write
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6.3 MAPPING SYSTEM PARAMETERS FROM PROFIBUS-DP

To map the parameters from the Profibus-DP system in the dual port, set the parameters 2050h -
2057h:

Property Value
Parameters 2050h to 205Fh
Logic View menu All parameters/PDP objects mapping/PDP output objects mapping
Data type 32 bit unsigned int
Measurement unit --
0 = end of map
Value
other values = see § 6.4.
Default value 0
Access Read/Write

6.4 LIST OF THE SYSTEM PARAMETERS THAT CAN BE MAPPED TO PROFIBUS-

DP

The next table contains the list of the system parameters that can be exchanged with the Profibus-
DP. For each system parameter, the size of memory occupied in PDP and the mapping value are
also indicated:

Parameter Mapping Bit Direction Description

value length
1001h 10010008h 8 to PDP CANopen Slave error register
1002h 10020020h 32 to PDP CANopen Slave manufacturer status register
2010h 20100020h 32 to PDP System alarms mask
2090h 20900010h 16 from PDP CANopen Master control word
2091h 20910010h 16 to PDP CANopen Master status word
2092h 20920008h 8 to PDP CANopen Master state machine
2093h 20930020h 32 to PDP CANopen Master check node presence
2094h 20940020h 32 to PDP CANopen Master active node alarms
2095h 20950020h 32 to PDP CANopen Master past node alarms
2096h 20960020h 32 from PDP CANopen Master reset alarms
20A3h 20A30030h 48 from PDP CANopen Master structure for handling SDO
requests
20A4h 20A40020h 32 to PDP CANopen Master structure for handling results of
SDO requests
20A5h 20A50020h 32 from PDP CANopen Master SDO buffer of data to be sent
20A6h 20A60020h 32 to PDP CANopen Master SDO buffer of received data
20B3h 20B30020h 32 to PDP CANopen Master mask for nodes in Node guarding
20B8h a 20BDh 20B80020h a 32 to PDP CANopen status of the nodes controlled by the
20BD0020h CANopen Master in group of 4 slaves
20C0h to 20D7h 20C00008h 8 to PDP CANopen status of the nodes controlled by the
to CANopen Master
20D70008h
20E0h to 20F7h 20E00010h 16 to PDP Error code of emergency message from the nodes
to controlled by the CANopen Master
20F70010h
Tab. .2: Table of the system parameters that can be mapped to PDP
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7 SAVING AND VALIDATING A CONFIGURATION

7.1 INTRODUCTION

To apply any changes to configuration parameters of the CANDPSX module, you will have to give
a save-parameters command followed by a power-on or a software reset command.

7.2 SAVING THE SETTINGS

To save the current configuration, set the parameter 2000h:

Property Value
Parameter 2000h

Logic View toolbar

Data type 8 bit unsigned int

Measurement unit --
Value 1 = save command
Default value 0
Access Read/Write

To give a software reset command (instead of a power-on), set the parameter 2002h:

Property Value
Parameters 2002h

Logic View toolbar

Data type 8 bit unsigned int

Measurement unit --
Value 1 = comando di reset
Default value 0
Access Read/Write
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7.3 CHECKING THE RESULT OF A CONFIGURATION

When power is switched on or the module is reset, CANDPSX initializes with the last configuration
saved. To check the result of a configuration, read the parameter 2012h:

Property Value
Parameter 2012h
Logic View manu All parameters/System
Data type 16 bit unsigned int
Measurement unit --
0 = configuration OK
1 = invalid operating mode
2 = invalid CAN baud rate
3 = Profibus-DP configuration error
Value 4 = invalid type of CAN message with the current operating mode
5 = invalid length of CAN message
6 = invalid length of trigger message
7 = bad mapping of system data in PDP
8 = bad mapping of system data in PDP
Access Read-only
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8 DATA REPRESENTATION IN PROFIBUS DP

8.1 INTRODUCTION

Any standard Profibus-DP Master can exchange data with the CANDPSX module.
At startup, the Profibus-DP Master configures the communication settings of the Profibus-DP slave
nodes and then it sends them a configuration telegram. If a slave node accepts the configuration
sent by the Profibus Master, the latter shifts the slave node to the data exchange status and begins
to exchange data.
With Profibus, data exhange is carried out through a dual port consisting of two separate areas:
the input area (to Profibus-DP) and the output area (to Profibus-DP).

8.2 THE CONFIGURATION TELEGRAM

The configuration telegram provides the slave with information about the length of the Input/Output
data to be exchanged.
In general, programs for designing the Profibus-DP network also include a tool for composing the
configuration telegram, which consists of octets allowing the definition of up to 16 bytes / words of
user data to be exchanged (see § 8.2.1). Input/Output data having the same format can be
combined in a single octet. If the module detects any inconsistency between the configuration
octets and its internal configuration (determined by the programming of exchange data between
Profibus-DP and CAN) during the validation process started by the Master, a configuration error is
sent to the Master and the module is not ready to exchange data.
The CANDPSX adjust at word element the number of data in Profibus-DP.
CANDPSX can accept configuration telegrams consisting of up to 8 generic-format octets with the
following characteristics:

Characteristics of the configuration telegram

Length structure word
Format Input/output
Consistency across programmable (see § 3.4.2)

8.2.1 Structure of the configuration telegram

Fig. .4: Structure of the configuration telegram.

Structure of an octet of the configuration telegram:

 CANDPSX user manual rev 2 Page 33 of 41
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Fig. .5: Structure of an octet of the configuration telegram.

Elements of an octet of the configuration telegram

0000 = 1 byte / word
Data length
1111 = 16 bytes / words
00 = special identifier format
01 = input
Format
10 = output
11 = input/output
0 = byte
Length structure
1 = word
0 = byte or word
Consistency across
1 = total length

8.2.2 Checking the octets of configuration telegram

For verify the configuration telegram read the parameters from 2038h to 203Fh:

Elemento Valore
Parameter 2038h a 203Fh
All parameters/System/Profibus-DP/Configuration
Logic View menu
telegram
Data type 8 bit unsigned int
Measurement unit --
Value see § .8.2.1
Access Read-only
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9 SYSTEM ALARMS

9.1 INTRODUCTION

CANDPSX system alarms are coded bitwise and are handled by the operating modes (see § 4).

9.2 TESTING SYSTEM ALARMS

To check which alarms are active, read the parameter 2010h:

Property Value
Parameter 2010h
Logic View menu All parameters/System

Logic View toolbar

Data type 32 bit unsigned int

Measurement unit --
0 = no alarms
1h = hardware/software mismatch
2h = illegal access to the user parameters flash
4h = illegal access to the hw parameters flash
Value 8h = bus off
10h = hardware problems on the line
20h = Profibus driver error
40h = CAN driver error
10000h = configuration error
Access Read-only

9.3 PROBLEM SOLVING

Alarm code Action

1h, 2h, 4h Contact the CANDPSX supplier
Switch the CANDPSX off and check the
8h, 10h connection to the CAN bus line and the
terminations
See § 3.4.7 to identify the error source and to
20h
check the configuration
40h See § 4.3
See § 7.3 to identify the error source and to check
10000h
the configuration
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10 PC TOOLS

10.1 GENERAL DESCRIPTION

The setup program installs the PC tools for configuring the module (Logic View) and upgrading the
firmware version (CANDPSX Firmware Upgrade). Both software tools use the COM port.
LogicView supports the Modbus protocol, whereas CANDPSX Firmware Upgrade implements a
dedicated protocol.

10.2 THE CONFIGURATION TOOL

10.2.1 Overview

Connection to Toolbar for data List of the parameters

the module exchange of the selected menu

Parameters Parameter monitor Record of

menu window supporting the selected
drag & drop parameter
 CANDPSX user manual rev 2 Page 36 of 41
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10.2.2 Program layout

The configuration tool is composed of the following main elements (see § 10.2.1):

• The toolbar with the functions for exchanging parameters

• The menu selection window
• The window displaying the parameters of the currently selected menu
• The monitor window displaying the continuously refreshed value of parameters

10.2.3 Main functions

• Open/Save/Close configuration files

• Connect to the target
• Read/Write all the parameters of the selected menu
• Read/Write the value of the parameter in the selected record
• Save the current configuration
• Reset the module
• Modify the communication settings from the Target→ Communication settings menu

10.2.4 Communication settings

 CANDPSX user manual rev 2 Page 37 of 41
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10.3 FIRMWARE UPGRADE

Here below you find the instructions to upgrade the firmware:

1. Execute the program from the system menu Start → Program Files → Axel PC tools.

2. Push the button Port settings to open the dialog window that lets you modify the
communication settings: select the COM port and press OK.

3. Synchronize CANDPSX by pushing the button Syncronize and follow the instructions in the
synchronization window. When the synchronization process is completed, the Status box will
display the module identification data.

4. Press the button Browse to select a firmware file (extension .sre), then push the button
Load firmware and wait until a message appears informing that the process has been
completed. Press Ok to restart CANDPSX.
 CANDPSX user manual rev 2 Page 38 of 41
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11 HARDWARE DATA

11.1 GENERAL DESCRIPTION

The module consists essentially of the following hardware components:

• Electric isolation on the Profibus-DP interface
• Profibus ASIC VPC 3+ C
• Infineon XC166 family microchip with integrated CAN controller
• Serial port RS232 for configuration from PC

11.2 BOARD LAYOUT

Fig. .6: The layout of the board

11.3 VOLTAGE SUPPLY

The module must be supplied with 18 - 36 V DC through the supply cable (see § 11.4.1).
 CANDPSX user manual rev 2 Page 39 of 41
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11.4 CONNECTORS

11.4.1 Supply connector M3

Spring terminal (see § 11.2) for 0,2 - 2,5 mm² rigid cable or 0,2 a 1,5 mm² flexible cable.

Pin No. Name Description

1 EARTH Earth
2 24V 18, 36 V DC supply
3 0V 0 V supply
Tab. .3: Voltage supply connector

11.4.2 Profibus connector DP J3

9-poles socket (see § 11.2)

Pin No. Name Description

1 Shield
2
3 B Non-inverting input/output signal from Profibus
4
5 M5 DGND – data reference potential
6 P5 5 V supply voltage
7
8 A Inveriting input/output signal from Profibus
9
Tab. .4: Profibus-DP connector

11.4.3 CAN connector M1

Standard 5-poles open style CAN socket (see § 11.2)

Pin No. Name Description

1 CAN_GND DGND CAN transceiver
2 CAN_L CAN L
3 SHIELD Shield or earth
4 CAN_H CAN H
5 Do not connect
Tab. .5: CAN connector

11.4.4 RS232 connector J1

9-poles plug (see § 11.2)

Pin No. Name Description

1
2 RX Receive data
3 TX Transmit data
4
5 GND DGND
6
7
8
9
Tab. .6: RS232 connector
 CANDPSX user manual rev 2 Page 40 of 41
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11.5 JUMPERS

The module is endowed with 9 hardware jumpers (see § 11.2)

Jumper Status Description

SH-PB1 open PDP connector shield link to the M5 mass (see § 11.4.2)
BSL open Firmware update
TM-C1 closed 120 ohm CAN line terminator support
RESET open Reset
SW1 open Reserved, do not close
SW2 open Modbus (open)/Jbus (closed) selection
SW3 open Reserved for future developments
SW4 open Reserved for future developments
Tab. .7: Jumpers.

11.6 LEDS

The module mounts 9 LEDs for immediate dignostics (see § 11.2)

LED Color Description

PWR1 green Status of main voltage supply (steady)
PWR-C1 green Status of CAN voltage supply (steady)
PWR-PB green Status of Profibus voltage supply (steady)
DEA-PB yellow Profibus data-exchange (steady while data exchanged)
ERR-PB red Profibus driver errore (steady if error)
ERR-C1 red CAN driver error (see § 4)
RUN-C1 green Status of CAN driver (see § 4)
DL1 green Status of RS232 Modbus communication (blinking)
DL2 green System ready (blinking)
Tab. .8: Meaning of LEDs

11.7 GUIDE TO HARDWARE INSTALLATION

1. Close the jumper TM-C1 if the board is the last element of a CAN bus network
2. Connect the signal SHIELD of the connector M1 to the nearest earth point
3. Connect the signals CAN_L and CAN_H of the connector M1
4. Connect the braiding of the CAN bus cable to earth
5. Connect the signal CAN_GND of the connector M1 of all the CAN modules, as the
CAN interface is not isolated. This guarantees that the voltage between tranceivers
never reaches the maximum level
6. Install the board in an omega guide
7. Supply the module with 18V – 36V DC through the connector M3

11.8 MECHANICAL DATA

Mechanical characteristics
Length 120 mm
Width 85 mm
Depth 60 mm

Installation Standard omega guide

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12 INTERNAL DATABASE

12.1 GENERAL DESCRIPTION

The CANDPSX module enables the user to configure all its functions and therefore it integrates an
internal database to store the settings. The parameters database compiles with the CANopen CiA
Draft Standard 301 specification of object dictionary implementation. The parameters database is
accessible through the RS232 port via Modbus protocol.

13 VERSION HISTORY

Firmware version history

Candpsx_101.sre
Candpsx_100.sre First version