SST Automation GT100-CO-RS Manual de usuario

Modbus / CANopen Gateway

GT100-CO-RS

User Manual

V 2.2

Rev A

SST Automation

E-mail: SUPPORT@SSTCOMM.COM

WWW.SSTCOMM.COM

User Manual

Modbus CANopen / Gateway

GT100-CO-RS

WWW.SSTCOMM.COM

Important Information

Warning

The data and examples in this manual cannot be copied without authorization. SSTCOMM reserves the right to

upgrade the product without notifying users.

The product has many applications. The users must make sure that all operations and results are in accordance

with the safety of relevant fields, and the safety includes laws, rules, codes and standards.

Trademark

is the registered trade mark of SST Automation.

Technical Support Contact Information

www.sstcomm.com

E-mail: sup[email protected]om

User Manual

Modbus CANopen / Gateway

GT100-CO-RS

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Catalog

1 Product Overview...................................................................................................................................................... 1

1.1 Product Function.............................................................................................................................................1

1.2 Product Feature............................................................................................................................................... 1

1.2.1 CANopen Master/Modbus Slave.........................................................................................................1

1.2.2 CANopen Slave/Modbus Master.........................................................................................................1

1.3 Technical Specifications................................................................................................................................. 2

1.3.1 CANopen Master/Modbus Slave.........................................................................................................2

1.3.2 CANopen Slave/Modbus Master.........................................................................................................3

1.4 Related Products............................................................................................................................................. 4

1.5 Revision History............................................................................................................................................. 4

2 Hardware Descriptions.............................................................................................................................................. 5

2.1 Product Appearance........................................................................................................................................ 5

2.2 Indicators.........................................................................................................................................................6

2.3 LED Display................................................................................................................................................... 6

2.4 Configuration Button...................................................................................................................................... 6

2.5 Interface.......................................................................................................................................................... 7

2.5.1 Power Interface....................................................................................................................................7

2.5.2 CAN Interface......................................................................................................................................7

2.5.3 Serial Interface.....................................................................................................................................7

2.5.4 Mini B Type USB................................................................................................................................ 8

3 Installation..................................................................................................................................................................9

3.1 Machine Dimensions...................................................................................................................................... 9

3.2 Installation Method......................................................................................................................................... 9

4 Quick Start Guide.................................................................................................................................................... 10

5 Software Instructions............................................................................................................................................... 12

6 Working Principle.................................................................................................................................................... 14

6.1 CANopen Master/Modbus Slave..................................................................................................................14

6.2 CANopen Slave/Modbus Master..................................................................................................................17

7 Typical Application.................................................................................................................................................. 21

7.1 CANopen Master/Modbus Salve..................................................................................................................21

7.2 CANopen Slave/Modbus Master..................................................................................................................22

8 Troubleshooting....................................................................................................................................................... 23

User Manual

Modbus CANopen / Gateway

GT100-CO-RS

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1 Product Overview

1.1 Product Function

GT100-CO-RS can act as two different communication gateways, that is:

(1) A communication gateway between CANopen master protocol and Modbus slave protocol, can establish

connection between one CANopen slave and Modbus master device.

(2) A communication gateway between Modbus master protocol and CANopen slave protocol, can establish

connection between many Modbus slave devices and CANopen master device.

1.2 Product Feature

1.2.1 CANopen Master/Modbus Slave

Easy to configure just through USB port on PC.

Acts as master at the side of CANopen network and slave at Modbus side, the gateway can provide data

communication between one CANopen slave and Modbus master.

CANopen supports DS301V4.02. Supports NMT, PDO, SDO, Heartbeat and Guardlife.

Supports maximum 8 bytes TPDO and RPDO, fast Download SDO and fast Upload SDO.

Supports up to 128 CANopen commands.

Function code Modbus slave supports: 03H, 04H, 06H and 10H.

Supports communication mode: RTU, ASCII.

CANopen baud rate: 5K~1Mbps.

Supports single CANopen slave node.

Serial port baud rate: 1200~115200bps.

Serial port supports: RS232, RS485, RS422.

Data exchange buffer is 1K. (512 bytes input and 512 bytes output)

CAN port and RS232 (RS485/RS422) can stand 1KV photoelectric isolation.

Built-in terminal resistor and switch.

1.2.2 CANopen Slave/Modbus Master

Easy to configure just through USB port on PC.

Acts as slave at the side of CANopen network and master at Modbus side, the gateway can provide data

communication between many Modbus slave and CANopen master.

Supports CANopen DS301V4.02. Supports NMT, PDO, SDO, Heartbeat and Guardlife, The cycle for TPDO

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transmission and Timestamp.

Supports maximum 8 bytes TPDO and RPDO, 4 bytes fast Download SDO and fast Upload SDO.

Supports up to 64 TPDO, 64 RPDO and SDO visit for input/output data exchange buffer.

Function code Modbus master supports: 01H, 02H, 03H, 04H, 05H, 06H, 0FH and 10H.

Supports communication mode: RTU, ASCII.

CANopen baud rate: 5K~1Mbps.

Supports many Modbus slave nodes.

Serial port baud rate: 1200~115200bps.

Serial port supports: RS232, RS485, RS422.

Data exchange buffer is 1K. (Input is 512 bytes and output is 512 bytes)

CAN port and RS232 (RS485/RS422) can stand 1KV photoelectric isolation.

Built-in terminal resistor and switch.

1.3 Technical Specifications

1.3.1 CANopen Master/Modbus Slave

[1] The gateway can achieve data communication between one CANopen slave and Modbus master.

[2] CANopen master features:

CANopen supports DS301V4.02. Supports NMT, PDO, SDO, Heartbeat and Guardlife.

CANopen interface supports: 5Kbps, 10Kbps, 20Kbps, 50Kbps, 100Kbps, 125Kbps, 250Kbps, 500Kbit/s

and 1Mbps.

CAN interface supports CAN2.0A protocol.

Supports maximum 8 bytes TPDO and RPDO, fast Download SDO and fast Upload SDO.

TPDO and RPDO can use default COBID, or use user-defined COBID, default COBID:

TPDO COBID: 384 + node address (0x180+node address) or 640 + node address (0x280+node address)

or 896 + node address (0x380+node address) or1152 + node address (0x480+node address).

RPDO COBID: 512 + node address (0x200+node address) or 768 + node address (0x300+ node address)

or 1024 + node address (0x400+ node address) or 1280 + node address (0x500+node address).

Supports TPDO, RPDO, SDO command numbers configuration, configure up to 128 commands. (not

limited to command numbers of one kind)

[3] Modbus slave features:

Supports function code: 03H, 04H, 06H, 10H.

Supports communication mode: RTU and ASCII.

Supports RS485 orRS232 interface, half-duplex, bard rate: 1200~115200bps.

(Supports baud rate: 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200)

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Data bits: 8.

Parity: None, Odd and Even optional.

Stop bits: 1 and 2 optional.

[4] Power: 24VDC (11~30VDC), maximum 60mA (24VDC).

[5] Operating temperature: -4℉~140℉(-20℃to 60℃). Humidity: 5% to 95% (non-condensing).

[6] Dimensions (W*H*D): 1.0 in*4.0 in *3.6 in (25mm*100mm*90mm).

[7] Installation: 1.4 in (35mm) DIN RAIL.

[8] Pollution level: Class 3.

1.3.2 CANopen Slave/Modbus Master

[1] The gateway can achieve data communication between many Modbus slave and CANopen master.

[2] CANopen slave features:

CANopen supports DS301V4.02. Supports NMT, PDO, SDO, both Heartbeat and Guardlife, The cycle for

TPDO transmission and Timestamp.

CANopen interface supports: 5Kbps, 10Kbps, 20Kbps, 50Kbps, 100Kbps, 125Kbps, 250Kbps, 500Kbit/s

and 1Mbps.

CAN interface supports CAN2.0A protocol.

Supports maximum 8 bytes TPDO and RPDO, 4 bytes fast Download SDO and fast Upload SDO.

TPDO and RPDO can use default COBID, or use user-defined COBID, default COBID:

TPDO COBID: 384 + node address (0x180+node address) or 640 + node address (0x280+node address)

or 896 + node address (0x380+node address) or1152 + node address (0x480+node address).

RPDO COBID: 512 + node address (0x200+node address) or 768 + node address (0x300+ node address)

or 1024 + node address (0x400+ node address) or 1280 + node address (0x500+node address).

Supports at most 64 TPDO, 64 RPDO commands.

[3] Modbus master features:

Function code Modbus master supports: 01H, 02H, 03H, 04H, 05H, 06H, 0FH and 10H.

Supports communication mode: RTU, ASCII.

Write command output mode: Cycle, forbidden or change of value optional.

Modbus master can configure at most 48 commands.

Supports RS485 orRS232 interface, half-duplex, bard rate: 1200~115200bps.

(Supports baud rate: 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200)

Data bits: 8.

Parity: None, Odd and Even optional.

Stop bits: 1 and 2 optional.

[4] Power: 24 VDC (11~30 VDC), maximum 60mA(24VDC).

User Manual

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[5] Operating temperature: -40℉~140℉(-40℃to 60℃). Humidity: 5%~95% (non-condensing).

[6] Dimensions (W*H*D):1.0 in * 4.0 in *3.6 in (25 mm * 100 mm * 90 mm).

[7] Installation: 1.4 in (35 mm) DIN RAIL.

[8] Pollution level: class 3.

1.4 Related Products

The related products include: GT200-CO-RS, GT100-CA-MS485, GT100-CA-RS etc.

To get more information about related products, please visit SSTCOMM website: www.sstcomm.com.

1.5 Revision History

Revision

Date

Chapter

Description

V2.2, RevA

1/25/2022

ALL

Update the format.

User Manual

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2 Hardware Descriptions

2.1 Product Appearance

Notes: This picture is for reference only. The product appearance is subject to the actual product.

Power Interface

CANopen Interface

Serial Status Indicator

LED Display

CANopen Status Indicator

Configuration Button

USB Config Port

Terminal Resistor Switch

RS232 Interface

RS485/422 Interface

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2.2 Indicators

Indicators

Status

Description

CANopen status

ERR

red off

CAN network is normal.

red on

CAN port error (baud rate error, Bus

off, etc).

red blinking

The error counter of CAN controller

reach or exceed alarm value.

RUN

green on

run state.

green light on every 200ms, off

every 1000ms

stop state.

green light on every 200ms, off

every 200ms

pre-run state.

serial status

green blinking

serial port is sending data.

green off

serial port no connection or error.

green blinking

serial port is receiving data.

green off

serial port no connection or error.

2.3 LED Display

LED Display

Description

“01”~“99”

The slave address when the GT100-CO-RS acts as a CANopen slave or a Modbus

slave.

The GT100-CO-RS is in the configuration state.

CAN sending error.

“88” (blink once)

Restarting.

2.4 Configuration Button

Double click the button to enter into the configuration mode. The LED displays "CF", users can configure relevant

communication parameters through configuration software.

Under configuration mode, double click the button, the gateway will keep the current configuration and reset the

system after waiting for a while and enter into the run state.

User Manual

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2.5 Interface

2.5.1 Power Interface

Function

Power GND

NC(Not Connected)

24V+, DC Positive 24V

2.5.2 CAN Interface

CAN interface of GT100-CO-RS uses 5-pin connector:

V+

GND

CAN-L

Shield

CAN-H

Note:

（1）Here, shield port is optional. The CAN-L and CAN-H must be connected. Here pin 1 and 5 are connected to

the pin 3 and pin 1 of power port internally(Chapter2.5.1).

（2）Chapter2.5.1 and Chapter2.5.2 both contain power interfaces, and only one of them is required to connect.

If two power interfaces are connected at the same time, the gateway will be burned.

2.5.3 Serial Interface

RS232 interface:

Function

RX, Connect RS232's RX of user device

TX, Connect RS232's TX of user device

GND, Connect RS232's GND of user device

Wiring

Pin 1

V+, 24VDC(optional)

Pin 2

CAN-H

Pin 3

Shield (optional)

Pin 4

CAN-L

Pin 5

GND, GND of 24V (optional)

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