User Manual CAN / CANopen - Converter

Document code: MN67042_ENG Revision 1.100 Page 1 of 40

Industrial Electronic Devices

User Manual
Revision 1.100
English

CAN / CANopen - Converter

(Order Code: HD67042-A1, HD67042-A3, HD67042-A4)

for Website information:

www.adfweb.com?Product=HD67042
For others Gateways / Bridges:
for Price information:
J1939 to Modbus
www.adfweb.com?Price=HD67042-A1
www.adfweb.com?Price=HD67042-A3 See also the following links:
www.adfweb.com?Price=HD67042-A4 www.adfweb.com?Product=HD67215 (Modbus TCP)

CANopen to Modbus
See also the following links:
Benefits and Main Features: www.adfweb.com?Product=HD67001 (Modbus RTU Master)
www.adfweb.com?Product=HD67002 (Modbus RTU Slave)
Very easy to configure www.adfweb.com?Product=HD67004 (Modbus TCP Master)
www.adfweb.com?Product=HD67005 (Modbus TCP Slave)
Electrical isolation
For others Gateways / Bridges:
Temperature range: -40°C/85°C (-40°F/185°F) For CAN bus 2.0A and/or CAN bus 2.0B to Modbus
See also the following links:
www.adfweb.com?Product=HD67011 (Modbus RTU Slave)
www.adfweb.com?Product=HD67012 (Modbus RTU Master)
www.adfweb.com?Product=HD67014 (Modbus TCP Slave)
www.adfweb.com?Product=HD67015 (Modbus TCP Master)

Do you have an your customer protocol?

See the following links:
www.adfweb.com?Product=HD67003

Do you need to choose a device? do you want help?

Ask it to the following link:
www.adfweb.com?Cmd=helpme
User Manual

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INDEX: UPDATED DOCUMENTATION:

Page Dear customer, we thank you for your attention and we remind you that
INDEX 2 you need to check that the following document is:
UPDATED DOCUMENTATION 2 Updated
REVISION LIST 2
Related to the product you own
WARNING 2
TRADEMARKS 2
To obtain the most recently updated document, note the “document code”
SECURITY ALERT 3
that appears at the top right-hand corner of each page of this document.
CONNECTION SCHEME 4
CHARACTERISTICS 7
With this “Document Code” go to web page www.adfweb.com/download/
CONFIGURATION 7
and search for the corresponding code on the page. Click on the proper
POWER SUPPLY 8
“Document Code” and download the updates.
FUNCTION MODES 9
LEDS 10
CANOPEN 11 REVISION LIST:
CAN 12
ETHERNET 13 Revision Date Author Chapter Description
USE OF COMPOSITOR SW67042 14 1.004 11/07/2012 Dp All Revision
NEW PROJECT / OPEN PROJECT 15 1.005 26/03/2013 Nt All Added new chapters
SOFTWARE OPTIONS 16 1.006 05/11/2013 Dp All Revision
SET COMMUNICATION 18 1.100 15/11/2015 Ff All New hardware version
RECEIVE CAN 20
DEFINE SDO (STEP 3) 22 WARNING:
DEFINE TPDO 23
TRANSMIT CAN 25 ADFweb.com reserves the right to change information in this manual about
DEFINE SDO (STEP 4) 27 our product without warning.
DEFINE RPDO 28 ADFweb.com is not responsible for any error this manual may contain.
SET SDO CLIENT 30
SET NODEGUARDING 32
EDS FILE 32
TRADEMARKS:
UPDATE DEVICE 33
NMT REQUESTS 36
All trademarks mentioned in this document belong to their respective
MECHANICAL DIMENSIONS 37
owners.
ORDER CODE 38
ACCESSORIES 38
DISCLAIMER 39
OTHER REGULATIONS AND STANDARDS 39
WARRANTIES AND TECHNICAL SUPPORT 40
RETURN POLICY 40

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SECURITY ALERT:

GENERAL INFORMATION
To ensure safe operation, the device must be operated according to the instructions in the manual. When using the device, legal and
safety regulation are required for each individual application. The same applies also when using accessories.

INTENDED USE
Machines and systems must be designed so the faulty conditions do not lead to a dangerous situation for the operator (i.e.
independent limit switches, mechanical interlocks, etc.).

QUALIFIED PERSONNEL
The device can be used only by qualified personnel, strictly in accordance with the specifications.
Qualified personnel are persons who are familiar with the installation, assembly, commissioning and operation of this equipment and
who have appropriate qualifications for their job.

RESIDUAL RISKS
The device is state-of-the-art and is safe. The instruments can represent a potential hazard if they are inappropriately installed and
operated by untrained personnel. These instructions refer to residual risks with the following symbol:

This symbol indicates that non-observance of the safety instructions is a danger for people that could lead to serious injury or
death and / or the possibility of damage.

CE CONFORMITY
The declaration is made by our company. You can send an email to [email protected] or give us a call if you need it.

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CONNECTION SCHEME:

Figure 1a: Connection scheme for HD67042-A1

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Figure 1b: Connection scheme for HD67042-A3

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Figure 1c: Connection scheme for HD67042-A4

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CHARACTERISTICS:

The HD67042 is a CAN / CANopen Converter.

They have the following characteristics:

Triple isolation between CAN - Power Supply, CAN - CANopen, CANopen - Power Supply;
Two-directional information between CANopen bus and CAN bus;
Mountable on 35mm Rail DIN;
Wide power supply input range: 8…24V AC or 12…35V DC;
Wide temperature range: -40°C / 85°C [-40°F / +185°F].

CONFIGURATION:

You need Compositor SW67042 software on your PC in order to perform the following:
Define the parameters of CAN line;
Define the parameters of CANopen line;
Define the CAN messages in reception and in which CANopen objects they will be mapped;
Define the CAN messages in transmission and from which CANopen objects they will be taken;
Update the device.

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POWER SUPPLY:

The devices can be powered at 8…24V AC and 12…35V DC. For more details see the two tables below.

VAC VDC
Vmin Vmax Vmin Vmax
8V 24V 12V 35V

Consumption at 24V DC:

Device Consumption [W/VA]

HD67042-A1 3.5
HD67042-A3 3.5
HD67042-A4 3.5

Caution: Do not reverse the polarity power

HD67042-A1 HD67042-A3 HD67042-A4

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FUNCTION MODES:

The device has got two function modes depending on the position of the ‘Dip2 of Dip-Switch A’:
The first, with ‘Dip2 of Dip-Switch A’ at “OFF” position, is used for the normal working of the device.
The second, with ‘Dip2 of Dip-Switch A’ at “ON” position, is used for uploading the Project and/or Firmware.

For the operations to follow for the updating, see ‘UPDATE DEVICE’ section.

According to the functioning mode, the LEDs will have specific functions, see ‘LEDS’ section.

Warning:
Dip1 of ‘Dip-Switch A’ must be at ON position to work even if the Ethernet cable is not inserted.

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LEDS:

The device has got four LEDs that are used to give information about the functioning status.
The various meanings of the LEDs are described in the table below.

LED Normal Mode Boot Mode

Blinks quickly: Boot state
1: Device state Blinks slowly (~1Hz)
Blinks very slowly (~0.5Hz): update in progress

ON: Ethernet cable connected ON: Ethernet cable connected

2: Ethernet Link
OFF: Ethernet cable disconnected OFF: Ethernet cable disconnected

Blinks quickly: Boot state

3: CAN communication Blinks when a CAN frame is received
Blinks very slowly (~0.5Hz): update in progress
Blinks quickly: Boot state
4: CANopen communication Blinks when a CANopen frame is received
Blinks very slowly (~0.5Hz): update in progress

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CANOPEN:

To terminate the CANopen line with a 120Ω resistor it is necessary that the Dip1 of ‘Dip-Switch B’ is at ON position.

Cable characteristics:

DC parameter: Impedance 70 Ohm/m

AC parameters: Impedance 120 Ohm/m
Delay 5 ns/m
Length Baud Rate [bps] Length MAX [m]
10 K 5000
20 K 2500
50 K 1000
100 K 650
125 K 500
250 K 250
500 K 100
800 K 50
1000 K 25

Here some codes of cable:

Belden: p/n 3105A - 1x 22WG stranded twisted pairs conductor + foil shield + braid shield.

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CAN:

To terminate the CAN line with a 120Ω resistor it is necessary that the Dip1 of ‘Dip-Switch C’ is at ON position.

Cable characteristics:

DC parameter: Impedance 70 Ohm/m

AC parameters: Impedance 120 Ohm/m
Delay 5 ns/m
Length Baud Rate [bps] Length MAX [m]
10 K 5000
20 K 2500
50 K 1000
100 K 650
125 K 500
250 K 250
500 K 100
800 K 50
1000 K 25

Here some codes of cable:

Belden: p/n 3105A - 1x 22WG stranded twisted pairs conductor + foil shield + braid shield.

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ETHERNET:

The Ethernet connection must be made using Connector4 HD67042 with at least a Category 5E cable. The maximum length of the cable
should not exceed 100m. The cable has to conform to the T568 norms relative to connections in cat.5 up to 100 Mbps. To connect the device
to an Hub/Switch is recommended the use of a straight cable, to connect the device to a PC is recommended the use of a cross cable.

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USE OF COMPOSITOR SW67042:

To configure the Converter, use the available software that runs with Windows called SW67042. It is downloadable from the site
www.adfweb.com and its operation is described in this document (this manual is referenced to the last version of the software present on our
web site). The software works with MSWindows (XP, Vista, Seven, 8, 10; 32/64bit).

When launching the SW67042, the window below appears (Fig. 2).

Note:
It is necessary to have installed .Net Framework 4.

Figure 2: Main window for SW67042

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NEW CONFIGURATION / OPEN CONFIGURATION:

The “New Configuration” button creates the folder which contains the entire device’s configuration.

A device’s configuration can also be imported or exported:

To clone the configurations of a Programmable “CAN / CANopen - Converter” in order
to configure another device in the same manner, it is necessary to maintain the folder
and all its contents;
To clone a project in order to obtain a different version of the project, it is sufficient to
duplicate the project folder with another name and open the new folder with the
button “Open Configuration”.

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SOFTWARE OPTIONS:

By pressing the “Settings” ( ) button there is the possibility to change the language of the software and check the updatings for the
compositor.

In the section “Language” it is possible to change the language of the

software.

In the section “Connection Options”, it is possible to check if there are some

updatings of the software compositor in ADFweb.com website.
Checking the option “Check Software Update at Start of Program”, the
SW67042 check automatically if there are updatings when it is launched.

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In the section “Software Settings”, it is possible to enable/disable some

keyboard’s commands for an easier navigation inside the tables contained in
the different sections of the software.

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SET COMMUNICATION:

This section define the fundamental communication parameters of two buses, CAN and CANopen.

By Pressing the “Set Communication” button from the main window for
SW67042 (Fig. 2) the window “Set Communication” appears (Fig. 3).

In the section “Select Device” it is possible to select the type of converter used:
Device with Serial (RS232);
Device with Ethernet.

The means of the fields for “CAN” section are:

In the field “Baudrate” the data rate of the CAN is defined;
In the field “Type” it is possible to define the type of CAN used (2.0A or
2.0B) (only if “Device with Serial (RS232)” is set);
In the field “TimeOut (s)” the timeout of the data is defined. If the CAN
frame is not received in this time, on CANopen side the value of the data
of the CAN frame become “0” (only if “Device with Serial (RS232)” is
set);
If the field “Send Cyclically (ms)” is checked, the CAN frames in
transmission are sent cyclically. The delay time is defined in the field on
the right (only if “Device with Serial (RS232)” is set).

The means of the fields for “CANopen” are:

In the field “ID Device” the CANopen ID for the converter is defined;
In the field “Baudrate” the data rate of the CANopen is defined;
If the field “Set Operational State at Start-up” is checked, the state
of the CANopen is defined. I.e. if it is checked the board starts in
Operational State, else it starts in Pre-Operational;

Figure 3: “Set Communication” windows

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If the field “Network Start at Start-up” is checked, the state of the CANopen network is defined. I.e. if it is checked the board
sends a command to set the Operational State of all the devices present in the network. In the field “Delay (s)” the delay before
sending the network command for the CANopen is defined;
If the field “Enable SDO Client” is checked, the SDO Client function is enabled. In the field “TimeOut SDO (1/10ms)” the timeout
for the SDO requests is defined;
If the field “Enable NodeGuarding” is checked, the NodeGuarding function is enabled. It is possible to send the NodeGuarding
information on CAN checking the option “Send Nodes State on CAN Network” with the defined delay in “Send Frames every
(ms)” field (only if “Device with Ethernet” is set);
In the field “TPDO” the transmission mode for the TPDOs is defined: it is possible to choose ‘On Timer’ or ‘On Change’. If “On Timer”
is defined, the delay between the TPDOs is defined in the field “TPDO Send Time (ms)” (only if “Device with Serial (RS232)” is set);
If the field “Enable NMT Service” is enabled, it is possible to send NMT messages to CANopen devices from CAN. In the field “CAN
Frame for NMT” the COB-ID for the CAN message is defined. Please, see page 36 for more info.

The means of the fields for “Ethernet” section are (only if “Device with Ethernet” is set):
In the field “IP Address” the IP address of the converter is defined;
In the field “Subnet Mask” the Subnet Mask of the converter is defined;
If the field “Gateway” is checked it is possible to insert, in the field under, the IP Address of the Converter used for going out to the
net.

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RECEIVE CAN:

By pressing the “Receive CAN” button from the main window for SW67042 (Fig. 2) the window “Receive CAN Frames” appears (Fig. 4). In
this section, it is possible to define the CAN frames that the converter will receive from CAN network.

If “Device with Serial (RS232)” is set in the section “Set Communication”, the window appears like below:

Figure 4a: “Receive CAN Frame Definition” window

In the field “Cob-ID” insert the Cob-ID of the CAN frame;

In the field “Dimension” insert the number of bytes of the CAN frame (the maximum dimension is 8 Bytes);
If the field “Delete” is checked, if the CAN frame is not received in the timeout defined in the “Set Communication” window, the value
of the data on CANopen side become “0”;
In the field “Mnemonic” a description of the frame is defined.

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If “Device with Ethernet” is set in the section “Set Communication”, the window appears like below:

Figure 4b: “Receive CAN Frame Definition” window

In the field “Cob-ID” insert the Cob-ID of the CAN frame;

In the field “Type” insert the type of the CAN protocol used for each frame (CAN 2.0A (11 bits) or CAN 2.0B (29 bits));
In the field “Dimension” insert the number of bytes of the CAN frame (the maximum dimension is 8 Bytes);
If the field “TimeOut” insert the TimeOut; if the CAN frame is not received in the timeout defined, the value of the data on CANopen
side become “0”;
In the field “Mnemonic” a description of the frame is defined.

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DEFINE SDO

By pressing the “Define SDO” button near “Receive CAN” from the
main window for SW67042 (Fig. 2) the window “Define Read Server
SDOs for Receive CAN Frames” appears (Fig. 5):

In the field “List of Receive CAN Frames” there is the list

of CAN Frames that you inserted in “Receive CAN” section.
In the field “List of Server SDO in Read” there are the
SDOs Objects in read.
In the field “Create/Modify a Server SDO” you can define
the Index, SubIndex and the Dimension of the SDO Object
to create and the bytes of the CAN frame which you will
map in.

For example:

Click on the CAN frame, insert the valid parameters in the fields
“Index SDO”, “SubIndex SDO” and “Dimension SDO”, select which
bytes of the CAN frame you want to map inside the SDO, click the
“Create” button. In the field “List of Server SDO in Read” appears the
new SDO Object created.

Figure 5: “Define Read Server SDOs for Receive CAN Frames” window

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DEFINE TPDO:

By pressing the “Define TPDO” button from the main window of SW67042 (Fig. 2) the window “Define Transmit PDO” appears (Fig. 6): in
this section, it is possible to define the PDO frames that the converter will send to the CANopen network.

If “Device with Serial (RS232)” is set in the section “Set Communication”, the window appears like below:

Figure 6a: “Define Transmit PDO” window

In the field “CobID”, the Cob-ID of the PDO is defined;

In the field “CAN Frame”, the CAN frame to link to the TPDO is defined;
If the field “On CAN”, the TPDO is transmitted when the CAN frame linked is received;
In the field “Mnemonic” a description of the frame is defined.

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If “Device with Ethernet” is set in the section “Set Communication”, the window appears like below:

Figure 6b: “Define Transmit PDO” window

In the field “CobID”, the Cob-ID of the PDO is defined;

In the field “CAN Frame”, the CAN frame to link to the TPDO is defined;
If the field “Data Change” is checked the TPDO frame is sent when the data into the linked CAN frame change;
If the field “On CAN”, the TPDO is transmitted when the CAN frame linked is received;
If the field “On Timer” is checked the TPDO is sent cyclically;
In the field “Timer (ms)” insert the cyclic delay for the “On Timer” option;
In the field “Mnemonic”, the description for the frame is defined.

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TRANSMIT CAN:

By pressing the “Transmit CAN” button from the main window of SW67042 the window “Transmit CAN Frames” appears (Fig. 7): in this
section, it is possible to define the CAN frames that the converter will send to the CAN network.

If “Device with Serial (RS232)” is set in the section “Set Communication”, the window appears like below:

Figure 7a: “Transmit CAN Frames” window

In the field “Cob-ID” insert the Cob-ID of the CAN frame;

In the field “Dimension” insert the number of bytes of the CAN frame (the maximum dimension is 8 Bytes);
In the field “Mnemonic” a description of the frame is defined.

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If “Device with Ethernet” is set in the section “Set Communication”, the window appears like below:

Figure 7b: “Transmit CAN Frames” window

In the field “Cob-ID” insert the Cob-ID of the CAN frame;

In the field “Type” insert the type of the CAN protocol used for each frame (CAN 2.0A (11 bits) or CAN 2.0B (29 bits));
In the field “Dimension” insert the number of bytes of the CAN frame (the maximum dimension is 8 Bytes);
If the field “On RPDO”, the CAN frame is transmitted when the RPDO linked is received;
If the field “On Change” is checked the CAN frame is sent when the data of the RPDO linked change;
If the field “On Timer” is checked the CAN frame is sent cyclically;
In the field “Timer (ms)” insert the cyclic delay for the “On Timer” option;
In the field “Mnemonic” the description for the frame is defined.

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DEFINE SDO

By pressing the “Define SDO” button near “Transmit CAN” from the
main window for SW67042 (Fig. 2) the window “Define Write Server
SDOs for Transmit CAN Frames” appears (Fig. 8):

In the field “List of Transmit CAN Frames” there is the

list of CAN Frames that you inserted in “Transmit CAN”
section.
In the field “List of Server SDO in Write” there are the
SDOs Objects in read.
In the field “Create/Modify a Server SDO” you can
define the Index, SubIndex and the Dimension of the SDO
Object to create and the bytes of the CAN frame which you
will map to.
With the field “Send CAN frame When Write SDO” it is
possible to decide when sending the CAN frame. If this
option is “True”, the CAN frame is transmitted when the
selected SDO is written.

For example:

Click on the CAN frame, insert the valid parameters in the fields
“Index SDO”, “SubIndex SDO” and “Dimension SDO”, select which
bytes of the CAN frame you want to map inside the SDO, click the
“Create” button. In the field “List of Server SDO in Write” appears the
new SDO Object created. Figure 8: “Define Write Server SDOs for Transmit CAN Frames” window

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DEFINE RPDO:

By pressing the “Define RPDO” button from the main window for SW67042 (Fig. 2) the window “Define Receive PDO” appears (Fig. 9). In
this section, it is possible to define the PDO frames that the converter will receive from CANopen network.

If “Device with Serial (RS232)” is set in the section “Set Communication”, the window appears like below:

Figure 9a: “Define Receive PDO” window

In the field “Cob-ID”, the Cob-ID of the PDO is defined;

In the field “CAN Frame”, the CAN frame to link to the RPDO is defined;
In the field “Mnemonic”, a description of the PDO is defined.

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If “Device with Ethernet” is set in the section “Set Communication”, the window appears like below:

Figure 9b: “Define Receive PDO” window

In the field “Cob-ID”, the Cob-ID of the PDO is defined;

In the field “CAN Frame”, the CAN frame to link to the RPDO is defined;
If the field “TimeOut” the TimeOut is defined; after the TimeOut defined, the value of the data of the PDO become “0”;
In the field “Mnemonic” a description of the frame is defined.

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SET SDO CLIENT:

By pressing the “Set SDO Client” button from the

main window of SW67042 (Fig. 2) the window
“Define CAN Frames to use the Client SDO”
appears (Fig. 10).

In this window is possible to configure five CAN

messages used to read and write SDO data from
other devices in the network CANopen.

The first two frames are used to read a SDO, the

last three messages are used to write a SDO.

Figure 10: “Define CAN Frames to use the Client SDO” window
READ SDO

Request frame CAN to read a SDO

When the gateway receive this message, it sends a read SDO request to CANopen network.
The coordinates of the SDO are inside the data bytes of the CAN message in this format:

Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8

ID Device Index Index SubIndex Num Byte Not used = 0 Not used = 0 Not used = 0

Answer frame CAN of a read SDO

The gateway sends this frame with the answer of the SDO.
The Data bytes of this message are so formed:

Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8

ID Device REQ Index REQ Index REQ SubIndex REQ Data byte 1 Data byte 2 Data byte 3 Data byte 4

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WRITE SDO

Request frame CAN to write a SDO (1/2)

When the gateway receive this message it save the coordinates of write SDO request.
The coordinates of the SDO are inside the data bytes of the CAN message in this format:

Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8

ID Device Index Index SubIndex Num Byte Not used = 0 Not used = 0 Not used = 0

Request frame CAN to write a SDO (2/2)

When the gateway receive this message it send the SDO write request in CANopen network.
The coordinates of the SDO are inside the data bytes of the CAN message in this format:

Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8

Data Byte 1 Data Byte 2 Data Byte 3 Data Byte 4 Not used = 0 Not used = 0 Not used = 0 Not used = 0

Answer frame CAN of a write SDO

The gateway send this frame when a Write SDO request finish correctly.
The Data byte of this message are so formed:

Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8

ID Device REQ Index REQ Index REQ SubIndex REQ 1 Not used = 0 Not used = 0 Not used = 0

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SET NODEGUARDING (only for “Device with Ethernet”):

By pressing the “Set NodeGuarding” button from the Main

Window of SW67042 (Fig. 2) the “Define Node Guarding”
window appears (Fig. 11).

In the field “Node ID”, the address of the CANopen

device that you want to control is defined. It is
possible to insert up to 32 address;
In the field “Guard Time”, the Guard Time is
defined. This value indicates the delay between two
interrogations;
In the field “Life Time Factor”, the number of
attempts before considering the device absent is
defined;
In the field “Mnemonic”, a description is defined.

In the fields below, it is possible to define the CAN messages

where mapping the informations of the Node Guarding.
The first byte of each CAN frame will contain the status of 7
CANopen devices (1 = present or 0 = not present). The others
7 bytes will contain the status of the monitored CANopen
devices.

Figure 11: “Define Node Guarding” window

EDS FILE:

By Pressing the “EDS File” button from the main window for SW67042 (Fig. 2) it is possible to generate the EDS file to be imported into the
CANopen Client.

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UPDATE DEVICE (for “Device with Serial (RS232)”):

By pressing the “Update Device” button it is possible to load the created Configuration into the device, and also the Firmware if is
necessary, using the RS232 port.

In order to load the parameters or update the firmware in the device, follow these instructions:
Turn OFF the Device;
Connect the RS232 cable from your PC to the Converter;
Put the converter in Boot Mode;
Select the “COM port” and press the “Connect” button;
Turn on the device;
Check the “Device state” Led. It must blink quickly (see “LEDS” section);
Press the “Next” button;
Select which operations you want to do.
Press the “Execute update firmware” button to start the upload;
When all the operations are “OK” turn off the device;
Put the converter in Run Mode;
Disconnect the RS232 cable;
Turn ON the device.

Figure 12: “Update via Serial” windows

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UPDATE DEVICE (for “Device with Ethernet”):

By pressing the “Update Device” button, it is possible to load the created Configuration into the
device; and also the Firmware, if necessary.

If you don’t know the actual IP address of the device you have to use this procedure:
Turn off the Device;
Put Dip2 of ‘Dip-Switch A’ in ON position;
Turn on the device
Connect the Ethernet cable;
Insert the IP “192.168.2.205”;
Press the “Ping” button, “Device Found! must appear”;
Press the “Next” button;
Select which operations you want to do;
Press the “Execute update firmware” button to start the upload;
When all the operations are “OK” turn off the Device;
Put Dip2 of ‘Dip-Switch A’ in OFF position;
Turn on the device.

At this point the configuration/firmware on the device is correctly updated.

If you know the actual IP address of the device, you have to use this procedure:
Turn on the Device with the Ethernet cable inserted;
Insert the actual IP of the Converter;
Press the “Ping” button, must appear “Device Found!”;
Press the “Next” button;
Select which operations you want to do;
Press the “Execute update firmware” button to start the upload;
When all the operations are “OK” the device automatically goes at Figure 13: “Update via Ethernet” windows
Normal Mode.

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Note:
When you install a new version of the software, if it is the first time it is better you do the update of the Firmware in the HD67042
device.

Note:
When you receive the device, for the first time, you also have to update the Firmware in the HD67042 device.

Warning:
If Fig. 14 appears when you try to do the Update try these points before seeking assistance:
Check if the serial COM port selected is the correct one;
Check if the serial cable is connected between the PC and the device;
Try to repeat the operations for the updating;
If you are using a USB RS232 converter try with a native COM port or change the
converter;
Try to repeat the operations for the updating;
Try with another PC;
Try to restart the PC;
Check the LAN settings;
If you are using the program inside a Virtual Machine, try to use in the main
Operating System;
Figure 14: “Protection” window
If you are using Windows Seven, Vista, 8 and 10 make sure that you have the administrator privileges;
In case you have to program more than one device, using the "UDP Update", you have to cancel the ARP table every time you
connect a new device on Ethernet. For do this you have to launch the "Command Prompt" and write the command "arp -d". Pay
attention that with Windows Vista, Seven, 8 you have to launch the "Command Prompt" with Administrator Rights;
Pay attention at Firewall lock.

In the case of HD67042 you have to use the software “SW67042”: www.adfweb.com\download\filefold\SW67042.zip.

At this point the configuration/firmware on the device is correctly updated.

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NMT REQUESTS:

To send a NMT request to a CANopen device, it is neccessary to send a CAN frame to the Converter with the COB-ID equal to the “CAN
frame for NMT” setted in the “Set Communication” section. The frame must have at least 2 data bytes. The first byte is used to decide the
NMT Request to send and the second byte is used to indicate the CANopen ID device where to send the NMT request.
The NMT Request that the gateway can send are (first byte of the CAN Frame):

Value Description
1 Start Remote Node (Operationa state)
2 Stop Remote Node
128 Pre-Operational Remote Node
129 Reset Remote Node
130 Reset Communication

The CANopen ID Device (Second Byte of the CAN frame) can go from 1 to 127 for send a request to a single CANopen device or the value 0
to send a broadcast message.

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MECHANICAL DIMENSIONS:

Figure 15: Mechanical dimensions scheme for HD67042-Ax

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ORDERING INFORMATIONS:

The ordering part number is formed by a valid combination of the following:

HD67042 – A x

Connectors Type
1: Removable 5mm Screw Terminal
3: M12 connectors
4: Mini-Fit connectors

Enclosure Type
A: 1M, 35mm DIN Rail mounting

Device Family
HD67042: CAN / CANopen – Converter

Order Code: HD67042-A1 - CAN / CANopen – Converter (Terminal Blocks connectors)

Order Code: HD67042-A3 - CAN / CANopen – Converter (M12 connectors)
Order Code: HD67042-A4 - CAN / CANopen – Converter (Mini-Fit connectors)

ACCESSORIES:

Order Code: AC34001 - 35mm Rail DIN - Power Supply 220/240V AC 50/60Hz – 12 V AC
Order Code: AC34002 - 35mm Rail DIN - Power Supply 110V AC 50/60Hz – 12 V AC

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DISCLAIMER:

All technical content within this document can be modified without notice. The content of the document is a under continual renewal.
For losses due to fire, earthquake, third party access or other accidents, or intentional or accidental abuse, misuse, or use under abnormal
conditions repairs are charged to the user. ADFweb.com S.r.l. will not be liable for accidental loss of use or inability to use this product, such
as loss of business income. ADFweb.com S.r.l. shall not be liable for consequences of improper use.

OTHER REGULATIONS AND STANDARDS:

WEEE INFORMATION
Disposal of old electrical and electronic equipment (as in the European Union and other European countries with separate
collection systems).
This symbol on the product or on its packaging indicates that this product may not be treated as household rubbish. Instead, it
should be taken to an applicable collection point for the recycling of electrical and electronic equipment. If the product is disposed
correctly, you will help prevent potential negative environmental factors and impact of human health, which could otherwise be
caused by inappropriate disposal. The recycling of materials will help to conserve natural resources. For more information about
recycling this product, please contact your local city office, your household waste disposal service or the shop where you purchased
the product.

RESTRICTION OF HAZARDOUS SUBSTANCES DIRECTIVE

The device respects the 2002/95/EC Directive on the restriction of the use of certain hazardous substances in electrical
and electronic equipment (commonly referred to as Restriction of Hazardous Substances Directive or RoHS).

CE MARKING
The product conforms with the essential requirements of the applicable EC directives.

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WARRANTIES AND TECHNICAL SUPPORT:

For fast and easy technical support for your ADFweb.com SRL products, consult our internet support at www.adfweb.com.
Otherwise contact us at the address [email protected]

RETURN POLICY:

If while using your product you have any problem and you wish to exchange or repair it, please do the following:
Obtain a Product Return Number (PRN) from our internet support at www.adfweb.com. Together with the request, you need to
provide detailed information about the problem.
Send the product to the address provided with the PRN, having prepaid the shipping costs (shipment costs billed to us will not be
accepted).

If the product is within the warranty of twelve months, it will be repaired or exchanged and returned within three weeks. If the product is no
longer under warranty, you will receive a repair estimate.

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