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Bridge Manual

Conversion CANopen Slave to AUERon the PKV30-COS

Hilscher Gesellschaft fr Systemautomation mbHRheinstrae 15

D-65795 HattersheimGermany

Tel. +49 (6190) 9907 - 0Fax +49 (6190) 9907 - 50

Sales: +49 (6190) 9907 - 0Hotline and Support: +49 (6190) 9907 - 99

Sales Email: [email protected] and Support Email: [email protected]

Web: http://www.hilscher.com

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List of Revisions 2

Copyright * Hilscher Gesellschaft fr Systemautomation * Br:CosAur#9EN

Index Date Version Chapter Revision

3 27.09.01 V1.020 1, 2, 3 Translation from German manual

4 15.07.02 V1.030 2, 3 Extension: Timeout for CANopen Master

Telegram counter

5 01.04.03 V1.100 all Extension: Reading of CAN Bus Messages

6 02.07.03 V1.101 all revised

7 26.05.04 V1.200 all Extension: Implementation of CANopen Objects

8 23.03.05 V1.210 - Handling of CANopen Object 1000, no change indocumentation

9 31.01.07 V1.310 all2.22.4.12.4.22.4.4

3.3

Handling of digital outputsProcess Data ImageDimension byteReference to SCALE tableCorrected addresses of Modbus

Changed default value from Off to 310h for parameter Identifier

Al though th is protocol implementat ion has been developed wi th great care and intensivelytested, Hilscher Gesellschaft fr Systemautomation mbH cannot guarantee the suitability ofthis protocol implementation for any purpose not confirmed by us in writing.Guarantee claims shall be limited to the right to require rectification. Liability for anydamages which may have arisen from the use of this protocol implementation or itsdocumentation shall be limited to cases of intent.We reserve the right to modify our products and their specifications at any time in as far asthis contribute to technical progress. The version of the manual supplied with the protocol

implementation applies.

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Table of Contents 3


1 INTRODUCTION.................................................................................................. 52 COURSE OF THE PROTOCOL CONVERSION.................................................. 6

2.1 Introduct ion ............................................................................................................................ 62.2 The Process Data Image ....................................................................................................... 72.3 Read of CAN Bus Messages................................................................................................. 8

2.3.1 General ............................................................................................................................ 82.3.2 Interpretation of the Alarm Bits ........................................................................................ 9

2.4 Mode of Functioning of the Protocol Conversion ............................................................ 102.4.1 Converting the Measuring Values of SUPREMA Coupling Partner .............................. 102.4.2 Scaling the Measured Values........................................................................................ 112.4.3 Meaning of the Status Information................................................................................. 122.4.4

Storing the Data............................................................................................................. 13

2.4.5 Storing the Status Information ....................................................................................... 14

2.5 CANopen Objects ................................................................................................................ 152.5.1 Object 1002h ................................................................................................................. 152.5.2 Object 1008h ................................................................................................................. 152.5.3 Object 100Ah ................................................................................................................. 152.5.4 Object 2413h ................................................................................................................. 15

2.6 Digital Outputs ..................................................................................................................... 162.6.1 Accessing Data via Modbus RTU.................................................................................. 17

3

PARAMETER ASSIGNMENT WITH AID OF COMPRO ................................... 18

3.1 The Parameterization of the Modbus RTU Protoco l ........................................................ 183.2 The Parameter ization of the CANopen Protocol .............................................................. 183.3 Parameterizing the COSAUR Bridge ................................................................................. 193.4 Parameterizing the MEM Table........................................................................................... 203.5 Parameterizing the BUS_COS Table.................................................................................. 213.6 Parameterizing the SCALE Table....................................................................................... 223.7 Parameterizing the DGOUTPUT Table............................................................................... 23

4 ERROR HANDLING .......................................................................................... 244.1 Error Handling of the Modbus RTU Protocol Task .......................................................... 244.2 Error Handling of the COSAUR Bridge ............................................................................. 25

5 EXTENDED TASK STATUS.............................................................................. 275.1 Extended Task Status of the Modbus RTU Protocol Task .............................................. 275.2 Extended Taskstatus of the COSAUR Bridge................................................................... 28

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Table of Contents 4


5.2.1 COSAUR General.......................................................................................................... 285.2.2 COSAUR Modbus.......................................................................................................... 295.2.3 COSAUR Identifier......................................................................................................... 295.2.4 COSAUR Object ............................................................................................................ 305.2.5 COSAUR PDO Data ...................................................................................................... 305.2.6 COSAUR Digital COB-ID............................................................................................... 315.2.7 COSAUR Digital Update................................................................................................ 32

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Introduction 5


1 Introduction

This description documents the coupling of a Modbus RTU Master to the SUPREMA ofthe Auer Company by means of a PKV 30-COS. The PKV 30-COS converts theCANopen telegrams sent by the SUPREMA and changes them into Modbus RTUtelegrams.

In addition a CAN Identifier can be parameterized. From this identifier data will befollowed by the PKV 30-COS. This identifier is no longer available to CANopen.

The SUPREMA can read the serial number, device name and firmware version of thePKV 30-COS with the CANopen objects 1002h, 1008h and 100Ah.

With the CANopen object 2413h, the SUPREMA can inform the PKV 30-COS aboutthe active CAN-Bus.

The PKV 30-COS can handle data of digital outputs from up to 13 modules via theCAN-Bus.

The protocol converter works as Slave on CANopen and on Modbus.

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Parameter Assignment with Aid of ComPro 6


2 Course of the Protocol Conversion

2.1 Introduction

The data exchange between the Modbus RTU Master and the SUPREMA couplingpartner (CANopen Master) is carried out via a process image in the protocol converter.The Modbus RTU Master has read access to the process image.

The SUPREMA Master is situated on the CANopen side. Its measured values arecopied into the process image and can be read out by a Modbus RTU Master.

Figure 1: Telegram course between the Modbus RTU Master and SUPREMA

After the data of the CANopen telegram have been evaluated, it is confirmed by thePKV 30-COS. This occurs in that the protocol converter returns the last measuredmeasuring point to the SUPREMA coupling partner.

The PKV 30-COS enters an UNSIGN32 value in the first four bytes in the answertelegram. This value will be incremented by ONE with each answer. So an answer willalso be sent to the SUPREMA coupling partner if the number of the measuring pointhasn't changed.

In addition, a timeout for the SUPREMA coupling partner can parameterized. Receivesthe PKV 30-COS no new data within the parameterized time, the PKV 30-COS willsend the last received measuring point number to the SUPREMA coupling partner

again. The contents of the first four telegram bytes (UNSIGN32) will also beincremented.

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2.2 The Process Data Image

The data exchange between the Modbus RTU Master and the SUPREMA is carried outvia a process image in the protocol converter. The process image is a word array witha length of 1000 as well as a byte array with a length of 312. The Modbus start address

of the process image for function code 3 is 40.001. For the function code 2, theModbus start address is 10.001. The whole process image is initialized with zero with areset of the protocol converter. The process image is operated in the Motorola Format,according to the Modbus convention. A region for the storage of the status is defined atthe start of the process image. With this status the Modbus RTU Master can read thestatus of the communication to the SUPREMA. The measured values of SUPREMAfollow on from the status. Three modes are available for displaying the measuringvalues:

Mode Modbus address area Meaning

Mode 1 40.010 .. 40.777

10.001 .. 12.048

12.049 .. 12.568

Data of the measuring points 1 to 256, always 3 Registers permeasuring point in the sequence:

measured valuedimensionmeasuring range

Status of the measuring points 1 to 256, always 8 Bit permeasuring point

Process data of digital outputs

Mode 2 40.010 .. 40.265

10.001 .. 12.048

12.049 .. 12.568

Data of the measuring points 1 to 256, always 1 register withthe measuring value

Status of the measuring points 1 to 256, always 8 Bit and 1 Byterespectively per measuring point


Mode 3 40.010 .. 41.033

10.001 .. 12.048

12.049 .. 12.568

10.001.. 12.048 Data of the measuring points 1 to 256, always4 registers per measuring point. The CANopen data of theSUPREMA are laid down transparently.

Status of the measuring points 1 to 256, always 8 Bit permeasuring point


Mode 1Mode 2Mode 3

40.001 .. 40.009 Status information

Table 1: Modbus address area

The data of the measuring points and the status information are deleted, if 10 secondsafter a node guard request no further node guard request has occoured.

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2.3 Read of CAN Bus Messages

2.3.1 General

In order to make data transfer to Modbus faster, CAN messages can be followed by thePKV 30-COS. This data is laid down in the process data image directly. The followeddata affect single bits of the measure status, other data is taken from the cyclicCANopen telegrams.

The identifier for this procedure can be parameterized. If there is no identifierparameterized, data will be taken from the cyclic CANopen telegrams only.

Up to 256 messages (for 256 measure numbers) within one second can be handled. Alltelegrams must have the same identifier. Parameterization for the identifier is describedin section Parameterizing the COSAUR Bridgeon page 19.

The followed CAN bus message must have the following structure:

ID Length MS-NO StatusAlarm

StatusFail

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Table 2: Definition of the CAN Bus Message

Res. Res. Res. Res. 4. Alarm 3. Alarm 2. Alarm 1. Alarm

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Table 3: Definition of the Status Alarm Byte

Res. Res. Res. Res. Res. Res. Overflow Signal

missing

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Table 4: Definition of the Status Fail Byte

Data for process data image is therefore taken from different sources. All possibleinformation is taken from the status alarm and status fail byte. All remaining informationis taken from the CANopen telegram.

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2.4 Mode of Functioning of the Protocol Conversion

The protocol converter has Slave behavior on the Modbus RTU side. The Modbus RTUMaster has read access with the Modbus function codes 2 and 3 on the process image.In this there is always displayed the first valid Modbus register address according to the

Modbus convention at the start of the process image (e.g. 40.001 for FC3).

The following should be noted:

For the function code 3, the maximum data count is 100 register.

For the function code 2, the maximum data count is 255 bits.

Markers and Registers are managed in separate process image.

2.4.1 Converting the Measuring Values of SUPREMA Coupl ing Partner

The telegrams received from SUPREMA always consist of 8 bytes and have thefollowing meaning:

Byte Data content Permissible value range

1 Measured value ( n ) 0..255

2 Measured value ( n+1 ) 0..255



5 Measuring number 0..255

6 Measuring status 0..255

7 Dimension 1: Ppm2: PPm.m3: %UEG4: %UEGm5: Vol%6: %relF7: C8: ppb9: BIN

8 Measuring range 1..30

Table 6: Structure of the CANopen Telegram

The first 4 Bytes are interpreted according to IEEE as a decimal number.

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2.4.2 Scaling the Measured Values

The scaling of the measured values is carried out depending on the setting in thedatabase. The configuration is described in section Parameterizing the SCALE Tableon page 22.

Scaling of the data is possible in Mode 1 and Mode 2.

Scaling active:

Depending on the respective measuring range, the measured values are scaled in arange from 1 to 4094. Negative, as well as invalid numbers are displayed as 0;measured value oversteps are shown as 4095. The number of the measuring region ishere taken from the Byte 8 of the CANopen telegram. Invalid values for the measuringrange are not processes and are marked with an error in the status information.

The scaling is calculated as follows:

Int12 = 1 + ( 4093 / measuring_range * Float32)

The output value is rounded.

Scaling inactive:

The measuring values of the Float data type are converted directly into a value of datatype Int 12 and displayed. Negative, as well as invalid numbers are displayed as 0;measuring value oversteps are shown as 4095. The output value is rounded.

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2.4.3 Meaning of the Status Information

The first nine registers contain status information that can be read out during the runtime by means of function code 3 by the Modbus RTU Master.

Register Data contents

40001 Last read out measuring point

40002 Set register mode

40003 Set cycle time

40004 Last appeared error

40005 Last faulty measured point

40006

40007

Number of received Node Guard Requests ( 32 Bit - entry)

40008 Number of appeared errors

40009 (lower byte) 0 - Scaling inactive1 - Scaling active

40009 (upper byte) 0 No active CAN-Bus1 CAN-Bus A active2 CAN-Bus B active3 Invalid value

Table 7: Status Information

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2.4.4 Storing the Data

The value of the measuring point status is written into the marker process image. Thevalue of the measuring point number is used for defining the position of the data in theprocess image. This dependent also on the set register mode:

Register Mode 1:

Register Data Contents

40010 Measured value of measuring point 1

40011 Dimension of measuring point 1

40012 Measuring range of measuring point 1


40014 Dimension of measuring point 2


.. ..


Table 8: Register Map Mode 1

Register Mode 2:




.. ..



Register Mode 3:


40010 Measured value Byte 0 and Byte 1 of measuring point 1


40012 Measuring point number and measuring point status of measuring point1

40013 Dimension and measuring range of measuring point 140014 Measured value Byte 0 and Byte 1 of measuring point 2



40017 Dimension and measuring range of measuring point 1

.. ..


41033 Dimension and measuring range of measuring point 256


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2.5 CANopen Objects

2.5.1 Object 1002h

The CANopen object 1002h can be used to read the serial number of the PKV30-COS.The transferred value is a UNSIGN32 data type.

The object 1002h is read-only.

2.5.2 Object 1008h

The CANopen object 1008h can be used to read the device name of the PKV30-COS.The following 7 Bytes in ASCII-Format will be transferred:

ASCII P K V 3 0

Hex 50h 4Bh 56h 20h 33 30h 20h

Table 12: CANopen object 1008h

The object 1008h is read-only.

2.5.3 Object 100Ah

The CANopen object 100Ah can be used to read the firmware version of the PKV30-COS. The data representation of the version number is decimal, the transfer of thisdecimal value is done with the following 7 bytes in ASCII-Format:

ASCII A '1..9' . '0..9' '0..9' '0..9'

Hex 41h 20h 31h..39h 2Eh 30h..39h 30h..39h 30h..39h

Table 13: CANopen object 100Ah

The object 100Ah is read-only.

2.5.4 Object 2413h

The CANopen object 2413h can be used by the SUPREMA to inform the PVK 30-COSabout the active CAN-Bus.

The Modbus coupling partner can read this information from the PVK 30-COS. This isdescribed in section Meaning of the Status Information of this manual.

The information is transferred with one byte, the following values are valid:

01h: CAN-Bus A is active

02h: CAN-Bus B is active

All other values are invalid.

The object 2413h can be read and written.

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2.6.1 Accessing Data via Modbus RTU

Digital output process data can be accessed by a Modbus RTU Master as follows:

Modbus address Meaning

12.049 Configured node 1 with digital outputs, output 1





Table 15: Accessing Data via Modbus RTU

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3 Parameter Assignment with Aid of ComPro

The parameters, which are used for the transaction of the protocol, are assembled inthe following.

Note: The green RUN-LED at the device just goes on, if all protocols have beeninitialized without error.

The initialization always takes place during the start of the device or after a change ofthe parameters. During the initialization, the parameters are tested for theircompleteness and their permissible limits. If an error is found during initialization, it isentered into the trace buffer and the protocol is not activated. This condition can onlybe ended with a new initialization.

When the initialization has been completed successfully, the coupling operation isstarted.

3.1 The Parameterization of the Modbus RTU Protocol

The Parameterizing of the Modbus RTU protocol can be taken from the Modbuscoupling manual.

3.2 The Parameterization of the CANopen Protocol

The Parameterizing of the CANopen-Protocols can be taken from the PKV 30-COSmanual.

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3.3 Parameterizing the COSAUR Bridge

The following parameters must be defined individually. The default values are shownbold and underlined:

Parameter Meaning Range of value

Cycle Time The cycle time in ms in which the CANopen data areupdated

10..20..200

Register Mode Position and type of data in the process image Mode 1Mode 2Mode 3

Scaling The scaling of the measuring values can be switchedactivated and deactivated

OnOff

Timeout Timeout for SUPREMA coupling partner0 = No Timeout1..255 = Timeout * 100ms

0..10..255

Identifier Identifier of the CAN Bus MessageNo identifierIdentifier of MDO rack 0Identifier of MDO rack 1Identifier of MDO rack 2Identifier of MDO rack 3Identifier of MDO rack 4Identifier of MDO rack 5Identifier of MDO rack 6

Off310h320h330h340h350h360h370h

Alarm Input Interpretation of the Alarm Bits of the CAN Bus Message BinaryDecimal

CANopen Objects Activation of the CANopen Objects 1002h, 1008h, 100Ahand 2413h

InactiveAct ive

Table 16: Parameter List of the Table COSAUR

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3.4 Parameterizing the MEM Table

Settings with respect to the display memory can be carried out in the MEM table.These settings normally do not need to be changed.

Parameter Meaning Range of value

Storage format registers Determines how Registers (words) are stored in theprocess images.

word(M) = Motorola Formatword(I) = Intel Format

word(M)word(I)

Storage format coils Determines how coils are stored in the processimages.

word(M) = Word in the Motorola Formatword(I) = Word in the Intel FormatLword(M) = Long word in the Motorola FormatLword(M) = Long word in the Intel Formatbyte = Byte string

word(M)word(I)Lword(M)Lword(I)byte

Table 17: Parameter List of the Table MEM

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3.5 Parameterizing the BUS_COS Table

The baud rate of the CANopen can be set in the BUS_COS table.

Parameter Meaning Range of Value

Baudrate Baud rate of CANopen 1Mbaud800kBaud500kBaud250kBaud125kBaud100kBaud50kBaud20kBaud10kBaud

Table 18: Parameter List of the Table BUS_COS

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3.6 Parameterizing the SCALE Table

The measuring ranges of the conversion can be parameterized by means of theSCALE table. Up to 30 different measuring ranges can be parameterized. The numbersof the measuring ranges correspond to the numbers in Byte 8 of the CANopen

telegram.

Parameter Range of Value

Measuring range 1 0..0,3..100000


Measuring range 3 0..1..100000




























Table 19: Parameter List of the Table SCALE

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3.7 Parameterizing the DGOUTPUT Table

The digital output handling can bet configured with the DGOUTPUT table. Here, theNode-ID of each module with digital outputs has to be parameterized. The PKV 30-COS checks during initialization that each Node-ID is parameterized only once.

Parameter Meaning Range of Value

Node-ID digital output 01 Digital output 1 are not handled.

Node-ID of digital output 1.

0

1..127



0

1..127



0

1..127



0

1..127Node-ID digital output 05 Digital output 5 are not handled.


0

1..127



0

1..127



0

1..127



0

1..127



0

1..127



0

1..127



0

1..127



0

1..127



0

1..127

Table 20: Parameter List of the Table DGOUTPUT

The COB-ID of the particular digital output is calculated as follows:

COB-ID = 200h + Node-ID

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Error Handling 24


4 Error Handling

If an error occurs in the data transmission, the error LED of the interface is switchedon. Depending on the chosen method of operation it is extinguished with the next error-free data transfer or it remains on until the next initialization.

4.1 Error Handl ing of the Modbus RTU Protocol Task

The error handling of the Modbus RTU protocol task can be found in the Modbus

Coupling manual.

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Error Handling 25


4.2 Error Handling of the COSAUR Bridge

All error messages that are entered by the Bridge into the trace buffer are given in thefollowing. Some of the messages will never occur in practice.

Error number Error Meaning

51 Error "Modbus Token" No Modbus token

52 Error "Modbus Address" Wrong Modbus address

53 Error "Memory length" Wrong memory length

54 Error "Address in combination with length" Wrong Modbus Address and wrongmemory length

55 Error "Invalid Identifier" Invalid identifier parameterized

56 Error "'COS Token" No COS token

60 Error 'Node-ID digital output already used' Node-ID of digital output is already used

Table 21: Initialization Error

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Extended Task State 27


5 Extended Task Status

In the ComPro diagnostic and parameterizing program, Extended Task Status can bedisplayed via the menu Online > Task... Status display... From this the currentoperating condition of the protocols or the bridge and statistical information on theprotocol course up to the present, can be taken. This information is always updatedfrom the coupling protocol and the Bridge. All data can be reset to zero via the menuOnline > Task... Status delete...

5.1 Extended Task Status of the Modbus RTU Protocol Task

The extended Task Status of the Modbus RTU Protocol Task can be found in theModbus Coupling manual.

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5.2 Extended Taskstatus of the COSAUR Bridge

5.2.1 COSAUR General

The following Task Status contains condition, statistics and error information of theprotocol converter with the SUPREMA.

Status Meaning

State Actual Status:

0 basic state1 Task has initialization command4 Modbus access OK5 Modbus access faulty

Last Error Last appeared error

Error Count Number of appeared errors

Cyclic Events Internal counterIO Events Internal counter

Inner Loop Count Internal counter

RCS Cycle Time Read out RCS cycle time

Byte 1 Measured value n

Byte 2 Measured value n + 1



Int 12 Value Converted measured value

Measure Value Read in Float

Table 24: Definition of the Extended Task Status - COSAUR General

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5.2.4 COSAUR Object

The following Task Status contains status-, statistic- and error information of thereceived CANopen objects.

Status Meaning

Receive object count Received CANopen objects

Object 1002h count Received CANopen objects 1002h


Object 100Ah count Received CANopen objects 100Ah


Object unknown count Received unknown CANopen objects

Error count Count of detected errors

Last error Last detected error

Last object error (hex) Last faulty CANopen object

Table 27: Definition of the Extended Task Status - COSAUR Object

5.2.5 COSAUR PDO Data

The following Task Status contains status information of the digital process data of thePDOs to the process image.

Status Meaning

PDO update cnt Counter for updating PDO data to process image

Last updated digital output Number of last updated digital output

Last updated PDO COB-ID COB-ID of last updated PDO

Last PDO data byte 1 Byte 1 of last updated PDO

Last PDO data byte2 Byte 2 of last updated PDO




Table 28: Definition of the Extended Task Status - COSAUR PDO Data

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5.2.7 COSAUR Digital Update

The following Task Status contains status information for data update to the processimage.

Status Meaning

Digital output receive count Number of received PDOs with digital data

Last received digital output Number of last received digital output

Digital output 01 time to update Timeout for data update of digital output 1













Table 30: Definition of the Extended Task Status - COSAUR Digital Update

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