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西门子PN-CANOPEN网关技术手册.pdf
SIMATIC PN/CAN LINK 03/2017
Overview
Legal information
Table of contents
1 Introduction
1.1 Preface
1.2 Documentation guide
2 Safety instructions
2.1 Safety instructions
2.2 Security information
3 System overview
3.1 Field of application
3.2 System configuration
3.3 System requirements
3.4 Design
4 Functions
4.1 CANopen
4.1.1 Basic functions
4.1.1.1 Overview
4.1.1.2 Object dictionary
4.1.1.3 Process data objects (PDO)
4.1.1.4 Service Data Objects (SDO)
4.1.1.5 EMCY messages
4.1.1.6 Heartbeat / Node Guarding
4.1.1.7 SYNC messages
4.1.1.8 Data exchange between controller and PN/CAN LINK
4.1.1.9 Conversion of data formats between PROFINET and CANopen
4.1.2 CANopen Manager
4.1.2.1 State model
4.1.2.2 Control and status information
4.1.2.3 Acyclic data exchange between controller and PN/CAN LINK
4.1.2.4 Monitoring functions
4.1.3 CANopen Slave
4.1.3.1 Object dictionary
4.1.3.2 State model
4.1.3.3 Control and status information
4.1.3.4 Monitoring functions
4.1.4 Response to errors
4.2 CAN transparent
4.2.1 Overview
4.2.2 State model
4.2.3 CAN messages
4.2.4 Control and status information
4.2.5 Cyclic data exchange between controller and PN/CAN LINK for configured CAN messages
4.2.6 Cyclic data exchange between controller and PN/CAN LINK for programmed CAN messages
4.2.7 Response to errors
5 Application planning
5.1 Installation guidelines
5.2 Installation location
5.3 Transportation
5.4 Storage
5.5 Scope of delivery
6 Mounting / Extending
6.1 Installing the device
7 Connecting
7.1 Safety instructions and guidelines
7.2 Potential ratios
7.3 24 V DC power supply
7.4 Connecting the functional ground
7.5 Connecting PROFINET
7.6 Connecting the CAN bus
8 Commissioning
8.1 Commissioning the PN/CAN LINK
9 Configuring / Programming
9.1 Configuring CANopen Manager
9.1.1 Overview
9.1.2 Configuration view in the TIA Portal
9.2 Configuring CANopen Slave
9.2.1 Overview
9.2.2 Configuring in the TIA Portal
9.3 Configuring CAN transparent
9.3.1 Overview
9.3.2 Configuring in the TIA Portal
10 Diagnostics
10.1 Status LEDs
10.1.1 Operating state of the PN/CAN LINK / PROFINET diagnostics
10.1.2 Connection status CAN bus in the two CANopen operating modes
10.1.3 Connection status CAN bus in "CAN transparent" operating mode
10.2 Diagnostic messages to the S7 controller
10.2.1 Events that trigger a diagnostic message
10.2.2 Diagnostic messages
11 Maintenance and service
11.1 Firmware update
11.2 Replacing the PN/CAN LINK
11.3 Recycling and disposal
12 Technical specifications
12.1 Technical specifications of the PN/CAN LINK
12.2 Dimension drawing
A Appendix
A.1 Certificates and approvals
A.2 Contact address
A.3 Licenses
A.4 Service & Support
A.4.1 Technical Support
A.4.2 Siemens Industry Online Support
A.4.3 Online catalog and ordering system
Glossary
Index
1
___________________
Introduction
2
___________________
Safety instructions
___________________
3
System overview
___________________
4
Functions
___________________
5
Application planning
___________________
6
Mounting / Extending
___________________
7
Connecting
___________________
8
Commissioning
___________________
9
Configuring / Programming
___________________
10
Diagnostics
___________________
11
Maintenance and service
___________________
12
Technical specifications
___________________
A
Appendix
SIMATIC
Network transitions
SIMATIC PN/CAN LINK
Operating Instructions
03/2017
A5E39895388-AA
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E39895388-AA
Ⓟ 03/2017 Subject to change
Copyright © Siemens AG 2017.
All rights reserved
Table of contents
1
2
3
4
Introduction ............................................................................................................................................. 9
1.1
Preface ...................................................................................................................................... 9
1.2
Documentation guide .............................................................................................................. 10
Safety instructions ................................................................................................................................. 11
2.1
Safety instructions ................................................................................................................... 11
2.2
Security information ................................................................................................................ 13
System overview ................................................................................................................................... 15
Field of application .................................................................................................................. 15
3.1
System configuration .............................................................................................................. 18
3.2
3.3
System requirements .............................................................................................................. 19
3.4
Design ..................................................................................................................................... 20
Functions .............................................................................................................................................. 21
4.1
CANopen ................................................................................................................................ 21
Basic functions ........................................................................................................................ 21
4.1.1
Overview ................................................................................................................................. 21
4.1.1.1
Object dictionary ..................................................................................................................... 22
4.1.1.2
4.1.1.3
Process data objects (PDO) ................................................................................................... 23
Service Data Objects (SDO) ................................................................................................... 24
4.1.1.4
EMCY messages .................................................................................................................... 24
4.1.1.5
Heartbeat / Node Guarding ..................................................................................................... 25
4.1.1.6
4.1.1.7
SYNC messages ..................................................................................................................... 25
Data exchange between controller and PN/CAN LINK .......................................................... 26
4.1.1.8
Conversion of data formats between PROFINET and CANopen ........................................... 27
4.1.1.9
CANopen Manager ................................................................................................................. 28
4.1.2
State model ............................................................................................................................. 28
4.1.2.1
4.1.2.2
Control and status information ................................................................................................ 31
Acyclic data exchange between controller and PN/CAN LINK ............................................... 34
4.1.2.3
Monitoring functions ................................................................................................................ 37
4.1.2.4
CANopen Slave ...................................................................................................................... 38
4.1.3
4.1.3.1
Object dictionary ..................................................................................................................... 38
State model ............................................................................................................................. 40
4.1.3.2
Control and status information ................................................................................................ 42
4.1.3.3
Monitoring functions ................................................................................................................ 45
4.1.3.4
4.1.4
Response to errors ................................................................................................................. 45
CAN transparent ..................................................................................................................... 47
4.2
Overview ................................................................................................................................. 47
4.2.1
State model ............................................................................................................................. 47
4.2.2
4.2.3
CAN messages ....................................................................................................................... 48
Control and status information ................................................................................................ 49
4.2.4
SIMATIC PN/CAN LINK
Operating Instructions, 03/2017, A5E39895388-AA
5
Table of contents
4.2.6
4.2.5
Cyclic data exchange between controller and PN/CAN LINK for configured CAN
messages ............................................................................................................................... 51
Cyclic data exchange between controller and PN/CAN LINK for programmed CAN
messages ............................................................................................................................... 52
4.2.7
Response to errors ................................................................................................................ 59
Application planning .............................................................................................................................. 61
5.1
Installation guidelines ............................................................................................................. 61
Installation location ................................................................................................................ 62
5.2
Transportation ........................................................................................................................ 65
5.3
5.4
Storage ................................................................................................................................... 65
5.5
Scope of delivery.................................................................................................................... 65
Mounting / Extending ............................................................................................................................ 67
6.1
Installing the device ............................................................................................................... 67
Connecting ........................................................................................................................................... 69
7.1
Safety instructions and guidelines ......................................................................................... 69
Potential ratios ....................................................................................................................... 71
7.2
24 V DC power supply ........................................................................................................... 72
7.3
7.4
Connecting the functional ground .......................................................................................... 73
Connecting PROFINET .......................................................................................................... 74
7.5
7.6
Connecting the CAN bus ....................................................................................................... 76
Commissioning ..................................................................................................................................... 77
8.1
Commissioning the PN/CAN LINK ......................................................................................... 77
Configuring / Programming ................................................................................................................... 79
9.1
Configuring CANopen Manager ............................................................................................. 80
Overview ................................................................................................................................ 80
9.1.1
Configuration view in the TIA Portal....................................................................................... 81
9.1.2
9.2
Configuring CANopen Slave .................................................................................................. 88
Overview ................................................................................................................................ 88
9.2.1
Configuring in the TIA Portal .................................................................................................. 89
9.2.2
Configuring CAN transparent ................................................................................................. 93
9.3
9.3.1
Overview ................................................................................................................................ 93
9.3.2
Configuring in the TIA Portal .................................................................................................. 94
Diagnostics ........................................................................................................................................... 99
10.1
Status LEDs ........................................................................................................................... 99
Operating state of the PN/CAN LINK / PROFINET diagnostics ............................................ 99
10.1.1
Connection status CAN bus in the two CANopen operating modes .................................... 101
10.1.2
Connection status CAN bus in "CAN transparent" operating mode .................................... 102
10.1.3
10.2
Diagnostic messages to the S7 controller ........................................................................... 103
Events that trigger a diagnostic message ............................................................................ 103
10.2.1
10.2.2
Diagnostic messages ........................................................................................................... 106
SIMATIC PN/CAN LINK
Operating Instructions, 03/2017, A5E39895388-AA
5
6
7
8
9
10
6
Table of contents
12
11 Maintenance and service .................................................................................................................... 109
Firmware update ................................................................................................................... 109
11.1
Replacing the PN/CAN LINK ................................................................................................ 110
11.2
11.3
Recycling and disposal ......................................................................................................... 111
Technical specifications ...................................................................................................................... 113
12.1
Technical specifications of the PN/CAN LINK ...................................................................... 113
12.2
Dimension drawing ............................................................................................................... 116
Appendix............................................................................................................................................. 117
Certificates and approvals .................................................................................................... 117
A.1
Contact address .................................................................................................................... 119
A.2
A.3
Licenses ................................................................................................................................ 119
Service & Support ................................................................................................................. 120
A.4
Technical Support ................................................................................................................. 120
A.4.1
Siemens Industry Online Support ......................................................................................... 120
A.4.2
A.4.3
Online catalog and ordering system ..................................................................................... 120
Glossary ............................................................................................................................................. 121
Index................................................................................................................................................... 125
A
SIMATIC PN/CAN LINK
Operating Instructions, 03/2017, A5E39895388-AA
7
Table of contents
8
SIMATIC PN/CAN LINK
Operating Instructions, 03/2017, A5E39895388-AA
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