CAN-DP

PROFIBUS-DP / CAN-Gateway

Software Manual
to Product: C.2905.02

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 1 of 83

esd electronic system design gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
www.esd-electronics.com • Fax: 0511/37 29 8-68
Phone: 0511/37 29 80 • International: +49-5 11-37 29 80
 NOTE

The information in this document has been carefully checked and is believed to be entirely reliable. esd
makes no warranty of any kind with regard to the material in this document, and assumes no
responsibility for any errors that may appear in this document. esd reserves the right to make changes
without notice to this, or any of its products, to improve reliability, performance or design.

esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product
of esd gmbh.

esd does not convey to the purchaser of the product described herein any license under the patent rights
of esd gmbh nor the rights of others.

esd electronic system design gmbh

Vahrenwalder Str. 207
30165 Hannover
Germany

Phone: +49-511-372 98-0

Fax: +49-511-372 98-68
E-mail: [email protected]
Internet: www.esd.eu

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esd electronics Inc.
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USA

Phone: +1-800-732-8006
Fax: +1-800-732-8093
E-mail: [email protected]
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Page 2 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Manual file: I:\Texte\Doku\MANUALS\CAN\CAN-DP\Englisch\CAN-DP-Haupt_14S.en9

Date of print: 2009-04-08

Manual order No.: C.2905.21

Software order No.: C.2905.02

Command-File: CANDP_07
Described software version:
DP/CANopen: 1.2.0

Changes in the chapters

The changes in the user’s manual listed below affect changes in the firmware as well as changes in the
description of the facts only.

Manual Rev. Chapter Changes versus previous version

3.4.2 Description of the bus state inserted.
4. new GSD file

1.4 Figure 5.1.2 changed, description of the parameter CAN-

5.1.2
Diagnosis, Rx-Counter=yes and Tx-Counter=yes inserted
Note inserted to change of length when Rx- or Tx-counter is
5.2
enabled.

Technical details are subject to change without notice.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 3 of 83

 This page is intentionally left blank.

Page 4 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

Contents Page

1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1 About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Introduction into Functionality of the Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3 Configuration via PROFIBUS-DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.4 More addressable Identifiers via Page Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2. Functionality of the Local Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.1 PROFIBUS-Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 User Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 Watchdog (Reaction Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.5 Parameter Telegram (CAN Bit Rate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.6 Global-Control Services (FREEZE, SYNC, UNSYNC) . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.7 PROFIBUS-DP Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.8 More Addressable CAN Identifiers in Page Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3. Implementing and Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.1 Prerequisites for Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.1 Strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.2 Start-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2.3 Data Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3 Diagnosis via LED Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4 Slave Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4.1 Diagnostic Bytes 0...5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4.2 External (Module-Specific) Diagnostic Bytes . . . . . . . . . . . . . . . . . . . . . . . 18

4. GSD File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5. Configuration via SIMATIC Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

5.1 Course of Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.1.1 Set PROFIBUS address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.1.3 Assigning the Slots of the DP Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.1.4 Configuration of Slots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.2 Description of Input Window ‘Properties - DP Slave’ . . . . . . . . . . . . . . . . . . . . . . . . . 31
5.2.1 Enter the CAN Identifier in the Comment Field . . . . . . . . . . . . . . . . . . . . . . 32
5.2.2 Setting the Data Format with the Control Byte form . . . . . . . . . . . . . . . . . . 34
5.2.3 Setting for the Cyclic Transmission via Cycle . . . . . . . . . . . . . . . . . . . . . . . 35
5.3 The Communication Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.3.2 Configuring the Communication Window . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.3.3 Format of Communication Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.3.4 Examples on the Communication Window . . . . . . . . . . . . . . . . . . . . . . . . . 43

6. Page Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
6.1 Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
6.2 Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 5 of 83

Contents Page

6.3 Communication Window in Page Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

6.4 Mode of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
6.4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
6.4.2 Definition of PLC-Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6.4.3 Page Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
6.4.4 Setup via Page 0 and 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
6.4.5 Tx-Configuration via Pages 51...150 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6.4.6 Rx-Configuration via Pages 151...250 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
6.4.7 Data Exchange via Pages 251...n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.5 Using the Page Mode with FBs and DBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
6.5.1 Function Block FB 2: Configuration and Data Exchange . . . . . . . . . . . . . . 59
6.6 Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

7. Editing the GSD-File with a Text Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

8. Application Example with Page Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

9. Important CANopen Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Page 6 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Overview

1. Overview
1.1 About this Manual
This manual describes the local firmware of the CAN-DP module. The local firmware controls the data
exchange between PROFIBUS-DP (abbreviated to PROFIBUS below) and CAN.

Layer 2 Implementation
The manual describes the Layer 2 implementation and the implemented CANopen functions.

Page Mode
Furthermore, the manual describes the Page Mode which was developed to allow more than 48 CAN
identifiers to be controlled by one gateway. For a general understanding fundamental functions of the
Page Mode will be described first, followed by descriptions of the function blocks (FBs) and data
blocks (DBs), which are used to realize the Page Mode.

11-Bit and 29-Bit Identifier

The module CAN-DP supports 11-bit and 29-bit CAN identifier (CAN2.0A/B).

1.2 Introduction into Functionality of the Firmware

The gateway simulates a slave device with a defined number of input and output bytes to the
PROFIBUS. After the gateway has been configured CAN devices can be operated as PROFIBUS
slaves.
The PROFIBUS output bytes are transmitted to the CAN bus. One to eight output bytes are assigned
to an Tx-identifier and can optionally be transmitted cyclically . Rx-identifiers are assigned to the input
bytes on CAN side. Received CAN data is treated as input data by the PROFIBUS.
The PROFIBUS station address is set directly at the CAN-DP module by means of coding switches.

1.3 Configuration via PROFIBUS-DP

The CAN-DP module is configured via the PROFIBUS. The Siemens SIMATIC Manager for S7, for
example, can be used as a configuration tool. Here, the gateway is assigned with logical modules which
are assigned with further parameters such as the PLC address, data direction, data length and CAN
identifier.

1.4 More addressable Identifiers via Page Mode

The Page Mode offers the chance to address more CAN identifiers than can be stored in one
PROFIBUS telegram (that means more than 48). The number of the identifiers is only limited by the
available memory range of the PLC and the CAN-Gateway.

Note: Page Mode can only be used, if the Siemens SIMATIC Manager for S7 is used as
configuration-tool!

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 7 of 83

Functionality of the local Firmware

2. Functionality of the Local Firmware

The following figure represents the functionality of the firmware.

Profibus CAN
Slave
Direction Byte-no. Identifier
Address

0 Tx-Id_a

1 Tx-Id_a

2 Tx-Id_a

3 Tx-Id_a

4 Tx-Id_a
output
5 Tx-Id_a

n Tx-Id_k
xyz n+1 Tx-Id_k
(coding
Profibus switch)
CAN
0 Rx-Id_b

1 Rx-Id_b

2 Rx-Id_b

3 Rx-Id_b
input

m Rx-Id_l

m+1 Rx-Id_l

Fig. 2.1.1: Overview of functions of the CAN-DP module

2.1 PROFIBUS-Slave Address

The CAN-DP module simulates a slave module on the PROFIBUS side. The slave address is set by
means of coding switches at the module. When switching on the module the hexadecimal PROFIBUS
address set is requested. The settings have to be changed before switching the module on, because
changes are ineffective during operation.

The address range which can be set is hexadecimal 03h to 7Ch or decimal 3 to 124. If an address is set
which is smaller than 3 (decimal) or smaller than 03h, address 3 is valid. If an address is set which is
larger than 7Ch or larger than 124 (decimal), address 124 is valid.

The upper coding switch ( HIGH) is used to set the MSBs, while the LSBs are set by means of the lower
coding switch (LOW).

The PROFIBUS-slave address can only be set via coding switches. It cannot be programmed by means
of a class 2 master via the command ‘Set_Slave_Address’.

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 Functionality of the Local Firmware

2.2 User Data

The CAN-DP-module simulates a total of up to 300 bytes for the input direction and the output
direction in the current software implementation. From these 300 bytes a maximum of 244 bytes can
be selected for one data direction, otherwise the division into input bytes and output bytes is entirely
up to the user. (Examples: 150 input bytes and 150 output bytes, or 244 input bytes and 56 output
bytes).

One to eight bytes (16 bytes when using the communication window, see page 36) each are assigned
to a Tx-or Rx-identifier. The same identifier cannot be used as Tx-and Rx-identifier.
Optionally the bytes, assigned to a Tx-Identifier, can be transmitted cyclically.

2.3 Watchdog (Reaction Control)

The firmware can be run with activated or deactivated reaction control. It is recommendable, though,
to run it with activated reaction control.

2.4 Diagnosis
The status of the LED displays and the DP-slave diagnosis can be used for diagnosis. The module
supports five module-specific diagnostic bytes. The diagnosis will be described in more detail on
page 13.

2.5 Parameter Telegram (CAN Bit Rate)

In addition to the seven standard bytes of the configuration, the CAN-DP module supports three
module-specific bytes. Here, the DP master can change the CAN bit rate. Setting the bit rate by means
of the parameter telegram is described on page 25.

2.6 Global-Control Services (FREEZE, SYNC, UNSYNC)

The Global-Control services have not yet been implemented.

2.7 PROFIBUS-DP Profiles

The PROFIBUS-DP profiles are not being supported yet.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 9 of 83

Functionality of the local Firmware

2.8 More Addressable CAN Identifiers in Page Mode

The Page Mode offers the chance to address more CAN identifiers than can be stored in one
PROFIBUS telegram (that means more than 48).

Because of the additional protocol expenditure the handling of the Page Mode is slightly more
complicated than the standard operation of the gateway. The data exchange between PROFIBUS and
CAN requires two cycles instead of one PLC cycle.

Page 10 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Implementing and Diagnosis

3. Implementing and Diagnosis

3.1 Prerequisites for Implementation
This chapter describes the implementation of the CAN-DP module at a PROFIBUS which is controlled
by a Siemens SIMATIC-S7-300 or S7-400.
In order to be able to implement the module as described here, you need the configuration program
‘SIMATIC-Manager’ with the tool ‘HW-configurator’.

Note for CANopen:

Configure the CAN-DP module absolutely first with the PLC via the SIMATIC-Manager
as described in chapter: “5. Configuration with the SIMATIC Manager”. Only after
carried out configuration the CAN-DP module can be identified as CAN device!

3.2 Implementation

3.2.1 Strategy

Please make the following steps to implement the module:

1 Install and wire the CAN-DP module (power supply, CAN bus, see hardware manual).
2 Set the PROFIBUS address of the module by means of the coding switch.
Connect the PROFIBUS connector to the PROFIBUS interface of the CAN-DP
3
module.
4 Configure the settings of the CAN-DP module in the PLC via the SIMATIC manager
Switch on the power supply for the CAN-DP.

5 Now the module has to run.

The CAN-DP module is now automatically configured via the PLC.

Note: Take into account that in particular the CAN bit rate and the module ID (CANopen) must
be set via the PROFIBUS.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 11 of 83

Implementing and Diagnosis

3.2.2 Start-Up

After switching on the power supply, the CAN-DP module starts automatically. It does not have its own
mains switch.
During start-up LEDs “P” (PROFIBUS LED) and “D” (data exchange LED) flash. The PROFIBUS
address set via the coding switches is read in.
The module receives projection data from the DP master and evaluates the specifications in them. If the
projection complies with the structure, the CAN-DP module starts the data transfer.

3.2.3 Data Transfer

If the module is configured, the data transfer starts automatically after start-up: If the PLC master
changes transmission data of an identifier, the data is transmitted from the CAN-DP module to the CAN
bus. When the CAN-DP module receives data, it provides these to the PLC master.
The configuration is described in chapter 5 ‘Configuration via the SIMATIC-Manager’ from page 23.

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 Implementing and Diagnosis

3.3 Diagnosis via LED Display

The function of LEDs has been defined by the firmware.

In normal operation the LEDs are never switched off, i.e.
they either flash or shine permanently.

The flash sequences which are listed in the following

table are repeated about every six seconds.

Fig. 3.3.1:
Position of the LEDs

LED Function Status Meaning Error handling

off no power supply check the 24 V power supply
CAN error
1x short flash -
(morse signal ‘E’)
C CAN bus
(green) status CAN off
3x long flash -
(morse signal ‘O’)
short-long-long CAN warning (‘W’) -
on CAN bus OK -
off no power supply check the 24 V power supply
the connection to the DP master has failed,
check the PROFIBUS connection
1x short flash looking for bit rate (fault in wiring in PROFIBUS cable, short
module- circuit, terminating impedance in wrong
P position ?)
PROFIBUS
(green)
status 2x short flashes bit rate is monitored check the PROFIBUS address specified
parameter telegram is faulty. Diagnosis via
waiting for parameter
3x short flashes SIMATIC-Manager or system function
telegram
SFC13 (DPNRM_DG) (see chap. 3.4)
configuration telegram is faulty. Diagnosis
4x short flashes waiting for
via SIMATIC-Manager or system function
configuration telegram
SFC13 (DPNRM_DG) (see chap. 3.4)
on PROFIBUS OK -

PROFIBUS- off no data exchange -

D
data data exchange via
(green) on -
exchange PROFIBUS
initialization not
off -
S Module completed
(green) Status initialization
on -
completed successfully

Table 3.3.1: LED status

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 13 of 83

Implementing and Diagnosis

3.4 Slave Diagnosis

In addition to the six diagnostic bytes predefined in norm DIN EN 19245, part 3, the module supports
three further module-specific diagnostic bytes.

The slave diagnosis can be requested by the following function components:

Automation device family Number Name

SIMATIC with IM 308-C FB 192 FB IM308C
SIMATIC S7/M7 SFC 13 SFC DPNRM_DG

Table 3.4.1: Function component for requesting the slave diagnosis

3.4.1 Diagnostic Bytes 0...5

The assignment of these diagnostic bytes has been predefined in norm DIN EN 19425, part 3. Below,
the status messages will be described in consideration of the CAN-DP module.

The following designations will be used for this:

Byte number Status-byte designation

0 station status 1
1 station status 2
2 station status 3
3 master-PROFIBUS address
4 manufacturer-identification high byte
5 manufacturer-identification low byte

Table 3.4.2: Diagnostic bytes 0...5

Page 14 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Implementing and Diagnosis

3.4.1.1 Station Status 1

Station status 1 contains error messages of the DP slave. If a bit is ‘0’, no error applies. A bit set to ‘1’
signalizes an error.

Bit Error message if bit = ‘1’ Error handling

- correct PROFIBUS address set at the CAN-DP?
- bus connector correctly wired?
DP slave cannot be addressed by the
0 - power supply available at CAN-DP?
master
- power off/power on executed at CAN-DP in
order to read in DP address?
DP slave is not yet ready for data - wait until the CAN-DP has completed start up
1
exchange
The configuration data transmitted - check whether the station type and the CAN-DP
2 from DP master to DP slave do not structure have been correctly entered via the
correspond to the DP slave structure. configuration tool
The slave has got external diagnostic - request and evaluate external diagnostic data
3
data.
The requested function is not being - check projecting
4
supported by the DP slave.
DP master cannot interpret the - check bus structure
5
response of the DP slave.
6 Wrong setting. - evaluate diagnostic bytes 9 and 10
- this bit is always ‘1’, if you, e.g., just access the
CAN-DP by means of a PG or another DP
DP slave has already been set by master.
7
another master. The PROFIBUS address of the setting master is
in the diagnostic byte ‘Master-PROFIBUS
address’.

Table 3.4.3: Bits of station status 1

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 15 of 83

Implementing and Diagnosis

3.4.1.2 Station Status 2

Station status 2 contains status messages to the DP slave. If a bit is ‘1’, the according message is active.
A bit set to ‘0’ signalizes an inactive message.

Bit Error message if bit = ‘1’

0 DP slave has to be set again.
A diagnosis message applies. The DP slave cannot operate until the error has been
1
removed (static diagnosis message).
2 This bit is always ‘1’.
3 The response monitoring for the CAN-DP is activated.
4 DP slave has received freeze command.
5 DP slave has received SYNC command.
6 This bit is always ‘0’.
7 DP slave is deactivated.

Table 3.4.4: Bits of station status 2

Page 16 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Implementing and Diagnosis

3.4.1.3 Station Status 3

Station status 3 is reserved and without significance for the CAN-DP.

3.4.1.4 Diagnostic Byte 3: Master-PROFIBUS Address

The PROFIBUS address of the master which was the last to set the DP slave and has got reading and
writing access to the DP slave is stored in this byte.

3.4.1.5 Diagnostic Bytes 4 and 5: Manufacturer Identification

The manufacturer identification has been coded into two bytes. For the CAN-DP module the
designation 04A4h is returned.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 17 of 83

Implementing and Diagnosis

3.4.2 External (Module-Specific) Diagnostic Bytes

The CAN-DP module supports diagnostic bytes 6 to 10 for module-specific diagnosis messages.

Diagnostic
Meaning
bytes
0...5 defined in the PROFIBUS specification (see previous chapter)
length specification for module-specific diagnosis information
6
(here always 5)
header byte: bits 0...5 contain the block length including header
7
(here always 4)
- DP service (SAP) which led to error (bByte 8 = 3Dh, 3Eh),
or
- bus state, if the flag CAN-Diagnosis = “yes” in parameterization:
values of byte 8:
8
00h OK
40h WARN
80h ERROR_PASSIVE
C0h BUS_OFF
depending on status of byte 8:

byte 8 = 3Dh setting (SAP61) faulty, byte 9 contains the number of the faulty
setting byte

byte 8 = 3Eh configuration (SAP62) faulty, byte 9 contains the number of the
faulty PROFIBUS module (= address of the simulated PLC
module)
9
byte 8 = 00h, 40h, 80h or C0h (bus state)
byte 9 contains the IRQ_LOST_Counter of the built-in CAN
driver of the CAN-DP
The IRQ_LOST_Counter counts the lost messages of the CAN
controller.
This counter is set by an error output of the CAN controller. It
shows the number of lost CAN frames (receive or transmit
messages).

Page 18 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Implementing and Diagnosis

Diagnostic
Meaning
bytes
depending on status of byte 8:

byte 8 = 3Dh setting (SAP61) faulty, byte 10 shows the correct values

byte 8 = 3Eh configuration (SAP62) faulty

1 wrong I/O type: "out- input" or "blank")
correct: "input" or "output"
2 wrong unit, such as "words"
correct: unit = "byte"
3 wrong length
correct: length = 1-8 or 16
10 4 only one byte has been specified for identifier
5 format specification is missing
6 wrong identifier

byte 8 = 00h, 40h, 80h or C0h (bus state)

byte 10 contains the MSG_LOST_Counter of the built-in CAN-
driver of the CAN-DP.
The MSG_LOST_Counter counts the lost messages of the
FIFOs.
This counter is increased, if messages are lost because of a
FIFO overrun (FIFO full).

Table 3.4.5: Module-specific status messages

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 19 of 83

GSD File

4. GSD File
Below, the GSD file (Device Master Data) of the CAN-DP module has been printed. The specification
printed here are for orientation. Decisive is the data contained in the GSD file CDPS04A4.GSD,
included in the product package.

;======================================================================================================
; (c) esd electronic system design GmbH Hannover
;
; PROFIBUS-DP Geraetestammdatei
; Version: 1.20
;
; Autor: Olaf Kruse
; Erstellungsdatum: V1.0 30.04.1999 ok
; Aenderungen: V1.01 03.08.1999 ok baudrate 6 MBaud, MaxTsdr-times
; V1.02 11.08.1999 ok baudrate 12 Mbaud, Min_Slave_Intervall,
; Max_Module, Max_Input_Len, Max_Output_Len, Max_Data_len
; V1.03 30.09.1999 ok Min_Slave_Intervall = 20 (2msec)
; V1.04 02.11.1999 ok MaxTsdr_45.45 = 60, MaxTsdr_1.5M = 150
; V1.05 20.12.1999 ok user-parameter-data:
; byte 13 = wakeup-time ( 0: off; 0xff: not relevant )
; byte 14,15 = sync-time ( 0: off; 0xffff: not relevant )
; V1.06 10.04.2000 uh menu structure for parameter
; V1.07 26.02.2001 uh Min_Slave_Intervall back to 4 msec
; V1.10 22.10.2003 uh Changed for new CAN-DP
; V1.20 02.03.2009 uh Diagnosis and Data counter added
;======================================================================================================
; Art des Parameters
; (M) Mandatory (zwingend notwendig)
; (O) Optional (zusätzlich möglich)
; (D) Optional mit Default=0 falls nicht vorhanden
; (G) mindestens einer aus der Gruppe passend zur entsprechenden Baudrate
#PROFIBUS_DP
;--- Kapitel 2.3.2 Allgemeine DP-Schluesselwoerter ---
GSD_Revision =1 ; (M ab GSD_Revision 1) (Unsigned8)
Vendor_Name = "esd" ; (M) Herstellername (Visible-String 32)
Model_Name = "CAN-DP" ; (M) Herstellerbezeichnung des DP-Geraetes (Visible-String 32)
Revision = "V1.0" ; (M) Ausgabestand des DP-Geraetes (Visible-String 32)
Revision_Number =1 ; (M ab GSD_Revision 1) (Unsigned8 (1 bis 63)) (1234)
Ident_Number = 1188 ; (M) Gerätetyp des DP-Gerätes (Unsigned16)
Protocol_Ident =0 ; (M) Protokollkennung des DP-Geraetes 0: Profibus-DP (Unsigned8)
Station_Type =0 ; (M) DP-Geraetetyp 0: DP-Slave (Unsigned8)
FMS_supp =0 ; (D) kein FMS/DP-Mischgeraet (Boolean)
Hardware_Release = "V1.0" ; (M) Hardware Ausgabestand des DP-Geraetes (Visible-String 32)
Software_Release = "V1.20" ; (M) Software Ausgabestand des DP-Geraetes (Visible-String 32)
9.6_supp =1 ; (G) 9,6 kBaud wird unterstuetzt
19.2_supp =1 ; (G) 19,2 kBaud wird unterstuetzt
;31.25_supp =1 ; fuer Gateway CAN-CBM-DP nicht moeglich (1234)
45.45_supp =1 ; (G ab GSD_Revision 2) 45,45 kBaud wird unterstuetzt
93.75_supp =1 ; (G) 93,75 kBaud wird unterstuetzt
187.5_supp =1 ; (G) 187,5 kBaud wird unterstuetzt
500_supp =1 ; (G) 500 kBaud wird unterstuetzt
1.5M_supp =1 ; (G) 1,5 MBaud wird unterstuetzt
3M_supp =1 ; (G ab GSD_Revision 1) 3 MBaud wird unterstuetzt
6M_supp =1 ; (G ab GSD_Revision 1) 6 MBaud wird unterstuetzt
12M_supp =1 ; (G ab GSD_Revision 1) 12 MBaud wird unterstuetzt
MaxTsdr_9.6 = 60 ; (G)
MaxTsdr_19.2 = 60 ; (G)
;MaxTsdr_31.25 = 15 ; fuer Gateway CAN-CBM-DP nicht moeglich (1234)
MaxTsdr_45.45 = 60 ; (G ab GSD_Revision 2)
MaxTsdr_93.75 = 60 ; (G)
MaxTsdr_187.5 = 60 ; (G)
MaxTsdr_500 = 100 ; (G)
MaxTsdr_1.5M = 150 ; (G)
MaxTsdr_3M = 250 ; (G ab GSD_Revision 1)
MaxTsdr_6M = 450 ; (G ab GSD_Revision 1)
MaxTsdr_12M = 800 ; (G ab GSD_Revision 1)
Redundancy =0 ; (D) keine redundante Uebertragungstechnik
Repeater_Ctrl_Sig =0 ; (D) RTS-Signalpegel (CNTR-P) Pin 4 des 9pol. SUB-D
; 0: nicht vorhanden 1: RS 485 2: TTL
24V_Pins =0 ; (D) Bedeutung der 24V Pins des 9pol. SUB-D (Pin 7 24V; Pin 2 GND)
; 0: nicht angeschlossen 1: Input 2: Output
; Implementation_Type = "Visible-String" ; (1234)
Bitmap_Device = "CDPS00_N" ; (O ab GSD_Revision 1)
Bitmap_Diag = "CDPS00_D" ; (O ab GSD_Revision 1)
Bitmap_SF = "CDPS00_S" ; (O ab GSD_Revision 1)

Page 20 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 GSD File
;--- Kapitel 2.3.4 DP-Slave-bezogene Schluesselwoerter ---
Freeze_Mode_supp =0 ; (D) Der Freeze-Mode wird nicht unterstuetzt
Sync_Mode_supp =0 ; (D) Der Sync-Mode wird nicht unterstuetzt
Auto_Baud_supp =1 ; (D) Die Automatische Baudratenerkennung wird unterstuetzt
Set_Slave_Add_supp =0 ; (D) Die Slave-Adresse kann vom Master nicht gesetzt werden
Min_Slave_Intervall =6 ; (M) Minimaler Abstand zwischen 2 DDLM_Data_Exchange-Aufrufen (xx * 100us)
Modular_Station =1 ; (D) 0: Kompaktstation 1: Modulare Station
Max_Module = 48 ; (M falls modulare Station) Hoechstanzahl der Module einer Modularen Station
Max_Input_Len = 244 ; (M falls modulare Station) Hoechstlaenge der Eingangsdaten einer Modularen Station
Max_Output_Len = 244 ; (M falls modulare Station) Hoechstlaenge der Ausgangsdaten einer Modularen Station
Max_Data_Len = 300 ; (O nur falls modulare Station) Groesste Summe der Ein- und Ausgangsdaten einer Modularen Station in Bytes
Max_Diag_Data_Len = 16 ; max. 16 Byte Diagnosedaten
Modul_Offset =0 ; (D ab GSD_Revision 1) erste Steckplatznummer
Max_User_Prm_Data_Len= 9
PrmText=1
Text(0)="1000 kbit/s"
Text(1)=" 666.6 kbit/s"
Text(2)=" 500 kbit/s"
Text(3)=" 333.3 kbit/s"
Text(4)=" 250 kbit/s"
Text(5)=" 166 kbit/s"
Text(6)=" 125 kbit/s"
Text(7)=" 100 kbit/s"
Text(8)=" 66.6 kbit/s"
Text(9)=" 50 kbit/s"
Text(10)=" 33.3 kbit/s"
Text(11)=" 20 kbit/s"
Text(12)=" 12.5 kbit/s"
Text(13)=" 10 kbit/s"
EndPrmText
PrmText=2
Text(0)="No"
Text(1)="Yes"
EndPrmText
PrmText=3
Text(0)="Yes"
Text(1)="No"
EndPrmText
ExtUserPrmData=1 "CAN-Bitrate"
Unsigned8 6 0-13
Prm_Text_Ref=1
EndExtUserPrmData
ExtUserPrmData=2 "Communication Window"
Bit(7) 0 0-1
Prm_Text_Ref=2
EndExtUserPrmData
ExtUserPrmData=3 "RTR-Frames"
Bit(4) 0 0-1
Prm_Text_Ref=3
EndExtUserPrmData
ExtUserPrmData=4 "CANopen-Slave"
Bit(3) 0 0-1
Prm_Text_Ref=2
EndExtUserPrmData
ExtUserPrmData=5 "CANopen-Master"
Bit(2) 0 0-1
Prm_Text_Ref=2
EndExtUserPrmData
ExtUserPrmData=6 "Start-Frame"
Bit(1) 0 0-1
Prm_Text_Ref=2
EndExtUserPrmData
ExtUserPrmData=7 "Page-Mode"
Bit(0) 0 0-1
Prm_Text_Ref=2
EndExtUserPrmData
ExtUserPrmData=8 "ModuleID"
Unsigned8 1 1-127
EndExtUserPrmData
ExtUserPrmData=9 "WakeUp Time (0=Off, 255=Default)"
Unsigned8 255 0-255
EndExtUserPrmData
ExtUserPrmData=10 "Sync Time (0=Off, 65535=Default)"
Unsigned16 65535 0-65535
EndExtUserPrmData
ExtUserPrmData=11 "CAN-Diagnosis"
Bit(0) 0 0-1
Prm_Text_Ref=2
EndExtUserPrmData
ExtUserPrmData=12 "Rx-Counter"
Bit(1) 0 0-1
Prm_Text_Ref=2
EndExtUserPrmData

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 21 of 83

GSD File
ExtUserPrmData=13 "Tx-Counter"
Bit(2) 0 0-1
Prm_Text_Ref=2
EndExtUserPrmData
Ext_User_Prm_Data_Const(0)=0x00,0x06,0x00,0x00,0x00,0x00,0xff,0xff,0xff
Ext_User_Prm_Data_Ref(1)=1
Ext_User_Prm_Data_Ref(2)=2
Ext_User_Prm_Data_Ref(2)=3
Ext_User_Prm_Data_Ref(2)=4
Ext_User_Prm_Data_Ref(2)=5
Ext_User_Prm_Data_Ref(2)=6
Ext_User_Prm_Data_Ref(2)=7
Ext_User_Prm_Data_Ref(3)=8
Ext_User_Prm_Data_Ref(4)=11
Ext_User_Prm_Data_Ref(4)=12
Ext_User_Prm_Data_Ref(4)=13
Ext_User_Prm_Data_Ref(6)=9
Ext_User_Prm_Data_Ref(7)=10
Slave_Family = 9@CAN@V01
OrderNumber = "C.2905.02"

Page 22 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Configuration via SIMATIC Manager

5. Configuration via SIMATIC Manager

5.1 Course of Configuration
The CAN-DP module is configured via the PROFIBUS.

Note: Without correct configuration via the SIMATIC manager the CAN-DP module and the
CAN participants connected do not operate together and operation of the CAN
participants connected can be disturbed.
In particular the CAN-Bitrate configured in the CAN-DP-module and the module-ID (at
CANopen) must match the settings of the CAN participants connected!
If problems should occur, further information can be obtained with the diagnosis as
described in the chapters “4.3 Diagnosis via LED Display” and “4.4 Slave Diagnosis”.

Please follow the steps below to configure the CAN-DP module:

1. Select CAN-DP
Select menu Hardware Catalogue and there Additional Field Devices and Other. There select GSD
CAN-DP.

2. Set PROFIBUS Address

Set the PROFIBUS address as described in chapter 5.1.1 on page 24.

3. Parameter Telegram (set CAN bit rate, general configuration and CANopen module ID)
Configure the configuration settings by means of the parameter telegram as described in chapter
5.1.2 on page 25.

4. Assignment of the Slots of the DP-slaves

Assign the slots as described in chapter 5.1.3 on page 29.

5. Configuration of the Slots (PLC-Address)

Configure the slots as described in chapter 5.1.4 on page 30.

6. Save settings on hard disk

Save the settings as described in chapter 5.1.5 on page 30.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 23 of 83

Configuration via SIMATIC Manager
5.1.1 Set PROFIBUS address

A window opens in which you have to specify the PROFIBUS station address.

Attention!: The hexadecimal address set at the coding switches has to be converted into a
decimal value and entered here!

Fig. 5.1.2: Setting the PROFIBUS address of the CAN-DP

Page 24 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Configuration via SIMATIC Manager
5.1.2 Parameter Telegram

In the configuration window the module ‘DP slave’ is now automatically added. If you desire another
CAN bit rate than the standard setting of 125 Kbit/s, you can change it by means of the parameter
telegram.

The module-specific bytes of the parameter telegram can be changed in the Properties window which
opens, if the header of the DP-slave window is double clicked (here line ‘(23) DP-Slave’).

Fig. 5.1.2: Setting the parameters in the DP-slave properties window

Note: By means of selection point Hex-Parameter the parameters can be specified by means
of entering hexadecimal values, as in older software versions. More comfortable,
however, is of course the specification in the format shown above. Here, the parameters
can be configured ‘directly’. Therefore, in the following descriptions the configuration
by means of hexadecimal values will not be considered.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 25 of 83

Configuration via SIMATIC Manager
Description of Parameters:

CAN-Bit rate: For the bit rate the following selections can be made:

Bit rate [kbit/s]

1000
666.6
500
333.3
250
166
125
100
66.6
50
33.3
20
12.5
10

Table 5.2.1: Setting the bit rate in 14 levels

Communication Window: This parameter activates the Communication Window. It is

(CW) described in detail on page 36.

RTR-Frames: Transmit RTR-frames for the Rx-identifiers configured via

(NR) PROFIBUS.

CANopen-Slave: Configure gateway as CANopen slave.

(CS)

CANopen-Master: Configure gateway as CANopen master.

(CM)

Start-Frame: After wake-up time has expired, a start frame is transmitted, if the
(AS) gateway is a master (autostart).

Page-Mode: Activate Page-Mode.

(PM)

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 Configuration via SIMATIC Manager
Permissible combinations:

CW NR CS CM AS PM Meaning
- after wake-up time the module automatically transmits 128 dec
+ Module-No. and is in ‘Pre-Operational’ status
x no yes no x no - after a start frame has been received: put out TxId, transmit
RTR-frames on RxId

- after wake-up time the module automatically transmits 128 dec

x yes yes no x no + Module-No. and is in ‘Pre-Operational’ status
- after a start frame has been received: put out TxId

- after wake-up time, put out TxId

x no no yes no no - transmit RTR-frames on RxId

x yes no yes no no - after wake-up time, put out TxId

- after wake-up time start frame, put out TxId, transmit RTR-
x no no yes yes no frames on RxId

x yes no yes yes no - after wake-up time start frame, put out TxId

Table 5.1.2: Example for permissible settings

Module-ID: Module-ID of the Gateway as CANopen slave.

The Module-ID under which the gateway is addressed is set via this byte, if the
gateway has been configured as CANopen slave.

Value range: 1 ... 127 (decimal)

CAN-Diagnosis: If this flag is set to "yes", in case of an error on the CAN bus diagnosis messages
are sent (see page. 18).

RX-Counter=yes: In the last byte of the input module an 8-bit counter is counted up for each
received CAN message on this identifier. In addition the length for each
configured CAN message must be increased by one.
If for example a message with 8-byte data length shall be received, in the input
window Properties DP- Slave the entry must be length = 9.
Hereby the receipt of each message, even if the data did not change, can be
monitored.

Tx-Counter=yes: In the last byte of the output module a byte is reserved, in which e.g. a counter
can be counted up. With each change of this byte the CAN message is sent, even
if the data were not changed. Also here the length of the CAN message
configured must be increased by one.
If for example a message with 8-byte data length shall be sent, in the input
window Properties DP- Slave the entry must be length = 9.
The counter byte will not be sent.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 27 of 83

Configuration via SIMATIC Manager
WakeUp Time Via parameter WakeUp Time a delay in seconds is specified. It determines the
time a module has to wait after a RESET or power-on, before it starts to transmit
data to the CAN.

The WakeUp Time specified here, overwrites the value of WakeUp Time stored
previously in the CAN-DP gateway, if another value than ‘255’ was specified.
If ‘255’ is specified, the value stored in the gateway will be used.
If parameter WakeUp Time is set to ‘0’, the module does not wait, but start the
transmission of data as soon as they are available.

The WakeUp Time is specified as a decimal value, here.

Value range
Parameter Explanations
[dec] in [s]

0 WakeUp-Time function off

WakeUp Time 1...254 WakeUp Time in seconds

255 Use current value from gateway (default)

Table 5.1.3: Function of parameter WakeUp Time

SYNC Time: The CAN-DP module can cyclically transmit the command SYNC for simple
CANopen applications.

The specified cycle is specified in milliseconds.

SYNC Time is specified as a decimal value, here.

Value range
Parameter Explanations
[dec] in [ms]

0 No SYNC transmissions possible

SYNC Time 1...65534 SYNC Time in milliseconds (1...65534 ms)

65535 Use current value from gateway (default)

Table 5.1.4: Function of parameter SYNC Time

Attention:
SYNC Time can be set in two different ways:
1. As described above.
2. Via bytes 4 and 5 of the Communication Window (refer to page 42).

Both specifications are equal. That means that the last specification is
valid!

Page 28 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Configuration via SIMATIC Manager
5.1.3 Assigning the Slots of the DP Slave

The desired number of slots to be used by the

DP slave for data exchange is set by double
clicking the device ‘Universal Module’ for
each byte with activated DP-slave window.
In the DP-slave window the assigned slots are
represented by a ‘0’.

Fig. 5.1.3: Setting the parameters

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 29 of 83

Configuration via SIMATIC Manager
5.1.4 Configuration of Slots

In order to configure the slots the slot entry has to be double clicked. A properties window opens in
which the simulated PLC slots are configured. Below, two examples with 11-bit identifiers are shown:

Data direction: input Data direction: output

PLC address: 172 decimal PLC address: 172 decimal
Length: 6 Length: 6
Unit: byte Unit: byte
Consistent over: whole length Consistent over: whole length
Identifier: 0289 hexadecimal Identifier: 0309 hexadecimal
Form byte: B8 hexadecimal Form byte: B8 hexadecimal
Cyclic transmission: no

Fig. 5.1.4: Example: Configuration of input Fig. 5.1.5: Example: Configuration of output
data data

Attention:
In order to guarantee that the module works perfectly, at least one output (any unit) has to be
configured always. The PROFIBUS controller SPC3 does not trigger an interrupt, if no output is
defined! If no CAN is to be assigned when an output is defined, it is permissible to specify the value
07F8h as an identifier, here.

The individual parameters of the properties window will be explained in detail in the following chapter.

5.1.5 Save Settings to Hard Disk

Now you have to save the settings via menu points Station/Save to hard disc. Afterwards the settings
are transmitted to the PLC by means of menu points Target System/Load in Unit.

Page 30 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Configuration via SIMATIC Manager
5.2 Description of Input Window ‘Properties - DP Slave’
I/O-Type Depending on the data direction, ‘input’ or ‘output’ has to be selected in this field.
Other properties are not permissible.

Address Here the PLC-I/O address is entered as a decimal value.

Length, Unit By means of these fields the number of data bytes is specified.

Attention!:
If RX-Counter=yes, the configured length for each received
CAN message must be increased by one .
(If for example a message with 8-byte data length shall be
received, in the input window Properties DP- Slave the entry
must be length = 9.)

If Tx-Counter=yes, the configured length for each CAN message

to be sent must be increased by one. (If for example a message
with 8-byte data length shall be sent, in the input window
Properties DP- Slave the entry must be length = 9. ).

Consistent over The entry in this field shows whether the data is to be transmitted as individual
unit (bytes, words, etc.) or as complete packet (1-8 bytes or 16 bytes in
Communication Window) during a PLC cycle. This function is only to be set to
‘whole length’ if required, because the transmission as ‘unit’ is faster.

Note: If the data is to be transmitted consistently over the entire length, you
have to specify this here and you have to use SFC14 and SFC15 (refer
to Step7-PLC Manual).

Comment In the first two (four) bytes of this field the CAN identifier and then the control
byte form, each divided by commas, are transmitted.
For outputs the format byte can be optionally followed by 2 bytes cycle for the
cyclic transmission of the CAN telegram defined in this slot. The two cycle bytes
give the cycle time in milliseconds.
The data format for all properties is hexadecimal (!).
The entries of the Comment field are described in detail in the following chapters.

Comment bytes of 11-bit identifiers

Byte No. 1 2 3 4 5 6 ... 15

Content: CAN identifier format byte cycle time

(optional for outputs) not
used
ID_high ID_low form Cycle_high Cycle_low

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Configuration via SIMATIC Manager

Comment bytes of 29-bit identifiers

Byte No. 1 2 3 4 5 6 7 8 ... 15

Content: CAN identifier

cycle time
format byte not
ID_UU ID_UL ID_LU ID_LL (optional for outputs)
used
bit31...bit24 bit23...bit16 bit15...bit08 bit07...bit00 form Cycle_high Cycle_low

5.2.1 Enter the CAN Identifier in the Comment Field

The CAN identifier is transferred in the first two (four) bytes of the Comment field.
The bytes have to be entered separated by commas.

Example: The 11-bit identifier 0309h shall be entered in the comment field.
The two bytes of the 11-bit identifier have to be entered into the comment field
as: 03,09,

Comment bytes of 11-bit identifiers

Byte No. 1 2 3 4 5 6 ... 15

Content: CAN identifier format byte cycle time

(optional for outputs) not
used
ID_high ID_low form Cycle_high Cycle_low

Example: 03, 09, B8, - - -

(format byte: -
(CAN identifier: 0309h) no cyclic transmission
B8h)

Note: A 29-bit identifier requires four bytes and bit 29 must be set to ‘1’ (counted 0...31 bits),
in order to enable the module to distinguish between 11-bit and 29-bit identifiers.

The value range for the entry of the four bytes of a 29-bit identifier lies between 20,00,00,00 and
3F,FF,FF,FF.

Example: The 29-bit identifier 123456h shall be entered in the comment field.
Please note that bit 29 has to be set to ‘1’ for 29-bit identifiers!
The four bytes of the 29-bit identifier have to be entered into the comment field as:
20,12,34,56

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 Configuration via SIMATIC Manager

Comment bytes of 29-bit identifiers

Byte No. 1 2 3 4 5 6 7 8 ... 15

Content: CAN identifier

cycle time
format byte not
ID_UU ID_UL ID_LU ID_LL (optional for outputs)
used
bit31...bit24 bit23...bit16 bit15...bit08 bit07...bit00 form Cycle_high Cycle_low

Example: 20, 12, 34, 56, B8, - - -

(format byte: -
(CAN identifier: 123456h) no cyclic transmission
B8h)

If ‘input’ has been selected in the I/O-Type field, the CAN identifier entered there is regarded as an Rx-
identifier by the PLC. If ‘output’ has been selected in the I/O-Type, the CAN identifier entered here is
a Tx-identifier.

Attention: No Rx-identifier must be assigned twice!

If the same Rx-identifier has for example inadmissibly been selected on PLC-
address 50 and address 51, no new Rx-data would be received on address 50 after
the Rx-identifier has been assigned. The data received last remained unchanged.

This Rx-identifier rule is also valid for the Rx-identifier activated via the Communication Window.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 33 of 83

Configuration via SIMATIC Manager
5.2.2 Setting the Data Format with the Control Byte form

The control byte form is transferred in the Comment field behind the first two (four, for 29-bit
identifier) bytes for the CAN identifier.
form is used to convert the user data from Motorola format (high byte first) into Intel format (low byte
first).

Background: Messages which are longer than 1 byte are normally transmitted on a CANopen network
in Intel notation, while the Siemens PLC operates in Motorola format.

Starting with bit 7 of the format byte you can decide whether the following byte is to be converted as
well, i.e. swapped, or not. If a ‘1’ is specified for a byte, the following bytes are converted until the next
‘0’ transmitted. The functionality can be explained best by means of an example.

Example: A CAN telegram has got a date in Intel format in the first byte, followed by 2 bytes which
are not to be swapped and a long word in the last 4 bytes which is in Intel format again.
Binary the following representation results for the format byte:

Bit No. 7 6 5 4 3 2 1 0
Bit of
1 0 0 0 1 1 1 0
form
hexa-
8 E
decimal
begin end un- un- begin end
action swap swap changed changed swap
swap swap
swap

Data
1 2 3 4 5 6 7 8
bytes
2 bytes 4 bytes
CAN-frame byte 3 byte 4
Intel format Intel format
2 bytes 4 bytes
PLC data byte 3 byte 4
Motorola format Motorola format

From this the format byte results in 8Eh. If all eight bytes are to be swapped, for instance,
value FEh is specified for the format byte.

The lowest bit is generally without significance, because the telegram and therefore the
formatting have been completed. The bit should always be set to 0.

Note: The parameter ‘form’ must always be set, even if no byte swapping is
necessary. In this case the parameter has to be set to ‘00’.

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 Configuration via SIMATIC Manager
5.2.3 Setting for the Cyclic Transmission via Cycle

For outputs the format byte in the Comment field can be optionally followed by 2 bytes, which trigger
the CAN-DP to cyclically transmit the CAN telegram defined in this slot every cycle milliseconds. The
cyclic transmission is then carried out independent of changes in the telegram.

The entry of the two bytes cycle for the cycle time must be placed in the Comment field behind the two
(four, for 29-bit identifiers) bytes of the CAN identifier and the following command byte form
If the cyclic transmission shall not be used, the two cycle bytes can be left out.
The first of the two bytes for cyclical transmission is the higher order byte.
The data format in the Comment field is hexadecimal (!).

Example: A defined CAN identifier shall be cyclically transmitted every 1 second.

The cycle time cycle has to entered hexadecimal in milliseconds. The value must be
converted as follows:
1s = 1000ms = 03E8h

For the cycle time cycle the values 03h and E8h have to be entered in the Comment field as
byte 4 and 5 (or byte 6 and 7 for 29-bit identifier respectively).

Comment bytes of 11-bit identifiers

Byte No. 1 2 3 4 5 6 ... 15

Content: CAN identifier format byte cycle time

not
ID_high ID_low form Cycle_high Cycle_low used

Example: 03, 09, B8, 03, E8, -

(format byte: -
(CAN identifier: 0309h) (cycle time: 03E8h)
B8h)

Comment bytes of 29-bit identifiers

Byte No. 1 2 3 4 5 6 7 8 ... 15

Content: CAN identifier

format byte cycle time
not
ID_UU ID_UL ID_LU ID_LL
used
bit31...bit24 bit23...bit16 bit15...bit08 bit07...bit00 form Cycle_high Cycle_low

Example: 20, 12, 34, 56, B8, 03, E8, -

(format byte: -
(CAN identifier: 123456h) (cycle time: 03E8h)
B8h)

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Configuration via SIMATIC Manager
5.3 The Communication Window

5.3.1 Introduction

If the connected CANopen modules are addressed as described in chapter ‘5.1 Course of
Configuration’, each CAN identifier needs its own PLC address. The Communication Window has the
advantage that individual PLC addresses for different Tx-identifiers and different Rx-identifiers can be
used. This is possible, because the identifiers of the CANopen modules are transmitted as parameters
together with the data at each access.

The disadvantage of the Communication Window is the lower data flow, though. Therefore it is
recommendable to use the Communication Window for non-time-critical accesses such as writing the
SDOs after starting up the device.

The data length must always be 16 bytes in the configuration!

The identifier to be used is always ‘FFEF’ hexadecimal!

The Communication Window will be described in detail on the following pages.

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 Configuration via SIMATIC Manager
5.3.2 Configuring the Communication Window

The Communication Window is configured via PROFIBUS. An entry for each the transmission and
reception of data via the Communication Window is required. More than these two properties are
not accepted by the firmware.

The following two pictures show the required properties. Apart from the PLC address and the
specifications for the SYNC Time in the comment bytes 4 and 5, all parameters have been
specified. Even the identifier cannot be selected freely! Consistently the whole length has always to be
specified! A shared PLC address or different PLC addresses are permissible for input and output
direction.

Data direction: input Data direction: output

PLC address: any (example: 30) PLC address: any (example: 30)
Length: 16 Length: 16
Unit: byte Unit: byte
Consistent over: whole length! Consistent over: whole length!
Identifier: FFEF hexadecimal Identifier: FFEF hexadecimal
Form byte: 00 hexadecimal Form byte: 00 hexadecimal

Fig. 5.3.1: Configuring the input path of the Fig. 5.3.2: Configuring the output path of the
Communication Window Communication Window

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Configuration via SIMATIC Manager
5.3.3 Format of Communication Window

The 16 bytes of the Communication Window are assigned differently, according to data direction.

5.3.3.1 Write Bytes of the Communication Window

(command setting and transmitting of data PLC -> Gateway -> CAN)

Bytes of
Communication Contents
Window
0 high byte of CAN identifier (identifier bits [15] 10...8)
1 low byte of CAN identifier (identifier bits 7...0)
with 11-bit CAN identifier byte 2 and 3 always ‘0’
2 with 29-bit CAN identifier byte 2: identifier bits 28...24
3 byte 3: identifier bits 23...16
4 data byte 0
5 data byte 1
6 data byte 2
7 data byte 3
8 data byte 4
9 data byte 5
10 data byte 6
11 data byte 7
12 data length for transmission jobs (Tx)
PLC loop counter (has to be incremented in pulse with OB1 in order to tell
13
the gateway the OB1 cycle)
14 sub command (always set to ‘0’)
15 command (description refer page 40)

Table 5.4.1: Write bytes of the Communication Window

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 Configuration via SIMATIC Manager
5.3.3.2 Read Bytes of the Communication Window
(command acknowledge and reception of data CAN -> Gateway -> PLC)

Bytes of the
Communication Contents
Window
as long as no receive data are available ‘EEEE’h, otherwise
0 high byte of CAN identifier (identifier bits [15] 10...8)
1 low byte of CAN identifier (identifier bits 7...0)
with 11-bit CAN identifier byte 2 and 3 always ‘0’
2 with 29-bit CAN identifier byte 2: identifier bits 28...24
3 byte 3: identifier bits 23...16
4 data byte 0
5 data byte 1
6 data byte 2
7 data byte 3
8 data byte 4
9 data byte 5
10 data byte 6
11 data byte 7
12 number of received data bytes
return of the PLC loop counter which has been transmitted to the gateway
13
via the last PROFIBUS telegram
14 return of the sub command
15 error code of the read function (not supported at the moment)

Table 5.4.2: Read bytes of the Communication Window

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 39 of 83

Configuration via SIMATIC Manager
The following table shows commands which are currently being supported. The sub command is not
yet being evaluated and should always be set to ‘0’, therefore.

Command Function
1 transmit data
3 receive data at enabled Rx-identifiers
4 enable Rx-identifier for data reception
5 deactivate reception (command 4)
6 transmits an RTR frame
7 executes command 4 and command 6
(11) (reserved)
If the gateway is configured as CANopen master:
20 Cyclical transmission of the CANopen SYNC command
(ID 80h, len = 0)

Table 5.4.3 Commands of Communication Window

Attention:
A command is only completely processed, if, when reading the Communication Window, byte 13
of the CAN-DP-module provides the value of the PLC-loop counter which was specified during
the command call.
Before the following command is called, it is therefore advisable to check byte 13 first!

Explanations to the commands:

Command 1: Send data

In order to send data via the Communication Window the CAN identifier has to be
specified in bytes 0 and 1 (or 0...3 for 29-bit identifiers). In addition to the number of
bytes to be transmitted, a PLC-loop counter has to be specified. The loop counter has to
be realised by the user. It is required to provide the CAN-DP-gateway with the OB1-cycle
of the PLC.

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 Configuration via SIMATIC Manager
Command 3: Reception on enabled Rx-identifiers
The reception of data requires the CAN-Rx-identifiers which are to receive data to be
enabled (see command 4).
After reception command 3 has been written, read accesses to the Communication
Window will give you the data structure shown on page 39. The Rx-data is received
asynchronously to the PLC-cycle. Until valid data has been received you will be returned
the value ‘EEEE’h in the first bytes in read accesses. Only after valid data has been
received the Rx-identifier of the read frame in the first bytes becomes readable. In
addition, the read command which requested the reception of data is assigned by means of
the returned PLC-loop counter in byte 13.

The module has got a FIFO-memory for 255 CAN-frames to buffer the received Rx-data.
If several Rx-frames are to be received on one Rx-identifier, or if frames of various Rx-
identifiers enabled for reception are received, the data is not lost, as long as the PLC reads
out the FIFO memory quicker than it is being filled.

Command 4: Enabling Rx-identifiers for reception

By means of this command the Rx-identifier whose data is to be received has to be
enabled. More than one Rx-identifier can be enabled at the same time. For this, the
command has to be called an according number of times.

Command 5: Deactivate reception (command 4)

After this command has been called no data is received any longer on the specified Rx-
identifiers.

Command 6: Sending an RTR-frame

By means of this command a remote-request frame is transmitted. Prior to the
transmission the reception on the Rx-identifier has to be enabled by command 4.

Command 7: Executes command 4 and command 6

See there.

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Configuration via SIMATIC Manager
Command 20: Cyclical transmission of the CANopen command SYNC

The CAN-DP module can cyclically transmit the command SYNC for simple CANopen
applications.

The command is transmitted as shown in the table above. The cycle is specified e.g in the
properties window in bytes 4 and 5 when the Communication Window is configured (refer
to page 37).

The cycle is specified in milliseconds.

Value range: 0...FFFEh (0...65534 ms)

Attention:
In order to guarantee that all CANopen users have received their new data when they
receive the SYNC command, the cyclical transmission command of the SYNC command
cannot interrupt transmission of a DP-telegram on the CAN. That means that the SYNC
command is delayed until the DP-telegram has been transmitted, if its transmission and
the transmission of a SYNC command coincide.
This can result in slight changes of time in the cyclical transmission of the SYNC
command.

Attention:
SYNC Time can be set in two different ways:
1. In the parameter telegram in the DP-properties window (refer to page 25)
2. Via byte 4 and 5 of the Communication window (refer to page 37)

These specifications are equal. That means that the last specification is valid!

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 Configuration via SIMATIC Manager
5.3.4 Examples on the Communication Window

5.3.4.1 Transmitting Data

1. Basic Setting of the Communication Window

The basic settings have to be made only once when setting up the Communication Window.

1.1 Activating the Communication Window during the configuration of the CAN-DP-gateway (see
page 26)
Communication Window: yes

1.2 Definition of the 16 input and output bytes of the Communication Window (see page 37) e.g.
Data direction: input Data direction: output
PLC-address: e.g. here: 30 PLC-address: e.g. here: 30
Length: 16 (always) Length: 16 (always)
Unit: byte Unit: byte
Consistent over: entire length! Consistent over: entire length!
Identifier: FFEF hexadecimal (always) Identifier: FFEF hexadecimal (always)
Form byte: 00 hexadecimal Form byte: 00 hexadecimal

1.3 Program PLC-loop counter

8-bit loop counter for handshake function between PLC and gateway

PLC-Cycle (Pseudo Code):

... ...
1 Read Byte 13 (returned loop counter) of ‘Read Bytes of Communication-Windows’
(refer to page 39)
2 Compare Byte 13 of the ‘Read Bytes of Communication-Windows’ with PLC-loop
counter byte 13 of the ‘Write Bytes of Communication-Windows’(refer to page 38), if
unequal go to 6., if equal go to 3.
3 Increase PLC-loop counter (Byte 13) of ‘Write Bytes of Communication-Window’
(refer to page 38)
4 Evaluation of ‘Read Bytes of Communication-Windows’ (refer to page 39), i.e. the
evaluation of the answer to the last command or received CAN frame (depending on the
application).
5 Send new ‘Read Bytes of Communication-Window’ (refer to page 38) with increased
loop-counter value of 3. and if necessary new application data.
6 Continue PLC program (new request at the next program cycle)

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Configuration via SIMATIC Manager
2. Start Transmission Command by Writing the 16 Bytes of the Communication Window

Byte of
Example here
Communication Contents
[hex]
Window
high byte of CAN-identifier (identifier bit [15] 10...8) 00
1
low byte of CAN-identifier (identifier bit 7...0) 12
2 00
bytes 2 and 3 always ‘0’ for 11-bit identifier
3 00
4 data byte 0 00
5 data byte 1 01
6 data byte 2 02
7 data byte 3 03
8 data byte 4 04
9 data byte 5 05
10 data byte 6 06
11 data byte 7 07
12 data length for transmission commands 08
13 PLC-loop counter 8-bit counter
14 sub-command (always set to ‘0’) 00
15 command ‘transmit data’ 01

The data bytes 00, 01, 02, 03, 04, 05, 07 are transmitted on Tx-identifier 0012h.

In order to acknowledge the execution of the command a read access to byte 13 of the
Communication Window should follow. It has to have the same value of the PLC-loop counter as
when the command was called.

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 Configuration via SIMATIC Manager
5.3.4.2 Receiving Data

1. Basic Setting of the Communication Window

The basic settings of the Communication Window have already been described in the example
above ‘Transmitting Data’.

2. Receiving Data

2.1 Enabling the Rx-identifier for reception

In this example the data of the Rx-identifier 0123h are to be received.

Byte of
Example here
Communication Contents
[hex]
Window
high byte of CAN-identifier (identifier bit [15] 10...8) 01
1
low byte of CAN-identifier (identifier bit 7...0) 23
2 00
bytes 2 and 3 always ‘0’ for 11-bit identifier
3 00
4 data byte 0 00
5 data byte 1 00
6 data byte 2 00
7 data byte 3 00
8 data byte 4 00
9 data byte 5 00
10 data byte 6 00
11 data byte 7 00
12 data length for transmission command (Tx) 00
13 PLC-loop counter 8-bit counter
14 sub-command (always set to ‘0’) 00
15 command ‘Enable Rx-Identifier’ 04

In order to acknowledge the execution of the command a read access of byte 13 of the
Communication Window should be made with every command call. It has to have the same value
of the PLC-loop counter as it had when the command was called.

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Configuration via SIMATIC Manager
2.2 Initiate reception of data of the enabled Rx-identifier

Byte of
Example here
Communication Contents
[hex]
Window
high byte of CAN-identifier (identifier bit [15] 10...8) 01
1
low byte of CAN-identifier (identifier bit 7...0) 23
2 00
bytes 2 and 3 always ‘0’ for 11-bit identifier
3 00
4 data byte 0 00
5 data byte 1 00
6 data byte 2 00
7 data byte 3 00
8 data byte 4 00
9 data byte 5 00
10 data byte 6 00
11 data byte 7 00
12 data length for transmission commands (Tx) 00
13 PLC-loop counter 8-bit counter + n
14 sub-command (always set to ‘0’) 00
15 command ‘Read Rx-Identifier’ 03

2.3 Reading the data

After an undetermined time the Rx-data is received and can be accessed by reading the
Communication Window. Since the data is received asynchronously to the PLC-cycles the
Communication Window has to be read again and again until the data was received (polling). By
comparing the values of the PLC-loop counter you can determine, whether the data received is the
correct data from the read command.

A read access returns the following bytes:

Byte of
Example here
Communication Contents
[hex]
Window
high byte of CAN-identifier (identifier bit [15] 10...8) 01
1
low byte of CAN-identifier (identifier bit 7...0) 23
2 bytes 2 and 3 always ‘0’ for 11-bit identifier 00
3 00
4 received data byte 0 AA
5 received data byte 1 BB
6 received data byte 2 CC
7 received data byte 3 DD
8 received data byte 4 EE
9 received data byte 5 FF
10 received data byte 6 00
11 received data byte 7 11
12 data length 08
13 PLC-loop counter 8-bit counter + n
14 returned sub-command (without significance) 00
15 error code of the read function (without significance) 00

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 Configuration via SIMATIC Manager
2.4 Deactivate reception of data on this Rx-identifier

If no further data is to be received on this identifier, the reception is to be disabled again.

Byte of
Example here
Communication Contents
[hex]
Window
high byte of CAN-identifier (identifier bit [15] 10...8) 01
1
low byte of CAN-identifier (identifier bit 7...0) 23
2 00
bytes 2 and 3 always ‘0’ for 11-bit identifiers
3 00
4 data byte 0 00
5 data byte 1 00
6 data byte 2 00
7 data byte 3 00
8 data byte 4 00
9 data byte 5 00
10 data byte 6 00
11 data byte 7 00
12 data length for transmission commands (Tx) 00
13 PLC-loop counter 8-bit counter + m
14 sub-command (always set to ‘0’) 00
15 command ‘Disable Rx-Identifier’ 05

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Page Mode

6. Page Mode
Note: Page Mode can only be used, if the configuration tool Siemens SIMATIC Manager for S7
is used!

6.1 Properties
The Page Mode offers the chance to address more CAN identifiers than can be stored in a PROFIBUS
telegram (that means more than 48). The number of possible identifiers is only limited by the free
memory available on the PLC and the CAN gateway.
By means of the Communication Window, too, more than 48 identifiers can be transmitted. You can
only transmit one CAN frame each per PLC cycle, however, via the Communication Window, therefore
it is generally more suitable for infrequent accesses, such as one-time configurations.

Because of the additional protocol expenditure the handling of the Page Mode is slightly more
complicated than the standard operation of the gateway. The data exchange between PROFIBUS and
CAN requires two cycles instead of one PLC cycle, because of the required handshake.

In order to simplify the handling of the Page Mode, function blocks and data blocks which control the
Page Mode are contained in the package.

6.2 Activation
Before you activate the Page Mode you have to integrate the according functional and data blocks into
your PLC program. Please read the following chapters carefully to get an insight into the mode of
operation and be able to use the contained functional and data blocks according to your demands.

The Page Mode is activated via the SIMATIC manager (SIEMENS PLC, S7).

6.3 Communication Window in Page Mode

When specifying Communication Window the Communication Window can be activated in the DP-
salve properties window while configuring the gateway (see page 26).

The Communication Window is set up and handled like in normal operation (see page 36). The
Communication Window must be defined in the last segment, however.

Note: Using the Communication Windows (CW) is only useful to configure the connected
CAN-devices. If the connected CAN-devices have been configured, the normal page
mode (PM) is to be preferred.

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 Page Mode
6.4 Mode of Operation

6.4.1 Overview

In order to provide more CAN identifiers than can be stored in a PROFIBUS telegram, a protocol-
controlled data exchange between PLC and gateway is necessary.

For the communication so-called pages are defined in which the parameters and data are exchanged.
On PLC side an input and an output area are reserved for the transmission of the pages.
After the system has been started a page with setup data is exchanged between PLC and gateway. In the
following pages the PLC transmits the configuration of the Tx- and Rx-identifiers. These pages contain
the identifier numbers used for the CAN, the number of bytes and information about the data format.

PROFIBUS-DP

Page 0: Setup

Page 0: Acknowledge of Setup

From Page 51: TxId-Configuration

Single Call

Page 51: Acknowledge of TxId-Configuration

PLC-Cycles

CAN
PLC
From Page 151: RxId-Configuration
Gateway

Page 151: Acknowledge of RxId-Configuration

From Page 251: Tx-Data

From Page 251: Rx-Data

Program Loop

Fig. 6.4.1: Exchange of parameters and data in Page Mode (overview)

If the setup has been completed, data can be exchanged. With each PLC cycle an input and an output
page is transmitted. If more identifiers have to be provided than can be stored in a page, the following
identifiers will be handled in the following PLC cycles. With rising number of identifiers and depending
on the length of data to be transmitted per identifier, more PLC cycles are required, therefore, to
transmit all data. In order to keep the number of PLC cycles low, input and output page should be
selected as large as possible.

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Page Mode
In an example below, 127 motors are controlled by a SIEMENS SIMATIC S7-PLC. Together these
motors use 127 Tx- and 127 Rx-identifiers. In this example 20 PLC-cycles are needed to supply all
identifiers (20 cycles are required for 10 pages).

The product package contains function blocks (FB) and data blocks (DB) with which the
transmission of the pages can be controlled. Users do not have to program the control of the
pages themselves, therefore !

The FB and DB will be described from page 59.

6.4.2 Definition of PLC-Addresses

The Page Mode needs input and output addresses. The number of addresses used is limited to the top
only by the PLC. The inputs need at least a page size of 32 bytes so that the setup can be made via page
0 and page 1.

Fig. 6.4.2: Example 1: Configuring the PLC-addresses in Page Mode

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 Page Mode
Example 1:
The figure above represents the assignment of a SIMATIC-S7-300 PLC for the Page Mode. 105 bytes
have been specified for the Page Mode and 16 bytes for the Communication Window. With these the
S7-300 is completely occupied, because it offers a maximum of 122 bytes.

Below the specification of a PLC-slot will be called page segment.

In example 1 a data length of 32 bytes for each segment and the consistency for the entire 32 bytes have
been set. The data length has not been chosen larger, because the S7-300 cannot transmit more than 32
bytes consistently. This, however, is absolutely necessary for the Page Mode.

Generally a segment is to be specified with 32 bytes. Given that at least 32 bytes have already been
specified for the input data, it is also permissible to use any length between 0 and 32 bytes for the last
segment. The length of the input data might differ from the length of the output date. It is absolutely
necessary, however, that the input addresses of successive slots are sequentially, and that the output
addresses of successive slots are sequentially.

Example 2:
For the output page 32 bytes have been specified at slot 0 from address 128. Slot 1 has also 32 bytes
and therefore covers addresses 160...191. Slot 2 has only 18 bytes and covers addresses 192...209. A
maximum size of 82 bytes results for the output page.

The following figure shoes the page in the address range of the PLC. For the application example the
assignment with the Tx-configuration page (page 51) has been specified. With a size of 82 bytes 11 Tx-
identifiers could be configured on one page. In the last four bytes the end identifier is specified. If more
Tx-identifiers are required, Tx-pages 52, 53, etc. are transmitted afterwards.

Output Address: 128 159

Byte: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Slot 0
Example: Page 51 Page no. Protocol Data Parameter of Tx-Id 1 Parameter of Tx-Id 2 Parameter of Tx-Id 3 Parameter of Tx-Id 4
(Tx-Configuration)

Output Address: 160 191

Byte: 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63
Slot 1
Example: Page 51 Page no. Parameter of Tx-Id 5 Parameter of Tx-Id 6 Parameter of Tx-Id 7 Parameter of Tx-Id 8 Parameter of Tx-Id 9
(Tx-Configuration)

Output Address: 192 209

Byte: 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81
Slot 2
Example: Page 51 Page no. Parameter of Tx-Id 10 Parameter of Tx-Id 11 endconfig
(Tx-Configuration)

Fig. 6.4.4: Example 2: Output page with a length of 82 bytes

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Page Mode
If the Page Mode is used with Communication Window, the Communication Window must be defined
in the segment which is assigned to the last PLC-slot.

The following table summarizes the rules for the assignment of addresses in PLC Page Mode:

Rules for the assignment of addresses in Page Mode

1 Define at least 32 input bytes !

Segment length always = 32 bytes !

2
Exception: last segment ≤ 32 bytes !

3 Consistency over the entire length !

4 Sequential addressing of segments of inputs and outputs !

5 Communication Window into the last two segments (if desired) !

Table 6.4.1: Rules for the assignment of addresses in Page Mode

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 Page Mode
6.4.3 Page Structure

The maximum length of the page depends on the configuration of addresses, made by the user (see page
50).

On all pages the first eight bytes contain information which is required for the protocol-controlled
exchange of pages between PLC and gateway. They are followed by the ‘user data’ of the page. During
configuration this data contains, e.g., the definition of identifiers, during operation the data of the
identifiers.

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 ...

Length
2 6 depending on page no. ...
[bytes]

user data
Content page no. protocol data ...

Example 51 ... e.g. Tx-identifier definition ...

Table 6.4.2: Structure of pages

The first two bytes of each segment of a page specify the page number. The page number marks the
page to be transmitted and the type of page. The following table shows the page numbers, page types
and the functional and data blocks which are available.

Function Formal operand

Page number Page type Data block
block ENABLE
0 setup page - 0
51...150 Tx-configuration DB94
151...250 Rx-configuration FB2 DB95
1
output: DB96
≥ 251 data exchange
input: DB97

Table 6.4.3: Overview of pages

The contents of bytes 3 to 7, the ‘protocol data’ will not be referred to. Please use the function block
(FB2) contained in the product package to control the transmission of pages. It contains the commands
required for the protocol control.

The following chapters will describe the page types.

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Page Mode
6.4.4 Setup via Page 0 and 1

After the system has been started, the gateway has to transmit the length of the previously configured
page to the PLC. This is made by means of the so-called page 1.

For this the PLC has to transmit page 0 to the gateway first. The gateway then returns the setup data in
page 1.

The product package contains a function block which is responsible for the transmission and reception
of pages 0 and 1 (FB2). We recommend that you use this function block. If you use function block FB2,
you do not have to configure further parameters.

The setup requires some time. Therefore it is recommendable to delay the transmission of the next page
for about 5 sec. It is, for example, possible to program a PLC timer which considers the delay.

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 Page Mode
6.4.5 Tx-Configuration via Pages 51...150

The Tx-identifiers are configured via pages 51 to 150 (decimal). The page structure is as follows:

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ...

Length
2 6 4 1 1 4 1 1 ...
[bytes]

TxId_value form length TxId_value form length

Contents page no. protocol data ...
parameters of Tx-identifier 1 parameters of Tx-identifier 2

Example ≥ 51 ... 301 B8 6 303 B8 8 ...

Table 6.4.4: Structure of pages 51...150

Bytes 0 to 7 contain the protocol information already mentioned above (refer also to page 53).

From byte 8 in the first segment (byte 2 in the following segments) the definition of the desired Tx-
identifiers is transmitted to the CAN gateway. For each Tx-identifier 6 bytes are required:

TxId_value These four bytes specify the numeric value of the Tx-identifier.

form Via this byte you can choose whether the output data is to be converted from Motorola
data format of the PLC into Intel data format of the CAN network or not. Byte form has
already been described in detail on page 31.

length Here the number of data bytes of the Tx-identifier is specified. Entries between 1 and
8 are permissible.

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Page Mode
6.4.6 Rx-Configuration via Pages 151...250

The Rx-identifiers are configured via pages 151 to 250 (decimal). The page structure is as follows:

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ...

Length
2 6 4 1 1 4 1 1 ...
[bytes]

RxId_value form length RxId_value form length

Contents page no. protocol data ...
parameters of Rx-identifier 1 parameters of Rx-identifier 2

Example ≥ 151 ... 301 B8 6 303 B8 8 ...

Table 6.4.5: Structure of pages 151...250

Bytes 0 to 7 contain the protocol information already mentioned above (refer also to page 53).

From byte 8 in the first segment (byte 2 in the following segments) the definition of the desired Rx-
identifiers is transmitted to the CAN gateway. For each Rx-identifier 6 bytes are required:

RxId_value These four bytes specify the numeric value of the Rx-identifier.

form Via this byte you can choose whether the output data is to be converted from Motorola
data format of the PLC into Intel data format of the CAN network or not. Byte form has
already been described in detail on page 31.

length Here the number of data bytes of the Rx-identifier is specified. Entries between 1 and
8 are permissible.

Page 56 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Page Mode
6.4.7 Data Exchange via Pages 251...n

The user data is read and written via page 251 (decimal) and following. The maximum number of data
pages is 65285.

The structure of the page for output data can differ from the page structure for input data, because the
number of Rx-data can differ from the number of Tx-data.

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ...

Length
2 6 1 1...8 (here: 4) 1 1...8 (here: 6) ...
[bytes]

force Tx_user_data force Tx_user_data

Contents page no. protocol data ...
data of Tx-identifier 1 data of Tx-identifier 2

Example ≥ 251 ... 2 12 34 56 78 (hex) 1 BA 98 76 54 32 10 (hex) ...

Table 6.4.6: Example of a data page for output data

Bytes 0 to 7 contain the protocol information already mentioned above (refer also to page 53).

Starting with byte 8 in the first segment, the data of the first identifier are transmitted to the gateway.
The data of the next identifier follow directly, that means that only as many data bytes are transmitted
each per identifier as have been defined in length!
In the second segment the transmission of data already starts with byte 2, because bytes 2 to 7 do not
contain protocol information.

force In this byte you can specify the time when the Tx-data is to be transmitted:

force Transmission
0 data is not put out as CAN frame
1 data is always (following each PROFIBUS telegram) put out as CAN frame
2 data is only put out as CAN frame, if data was changed
3 data is put out as CAN frame once *)
4 data is put out as CAN frame once *)
*) Change between 3 and 4 causes a direct output of data

Table 6.4.7: Specifying the cause for transmitting Tx-data

Tx_user_data Here the user data of this Tx-identifier to be transmitted are specified.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 57 of 83

Page Mode

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ...

Length
2 6 1 1...8 (here: 6) 1 1...8 (here: 4) ...
[bytes]

count_in 1 Rx_user_data count_in 2 Rx_user_data

Contents page no. protocol data ...
data of Rx-identifier 1 data of Rx-identifier 2

Example ≥ 251 ... 14 11 22 33 44 55 66 (hex) 15 99 88 77 66 (hex) ...

Table 6.4.8: Example of a data page for input data

count_in x In this byte the gateway specifies an input counter. The input counter is incremented
with each Rx-frame received. It can be used by the user, for example, to program a
guarding protocol.

Rx_user_data Here the received user data of this Rx-identifier are entered.

Page 58 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Page Mode
6.5 Using the Page Mode with FBs and DBs
The previous chapter has described the principal function of the Page Mode and the assignment of pages
to show the functionality. The product package of the gateway includes function blocks and data blocks
as source codes, which you should include in your PLC program, if you wanted to use the Page Mode.

6.5.1 Function Block FB 2: Configuration and Data Exchange

By means of function block FB2 all configurations and data transfers of the Page Mode can be
executed. The types of data blocks which are used by FB2 will be shown in the following example call.

Calling FB2 (example):

CALL FB 2 , DB102
FREIGABE :=#BIT1
WRITE_ADDRESS :=#WRITE_ADDRESS
WRITE_CONFIG_DB:=#WRITE_CONFIG_DB
WRITE_DB :=#WRITE_DB
READ_ADDRESS :=#READ_ADDRESS
READ_CONFIG_DB :=#READ_CONFIG_DB
READ_DB :=#READ_DB
RET_VALUE :=#t016

Explanation of data blocks and parameters:

For a detailed description

Data block/parameter Function
refer to page

FREIGABE Enable after setup via page 0 and 1. 60

WRITE_ADDRESS Start address of the first output segment. 60

WRITE_CONFIG_DB Data block to define the Tx-identifiers. 60

WRITE_DB Data block to write the output data. 64

READ_ADDRESS Start address of the first input segment. 61

READ_CONFIG_DB Data block to define the Rx-identifiers. 62

READ_DB Data block to read the input data. 66

RET_VALUE Message about the handling of the present page. 67

Table 6.5.1: Function of data blocks used by FB2

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 59 of 83

Page Mode
FREIGABE Enable after basic set-up via pages 0 and 1.
The module is initialized by means of function block FB2 by bit
FREIGABE = 0. For all other operations you have to set it to ‘1’. FB2 only
needs an instance DB for the setup.

WRITE_ADDRESS Start address of the first output segment.

Via this parameter the PLC start address of the first segment of the output
page is transferred to the PLC.

WRITE_CONFIG_DB Data block to define the Tx-Identifiers.

(DB94) In the PLC-source code, included in the product package, the WRITE-
CONFIG-DB has been realized as data block DB94.
In WRITE-CONFIG-DB 6 bytes are required for each Tx-identifier to be
written:

Address Bytes 0...3 Byte 4 Byte 5 Explanation

0 Tx-Identifier 1 form 1 length 1 definition of Tx-Id 1

6 Tx-Identifier 2 form 2 length 2 definition of Tx-Id 2

12 Tx-Identifier 3 form 3 length 3 definition of Tx-Id 3

: : : : :

marking the end of the

nA6 endconfig - - DB or the Tx-
configuration

Table 6.5.2: Structure of the WRITE-CONFIG-DB

Tx-Identifier x Here the value of the Tx-identifier has to be specified.

11-Bit CAN-ID 0 ... 2047
29-Bit CAN-ID 0 ... 536870911

form x In parameter form you choose whether the output data is to

be converted from Motorola format of the PLC into the
Intel format of the CAN network or not. Byte form has
already been described in detail on page 31.

length x This byte specifies the number of data bytes which are to
be transmitted on the Tx-identifier which is defined here.

Page 60 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Page Mode
endconfig The PLC has to be told whether another data block is
required for the definition of the Tx-identifiers and when
the Tx-definition will be finished.
- If another data block is required, the hexadecimal value
‘DDDDDDDD’ has to be specified as last Tx-identifier
definition. FB2 will then continue with the handling of
the following DB.
- If the last Tx-identifier has been defined, this is
indicated to the FB2 by specifying the hexadecimal
value ‘EEEEEEEE’ as last Tx-identifier definition. FB2
will then continue with the configuration of the Rx-
identifiers.

The length of the data blocks differs. The required length can be
determined from the number of required Tx-identifiers plus the four bytes
for the end flag.

Example:
You have to define 16 Tx-identifiers via DB11.
DB11 defines Tx-Ids 1 ... 10,
therefore requires a length of (10 A 6 + 4) = 64 bytes
End flag = DDDDDDDDh
DB12 defines Tx-Ids 11 ... 16,
therefore requires a length of (6 A 6 + 4) = 40 bytes
End flag = EEEEEEEEh

Note:
In FB2 the bit FREIGABE has to be set = 1!

READ_ADDRESS Start address of the first input segment.

Via this parameter the PLC-start address of the first segment of the input
page is transferred to the PLC.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 61 of 83

Page Mode
READ_CONFIG_DB Data block for defining the Rx-identifiers.
(DB95) In the PLC-source code included in the product package, the READ-
CONFIG-DB has been realized as data block DB95.
In READ-CONFIG-DB 6 bytes are required for each Rx-identifier to be
written:

Address Bytes 0...3 Byte 4 Byte 5 Explanation

0 Rx-Identifier 1 form 1 length 1 definition of Rx-Id 1

6 Rx-Identifier 2 form 2 length 2 definition of Rx-Id 2

12 Rx-Identifier 3 form 3 length 3 definition of Rx-Id 3

: : : : :

marking the end of the

nA6 endconfig - - DB or the Rx-
configuration

Table 6.5.3: Structure of the READ-CONFIG-DB

Rx-Identifier x Here the value of the Rx-identifier has to be specified.

11-Bit CAN-ID 0 ... 2047
29-Bit CAN-ID 0 ... 536870911

form x In parameter form you choose, whether the input data is to

be converted from Intel format of the CAN network to the
Motorola format of the PLC or not. Byte form has already
been described in detail on page 31.

length x This byte specifies the number of data bytes which are to
be received by this Rx-identifier.

endconfig The PLC has to be told whether another data block is

required for the definition of the Rx-identifiers and when
the Rx-definition will be finished.
- If another data block is required, the hexadecimal value
‘DDDDDDDD’ has to be specified as last Rx-identifier
definition. FB2 will then continue with the handling of
the following DB.
- If the last Rx-identifier has been defined, this is
indicated to the FB2 by specifying the hexadecimal
value ‘EEEEEEEE’. FB2 will then continue with the
transmission of user data.

The length of the data blocks differs. The required length can be
determined from the number of Rx-identifiers required plus the four bytes
for the end flag.

Page 62 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Page Mode
Example:
You have to define 19 Rx-identifiers, starting with DB26.
DB26 defines Rx-Ids 1 ... 10,
therefore requires a length of (10 A 6 + 4) = 64 bytes
End flag = DDDDDDDDh
DB27 defines Rx-Ids 11 ... 19,
therefore requires a length of (9 A 6 + 4) = 58 bytes
End flag = EEEEEEEEh

Note:
In FB2 the bit FREIGABE has to be set = 1!

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 63 of 83

Page Mode
WRITE_DB Data block for writing the output data
(DB96) The output data is stored in the data block according to identifier number
(TxId1, TxId2, etc.). For each Tx-identifier the length (number of data
bytes + force-byte) is stored in one byte, the parameter force is stored in
another byte and then the user data is stored. The number of user data can
differ from 1 to 8 bytes. The data of the following Tx-identifier always
come directly after the previous one. The address from which the data of
a Tx-identifier is stored has to be determined from the data of the previous
Tx-identifiers, therefore.

Address 1 byte 1 byte n bytes Explanation

0 length 1 force 1 user data 1 user data of Tx-Id 1

Address 1 byte 1 byte m bytes Explanation

n+2 length 2 force 2 user data 2 user data of Tx-Id 2

Address 1 byte 1 byte l bytes Explanation

n+2+
length 3 force 3 user data 3 user data of Tx-Id 3
m+2

Address 1 byte - Explanation

marking the end of the

xxx enddata -
DB or the output data

Table 6.5.4: Structure of WRITE_DB

length x This byte specifies the number of data bytes which are to
be transmitted on the Tx-identifier defined here (+1 for the
force-byte):

lenght = (number of data bytes) + 1

Page 64 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Page Mode
force x Via this byte you can specify the time when the data of the
Tx-identifier are to be transmitted to the CAN.

force Function

0 Data is not put out as CAN frame.

Data is always (following each PROFIBUS telegram)

1
put out as CAN frames.

2 Data is only put out as CAN frame if data has changed.

3 Data is only put out as CAN frame once.

4 Data is only put out as CAN frame once.

Table 6.5.5: Meaning of parameter force

In order to transmit the CAN frame with the user data once,
parameter force has to be set to value ‘3’. If the parameter
is set to ‘3’ again in the following cycle, the frame will not
be transmitted. In order to transmit more than once force
has to be set to the value ‘4’ in the following cycle. Each
further switch between the values triggers a transmission
of frames.

userdata x The user data between 1 to 8 bytes is specified after

parameter force.

enddata This parameter tells the PLC whether another data block
with user data will follow, or whether this was the last user
data to be transmitted.
- If another data block is required, the hexadecimal value
‘DD’ has to be specified for length following the
definition of the last user data. FB2 will then continue to
handle the following DB.
- If the last user data of this application has been specified,
FB2 will be told by entering the hexadecimal value ‘EE’
in cell length. FB2 will then continue to transmit the user
data of the first WRITE_DB.

Note:
Bit FREIGABE has to be set = 1 in FB2, if the output data is to be written!

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 65 of 83

Page Mode
READ_DB Data block for reading the input data.
(DB97) The input data is stored in the data block according to identifier number
(RxId1, RxId2, etc.). For each Rx-identifier the length (number of data
bytes + count_in-byte) is stored in one byte, the input counter count_in is
stored in another byte and then the user data is stored. The number of user
data can differ from 1 to 8 bytes. The data of the following Rx-identifier
always comes directly after the previous one. The address from which the
data of an Rx-identifier is stored has to be determined from the data of the
previous Rx-identifiers, therefore.

Address 1 byte 1 byte n bytes Explanation

0 length 1 count_in 1 userdata 1 user data of Rx-Id 1

Address 1 byte 1 byte m bytes Explanation

n+2 length 2 count_in 2 userdata 2 user data of Rx-Id 2

Address 1 byte 1 byte l bytes Explanation

n+2+
length 3 count_in 3 userdata 3 user data of Rx-Id 3
m+2

Address 1 byte - Explanation

marking the end of the

xxx enddata -
DB or the input data

Table 6.5.6: Structure of WRITE_DB

length x This byte specifies the number of data bytes to be received

via this Rx-identifier (+1 for the count_in-byte):

length = (number of data bytes) + 1

count_in x In this byte an input counter is specified by the gateway.

The input counter is incremented with every Rx-frame
received. It can, for example, be used to program a
guarding protocol.

userdata x The user data between 1 to 8 bytes is specified after

parameter count-in.

Page 66 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Page Mode
enddata This parameter tells the PLC whether another data block
with user data will follow, or whether this was the last user
data to be received.
- If another data block is required, the hexadecimal value
‘DD’ has to be specified for length following the
definition of the last user data. FB2 will then continue to
handle the following DB.
- If the last user data of this application has been specified,
FB2 will be told by entering the hexadecimal value ‘EE’
in cell length. FB2 will then continue to transmit the user
data of the first READ_DB.

Note:
Bit FREIGABE has to be set = 1 in FB2, if the input data is to be read!

RET_VALUE Returning status of handling of current page.

This parameter is ‘0’, if bit FREIGABE = ‘0’. If FREIGABE = ‘1’,
RET_VALUE contains a number which specifies the page type which is
being handled at the moment:

RET_VALUE
Page type currently being transmitted
(at FREIGABE = 1)

0 no page transmission
1 reserved
2 Tx-configuration via pages 51...150
3 Rx-configuration via pages 151...250
4 data pages 251...n

Table 6.5.7: Return parameter RET_VALUE

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 67 of 83

Page Mode
6.6 Methodology
The following list gives a step-by-step instruction for the configuration and operation of the Page Mode.

1. Hardware Configuration

1.1 Determine PLC-address range for Page Mode (inputs/outputs), i.e.

- configure segments: n A 32 bytes + x bytes (x ≤ 32)
- successive addresses!

1.2 If required: Communication Window (at the end)

2. PLC-Program

2.1 Include FB2:

WRITE_ADDRESS: start address of first output segment
READ_ADDRESS: start address of first input segment

2.2 Data blocks:

WRITE_CONFIG_DB: generate and preset (determine length of DB!)
READ_CONFIG_DB: generate and preset (determine length of DB!)

WRITE_DB: generate and supply with data during program

READ_DB: generate and read data during program

3. Include More FBs

3.1 FB4: data exchange via Communication Window

3.2 FB1: initializing CANopen modules by means of a list (INIT_LIST_DB, INIT_DB)
3.3 FB3: controlling 127 uniform CANopen devices

Page 68 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Editing the GSD File with a Text Editor

7. Editing the GSD-File with a Text Editor

We recommend to configure the module with a PROFIBUS configuration tool, as e.g. the
SIMATIC manager.
Not every PROFIBUS configuration software supports the “Universalmodule” (see chapter:
“5. Configuration with the SIMATIC Manager”).
If the “Universalmodule” is not supported, the GSD-file has to be adapted via a text editor.

The configuration of a module is made by means of a configuration frame, whose content is entered in
the GSD-file.

The frame of the configuration is sub-devided in three octets (see also PROFIBUS-Specification,
Normative Part 8, page 738, Fig. 16):

Octet 1: Number_of_the_manufacturer-specific data

Octet 2: Number_of_output_or_inputbytes
Octet 3: Manufacturer-specific_configuration_byte
:
:

The octets have the following meaning:

Octet 1: Number_of_manufacturer-specific_data

Because the CAN-DP always uses a specific ID-format to represent a connected CAN-module, the
identifier-byte has the following structure (see also PROFIBUS-Specification- Normative-Part-8, page
737):

MSB LSB
Bit-No.: 7 6 5 4 3 2 1 0
Length of the manufactuerer-specific data:
00: free place
always always
Content: 01: Input 0011 11-bit identifier
0 0
10: Output 0101 29-bit identifier
0101 Communication window

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 69 of 83

Editing the GSD File with a Text Editor
Example Octet 1:

Bit-No.: 7 6 5 4 3 2 1 0
Content: 1 0 0 0 0 0 1 1

= 0x83 Output, 3 byte manufactuerer-specific data (11-bit identifier)

Octet 2: Number_of_output_or_input_bytes

Octet 2 gives the consistency, the structure (byte/word) and the number of the in/output bytes.
Length bytes of the output as seen from the PROFIBUS master (see also PROFIBUS-Specification-
Normative-Part-8, page 738)

MSB LSB
Bit-No.: 7 6 5 4 3 2 1 0
Number of inputs/outputs
Bit
Consistency over Length-format Meaning
5 4 3 2 1 0
0: byte or word 0: byte-structure
Content: 0 0 0 0 0 0 1 byte, resp. 1 word
1: complete 1: word-
: :
length structure 1 1 1 1 1 1 63 bytes, resp. 63 words

Example Module 1:

Bit-No.: 7 6 5 4 3 2 1 0
Content: 0 0 0 0 0 1 0 1

= 0x05 6 byte data

Octet 3, 4, 5: Manufacturer-specific_configuration_byte

Octet 3 and Octet 4 = CAN-identifier example: Identifier 0x0203

Octet 5 = Form byte

Page 70 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Editing the GSD File with a Text Editor
Example Module 1

The configuration-frame for module 1 has the following structure and has to be inserted into the GSD-
file.

Example for manual GSD-file entries:

...

Module="Name of the module" 0x83, 0x05, 0x02, 0x03, 0x00

EndModule

...

Meaning of the entries under “Name of the module”:

“Name of the module” ... Comment to name the module

0x83... Module is an output (0x80) and three manufacturer-specific configuration-
byte (0x03) will follow.
0x05... Consistency over byte, the length format is byte-structure (0x05) and 6 byte
data are transferred (0x05 = 6...1).

0x02... Manufacturer-specific data: 0x02

0x03... Manufacturer-specific data: 0x03 Identifier = 0x0203
(e.g.: CANopen Rx PDO for
Modul-ID 3)

0x00... Manufacturer-specific data: 0x00 no byte-swapping,

i.e. the sequence of the data will
not be changed

Attention!: Please note, that the GSD-file has to be renamed. The file name may be maximum
8 characters long. Some configuration-software for the PROFIBUS Master does not
operate with longer file names.

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 71 of 83

Examples

8. Application Example with Page Mode

The following summary shows the FBs and DBs required to control the CANopen devices:

Example for calling FB 1

---------------------------------
( Setup of CANopen module by means of a list, see below)

Network 7: motor setup

-----------
O #BIT15 // domain-transfer is on ?
O #BIT14
SPB M033 // yes --> jump
L #INIT_LIST_DB
T #t016
AUF DB [#t016] // open DB with init-list
M012: L 127 // maximum 127 motors
L #MOTOR
+ 1
T #MOTOR
<I // 127 < motor ? -> yes ==> configuration ready
SPB M013 // ==> jump to the end
+ -1 // motor 1 starts at byte 0, motor 2 starts at byte 8, ...
SLW 3 // means * 8: motor-index -> byte-number
SLW 3 // means * 8: byte-number -> bit-address
T #t000
L 0 // means: motor not present
L DBW [#t000] // get DB-number to init this motor
T #INIT_DB
==I
SPB M012 // to next motor
L W#16#FFFF // means: motor not needed to initialize
==I
SPB M012 // to next motor
L #t000
+ 16
T #t000
L DBW [#t000] // get offset in the actual init-DB
T #INIT_OFFSET
L #MOTOR // motor no.
L W#16#600
+I
T #TX_ID
L #MOTOR // motor no.
L W#16#580
+I
T #RX_ID
UN #BIT15
S #BIT15
M033: CALL FB 1 , DB101
transfer :=#BIT15
tx_id :=#TX_ID
rx_id :=#RX_ID
write_address_cw:=#WRITE_ADDRESS_CW
read_address_cw :=#READ_ADDRESS_CW
init_db :=#INIT_DB
offset :=#INIT_OFFSET
ret_value :=#t016
U #BIT15
S #BIT14
L W#16#0 // means: configuration in FB1 is off
L #t016 // status of setup
==I
SPB M034
UN #FREIGABE
SPB M014
L #INIT_LIST_DB
T #t008
AUF DB [#t008] // open DB with init-list
L #MOTOR
+ -1 // motor 1 starts at byte 0, motor 2 starts at byte 8, ...
SLW 3 // means * 8: motor-index -> byte-number
SLW 3 // means * 8: byte-number -> bit-address
+ L#32
T #t000

Page 72 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Examples
L #t016 // get status of setup
T DBW [#t000] // save in init-list-DB
L W#16#FFFF // means: configuration in FB1 allways runs
L #t016 // status of setup
==I
SPB M014
L W#16#FFFE // means: configuration in FB1 is ready
L #t016 // status of setup
==I
SPB M011
SPA M014
M034: U #BIT14
R #BIT14
SPA M014
M011: U #BIT15
R #BIT15
SPA M014
M013: UN #BIT1
S #BIT1 // say motor-configuration is ready
L 2
T #RET_VALUE // say: configuration of Tx-ID
M014: SPA M035
M015: NOP 0

**************************************************************************

Calling FB 2: Data exchange via Page Mode

------------------------------------------------
(
1. : Page 0 -> reading the lengths (absolutely necessary !!!)
2. : Page 51 ff -> Tx-configuration ( once )
3. : Page 151 ff -> Rx-configuration ( once )
4. : Page 251 ff -> data exchange: output and input ( cyclically )
( Page 251, 252, 253, ... xyz, 251, 252, ... xyz (depending on the number of pages required)
)
)

Network 9: page-mode-output and page-mode-input

-----------
CALL FB 2 , DB102
FREIGABE :=#BIT1 // muss zuerst NULL sein (s.o.)
WRITE_ADDRESS :=#WRITE_ADDRESS
WRITE_CONFIG_DB:=#WRITE_CONFIG_DB
WRITE_DB :=#WRITE_DB
READ_ADDRESS :=#READ_ADDRESS
READ_CONFIG_DB :=#READ_CONFIG_DB
READ_DB :=#READ_DB
RET_VALUE :=#t016

**************************************************************************

Calling FB 4: give commands via Communication Window

-----------------------------------------------------------------
(after setup via FB 1, because FB 1 operates via the Communication Window as well)

Network 5:
-----------
U M 95.0
SPB M401
L 0 // CAN-ID = 0
T MW 0
T MW 4
T MB 12
T MB 14 // subcommand
T MB 15 // command = 0:
SPA M499
M401: U M 95.1 // start-frame ready ?
SPB M402
L 0 // CAN-ID = 0 (for start-frame)
T MW 0
L W#16#100 // CAN-data = 0x01,0x00 (start-frame)
T MW 4
L 2
T MB 12
L 0
T MB 14 // subcommand
L 1
T MB 15 // command = 1: send frame
SPA M499

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 73 of 83

Examples
M402: U M 95.2 // sync-time ready ?
SPB M403
L 0
T MW 0
L W#16#200 // time = 512 msec
T MW 4
L 0
T MB 12
L 0
T MB 14 // subcommand
L 20
T MB 15 // command = 20: set sync-frame-time
SPA M499
M403: U M 95.3
SPB M404
L W#16#181 // 1.PDO of motor 1
T MW 0
L 0
T MW 4
T MB 12
T MB 14 // subcommand
L 4
T MB 15 // command = 4: activate reception
SPA M499
M404: U M 95.4
SPB M405
L W#16#18A // 1.PDO of motor 10
T MW 0
L 0
T MW 4
T MB 12
T MB 14 // subcommand
L 4
T MB 15 // command = 4: activate reception
SPA M499
M405: U M 95.5
SPB M406
L W#16#183 // 1.PDO of motor 3
T MW 0
L 0
T MW 4
T MB 12
T MB 14 // subcommand
L 4
T MB 15 // command = 4: activate reception
SPA M499
M406: U M 95.6
SPB M407
L W#16#184 // 1.PDO of motor 4
T MW 0
L 0
T MW 4
T MB 12
T MB 14 // subcommand
L 4
T MB 15 // command = 4: activate reception
SPA M499
M407: U M 95.7
SPB M408
L W#16#187 // 1.PDO of motor 7
T MW 0
L 0
T MW 4
T MB 12
T MB 14 // subcommand
L 4
T MB 15 // command = 4: activate reception
SPA M499
M408: U M 96.0
SPB M499
L W#16#188 // 1.PDO of motor 8
T MW 0
L 0
T MW 4
T MB 12
T MB 14 // subcommand
L 4
T MB 15 // command = 4: activate reception
SPA M499

Page 74 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Examples
M499: NOP 0
U E 125.7
SPB M498
UN E 125.7
= M 99.7
= M 99.6
L 0
T MW 0
T MW 4 // time = 0 => sync-frame off
L 0
T MB 12
L 0
T MB 14 // subcommand
L 20
T MB 15 // command = 20: set sync-frame-time
M498: NOP 0

Network 6:
-----------
CALL FB 4 , DB104
FREIGABE :=M99.6
WRITE_ENABLE :=M99.7
READ_ENABLE :=M99.7
WRITE_CAN_ID :=MW0
WRITE_DATA0 :=MB4
WRITE_DATA1 :=MB5
WRITE_DATA2 :=MB6
WRITE_DATA3 :=MB7
WRITE_DATA4 :=MB8
WRITE_DATA5 :=MB9
WRITE_DATA6 :=MB10
WRITE_DATA7 :=MB11
WRITE_LEN :=MB12
WRITE_SUBCOMMAND:=MB14
WRITE_COMMAND :=MB15
WRITE_ADDRESS :=W#16#F0
READ_ADDRESS :=W#16#F0
TRANSFER_READY :=M99.5
READ_CAN_ID :=MW0
READ_DATA0 :=MB4
READ_DATA1 :=MB5
READ_DATA2 :=MB6
READ_DATA3 :=MB7
READ_DATA4 :=MB8
READ_DATA5 :=MB9
READ_DATA6 :=MB10
READ_DATA7 :=MB11
READ_LEN :=MB12
READ_FIFO_COUNT :=MB14
READ_COMMAND :=MB15
READ_RET_VAL :=MW14
WRITE_RET_VAL :=MW16
L W#16#181
L MW 0
>I
SPB M601
L W#16#1FF
L MW 0
<I
SPB M601
L W#16#181
-I
SLD 4
SLD 3
T MD 14
AUF DB 92
L MW 0 // CAN-ID
T DBW [MD 14]
L MD 14
+ L#16
T MD 14
L 0 // reserve byte 2 + 3
T DBW [MD 14]
L MD 14
+ L#16
T MD 14
L MD 4 // data-byte 0 - 3
T DBD [MD 14]

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 75 of 83

Examples
L MD 14
+ L#32
T MD 14
L MD 8 // data-byte 4 - 7
T DBD [MD 14]
L MD 14
+ L#32
T MD 14
L MD 12 // length, counter, fifo-counter, command
T DBD [MD 14]
M601: UN M 99.6
S M 99.6
U M 99.5
R M 99.6

U M 99.5
U M 95.7
S M 96.0

U M 99.5
U M 95.6
S M 95.7

U M 99.5
U M 95.5
S M 95.6

U M 99.5
U M 95.4
S M 95.5

U M 99.5
U M 95.3
S M 95.4

U M 99.5
U M 95.2
S M 95.3

U M 99.5
U M 95.1
S M 95.2

U M 99.5
U M 95.0
S M 95.1

U M 99.5
S M 95.0

*****************************************************************************

Calling FB3
=======================
( in FB 3 FB 1 (motor set-up) and FB 2 (data exchange) are called )

CALL FB 3 , DB103
FREIGABE :=E125.7
KONFIG_DB:=W#16#5D // DB93: initialize motors 1,3,4,7,8 ; 1,4,8
DATEN_DB :=W#16#64
RET_VALUE:=MW16
L MW 16
L 2
>=I
= M 99.7
// motors initiliazed => Communication Window can be used

Page 76 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Examples
DB93: CONFIG_DB = configuration data block
==============================================
Address Name Type Initial val. Actual val. Comment
------- ---- --- ----------- ---------- ---------
0.0 v000 WORD W#16#5E W#16#5E Number of first DB with Tx-configuration
2.0 v002 WORD W#16#2FE W#16#2FE Length of DBs with Tx-configuration
4.0 v004 WORD W#16#0 W#16#0 Number of DBs with Tx-configuration
6.0 v006 WORD W#16#5F W#16#5F Number of first DB with Rx-configuration
8.0 v008 WORD W#16#2FE W#16#2FE Length of DBs with Rx-configuration
10.0 v010 WORD W#16#0 W#16#0 Number of DBs with Rx-configuration
12.0 v012 WORD W#16#60 W#16#60 Number of first DB with output data
14.0 v014 WORD W#16#3F9 W#16#3F9 Length of DBs with output data
16.0 v016 WORD W#16#0 W#16#0 Number of DBs with output data
18.0 v018 WORD W#16#61 W#16#61 Number of first DB with input data
20.0 v020 WORD W#16#3F9 W#16#3F9 Length of DBs with input data
22.0 v022 WORD W#16#0 W#16#0 Number of DBs with input data
24.0 v024 WORD W#16#80 W#16#80 PLC-start address of output page
26.0 v026 WORD W#16#80 W#16#80 PLC-start address of input page
28.0 v028 WORD W#16#F0 W#16#F0 PLC-start address of output-communication window
30.0 v030 WORD W#16#F0 W#16#F0 PLC-start address of input-communication window
32.0 v032 WORD W#16#62 W#16#62 Number of DB with Init list

Set-up motors 1, 3, 4, 7 and 8 ==> DB 94, DB 95, DB 96 and DB 97

DB94: TX_CONFIG = Data block with configuration of Tx-identifiers

===================================================================
Address Name Type Initial val. Actual val. Comment
------- ---- --- ----------- ---------- ---------
0.0 CAN_ID1 DWORD DW#16#0 DW#16#301 CAN-identifier
4.0 FORMAT1 BYTE B#16#0 B#16#B8 format-byte
5.0 LENGTH1 BYTE B#16#0 B#16#6 length
6.0 CAN_ID2 DWORD DW#16#0 DW#16#303 CAN-identifier
FORMAT2 BYTE B#16#0 B#16#B8 format-byte
LENGTH2 BYTE B#16#0 B#16#6 length
CAN_ID3 DWORD DW#16#0 DW#16#304 CAN-identifier
FORMAT3 BYTE B#16#0 B#16#B8 format-byte
LENGTH3 BYTE B#16#0 B#16#6 length
CAN_ID4 DWORD DW#16#0 DW#16#307 CAN-identifier
FORMAT4 BYTE B#16#0 B#16#B8 format-byte
LENGTH4 BYTE B#16#0 B#16#6 length
CAN_ID5 DWORD DW#16#0 DW#16#308 CAN-identifier
FORMAT5 BYTE B#16#0 B#16#B8 format-byte
LENGTH5 BYTE B#16#0 B#16#6 length
30.0 CAN_ID6 DWORD DW#16#0 DW#16#EEEEEEEE CAN-identifier (end flag)

FORMAT6 BYTE B#16#0 B#16#0 format-byte

LENGTH6 BYTE B#16#0 B#16#0 length
CAN_ID7 DWORD DW#16#0 DW#16#0 CAN-identifier
FORMAT7 BYTE B#16#0 B#16#0 format-byte
LENGTH7 BYTE B#16#0 B#16#0 length

DB95: RX_CONFIG = Data block with configuration of Rx-identifiers

===================================================================
Address Name Type Initial val. Actial val. Comment
------- ---- --- ----------- ---------- ---------
0.0 CAN_ID1 DWORD DW#16#0 DW#16#281 CAN-identifier
4.0 FORMAT1 BYTE B#16#0 B#16#B8 format-byte
5.0 LENGTH1 BYTE B#16#0 B#16#6 length
6.0 CAN_ID2 DWORD DW#16#0 DW#16#283 CAN-identifier
FORMAT2 BYTE B#16#0 B#16#B8 format-byte
LENGTH2 BYTE B#16#0 B#16#6 length
CAN_ID3 DWORD DW#16#0 DW#16#284 CAN-identifier
FORMAT3 BYTE B#16#0 B#16#B8 format-byte
LENGTH3 BYTE B#16#0 B#16#6 length
CAN_ID4 DWORD DW#16#0 DW#16#287 CAN-identifier
FORMAT4 BYTE B#16#0 B#16#B8 format-byte
LENGTH4 BYTE B#16#0 B#16#6 length
CAN_ID5 DWORD DW#16#0 DW#16#288 CAN-identifier
FORMAT5 BYTE B#16#0 B#16#B8 format-byte
LENGTH5 BYTE B#16#0 B#16#6 length
30.0 CAN_ID6 DWORD DW#16#0 DW#16#EEEEEEEE CAN-identifier

FORMAT6 BYTE B#16#0 B#16#0 format-byte

LENGTH6 BYTE B#16#0 B#16#0 length
CAN_ID7 DWORD DW#16#0 DW#16#0 CAN-identifier
FORMAT7 BYTE B#16#0 B#16#0 format-byte
LENGTH7 BYTE B#16#0 B#16#0 length

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 77 of 83

Examples
DB96: OUTPUT_DB = Data block for output data
======================================================
Address Name Type Initial val. Actual val. Comment
------- ---- --- ----------- ---------- ---------
0.0 laenge1 BYTE B#16#0 B#16#7 Length
1.0 force1 BYTE B#16#0 B#16#2 Force byte
2.0 data01 BYTE B#16#0 B#16#0 Data byte 0
3.0 data11 BYTE B#16#0 B#16#0 Data byte 1
4.0 data21 BYTE B#16#0 B#16#0 Data byte 2
5.0 data31 BYTE B#16#0 B#16#0 Datenbyte 3
6.0 data41 BYTE B#16#0 B#16#0 Data byte 4
7.0 data51 BYTE B#16#0 B#16#0 Data byte5
8.0 laenge2 BYTE B#16#0 B#16#7 Length
9.0 force2 BYTE B#16#0 B#16#1 Force byte
10.0 data02 BYTE B#16#0 B#16#0 Data byte 0
11.0 data12 BYTE B#16#0 B#16#0 Data byte 1
data22 BYTE B#16#0 B#16#0 Data byte 2
data32 BYTE B#16#0 B#16#0 Data byte 3
data42 BYTE B#16#0 B#16#0 Data byte 4
data52 BYTE B#16#0 B#16#0 Data byte5
laenge3 BYTE B#16#0 B#16#7 Length
force3 BYTE B#16#0 B#16#4 Force byte
data03 BYTE B#16#0 B#16#0 Data byte 0
data13 BYTE B#16#0 B#16#0 Data byte 1
data23 BYTE B#16#0 B#16#0 Data byte 2
data33 BYTE B#16#0 B#16#0 Data byte 3
data43 BYTE B#16#0 B#16#0 Data byte 4
data53 BYTE B#16#0 B#16#0 Data byte5
laenge4 BYTE B#16#0 B#16#7 Length
force4 BYTE B#16#0 B#16#0 Force byte
data04 BYTE B#16#0 B#16#0 Data byte 0
data14 BYTE B#16#0 B#16#0 Data byte 1
data24 BYTE B#16#0 B#16#0 Data byte 2
data34 BYTE B#16#0 B#16#0 Data byte 3
data44 BYTE B#16#0 B#16#0 Data byte 4
data54 BYTE B#16#0 B#16#0 Data byte5
laenge5 BYTE B#16#0 B#16#7 Length
force5 BYTE B#16#0 B#16#3 Force byte
data05 BYTE B#16#0 B#16#0 Data byte 0
data15 BYTE B#16#0 B#16#0 Data byte 1
data25 BYTE B#16#0 B#16#0 Data byte 2
data35 BYTE B#16#0 B#16#0 Data byte 3
data45 BYTE B#16#0 B#16#0 Data byte 4
data55 BYTE B#16#0 B#16#0 Data byte5
40.0 laenge6 BYTE B#16#0 B#16#EE Length
force6 BYTE B#16#0 B#16#0 Force byte

DB97: INPUT_DB = Data block for input data

======================================================
Address Name Type Initial val. Actual val. Comment
------- ---- --- ----------- ---------- ---------
0.0 laenge1 BYTE B#16#0 B#16#7 Length
1.0 zaehler1 BYTE B#16#0 B#16#0 Counter
2.0 data01 BYTE B#16#0 B#16#0 Data byte 0
3.0 data11 BYTE B#16#0 B#16#0 Data byte 1
4.0 data21 BYTE B#16#0 B#16#0 Data byte 2
5.0 data31 BYTE B#16#0 B#16#0 Data byte 3
6.0 data41 BYTE B#16#0 B#16#0 Data byte 4
7.0 data51 BYTE B#16#0 B#16#0 Data byte 5
8.0 laenge2 BYTE B#16#0 B#16#7 Length
zaehler2 BYTE B#16#0 B#16#0 Counter
data02 BYTE B#16#0 B#16#0 Data byte 0
data12 BYTE B#16#0 B#16#0 Data byte 1
data22 BYTE B#16#0 B#16#0 Data byte 2
data32 BYTE B#16#0 B#16#0 Data byte 3
data42 BYTE B#16#0 B#16#0 Data byte 4
data52 BYTE B#16#0 B#16#0 Data byte 5
laenge3 BYTE B#16#0 B#16#7 Length
zaehler3 BYTE B#16#0 B#16#0 Counter
data03 BYTE B#16#0 B#16#0 Data byte 0
data13 BYTE B#16#0 B#16#0 Data byte 1
data23 BYTE B#16#0 B#16#0 Data byte 2
data33 BYTE B#16#0 B#16#0 Data byte 3
data43 BYTE B#16#0 B#16#0 Data byte 4
data53 BYTE B#16#0 B#16#0 Data byte 5
laenge4 BYTE B#16#0 B#16#7 Length
zaehler4 BYTE B#16#0 B#16#0 Counter

Page 78 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Examples
data04 BYTE B#16#0 B#16#0 Data byte 0
data14 BYTE B#16#0 B#16#0 Data byte 1
data24 BYTE B#16#0 B#16#0 Data byte 2
data34 BYTE B#16#0 B#16#0 Data byte 3
data44 BYTE B#16#0 B#16#0 Data byte 4
data54 BYTE B#16#0 B#16#0 Data byte 5
laenge5 BYTE B#16#0 B#16#7 Length
zaehler5 BYTE B#16#0 B#16#0 Counter
data05 BYTE B#16#0 B#16#0 Data byte 0
data15 BYTE B#16#0 B#16#0 Data byte 1
data25 BYTE B#16#0 B#16#0 Data byte 2
data35 BYTE B#16#0 B#16#0 Data byte 3
data45 BYTE B#16#0 B#16#0 Data byte 4
data55 BYTE B#16#0 B#16#0 Data byte 5
40.0 laenge6 BYTE B#16#0 B#16#EE Length
zaehler6 BYTE B#16#0 B#16#0 Counter

DB98: INIT_LIST_DB = Data block with list of motors which are available / are being initialized
====================================================================================================
Address Name Type Initial val. Actual val. Comment
------- ---- --- ----------- ---------- ---------
0.0 init_db1 WORD W#16#63 W#16#63 Motor 1 available and initialize
2.0 init_offset1 WORD W#16#0 W#16#0 --> list from DB 99 data word 0
4.0 init_status1 WORD W#16#0 W#16#0
6.0 reserve1 WORD W#16#0 W#16#0
8.0 init_db2 WORD W#16#0 W#16#0 Motor 2 not available
10.0 init_offset2 WORD W#16#0 W#16#0
12.0 init_status2 WORD W#16#0 W#16#0
14.0 reserve2 WORD W#16#0 W#16#0
16.0 init_db3 WORD W#16#FFFF W#16#FFFF Motor 3 available
18.0 init_offset3 WORD W#16#0 W#16#0
20.0 init_status3 WORD W#16#0 W#16#0
22.0 reserve3 WORD W#16#0 W#16#0
24.0 init_db4 WORD W#16#63 W#16#63 Motor 4 available and initialize
26.0 init_offset4 WORD W#16#82 W#16#82 --> list from DB 99 data word 130
28.0 init_status4 WORD W#16#0 W#16#0
30.0 reserve4 WORD W#16#0 W#16#0
32.0 init_db5 WORD W#16#0 W#16#0 Motor 5 not available
34.0 init_offset5 WORD W#16#0 W#16#0
36.0 init_status5 WORD W#16#0 W#16#0
38.0 reserve5 WORD W#16#0 W#16#0
40.0 init_db6 WORD W#16#0 W#16#0 Motor 6 not available
42.0 init_offset6 WORD W#16#0 W#16#0
44.0 init_status6 WORD W#16#0 W#16#0
46.0 reserve6 WORD W#16#0 W#16#0
48.0 init_db7 WORD W#16#FFFF W#16#FFFF Motor 7 available
50.0 init_offset7 WORD W#16#0 W#16#0
52.0 init_status7 WORD W#16#0 W#16#0
54.0 reserve7 WORD W#16#0 W#16#0
56.0 init_db8 WORD W#16#63 W#16#63 Motor 8 available and initialize
58.0 init_offset8 WORD W#16#0 W#16#0 --> list from DB 99 data word 0
60.0 init_status8 WORD W#16#0 W#16#0
62.0 reserve8 WORD W#16#0 W#16#0
64.0 init_db9 WORD W#16#0 W#16#0 Motor 9 not available
66.0 init_offset9 WORD W#16#0 W#16#0
68.0 init_status9 WORD W#16#0 W#16#0
70.0 reserve9 WORD W#16#0 W#16#0
. . . . .
. . . . .
. . . . .
(always 0 => motor xxx not available)

DB99: INIT_DB = Data block with setup list

================================================================
Address Name Type Initial val. Actual val. Comment
------- ---- --- ----------- ---------- ---------
0.0 v010 WORD W#16#1000 W#16#1000 index
2.0 v012 BYTE B#16#0 B#16#0 subindex
3.0 v013 BYTE B#16#2 B#16#2 ccs = 2 => read (domain upload)
4.0 v014 BYTE B#16#0 B#16#0 length
5.0 v015 BYTE B#16#0 B#16#0 data 0
6.0 v016 BYTE B#16#0 B#16#0 data 1
7.0 v017 BYTE B#16#0 B#16#0 data 2
8.0 v018 BYTE B#16#0 B#16#0 data 3
9.0 v019 BYTE B#16#0 B#16#0 reserve
10.0 v020 WORD W#16#6040 W#16#6040 index

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 79 of 83

Examples
12.0 v022 BYTE B#16#0 B#16#0 subindex
v023 BYTE B#16#1 B#16#1 ccs = 1 => write (domain download)
v024 BYTE B#16#2 B#16#2 length
v025 BYTE B#16#0 B#16#0 data 0
v026 BYTE B#16#6 B#16#6 data 1
v027 BYTE B#16#0 B#16#0 data 2
v028 BYTE B#16#0 B#16#0 data 3
v029 BYTE B#16#0 B#16#0 reserve
v0101 WORD W#16#6040 W#16#6040 index
v0121 BYTE B#16#0 B#16#0 subindex
v0131 BYTE B#16#1 B#16#1 ccs
v0141 BYTE B#16#2 B#16#2 length
v0151 BYTE B#16#0 B#16#0 data 0
v0161 BYTE B#16#7 B#16#7 data 1
v0171 BYTE B#16#0 B#16#0 data 2
v0181 BYTE B#16#0 B#16#0 data 3
v0191 BYTE B#16#0 B#16#0 reserve
v0102 WORD W#16#1002 W#16#1002 index
v0122 BYTE B#16#0 B#16#0 subindex
v0132 BYTE B#16#2 B#16#2 ccs
v0142 BYTE B#16#0 B#16#0 length
v0152 BYTE B#16#0 B#16#0 data 0
v0162 BYTE B#16#0 B#16#0 data 1
v0172 BYTE B#16#0 B#16#0 data 2
v0182 BYTE B#16#0 B#16#0 data 3
v0192 BYTE B#16#0 B#16#0 reserve
v0103 WORD W#16#6060 W#16#6060 index
v0123 BYTE B#16#0 B#16#0 subindex
v0133 BYTE B#16#1 B#16#1 ccs
v0143 BYTE B#16#1 B#16#1 length
v0153 BYTE B#16#6 B#16#6 data 0
v0163 BYTE B#16#0 B#16#0 data 1
v0173 BYTE B#16#0 B#16#0 data 2
v0183 BYTE B#16#0 B#16#0 data 3
v0193 BYTE B#16#0 B#16#0 reserve
v0104 WORD W#16#6098 W#16#6098 index
v0124 BYTE B#16#0 B#16#0 subindex
v0134 BYTE B#16#1 B#16#1 ccs
v0144 BYTE B#16#1 B#16#1 length
v0154 BYTE B#16#FF B#16#FF data 0
v0164 BYTE B#16#0 B#16#0 data 1
v0174 BYTE B#16#0 B#16#0 data 2
v0184 BYTE B#16#0 B#16#0 data 3
v0194 BYTE B#16#0 B#16#0 reserve
v0105 WORD W#16#200B W#16#200B index
v0125 BYTE B#16#0 B#16#0 subindex
v0135 BYTE B#16#1 B#16#1 ccs
v0145 BYTE B#16#4 B#16#4 length
v0155 BYTE B#16#0 B#16#0 data 0
v0165 BYTE B#16#0 B#16#0 data 1
v0175 BYTE B#16#0 B#16#0 data 2
v0185 BYTE B#16#0 B#16#0 data 3
v0195 BYTE B#16#0 B#16#0 reserve
v0106 WORD W#16#6040 W#16#6040 index
v0126 BYTE B#16#0 B#16#0 subindex
v0136 BYTE B#16#1 B#16#1 ccs
v0146 BYTE B#16#2 B#16#2 length
v0156 BYTE B#16#0 B#16#0 data 0
v0166 BYTE B#16#1F B#16#1F data 1
v0176 BYTE B#16#0 B#16#0 data 2
v0186 BYTE B#16#0 B#16#0 data 3
v0196 BYTE B#16#0 B#16#0 reserve
v0107 WORD W#16#6060 W#16#6060 index
v0127 BYTE B#16#0 B#16#0 subindex
v0137 BYTE B#16#1 B#16#1 ccs
v0147 BYTE B#16#1 B#16#1 length
v0157 BYTE B#16#1 B#16#1 data 0
v0167 BYTE B#16#0 B#16#0 data 1
v0177 BYTE B#16#0 B#16#0 data 2
v0187 BYTE B#16#0 B#16#0 data 3
v0197 BYTE B#16#0 B#16#0 reserve
v0108 WORD W#16#6040 W#16#6040 index
v0128 BYTE B#16#0 B#16#0 subindex
v0138 BYTE B#16#1 B#16#1 ccs
v0148 BYTE B#16#2 B#16#2 length
v0158 BYTE B#16#0 B#16#0 data 0
v0168 BYTE B#16#F B#16#F data 1
v0178 BYTE B#16#0 B#16#0 data 2
v0188 BYTE B#16#0 B#16#0 data 3

Page 80 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Examples
v0198 BYTE B#16#0 B#16#0 reserve
v0109 WORD W#16#6041 W#16#6041 index
v0129 BYTE B#16#0 B#16#0 subindex
v0139 BYTE B#16#2 B#16#2 ccs
v0149 BYTE B#16#0 B#16#0 length
v0159 BYTE B#16#0 B#16#0 data 0
v0169 BYTE B#16#0 B#16#0 data 1
v0179 BYTE B#16#0 B#16#0 data 2
v0189 BYTE B#16#0 B#16#0 data 3
v0199 BYTE B#16#0 B#16#0 reserve
v01010 WORD W#16#1801 W#16#1801 index
v01210 BYTE B#16#2 B#16#2 subindex
v01310 BYTE B#16#1 B#16#1 ccs
v01410 BYTE B#16#1 B#16#1 length
v01510 BYTE B#16#0 B#16#0 data 0
v01610 BYTE B#16#0 B#16#0 data 1
v01710 BYTE B#16#0 B#16#0 data 2
v01810 BYTE B#16#0 B#16#0 data 3
v01910 BYTE B#16#0 B#16#0 reserve
v030 WORD W#16#EEEE W#16#EEEE index
v012101 BYTE B#16#2 B#16#2 subindex
v013101 BYTE B#16#1 B#16#1 ccs
v014101 BYTE B#16#1 B#16#1 length
v015101 BYTE B#16#0 B#16#0 data 0
v016101 BYTE B#16#0 B#16#0 data 1
v017101 BYTE B#16#0 B#16#0 data 2
v018101 BYTE B#16#0 B#16#0 data 3
129.0 v019101 BYTE B#16#0 B#16#0 reserve
130.0 v0301 WORD W#16#1000 W#16#1000 index
132.0 v012102 BYTE B#16#0 B#16#0 subindex
133.0 v013102 BYTE B#16#2 B#16#2 ccs
v014102 BYTE B#16#0 B#16#0 length
v015102 BYTE B#16#0 B#16#0 data 0
v016102 BYTE B#16#0 B#16#0 data 1
v017102 BYTE B#16#0 B#16#0 data 2
v018102 BYTE B#16#0 B#16#0 data 3
v019102 BYTE B#16#0 B#16#0 reserve
140.0 v0302 WORD W#16#EEEE W#16#EEEE index

DB100: DATA_DB = Data block with input and output data of the maximum 127 motors
======================================================================================
Address Name Type Initial val. Actual val. Comment
------- ---- --- ----------- ---------- ---------
0.0 force1 BYTE B#16#0 B#16#0 Motor 1
1.0 res1 BYTE B#16#0 B#16#0
2.0 steuerwort1 WORD W#16#0 W#16#0
4.0 sollposition1 DWORD DW#16#0 DW#16#0
8.0 empfangszaehler1 BYTE B#16#0 B#16#0
9.0 reserve1 BYTE B#16#0 B#16#0
10.0 statuswort1 WORD W#16#0 W#16#0
12.0 istposition1 DWORD DW#16#0 DW#16#0
16.0 force2 BYTE B#16#0 B#16#0 Motor 2
res2 BYTE B#16#0 B#16#0
steuerwort2 WORD W#16#0 W#16#0
sollposition2 DWORD DW#16#0 DW#16#0
empfangszaehler2 BYTE B#16#0 B#16#0
reserve2 BYTE B#16#0 B#16#0
statuswort2 WORD W#16#0 W#16#0
istposition2 DWORD DW#16#0 DW#16#0
force3 BYTE B#16#0 B#16#0 Motor 3
res3 BYTE B#16#0 B#16#0
steuerwort3 WORD W#16#0 W#16#0
sollposition3 DWORD DW#16#0 DW#16#0
empfangszaehler3 BYTE B#16#0 B#16#0
reserve3 BYTE B#16#0 B#16#0
statuswort3 WORD W#16#0 W#16#0
istposition3 DWORD DW#16#0 DW#16#0
force4 BYTE B#16#0 B#16#0 Motor 4
res4 BYTE B#16#0 B#16#0
steuerwort4 WORD W#16#0 W#16#0
sollposition4 DWORD DW#16#0 DW#16#0
empfangszaehler4 BYTE B#16#0 B#16#0
reserve4 BYTE B#16#0 B#16#0
statuswort4 WORD W#16#0 W#16#0
istposition4 DWORD DW#16#0 DW#16#0
force5 BYTE B#16#0 B#16#0 Motor 5
res5 BYTE B#16#0 B#16#0
steuerwort5 WORD W#16#0 W#16#0

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 81 of 83

Examples
sollposition5 DWORD DW#16#0 DW#16#0
empfangszaehler5 BYTE B#16#0 B#16#0
reserve5 BYTE B#16#0 B#16#0
statuswort5 WORD W#16#0 W#16#0
istposition5 DWORD DW#16#0 DW#16#0
force6 BYTE B#16#0 B#16#0 Motor 6
res6 BYTE B#16#0 B#16#0
steuerwort6 WORD W#16#0 W#16#0
sollposition6 DWORD DW#16#0 DW#16#0
empfangszaehler6 BYTE B#16#0 B#16#0
reserve6 BYTE B#16#0 B#16#0
statuswort6 WORD W#16#0 W#16#0
istposition6 DWORD DW#16#0 DW#16#0
force7 BYTE B#16#0 B#16#0 Motor 7
res7 BYTE B#16#0 B#16#0
steuerwort7 WORD W#16#0 W#16#0
sollposition7 DWORD DW#16#0 DW#16#0
empfangszaehler7 BYTE B#16#0 B#16#0
reserve7 BYTE B#16#0 B#16#0
statuswort7 WORD W#16#0 W#16#0
istposition7 DWORD DW#16#0 DW#16#0
force8 BYTE B#16#0 B#16#0 Motor 8
res8 BYTE B#16#0 B#16#0
steuerwort8 WORD W#16#0 W#16#0
sollposition8 DWORD DW#16#0 DW#16#0
empfangszaehler8 BYTE B#16#0 B#16#0
reserve8 BYTE B#16#0 B#16#0
statuswort8 WORD W#16#0 W#16#0
istposition8 DWORD DW#16#0 DW#16#0
128.0 force9 BYTE B#16#0 B#16#0 Motor 9
res9 BYTE B#16#0 B#16#0
steuerwort9 WORD W#16#0 W#16#0
sollposition9 DWORD DW#16#0 DW#16#0
empfangszaehler9 BYTE B#16#0 B#16#0
reserve9 BYTE B#16#0 B#16#0
statuswort9 WORD W#16#0 W#16#0
istposition9 DWORD DW#16#0 DW#16#0

Page 82 of 83 Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 CAN-DP

 Important CANopen Messages

9. Important CANopen Messages

The following table gives a short list of important general CANopen messages.

CAN-identifier Data
Designation Length Explanations
[HEX] [HEX]
Starting all
0 NMT 2 01 xx
(preoperational -> operational)
0 NMT 2 80 xx Operational -> preoperational
0 NMT 2 81 xx Reset (e.g. CAN-I/O-module)
0 NMT 2 82 xx Reset communication
80h NMT 0 - Sync all
Emergency message (e.g. by
80h + Node-ID SDO 0...8 bytes error code
CANopen-I/O-module)

Node-ID. ... Node-ID of the accessed CANopen module

CAN-DP Software-Manual • Doc. No.: C.2905.21 / Rev. 1.4 Page 83 of 83