ABC COP User Manual 3 01 SCM-1200-099

User Manual
Anybus® Communicator™ for CANopen

Doc. Id. SCM-1200-099
Rev. 3.01
Connecting DevicesTM
+$/067$'&+,&$*2.$5/658+(72.<2%(,-,1*0,/$1208/+286(&29(175<381(&23(1+$*(1
HMS Industrial Networks

Mailing address: Box 4126, 300 04 Halmstad, Sweden E-mail: [email protected]
Visiting address: Stationsgatan 37, Halmstad, Sweden Web: www.anybus.com
Important User Information
This document contains a general introduction as well as a description of the technical features provided by the
Anybus Communicator, including the PC-based configuration software.
The reader of this document is expected to be familiar with PLC and software design, as well as communication
systems in general. The reader is also expected to be familiar with the Microsoft Windows operating system.
Liability
Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any
inaccuracies or omissions. The data and illustrations found in this document are not binding. We, HMS Industrial
Networks AB, reserve the right to modify our products in line with our policy of continuous product development.
The information in this document is subject to change without notice and should not be considered as a commit-
ment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that
may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure that all the
necessary steps have been taken to verify that the applications meet all performance and safety requirements in-
cluding any applicable laws, regulations, codes, and standards.
HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that
may arise as a result from the use of undocumented features, timing, or functional side effects found outside the
documented scope of this product. The effects caused by any direct or indirect use of such aspects of the product
are undefined, and may include e.g. compatibility issues and stability issues.
The examples and illustrations in this document are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular implementation, HMS Industrial Networks AB cannot
assume responsibility for actual use based on these examples and illustrations.
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HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product de-
scribed in this document. These intellectual property rights may include patents and pending patent applications
in the US and other countries.
Trademark Acknowledgements
Anybus ® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their
respective holders.
Warning: This is a class A product. in a domestic environment this product may cause radio interference in
which case the user may be required to take adequate measures.
ESD Note: This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged if ESD
control procedures are not followed. Static control precautions are required when handling the prod-
uct. Failure to observe this may cause damage to the product.
CANopen protocol mode for Anybus Communicator

Rev 3.01
Copyright© HMS Industrial Networks AB
Sept 2011 Doc Id SCM-1200-099
Table of Contents
Table of Contents
Preface About This Document

Related Documents.................................................................................................................................. 7
Document History ................................................................................................................................... 7
Conventions & Terminology.................................................................................................................. 8
Glossary ..................................................................................................................................................... 8
Sales and Support ..................................................................................................................................... 9
Chapter 1 About the Anybus Communicator for CANopen

External View ......................................................................................................................................... 11
Status LEDs ............................................................................................................................................ 12
Configuration Switches ......................................................................................................................... 13
Hardware Installation ............................................................................................................................ 14
Software Installation .............................................................................................................................. 15
Anybus Configuration Manager ..................................................................................................... 15
Electronic Data Sheet .................................................................................................................... 15
Chapter 2 Basic Operation

General..................................................................................................................................................... 16
Data Exchange Model ........................................................................................................................... 17
Memory Map................................................................................................................................. 17
Data Exchange Example.............................................................................................................. 18
Subnetwork Protocol............................................................................................................................. 19
Protocol Modes............................................................................................................................... 19
Protocol Building Blocks ................................................................................................................ 19
Master Mode ................................................................................................................................. 20
Generic Data Mode ....................................................................................................................... 21
DF1 Master Mode ........................................................................................................................ 21
Data Representation on CANopen ..................................................................................................... 22
General.......................................................................................................................................... 22
Data Representation ...................................................................................................................... 22
Memory Layout (Internal Memory Buffer)...................................................................................... 23
Chapter 3 Navigating the Anybus Configuration Manager

Main Window ......................................................................................................................................... 24
Pull-down Menu ............................................................................................................................ 25
Toolbar Icons ................................................................................................................................. 28
Anybus Communicator for CANopen

Doc.Rev. 3.01 Doc.Id. SCM-1200-099
IV
Chapter 4 Basic Settings

Fieldbus Settings..................................................................................................................................... 29
ABC Parameters ..................................................................................................................................... 30
Subnetwork Parameters......................................................................................................................... 32
Chapter 5 Nodes
General..................................................................................................................................................... 33
Adding & Managing Nodes.................................................................................................................. 33
Node Parameters.................................................................................................................................... 33
Master Mode and Generic Data Mode........................................................................................... 33
Chapter 6 Transactions
General..................................................................................................................................................... 34
Adding & Managing Transactions ....................................................................................................... 35
Transaction Parameters (Master Mode).............................................................................................. 36
Parameters (Query & Broadcast)................................................................................................... 36
Parameters (Response).................................................................................................................... 38
Transaction Parameters (Generic Data Mode).................................................................................. 38
Produce-Transactions ..................................................................................................................... 38
Consume-Transactions ................................................................................................................... 39
Transaction Editor ................................................................................................................................. 40
Chapter 7 Frame Objects

General..................................................................................................................................................... 41
Adding and Editing Frame Objects .................................................................................................... 41
Constant Objects (Byte, Word, Dword)............................................................................................. 42
Limit Objects (Byte, Word, Dword) ................................................................................................... 43
Data Object ............................................................................................................................................. 44
Variable Data Object ............................................................................................................................. 44
Checksum Object ................................................................................................................................... 46
Chapter 8 Commands
General..................................................................................................................................................... 47
Adding & Managing Commands ......................................................................................................... 47
Pull-Down Menu........................................................................................................................... 48
Toolbar Icons ................................................................................................................................. 48
The Command Editor ........................................................................................................................... 49
General.......................................................................................................................................... 49
Basic Navigation ........................................................................................................................... 49
Pull-down Menu ............................................................................................................................ 50
Editing a Command ...................................................................................................................... 51
Example: Specifying a Modbus-RTU Command in Master Mode ................................................. 52

V
Chapter 9 DF1 Protocol Mode

General..................................................................................................................................................... 53
ABC Parameters ..................................................................................................................................... 54
Subnetwork Parameters......................................................................................................................... 55
Node Parameters.................................................................................................................................... 56
Services .................................................................................................................................................... 56
Available Services .......................................................................................................................... 57
Integrity Check ....................................................................................................................................... 58
Read Diagnostics .................................................................................................................................... 58
Read Data ................................................................................................................................................ 59
Write Data ............................................................................................................................................... 59
Chapter 10 Subnetwork Monitor
Chapter 11 Node Monitor

General..................................................................................................................................................... 61
Navigating the Node Monitor.............................................................................................................. 62
Pull-Down Menu........................................................................................................................... 63
Toolbar Icons ................................................................................................................................. 64
Chapter 12 Data Logger

General..................................................................................................................................................... 65
Operation................................................................................................................................................. 65
Configuration .......................................................................................................................................... 66
Chapter 13 Configuration Wizards

General..................................................................................................................................................... 67
Selecting a Wizard Profile ..................................................................................................................... 67
Wizard - Modbus RTU Master ............................................................................................................ 68
Chapter 14 Control and Status Registers

General..................................................................................................................................................... 69
Handshaking Procedure ................................................................................................................. 69
Data Consistency ........................................................................................................................... 70
Status Register Contents (Gateway to Control System)................................................................... 71
General Information....................................................................................................................... 71
Status Codes in Master Mode and DF1 Master Mode................................................................... 71
Status Code in Generic Data Mode ............................................................................................... 72
Control Register Contents (Control System to Gateway)................................................................ 73
Control Codes in Master Mode and DF1 Master Mode................................................................. 73
Control Codes in Generic Data Mode ............................................................................................ 73

VI
Chapter 15 Object Dictionary Implementation

Standard Objects .................................................................................................................................... 74
General.......................................................................................................................................... 74
Object Entries................................................................................................................................ 74
Manufacturer Specific Objects............................................................................................................. 76
Input Buffer, Byte Access ............................................................................................................... 76
Input Buffer, Word Access............................................................................................................. 76
Input Buffer, Double Word Access................................................................................................. 77
Output Buffer, Byte Access ............................................................................................................ 77
Output Buffer, Word Access .......................................................................................................... 78
Output Buffer, Double Word Access.............................................................................................. 78
Anybus Status & Diagnostics ....................................................................................................... 79
Chapter 16 Advanced Fieldbus Configuration

General..................................................................................................................................................... 80
Mailbox Editor........................................................................................................................................ 80
Appendix A Connector Pin Assignments

CANopen Connector ............................................................................................................................ 81
Power Connector ................................................................................................................................... 81
PC Connector ......................................................................................................................................... 82
Subnetwork Interface ............................................................................................................................ 83
Bias Resistors (RS485 Only)......................................................................................................... 83
Termination (RS485 & RS422 Only) ......................................................................................... 83
Connector Pinout (DB9F) ............................................................................................................. 83
Typical Connection (RS485).......................................................................................................... 84
Typical Connection (RS422 & 4-Wire RS485) ........................................................................... 84
Typical Connection (RS232).......................................................................................................... 84
Appendix B Technical Specification

Mechanical Properties............................................................................................................................ 85
Electrical Characteristics ....................................................................................................................... 85
Environmental Characteristics ............................................................................................................. 85
Regulatory Compliance ......................................................................................................................... 86
Appendix C Troubleshooting
Appendix D ASCII Table

Preface
About This Document

For more information, documentation etc., please visit the HMS website, www.anybus.com.
Related Documents
Document name Author
ABC-COP Installation Leaflet HMS
Anybus-S CANopen Fieldbus Appendix HMS
CiA Draft Standard 301 v4.02 CAN in Automation
DF1 Protocol and Command Set - Reference Manual, 1770-6.5.16, October 1996 Allen-Bradley
Document History
Summary of Recent Changes (3.00... 3.01)
Change Page(s)
Updated software name “Anybus Config Tool” to “Anybus Configuration Manager” -
Changed the number of possible transactions 34
Updated information about the trigger byte 39
Updated information about the CRC-algorithm 46
Updated frontpage information -
Updated sales and support page -
Updated System Requirements for Anybus Configuration Manager 15
Revision List
Revision Date Author Chapter Description

2.00 2003-06-18 PeP All Second major release
2.10 2005-08-25 PeP All Major update
2.50 2006-03-28 PeP All Major rewrite
2.51 2006-12-22 PeP - Minor corrections & updates
2.52 2008-02-08 PeP 1 Minor update
2.53 2009-04-23 KeL All Minor corrections and updates
3.00 2011-02-09 KaD All Misc. corrections, new template and DF1 functionality
3.01 2011-09-30 KaD All Misc corrections and updates, new Anybus Configuration Manager
name

About This Document P-8
Conventions & Terminology

The following conventions are used throughout this document:
• Numbered lists provide sequential steps
• Bulleted lists provide information, not procedural steps
• The term ‘user’ refers to the person or persons responsible for installing the Anybus Communi-
cator in a network.
• The term ‘gateway’ refers to the Anybus Communicator.
• Hexadecimal values are written in the format 0xNNNN, where NNNN is the hexadecimal value.
• Decimal values are represented as NNNN where NNNN is the decimal value
• As in all communication systems, the terms “input” and “output” can be ambiguous, because
their meaning depend on which end of the link is being referenced. The convention in this doc-
ument is that “input” and “output” are always being referenced to the master/scanner end of the
link.
Glossary
Term Meaning
ABC
Anybus Communicator™
Gateway
Broadcaster A protocol-specific node in the configuration that handles transactions destined to all nodes.
COP CANopen
Command A predefined transaction.
Configuration List of configured nodes with transactions on the subnetwork.
Fieldbus The higher level network to which the Anybus Communicator is connected.
Fieldbus Control System Fieldbus master
Frame Object Low level entities which are used to describe the different parts of a transaction.
Monitor A tool for debugging the Anybus Communicator and the network connections.
Node A device in the configuration which defines the communication with a node on the subnetwork
The network that is logically located on a subsidiary level with respect to the fieldbus, and to
Subnetwork
which the Anybus Communicator acts as a gateway.
Transaction A generic building block that is used in the subnetwork configuration and defines the data that
is sent and received on the subnetwork.
User Person or persons responsible for installing the Anybus Communicator
Higher Level Network In this case, CANopen
Network
Fieldbus

About This Document P-9
Sales and Support

Sales Support
HMS Sweden (Head Office)
E-mail: [email protected] E-mail: [email protected]
Phone: +46 (0) 35 - 17 29 56 Phone: +46 (0) 35 - 17 29 20
Fax: +46 (0) 35 - 17 29 09 Fax: +46 (0) 35 - 17 29 09
Online: www.anybus.com Online: www.anybus.com
HMS North America
Phone: +1-312 - 829 - 0601 Phone: +1-312-829-0601
Toll Free: +1-888-8-Anybus Toll Free: +1-888-8-Anybus
Fax: +1-312-629-2869 Fax: +1-312-629-2869
HMS Germany
Phone: +49 (0) 721-989777-000 Phone: +49 (0) 721-989777-000
Fax: +49 (0) 721-989777-010 Fax: +49 (0) 721-989777-010
Online: www.anybus.de Online: www.anybus.de
HMS Japan
Phone: +81 (0) 45-478-5340 Phone: +81 (0) 45-478-5340
Fax: +81 (0) 45-476-0315 Fax: +81 (0) 45-476-0315
Online: www.anybus.jp Online: www.anybus.jp
HMS China
Phone: +86 (0) 10-8532-3183 Phone: +86 (0) 10-8532-3023
Fax: +86 (0) 10-8532-3209 Fax: +86 (0) 10-8532-3209
Online: www.anybus.cn Online: www.anybus.cn
HMS Italy
Phone: +39 039 59662 27 Phone: +39 039 59662 27
Fax: +39 039 59662 31 Fax: +39 039 59662 31
Online: www.anybus.it Online: www.anybus.it
HMS France
Phone: +33 (0) 3 68 368 034 Phone: +33 (0) 3 68 368 033
Fax: +33 (0) 3 68 368 031 Fax: +33 (0) 3 68 368 031
Online: www.anybus.fr Online: www.anybus.fr
HMS UK & Eire
Phone: +44 (0) 1926 405599 Phone: +46 (0) 35 - 17 29 20
Fax: +44 (0) 1926 405522 Fax: +46 (0) 35 - 17 29 09
Online: www.anybus.co.uk Online: www.anybus.com
HMS Denmark
Phone: +45 (0) 22 30 08 01 Phone: +46 (0) 35 - 17 29 20
Fax: +46 (0) 35 17 29 09 Fax: +46 (0) 35 - 17 29 09
HMS India
Phone: +91 (0) 20 40111201 Phone: +46 (0) 35 - 17 29 20
Fax: +91 (0) 20 40111105 Fax: +46 (0) 35 - 17 29 09

Chapter 1
1. About the Anybus Communicator for CANopen

The Anybus Communicator for CANopen acts as a gateway between virtually any serial application pro-
tocol and a CANopen-based network. Integration of industrial devices is enabled without loss of func-
tionality, control and reliability, both when retro-fitting to existing equipment as well as when setting up
new installations.
CANopen Master CANopen Master

(e.g a PLC) (e.g a PLC)
(CANopen Network)
(CANopen Network)
HMI HMI
INVERTER INVERTER
PC configuration PC configuration
and monitoring and monitoring
Multi-drop up to 31 nodes
Serial communication devices

Serial communication
device
Single-Node Serial Sub Network Multi-Node Serial Sub Network
Subnetwork
The gateway can address up to 31 nodes, and supports the following physical standards:
• RS-232
• RS-422
• RS-485
CANopen Interface
CANopen connectivity is provided through patented Anybus technology; a proven industrial commu-
nication solution used all over the world by leading manufacturers of industrial automation products.
• Galvanically isolated bus electronics
• Supports all standard baudrates
• Customizable PDO mapping
• Up to 512+512 bytes of slow I/O
• Up to 80 RPDO’s and 80 TPDO’s
• Transmission types: PDO Sync, Change-of-state, Event based and RTR
• Network store/restore functionality
• Heartbeat & Node Guarding support

About the Anybus Communicator for CANopen 11
1.1 External View

For wiring and pin assignments, see “Connector Pin Assignments” on page 81.
A: CANopen Connector
This connector is used to connect the gateway to the field-
bus.
See also...
- “CANopen Connector” on page 81 C
B
B: Configuration Switches
See also...
- “Configuration Switches” on page 13 A
C: Status LEDs
See also...
- “Status LEDs” on page 12 D
D: PC Connector
E G
This connector is used to connect the gateway to a PC for
configuration and monitoring purposes.
F
See also...
- “Hardware Installation” on page 14
- “PC Connector” on page 82
E: Subnetwork Connector
This connector is used to connect the gateway to the serial subnetwork.
See also...
- “Subnetwork Interface” on page 83
F: Power Connector
This connector is used to apply power to the gateway.
See also...
- “Power Connector” on page 81
- “Technical Specification” on page 85
G: DIN-rail Connector
The DIN-rail mechanism connects the gateway to PE (Protective Earth).
See also...

1.2 Status LEDs

# State Status
1 - Run Off -
Single Flash Device in STOPPED state
Blinking Device in PRE-OPERATIONAL state
On Device in OPERATIONAL state 1 2
2 - Error Off No error

3 4
Single Flash Warning limit reached
Double Flash Error Control Event 5 6
Triple Flash Sync Error

On Bus off
3 - Status Off Normal operation
Red Unrecoverable fault detected
4 - Power Off Device not powered
On Device powered
5 - Subnet Statusa Off Power off
Green, flashing Running correctly, but one or more trans-
action error(s) have occurred
Green Running
Red Transaction error/timeout or subnet
stopped
6 - Device Status Off Power off
Alternating Red/Green Invalid or missing configuration
Green Initializing
Green, flashing Running
Red Bootloader modeb
Red, flashing If the Device Status LED is flashing in a
sequence starting with one or more red
flashes, please note the sequence pattern
and contact the HMS support department
a. This led turns green when all transactions have been active at least once. This
includes any transactions using “change of state” or “change of state on trigger”. If
a timeout occurs on a transaction, this led will turn red.
b. The gateway is in bootloader mode, and firmware must be restored in order for it to
work properly. Start up the Anybus Configuration Manager and connect to the Any-
bus Communicator. Choose Tools/Options/ABC. Click “Factory Restore” to restore
firmware. See “Tools” on page 26.

1.3 Configuration Switches

The on-board switches are used to set the CANopen node address and operating
baudrate. Normally, these switches are covered by a plastic hatch. When removing the
hatch, avoid touching the circuit boards and components. If tools are used when open-
ing the hatch, be cautious. Note that these settings cannot be changed during runtime,
i.e. the gateway must be restarted in order for any changes to have effect. A
B
The node address is configured using two rotary switches as follows: C
Node Address = (Switch B x 10) + (Switch A x 1)
Example: To set node address 42, set switch A to ‘2’ and switch B to ‘4’.
The baudrate is set via switch C, and is interpreted as follows:
# Baudrate # Baudrate
0 (reserved) 5 250 kbit/s
1 10 kbit/s 6 500 kbit/s
2 20 kbit/s 7 800 kbit/s
3 50 kbit/s 8 1 Mbit/s
4 125 kbit/s 9 (reserved)

1.4 Hardware Installation

Perform the following steps when physically installing the gateway:
1. Snap the gateway on to the DIN-rail (See “External View” on page 11)
The DIN-rail mechanism works as follows:
To snap the gateway on, first press it downwards (1) to compress the
spring in the DIN-rail mechanism, then push it against the DIN-rail as to
make it snap on (2)
To snap the gateway off, push it downwards (1) and pull it out from the
DIN-rail (2), as to make it snap off from the DIN-rail
2. Connect the gateway to the CANopen network

3. Set the CANopen node ID and operating baudrate (see “Configuration Switches” on page 13)
4. Connect the gateway to the serial subnetwork
5. Connect the gateway to the PC via the Configuration Cable
6. Connect the power cable and apply power
7. Start the Anybus Configuration Manager program on the PC
(The Anybus Configuration Manager attempts to detect the serial port automatically. If not suc-
cessful, select the correct port manually in the “Port”-menu)
8. Configure the gateway using the Anybus Configuration Manager and download the
configuration
9. Set up the CANopen communication in accordance with the gateway configuration

1.5 Software Installation
1.5.1 Anybus Configuration Manager
System requirements
• Pentium 133 MHz or higher
• 650 MB of free space on the hard drive
• 32 MB RAM
• Screen resolution of 800x600 (16 bit color) or higher
• Microsoft Windows™ 2000 / XP / Vista / 7 (32 bit)
• Internet Explorer 4.01 SP1 or newer
Installation
• Anybus Communicator resource CD

Insert the CD and follow the on-screen instructions. If the installation does not start automati-
cally, right-click on the CD-drive icon and select Explore. Execute ‘setup.exe’ and follow the on-
screen instructions.
• From website
Download and execute the self-extracting .exe-file from the HMS website (www.anybus.com).
1.5.2 Electronic Data Sheet
Each device on CANopen is associated with an Electronic Data Sheet (a.k.a .EDS-file), which holds a
description of the device and its functions. Most importantly, the file describes the object dictionary im-
plementation in the device.
The latest version of the .EDS-file for the Anybus Communicator for CANopen can be downloaded
from the HMS website, www.anybus.com.

Chapter 2
2. Basic Operation
2.1 General
The Anybus Communicator is designed to exchange data between a serial subnetwork and a higher level
network. Unlike most other gateway devices of similar kind, it does not have a fixed protocol for the
subnetwork, and can be configured to handle almost any form of serial communication.
The gateway can issue serial telegrams cyclically, on change of state, or based on trigger events issued by
the control system of the higher level network (i.e. the fieldbus master or PLC). It can also monitor cer-
tain aspects of the subnetwork communication and notify the higher level network when data has
changed.
An essential part of the Anybus Communicator package is the Anybus Configuration Manager, a Win-
dows™ application which is used to supply the gateway with a description of the subnetwork protocol.
No programming skills are required; instead, a visual protocol description-system is used to specify the
different parts of the serial communication.

Basic Operation 17
2.2 Data Exchange Model

Internally, the data exchanged on the subnetwork, and
the data exchanged on the higher level network, resides ABC Internal Memory
in the same memory.
This means that in order to exchange data with the sub-
Input Data
network, the higher level network simply reads and (512 bytes)
writes data to memory locations specified using the An-
ybus Configuration Manager. The very same memory
locations can then be exchanged on the subnetwork.
Higher Level Network

The internal memory buffer is divided into three areas Output Data
(512 bytes)
based on their function:
Subnetwork
• Input Data (512 bytes)
This area can be read by the higher level net-
work.
(how this data is represented on the higher level
network will be described later in this chapter). General Data
• Output Data (512 bytes)

This area can be written to by the higher level
network.
(how this data is represented on the higher level
network will be described later in this chapter).
• General Data
This area is not exchanged on the higher level network, and can be used for transfers between
individual nodes on the subnetwork, or as a general “scratch pad” for data. The actual size of this
area depends on the amount of data that is exchanged on the subnetwork. The gateway can han-
dle up to 1024 bytes of general data.
2.2.1 Memory Map
When building the subnetwork configuration using the Anybus Configuration Manager, the different ar-
eas described above are mapped to the memory locations (addresses) specified below.
Input Data Output Data General Data

0x000 0x200 0x400
Subnetwork: Read/Write Subnetwork: Read Only Subnetwork: Read/Write

Fieldbus: Read Only Fieldbus: Read/Write Fieldbus: -
0x1FF 0x3FF 0x???

Basic Operation 18
2.2.2 Data Exchange Example
In the following example, a temperature regulator on the subnetwork exchanges information with a PLC
on the higher level network, via the internal memory buffers in the gateway.
PLC (CANopen Master)
PLC Memory (Inputs) PLC Memory (Outputs)
The PLC exchange data between the internal

Actual Temperature Temperature Setpoint
PLC memory and the slaves (in this case the
ABC) on the CANopen network.
The PLC Memory associated with
CANopen
the ABC is exchanged;
Data from the Input Data area is copied to
PLC Input Memory, and PLC Output
Memory is copied to the Output Data
area.
ABC
0x000 0x200 0x400
Actual Temperature Temperature Setpoint

(not used in this example)
0x1FF 0x3FF 0x???
The ABC copies the Output Register of

the Temperature Regulator to the Input-
Data area.
Subnetwork
The ABC copies the Temperature-

Setpoint from the Output Data area to
the Input Register in the Temperature-
Regulator. Serial Device - Temperature Regulator
Output Register Input Register The Temperature Regulator has two

Actual Temperature Temperature Setpoint registers, holding the Setpoint Temperature
and the Actual Temperature respectively.

Basic Operation 19
2.3 Subnetwork Protocol
2.3.1 Protocol Modes
The gateway features three distinct modes of operation regarding the subnetwork communication, called
‘Master Mode’, ‘DF1 Master Mode’ and ‘Generic Data Mode’. Note that the protocol mode only spec-
ifies the basic communication model, not the actual subnetwork protocol.
• Master Mode
In this mode, the gateway acts as a master on the subnetwork, and the serial communication takes
place in a query-response fashion. The nodes on the network are not permitted to issue messages
unless they have been addressed by the gateway first.
For more information about this mode, see “Master Mode” on page 20.
• DF1 Master Mode

In this mode, the gateway acts as a master on the subnetwork, using the DF1 protocol. The serial
communication takes place in a query-response fashion. For more information about this mode,
see “DF1 Protocol Mode” on page 53.
• Generic Data Mode

In this mode, there is no master-slave relationship between the subnetwork nodes and the gate-
way; any node on the subnetwork, including the gateway, may spontaneously produce or con-
sume messages.
For more information about this mode, see “Generic Data Mode” on page 21.
2.3.2 Protocol Building Blocks
The following building blocks are used in Anybus Configuration Manager to describe the subnetwork
communication. How these blocks apply to the three protocol modes will be described later in this doc-
ument.
• Node
A node represents a single device on the subnetwork. Each node can be associated with a
number of transactions, see below.
• Transaction
A ‘transaction’ represents a complete serial telegram, and consists of a number of frame objects
(see below). Each transaction is associated with a set of parameters controlling how and when to
use it on the subnetwork.
• Commands
A ‘command’ is simply a predefined transaction stored in a list in the Anybus Configuration Man-
ager. This simplifies common operations by allowing transactions to be stored and reused.
• Frame Object
‘Frame objects’ are low level entities used to compose a transaction (see above). A frame object
can represent a fixed value (a constant), a range of values (limit objects), a block of data or a cal-
culated checksum.

Basic Operation 20
2.3.3 Master Mode
In this mode, the communication is based on a query-response scheme; when the gateway issues a query
on the subnetwork, the addressed node is expected to issue a response to that query. Nodes are not per-
mitted to issue responses spontaneously, i.e. without first receiving a query.
There is one exception to this rule; the broadcaster. Most protocols offer some way of broadcasting mes-
sages to all nodes on the network, without expecting them to respond to the broadcasted message. This
is also reflected in the gateway, which features a dedicated broadcaster node.
Control System Gateway Subnetwork Devices
In Master Mode, Anybus Configuration Manager comes preloaded with most commonly used Modbus
RTU commands, which can conveniently be reached by right-clicking on a node in the Anybus Config-
uration Manager and selecting ‘Insert New Command’. Note however that this does not in any way pre-
vent other protocols based on the same query-response message-scheme to be implemented.

Basic Operation 21
2.3.4 Generic Data Mode
In this mode, there is no master-slave relationship between the nodes on the subnetwork and the gate-
way. Any node, including the gateway, may spontaneously produce or consume a message. Nodes do
not have to respond to messages, nor do they have to wait for a query in order to send one.
In the figure above, the gateway ‘consumes’ data that is ‘produced’ by a node on the subnetwork. This
‘consumed’ data can then be accessed from the higher level network. This also works the other way
around; the data received from the higher level network is used to ‘produce’ a message on the subnet-
work to be ‘consumed’ by a node.
2.3.5 DF1 Master Mode
Please refer to “DF1 Protocol Mode” on page 53.

Basic Operation 22
2.4 Data Representation on CANopen
2.4.1 General
The Anybus Communicator acts as a slave on the CANopen network. As such, it does not initiate com-
munication towards other nodes by itself, but can be read from/written to by a CANopen master.
2.4.2 Data Representation
On CANopen, the input and output data areas are represented as object entries in the manufacturer spe-
cific range (2000h...5FFFh). Separate object ranges are used for byte, word, and double-word access.
A portion of these objects may be exchanged as Process Data Objects (PDO). The gateway supports up
to 80 RPDOs and 80 TPDOs, each capable of carrying up to 8 bytes of data.
Which objects that can be exchanged this way depend on two factors:
• PDO Mapping
The objects that shall be exchanged as PDOs on the bus are specified (i.e. mapped) by the net-
work configuration tool.
If no mapping has been specified, the gateway defaults to the following mapping scheme:
Default COB IDs

RPDO no. Mapped to... Default State
Node ID 1... 63 Node ID >= 64
1 200h + Node ID 200h + Node ID Output Data buffer, bytes 0... 7 Enabled
2 300h + Node ID 300h + Node ID Output Data buffer, bytes 8...15
3 400h + Node ID 400h + Node ID Output Data buffer, bytes 16... 23
4 500h + Node ID 500h + Node ID Output Data buffer, bytes 24... 31
5 240h + Node ID 500h Output Data buffer, bytes 32... 39 Disabled
6 340h + Node ID 500h Output Data buffer, bytes 40... 47
9...80 500h 500h - Disabled
Default COB IDs

TPDO no. Mapped to... Default State
Node ID 1... 63 Node ID >= 64
1 180h + Node ID 180h + Node ID Input Data buffer, bytes 0... 7 Eabled
2 280h + Node ID 280h + Node ID Input Data buffer, bytes 8... 15
5 1C0h + Node ID 500h Input Data buffer, bytes 32... 39 Disabled
6 2C0h + Node ID 500h Input Data buffer, bytes 40... 47
9...80 500h 500h - Disabled

Basic Operation 23
• I/O Data Size

Object entries which do not correspond directly to I/O Data (see “Memory Layout (Internal
Memory Buffer)” on page 23) may not be mapped as PDOs. Any attempt to map an object entry
which does not fit this criteria will result in an error.
For more information about the object dictionary implementation, see “Object Dictionary Implemen-
tation” on page 74.
2.4.3 Memory Layout (Internal Memory Buffer)
The I/O sizes specified in Anybus Configuration Manager correlate to gateway memory as follows:
Example:
In this example, the I/O sizes for the gateway have been set to the following values:
IO Size In= 128 bytes(0x0080)
IO Size Out= 32 bytes(0x0020)
Resulting memory layout:

0x000 0x200...0x21F Can be exchanged as RPDO 0x400
0x220
Can be exchanged as TPDO
0x07F
0x080
Exchanged acyclically (Not represented

on CANopen)
Exchanged acyclically
0x1FF 0x3FF 0x???
See also...
• “Data Representation” on page 22
• “Object Dictionary Implementation” on page 74
• “Fieldbus Settings” on page 29

Chapter 3
3. Navigating the Anybus Configuration Manager
3.1 Main Window

The main window in the Anybus Configuration Manager can be divided into 4 sections as follows:
• A: Pull-down Menus & Tool Bar

The second drop-down menu from the left will change de-
pending on the current context. The Tool Bar provides This menu entry is expanded
quick access to the most frequently used functions.
• B: Navigation Section Sub-entries
This section is the main tool for selecting and altering dif-
ferent levels of the subnetwork configuration.
Entries preceded by a ‘+’ holds further configuration pa- This menu entry holds additional
rameters or ‘sub menus’. To gain access to these parame- sub-entries / parameters
ters, the entry must be expanded by clicking ‘+’.
There are three main levels in the navigation window,
namely Fieldbus, ABC and subnetwork.
Right-clicking on entries in this section brings out addi-
tional selections related to that particular entry.
• C: Parameter Section
This section holds a list of parameters or options related to
the currently selected entry in the Navigation Section.
The parameter value may be specified either using a selec-
tion box or manually, depending on the parameter itself.
Values can be specified in decimal form (e.g. ‘42’), or in Parameter Section
hexadecimal format (e.g. ‘0x2A’).
• D: Information Section
This section holds information related to the currently se-
lected parameter.
Information Section

Navigating the Anybus Configuration Manager 25
3.1.1 Pull-down Menu
File
This menu features the following entries:
• New
Create a new configuration.
See also “Configuration Wizards” on page 67.
• Open...
Open a previously created configuration.
• Save
Save the current configuration.
• Save As...
Save the current configuration under a new name.
• Print...
Send details about the current configuration to a printer.
• Properties...
This brings out the following window:
Item Description
Select a Name for the A name for the configuration
Configuration may be entered here
Download Password(6) These fields can be used to
Upload Password(6) password-protect the configu-
ration in the gateway.
CAUTION: Always keep a copy of the password

in a safe place. A lost password cannot be re-
trieved!
• Exit
Close the Anybus Configuration Manager.

Tools
• Port
This entry selects the COM-port used
for the configuration of the gateway.
• Upload configuration from ABC

Upload the configuration from the
gateway to the Anybus Configuration
Manager.
• Download configuration to ABC

Download the current configuration
into the gateway.
• Start Logging
Start the Data Logger (see “Data Logger” on page 65).
Note that when the Data Logger is active, this menu entry is changed to ‘Stop Logging’.
• Options
This will bring out the following window:
Item Description
Warning on Delete A confirmation dialog is displayed each
time something is deleted.
Warning on unsaved A confirmation dialog is displayed when
data closing the Anybus Configuration Man-
ager with unsaved data.
Show Wizard when The Wizard is displayed each time a new
“New” menu is selected configuration is created.
Language next time the Selects which language to use. The new
program is launched setting will be active the next time the pro-
gram is launched.
Selecting the ‘ABC’-tab will reveal additional properties:
Item Description
Size of logbuffer By default, the Data Logger can log up to
512 entries in each direction. If necessary,
it is possible to specify a different number
of entries (valid settings range from
1...512). Click ‘Apply’ to validate the new
settings. See also “Data Logger” on page
65.
Firmware Download Download firmware to the embedded field-
bus interface.
Warning: Use with caution.
Factory Restore Restores the gateway firmware to it’s orig-
inal state (does not affect the embedded
fieldbus interface).
Block Configuration When selected, the downloaded configu-
ration will not be executed by the gateway.
Warning: Use with caution.
Create Error log Creates an error log file

View
• Toolbar
This entry enables/disables the toolbar icons at the top of the
main window.
• Status Bar
This entry enables/disables the status bar at the bottom of the
main window.
Help
• Contents
Display the table of contents of the online help
system.
Note: At the time of writing, no online help sys-
tem exists.
• Search For Help On...

Search for a particular topic in the online help sys-
tem.
Note: At the time of writing, no online help system exists.
• About...
Display general information about the gateway and the current build of Anybus Configuration
Manager.

3.1.2 Toolbar Icons
The toolbar features icons for the most commonly used functions.
• New, Open & Save

See “File” on page 25.
New Open Save
• Upload from ABC & Download to ABC

See “Tools” on page 26.
Upload Download
• Up one Level
Clicking on this icon will move the selection in the navigation section.
Up one Level
• Cut, Copy, Paste, Delete, Insert

These icons are used for common editing func-
Cut Copy Paste Delete Insert
tions in the navigation section.
• Connect
Clicking on this icon will cause the Anybus Configuration Manager to attempt to
connect to the gateway. Connect
• Disconnect
Clicking on this icon will cause the Anybus Configuration Manager to disconnect
from the gateway. Disconnect
• Start Logging & Stop Logging

See “Tools” on page 26 & “Data Logger” on page 65.
Start Log. Stop Log.
• Subnetwork Monitor
Clicking on this icon will launch the subnetwork Monitor
(see “Subnetwork Monitor” on page 60). Sub-Network
Monitor
• Add Command
This icon is used to add commands to the currently selected node.
Add Command
• Add Mailbox
(Advanced functionality, see “Mailbox Editor” on page 80)
Add Mailbox
• Add Node & Add Broadcaster

These icons are used to add nodes to the configuration.
Node Broadcaster
• Node Monitor
Clicking on this icon will launch the Node Monitor (see “Node Monitor” on
page 61) Node Monitor
• Add Transaction(s)
These icons are used to add transactions to the currently selected node.
Add Add
Transactions Transaction

Chapter 4
4. Basic Settings
4.1 Fieldbus Settings
(Select ‘Fieldbus’ in the Navigation Section to gain access to the parame-

ters described in this section).
General
During start-up the fieldbus interface of the gateway is initialized to fit the configuration created in the
Anybus Configuration Manager. Optionally, some initialization parameters can be set manually to pro-
vide better control over how the data shall be treated by the gateway.
Fieldbus Type
The Anybus Configuration Manager supports a wide range of net-
working systems. Make sure that this parameter is set to ‘CAN-
open’.
IO Sizes Fieldbus Type
These parameters specify how data from the internal memory

buffer shall be exchanged on CANopen.
This can either be handled automatically based on the subnetwork
configuration, or specified manually.
• Automatic
All data can be exchanged both cyclically and acyclically.
See also...
I/O Sizes
- “Data Representation on CANopen” on page 22
• User defined
Additional parameter properties appear; ‘IO Size In’ and ‘IO Size Out’. The specified amount,
starting at address 0x0000 of the respective memory buffers, can be exchanged both cyclically
and acyclically. The remainder will only be exchanged acyclically.
See also...
- “Data Representation on CANopen” on page 22
Note: Excessive I/O sizes may have a negative influence on the overall performance of the gateway. It
is therefore generally recommended to set the I/O sizes manually instead of using the ‘Automatic’-op-
tion.

30
4.2 ABC Parameters

(Select ‘ABC’ in the Navigation Section to gain access to the parameters
described in this section).
Interface
Currently, only serial communication is supported.
Status / Control Word

(See “Control and Status Registers” on page 69).
Value Description
Enabled Enable the Control and Status Registers. The ‘Data Valid’-bit in the Control Register must
be set to start the subnetwork communication.
Enabled but no startup lock This setting is similar to ‘Enabled’, except that the control system is not required to set the
‘Data Valid’-bit to start the subnetwork communication.
Disabled This setting completely disables the Control and Status Registers.
Module Reset
This parameter specifies how the gateway will behave in the event of a fatal error.
Value Description
Enabled The gateway will be restarted, and no error will be indicated to the user.
Disabled The gateway will halt and indicate an error.
Protocol Mode
This parameter specifies which protocol mode to use for the subnetwork.
Value Description
Generic Data Mode This mode is primarily intended for Produce & Consume-based protocols, where there are
no Master-Slave relationship between the gateway and the nodes on the subnetwork.
Master Mode This mode is intended for ‘Query & Response’-based protocols, where a single Master
exchanges data with a number of Slaves.
DF1 This mode is intended for the DF1 protocol. The Anybus Communicator can only be con-
figured as a Master with half-duplex communication.
Note: This is the only mode available if you intend to configure an ABC module for DF1.
See also “Protocol Modes” on page 19.

31
Statistics
The Transmit- and Receive Counters indicate how many transactions that have successfully been ex-
changed on the subnetwork. This feature is primarily intended for debugging purposes.
• Receive Counter Location

Specifies the location of the Receive Counter in the internal memory buffer.
• Transmit Counter Location

Specifies the location of the Transmit Counter in the internal memory buffer.
Both counters are enabled by setting ‘Statistics’ to ‘Enabled’.

32
4.3 Subnetwork Parameters

(To gain access to the parameters described in this section, select ‘Subnet-
work’ in the Navigation Section).
Communication
These parameters specify the actual communication settings used for the subnetwork.
Parameter Description Master Mode and Generic Mode

Bit rate (baud rate) Selects the bit rate 1200
2400
4800
9600
19200
35700
38400
57600
Data bits Selects the number of data bits 7, 8
Parity Selects the parity mode None, Odd, Even
Physical standard Selects the physical interface type RS232, RS422, RS485
Start bits Number of start bits. 1
Stop bits Number of stop bits. 1, 2
Start- and End Character

Note: These parameters are only available in Generic Data Mode.
Start and end characters are used to indicate the beginning and end of a serial message. For example, a
message may be initiated with <ESC> and terminated with <LF>. In this case, the Start character would
be 0x1B (ASCII code for <ESC>) and the End character 0x0A (ASCII code for <LF>)
Parameter Description Valid settings
End Character Value End character for the message, ASCII 0x00 - 0xFF
Use End Character Determines if the End character shall be used or not Enable / Disable
Start Character Value Start character for the message, ASCII 0x00 - 0xFF
Use Start Character Determines if the Start character shall be used or not Enable / Disable
Timing (Message Delimiter)

The parameters in this category differs slightly between the different protocol modes.
• Master Mode
The Message Delimiter specifies the time that separates two messages in steps of 10ms. If set to
0 (zero), the gateway will use the standard Modbus delimiter of 3.5 characters (the actual number
of ms will be calculated automatically based on the currently used communication settings).

The Message Delimiter specifies the time that separates two messages in steps of 10µs.

Chapter 5
5. Nodes
5.1 General
In Anybus Configuration Manager, a node represents a single device on the network. While the gateway
doesn’t feature a scanlist in the traditional sense, all nodes, and their transactions, will be processed in
the order they have been defined in the Anybus Configuration Manager.
The maximum number of nodes that can be created in the Anybus Configuration Manager is 31.
5.2 Adding & Managing Nodes

(Right-click on ‘Sub Network’ in the Navigation Section to gain access to these functions)
Function Description
Paste Paste a node from the clipboard
Subnetwork Monitor Launch the subnet monitor ( “Subnetwork Monitor” on page
60)
Add Node Add a node to the configuration
Add Broadcastera Add a broadcaster node to the configuration
Load Node Add a previously saved node
Subnetwork Status... View diagnostic information about the subnetwork
a. This function is only available in Master Mode.
5.3 Node Parameters
5.3.1 Master Mode and Generic Data Mode
(To gain access to the parameters described in this section, select a node
in the Navigation Section).
Parameter Description
Slave Address The value entered here may be used to set the node address in
certain commands.
For more information, see “The Command Editor” on page 49.

Chapter 6
6. Transactions
6.1 General
As mentioned previously, transactions are representations of the actual serial telegrams exchanged on
the serial subnetwork. While the gateway doesn’t feature a scanlist in the traditional sense, all nodes, and
their transactions, will be processed in the order they have been defined in the Anybus Configuration
Manager.
Transactions are handled slightly differently in the three protocol modes:
• Master Mode
For regular nodes, transactions always come in pairs; a query and a response. The query is issued
by the gateway, while responses are issued by the slaves on the subnetwork. The Broadcaster can
only send transactions.

Transactions can be added as desired for both directions. Transactions sent to the subnetwork
are called ‘Transaction Produce’, and transactions issued by other nodes are called ‘Transaction
Consume’.
• DF1 Master Mode

Please refer to “DF1 Protocol Mode” on page 53.
Theoretically, the gateway supports up to 150 transactions. The actual number may however be less de-
pending on the memory requirements of the defined transactions.

Transactions 35
6.2 Adding & Managing Transactions

(Right-click on a node in the Navigation Section to gain access to these functions)
Function Description
Cut Cut a node to the clipboard
Copy Copy a node to the clipboard
Insert Insert a node from the clipboard
Delete Delete a node
Node Monitor Launch the node monitor ( “Node Monitor” on page 61)
Add Transaction(s) a On regular nodes, this adds a Query and a Response.
The two transactions will be grouped in order to
increase readability.
On the Broadcaster, a single transaction will be added.
Add Transaction Consumeb Add a ‘Consume’-transaction
Add transaction Produceb Add a ‘Produce’-transaction
Add Command Add predefined transactions to the node
Insert New Node Insert a new node above the currently selected one
Save Node Save the selected node
Insert from File Insert a previously saved node above the currently
selected node
Rename To increase readability, each node can be given a
unique name using this function
a. Only available in Master Mode
b. Only available in Generic Data Mode

Transactions 36
6.3 Transaction Parameters (Master Mode)
6.3.1 Parameters (Query & Broadcast)
(To gain access to these parameters, select a Query- or Broadcast- transaction in the Navigation Section)
Minimum time between This parameter specifies how long the gateway shall wait after transmitting a broadcast trans-
broadcasts (10 ms) action before processing the next entry in the scanlist. The value should be set high enough to
allow the slave devices time to finish the handling of the broadcast.
The entered value is multiplied by 10. For instance, an entered value of 5 results in 50 ms.
Note: This setting is only relevant for the Broadcaster node.
Offline options for field- This parameter specifies the action to take for this transaction if the higher level network goes
bus offline. This affects the data that is sent to the subnetwork.
• Clear - The data destined for the slave-devices is cleared (set to zero)
• Freeze - The data destined for the slave-device is frozen
• NoScanning -The updating of the subnetwork is stopped
Offline options for sub- This parameter specifies the action to take for this transaction if the subnetwork goes offline.
network This affects the data that is reported to the control system.
• Clear - Data is cleared (0) on the higher level network if the subnetwork goes offline
• Freeze - Data is frozen on the higher level network if the subnetwork goes offline
Reconnect time (10 ms) This parameter specifies how long the gateway shall wait before attempting to reconnect a dis-
connected node. A node will be disconnected in case the maximum number of retries (below)
has been reached.
Note: This setting is not relevant for the Broadcaster node.
Retries This parameter specifies how many times a timeout may occur in sequence before the node is
disconnected.
Timeout time (10 ms) This parameter specifies how long the gateway will wait for a response from a node. If this time
is exceeded, the gateway will retransmit the Query until the maximum number of retries (see
above) has been reached.
Trigger byte address This parameter specifies the location of the trigger byte in internal memory (only relevant when
‘Update mode’ is set to ‘Change of state on trigger’).
Valid settings range from 0x200... 0x3FF and 0x400... 0xNNN
Update mode This parameter is used to specify when the transaction shall be sent to the slave:
• Cyclically
The transaction is issued cyclically at the interval specified in the ‘Update time’ parameter.
• On data change
The data area is polled for changes at the time interval defined by Update time. A transac-
tion is issued when a change in data is detected.
• Single shot
The Query is issued once at start up.
• Change of state on trigger
The Query is issued when the trigger byte value has changed. This feature enables the
control system to notify the gateway when to issue a particular Query. To use this feature
correctly, the control system must first update the data area associated with the Query/
transaction, then increase the trigger byte by one. The location of the trigger byte is spec-
ified by the ‘Trigger byte address’ parameter.

Transactions 37
Update time (10 ms) This parameter specifies how often the transaction will be issued in steps of 10 ms (only rele-
vant when ‘Update mode’ is set to ‘Cyclically’).

Transactions 38
6.3.2 Parameters (Response)
(To gain access to these parameters, select a Response-transaction in the Navigation Section)
Trigger byte This parameter is used to enable/disable the trigger functionality for the response. If
enabled, the gateway will increase the trigger byte by one when the gateway receives new
data from the subnetwork. This can be used to notify the control system of the updated
data.
The location of the trigger byte is specified by the ‘Trigger byte address’ parameter below.
Trigger byte address This parameter specifies the location of the trigger byte in the internal memory buffer.
6.4 Transaction Parameters (Generic Data Mode)
6.4.1 Produce-Transactions
(To gain access to these parameters, select a Produce Transaction in the Navigation Section)
Offline options for fieldbus This parameter specifies the action to take for this transaction if the higher level network
goes offline. This affects the data that is sent to the subnetwork.
• Clear
Data is cleared (0) on the subnetwork if the higher level network goes offline
• Freeze
Data is frozen on the subnetwork if the higher level network goes offline
• NoScanning
Stop subnet scanning for this transaction if the higher level network goes offline
Update mode The update mode for the transaction:
• Cyclically
The transaction is sent cyclically at the interval specified in the ‘Update Time’-param-
eter.
• On data change
The data area is polled for changes at the time interval defined by Update time. A
transaction is issued when a change in data is detected.
• Single shot
The transaction is sent once at startup.
• Change of state on trigger
The transaction is sent when the trigger byte has changed. This feature enables the
control system to notify the gateway when to issue a particular transaction. To use this
feature correctly, the control system must first update the data area associated with
the transaction, then increase the trigger byte by one. The location of the trigger byte
is specified by the ‘Trigger byte address’ parameter.
Update time (10 ms) This parameter specifies how often the transaction will be issued in steps of 10ms (only
relevant when ‘Update mode’ is set to ‘Cyclically’).

Transactions 39
Trigger byte address This parameter specifies location of the trigger byte in the internal memory buffer.
If ‘Update mode’ is set to ‘Change of state on trigger’, the memory location specified by
this parameter is monitored by the gateway. Whenever the trigger byte is updated, the
gateway will produce the transaction on the subnetwork.
This way, the control system can instruct the gateway to produce a specific transaction on
the subnetwork by updating the corresponding trigger byte.
The trigger byte should be incremented by one for each activation. Please note that the
trigger byte address must be unique to each transaction. It can not be shared by two or
more transactions.
Note: This parameter has no effect unless the ‘Update mode’ parameter is set to ‘Change
of state on trigger’.
6.4.2 Consume-Transactions
(To gain access to these parameters, select a Consume Transaction in the Navigation Section)
Offline options for subnet- This parameter specifies the action to take for this transaction if the subnetwork goes
work offline. This affects the data that is sent to the higher level network.
• Clear
Data is cleared (0) on the higher level network if the subnetwork goes offline
• Freeze
Data is frozen on the higher level network if the subnetwork goes offline
Offline timeout time (10 ms) This parameter specifies the maximum allowed time between two incoming messages in
steps of 10ms. If this time is exceeded, the subnetwork is considered to be offline. A value
of 0 disables this feature, i.e. the subnetwork can never go offline.
Trigger byte • Enable
Enables the trigger byte. The location of the trigger byte must be specified in the ‘Trig-
ger byte address’ (below).
The trigger byte value will be increased each time a valid transaction has been con-
sumed by the gateway.
The trigger byte will also be increased if the offline option is set to “Clear” and the
offline timeout time value is reached.
This feature enables the control system to be notified each time new data has been
consumed on the subnetwork.
• Disable
Disables the trigger byte functionality.
Trigger byte address This parameter specifies the location of the trigger byte in the internal memory buffer.
Valid settings range from 0x000... 0x1FF and 0x400... 0xNNN.
Please note that the trigger byte address must be unique to each transaction. It can not be
shared by two or more transactions.

Transactions 40
6.5 Transaction Editor

The Transaction Editor can be used to edit the individual frame objects of a transaction. The same set-
tings are also available in the parameter section of the main window, however the Transaction Editor
presents the frame objects in a more visual manner.
Frame
Objects
To edit the value of a parameter, click on it and enter a new value using the keyboard. When editing
transactions which are based on predefined commands, certain parts of the transaction may not be ed-
itable.
The File menu features the following entries:
• Apply Changes
This will save any changes and exit to the main
window.
• Exit
Exit without saving.
Example:
The transaction created in this example are built up as follows:

The first byte holds the STX (0x02) followed by two bytes specifying the length of the data field
(in this case 8). The next 8 bytes are data and since this is a ‘query’-transaction, the data is to be
fetched from the Output Area which starts at address location 0x202. No swapping will be per-
formed on the data. This is followed by a two-byte checksum. The checksum calculation starts
with the second byte in the transaction.
The transaction ends with a byte constant, the ETX (0x03).

Chapter 7
7. Frame Objects
7.1 General
Each transaction consists of Frame Objects which makes up the serial telegram frame. Each Frame Ob-
ject specifies how the gateway shall interpret or generate a particular part of the telegram.
There are 5 types of frame objects, which are described in detail later in this chapter:
• Constant Objects
• Limit Objects
• Data Objects
• Variable Data Objects
• Checksum Objects
Example:
The following Transaction consists of several frame objects; three constants, a data object, and
a checksum object.
Transaction
Constant Constant Variable Length Data Checksum Constant
7.2 Adding and Editing Frame Objects

To add a frame object to a Transaction, right-click on the Transac-
tion in the Navigation Section and select one of the entries in the
menu that appears.
The entry called ‘Transaction Editor’ will launch the Transaction
Editor, which is used to edit transactions and frame objects in a
more visual manner. For more information, see “Transaction Edi-
tor” on page 40.
To edit parameters associated with a particular frame object, select

the frame object in the Navigation Section. The settings for that
frame object will be displayed in the Parameter Section.
It is also possible to edit the frame objects in a transaction in a

more visual manner using the Transaction Editor, see “Transac-
Data Object, Parameters
tion Editor” on page 40

Frame Objects 42
7.3 Constant Objects (Byte, Word, Dword)

Constant Objects have a fixed value and come in three sizes:
• Byte
8 bits
• Word
16 bits
• Dword
32 bits
Constants are handled differently depending on the direction of the transaction:
• Produce/Query Transactions
The gateway will send the value as it is without processing it.
• Consume/Response Transactions
The gateway will check if the received byte/word/dword matches the specified value. If not, the
message will be discarded.
To set the value of the object, select it in the Navigation Section and enter the desired value in the Pa-
rameter section.
Value Constant value

Frame Objects 43
7.4 Limit Objects (Byte, Word, Dword)

Limit Objects have a fixed range and come in three sizes:
• Byte
8 bits
• Word
16 bits
• Dword
32 bits
Limit Objects are handled differently depending on the direction of the transaction:
This object shall not be used for such transactions (value will be undefined).
The gateway will check if the received byte/word/dword fits inside the specified boundaries. If
not, the message will be discarded.
There are 3 types of interval objects:
• Byte
8 bit interval
• Word
16 bit interval
• Dword
32 bit interval
To set the range of the object, select it in the Navigation Section and enter the desired range in the Pa-
rameter section as follows:
Maximum Value This is the largest allowed value for the range.
Range:0x00... 0xFFh(byte)
0x0000... 0xFFFFh(word)
0x00000000... 0xFFFFFFFFh(dword)
Note: Value must be larger than the Minimum Value (below)
Minimum Value This is the smallest allowed value for the range.
Range:0x00... 0xFEh(byte)
0x0000... 0xFFFEh(word)
0x00000000... 0xFFFFFFFEh(dword)
Note: Value must be less than the Maximum Value (above)

Frame Objects 44
7.5 Data Object

Data Objects are used to represent raw data as follows:
The specified data block is forwarded from the higher level network to the subnetwork.
The specified data block is forwarded from the subnetwork to the higher level network.
To specify the properties of the object, select it in the Navigation Section and enter the desired settings
in the Parameter section as follows:
Byte Swapping • No Swapping
No swapping is performed on the data
• Swap 2 bytes
A, B, C, D becomes B, A, D, C
• Swap 4 bytes
A, B, C, D becomes D, C, B, A
Data Length The length of the data block, in bytes. In case of a Response or Consume transaction, incom-
ing messages where the data size differs from the value specified here will be discarded. Max-
imum data length allowed for one frame is 300 bytes.
Data Location The location of the data block in the internal memory buffer
7.6 Variable Data Object

Note: Only one Variable Data Object is permitted for each transaction.
This object is similar to the Data Object, except that it has no predefined length. Instead, an End or
Length-character specifies the size of the data block as follows:
(Variable Data Object) (Variable Data Object)
Data 0x00 0x04 Data
Data of arbitrary length End Character Length Character 4 bytes of data
The specified data block will be forwarded from the higher level network to the subnetwork. The
control system must supply an End- or Length-character in order for the gateway to know the
size of the data block.
The End- or Length-character itself may either be forwarded to the subnetwork or discarded.
The specified data block is forwarded from the subnetwork to the higher level network. The
End- or Length-character will be generated by the gateway automatically (if applicable).
The End- or Length-character itself may either be forwarded to the higher level network or dis-
carded.

Frame Objects 45
To specify the properties of the object, select it in the Navigation Section enter the desired settings in
the Parameter section as follows:
Byte Swapping • No Swapping
No swapping will be performed on the data
• Swap 2 bytes
A, B, C, D becomes B, A, D, C
• Swap 4 bytes
A, B, C, D becomes D, C, B, A
Fill unused bytes • Enableda
Fill unused data with the value specified in ‘Filler byte’.
• Disabled
Don’t fill
Filler byte Filler byte value. Only used if ‘Fill unused bytes’ has been enabled.
Data Location The offset in the internal memory buffer where the data shall be read from / written to
Object Delimiter • Length Character
Length character is visible in the internal memory buffer but not on the subnetwork
• Length Character Visible
The length character is visible both in the internal memory buffer and on the subnetwork.
• End Character
The end character is visible in the internal memory buffer but not on the subnetwork.
• End Character Visible
The end character is visible both in the internal memory buffer and on the subnetwork
• No Charactera
No End- or Length-character is generated in the internal memory buffer.
End Character Value End Character valueb
Maximum Data Length The maximum allowed length (in bytes) of the variable data object. If the actual length of the
data exceeds this value, the message will be discarded. The value must not exceed 300 bytes,
which is the maximum data length allowed for one frame.
a. Only relevant for Consume/Response transactions
b. Only used if ‘Object Delimiter’ is set to ‘End Character’ or ‘End Character Visible’

Frame Objects 46
7.7 Checksum Object

Most serial protocols features some way of verifying that the data has not been corrupted during trans-
fer. The Checksum Object calculates and includes a checksum in a transaction.
Error Check Start byte This parameter specifies the byte offset in the transaction to start checksum calculations on
Error Check Type This parameter specifies which type of algorithm to use:
• CRC (2 bytes)
CRC-16 with 0xA001 polynome (Modbus RTU standard)
• LRC (1 byte)
All bytes are added together as unsigned 8-bit values. The 2’s complement of the result will
be used as a checksum.
• XOR (1 byte)
All bytes are logically XOR:ed together. The resulting byte will be used as a checksum.
• ADD (1 byte)
All bytes are added together as unsigned 16-bit values. The lowest 8 bits in the result will be
used as a checksum.
• AddInvASCII (2 bytes)
All bytes are added together as unsigned 8-bit values. The lowest 8 bits in the result are
inversed and used as a checksum, represented as hexadecimal ASCII (2 bytes).

Chapter 8
8. Commands
This information is only valid for master mode and generic mode. For DF1 master mode, please refer
to “Services” on page 56.
8.1 General
As mentioned previously, commands are actually predefined transactions that can be stored and reused.
Just like regular transactions, commands consist of frame objects and are representations of the actual
serial telegrams exchanged on the serial subnetwork.
Adding a command to a node actually results in (a) transaction(s) being added according to the directions
specified in the command. The frame objects in such a transaction may retrieve their values not only
from parameters in the parameter section, but also from other sources such as the ‘SlaveAddress’-pa-
rameter (see “Node Parameters” on page 33). In such case, the parameters in the parameter section will
be greyed out and cannot be edited directly.
In Master Mode, Anybus Configuration Manager comes preloaded with commands for most common
Modbus RTU functions. Additional commands can easily be added using the Command Editor (see
“The Command Editor” on page 49). For DF1 Master Mode, see “Services” on page 56. In Generic
Data Mode, no predefined commands exist, but custom ones may be implemented as desired.
8.2 Adding & Managing Commands

To add a command to a node, right-click on the node in the Navigation Section and select ‘Add Com-
mand’.
A list of commands will appear:
Select the desired command in the list, and select ‘Add Command’
in the ‘Command’-menu. The specified command will be added
to the node.
Just like other transactions, the frame objects of added command
may be edited in the Navigation/Parameter Section or using the
Transaction Editor. Note however that certain frame objects may
be locked for editing.

Commands 48
8.2.1 Pull-Down Menu
File
• Select
Add the currently selected Command to the node.
• Exit
Exit without adding a command to the node.
Command
This menu is used to manage the commands in the list:
• Add Command
Add a custom command to the list, and open the
new command in the Command Editor.
See also “The Command Editor” on page 49.
• Edit Command
Edit the currently selected command using the
Command Editor.
See also “The Command Editor” on page 49.
• Delete Command
Delete the currently selected command from the list. Note that some commands are fixed and
cannot be deleted.
8.2.2 Toolbar Icons
• Add Command
(Same as ‘Add Command’ in the ‘Command’-menu).
Add Command
• Edit Command
(Same as ‘Edit Command’ in the ‘Command’-menu).
Edit Command
• Delete Command
(Same as ‘Delete Command’ in the ‘Command’-menu).
Delete Command

Commands 49
8.3 The Command Editor
8.3.1 General
The Command Editor is used to define new commands and edit existing ones. This makes it possible
to build a library of commands, which can be stored and reused at a later stage.
Note that the Command Editor is somewhat protocol-dependent in the sense that certain frame objects
may not be deleted or altered.
The examples in this section use Master Mode. The procedures involved are similar in Generic Data
Mode, but without the limitations imposed by the Modbus RTU protocol.
8.3.2 Basic Navigation
Open the Command Editor by selecting ‘Edit Command’ or ‘Add Command’ from the ‘Command’-
menu.
A
B D E
A: Pull-down Menu
See “Pull-down Menu” on page 50.
B: Name of Command
Actual name of the command, in text form.
C: Command Transactions
This section holds the actual transactions associated with the command. This can either be a que-
ry-response pair, or a single transaction, depending on the protocol mode etc.
D: Command ID
This can be used as desired when building the command, e.g. to specify the function code.
E: Other Settings
Setting Description
Allow Broadcasting Specifies if it is allowed to broadcast the command (only relevant in Master Mode)
Produce The command is producing data (Generic Data Mode only)
Consume The command is consuming data (Generic Data Mode only)

Commands 50
8.3.3 Pull-down Menu
File
• Apply Changes
Save changes and exit to the main window.
• Exit
Exit without saving.
Column
The functions in this menu alters the structure of the command.
• Append Column
Add another column to the command.
• Insert Column
Insert a column at the selected position.
• Delete Command
Delete the column at the selected posi-
tion.

Commands 51
8.3.4 Editing a Command
As mentioned previously, the transaction section in the Command Editor represents the actual transac-
tions associated with the command. Each column represents a frame object within the transaction.
Each column features four rows with the following parameters:
• Query/Response/Produce/Consume
The upper right cell indicates the direction of the transaction.
• DisplayName
Each column can be named so that the different parts of the command appears in a more user
friendly manner when editing its settings in the Transaction Editor or in the Parameter Section
of the Main Window.
• ObjectType
This row specifies the type of frame object that shall be used for the column.
• Value
This row specifies where the frame object shall retrieve its value/settings.
Value Description
Depend This setting is only relevant for Responses in Master Mode.

The value will be retrieved from the corresponding part of the ‘Query’-transaction.
Id The value will be retrieved from the ‘Command ID’-setting (see “Basic Navigation” on page
49).
User The settings associated with the object can be edited by the user.
[SlaveAddress] The value will be retrieved from the ‘SlaveAddress’-parameter (see “Node Parameters” on
page 33).
(other settings) Other settings are no longer supported.

Commands 52
8.3.5 Example: Specifying a Modbus-RTU Command in Master Mode
In the following example, a Modbus-RTU command is created in Master Mode. In Modbus-RTU, a

transaction always feature the following parts:
• Slave Address (1 byte)
• Function Code (1 bytes)
• A data field
• CRC (CRC-16)
Furthermore, each command always consists of a query and a response.
• Example Query
Query 1 2 3 4
DisplayName Slave Address Function Data Checksum
Object Type Byte Object Byte Object Data Object Checksum Object
Value [SlaveAddress] ID User User
The value of this byte The value of this byte The size and location The checksum type
constant will be set constant will be set of the data associated etc can be selected by
using the ‘SlaveAd- using the ‘Command with this object is the user. By default,
dress’ parameter (see ID’-field. determined by the this is set to match the
“Node Parameters” on user. Modbus-RTU stan-
page 33). dard.
• Example Response
Response 1 2 3 4
DisplayName Slave Address Function Data Checksum
Object Type Byte Object Byte Object Data Object Checksum Object
Value [SlaveAddress] ID User Depend
This value is linked to The value of this byte The size and location This object will
the ‘SlaveAddress’ constant will be set of the data associated retrieve its settings
parameter in the using the ‘Command with this object is from the correspond-
parameter window. ID’-field. determined by the ing object in the
user. Query.
By default, the Modbus-RTU-specific frame objects are already in place, and a data object is inserted
between the function code and the CRC. These objects cannot be moved or deleted, however it is pos-
sible to add additional objects between the function code and the CRC as desired.
Name the new command by entering its name in the ‘Command Name’-field, and enter a suitable func-
tion code in the ‘Command ID’-field. If the command is allowed to be broadcasted, check the ‘Allow
Broadcasting’-checkbox.

Chapter 9
9. DF1 Protocol Mode

This mode makes it possible to let the Anybus Communicator act as a DF1 protocol master on the sub-
network.
9.1 General
In DF1 master mode, communication is based on ‘services’. A ‘service’ represents a set of commands
and operations on the subnetwork, that is predefined in the Anybus Communicator. Each service is as-
sociated with a set of parameters controlling how and when to use it on the subnetwork.
The communication is based on a query-response scheme, where the gateway issues a query on the sub-
network. The addressed node on the subnetwork is expected to issue a response to that query. Nodes
are not permitted to issue responses spontaneously, i. e. without first receiving a query.
In DF1 Master Mode, Anybus Configuration Manager comes preloaded with a number of services, that
can be selected by the user. The actual DF1 commands, that perform the services during runtime, are
predefined in the Anybus Communicator. The configuration of the services is performed by right-click-
ing on a node in the Anybus Configuration Manager and selecting ‘Add Command’.

DF1 Protocol Mode 54
9.2 ABC Parameters

(Select ‘ABC’ in the Navigation Section to gain access to the parameters
described in this section).
Interface
Currently, only serial communication is supported.
Status / Control Word

(See “Control and Status Registers” on page 69).
Value Description
Enabled Enable the Control and Status Registers. The ‘Data Valid’-bit in the Control Register must
be set to start the subnetwork communication.
Enabled but no startup lock This setting is similar to ‘Enabled’, except that the control system is not required to set the
‘Data Valid’-bit to start the subnetwork communication.
Disabled This setting completely disables the Control and Status Registers.
Module Reset
This parameter specifies how the gateway will behave in the event of a fatal error.
Value Description
Enabled The gateway will be restarted, and no error will be indicated to the user.
Disabled The gateway will halt and indicate an error.
Protocol Mode
This parameter specifies which protocol mode to use for the subnetwork.
Value Description
DF1 This mode is intended for the DF1 protocol. The Anybus Communicator can only be con-
figured as a Master with half-duplex communication.
Note: This is the only mode available if you intend to configure an ABC module for DF1.
See also “Protocol Modes” on page 19.
Statistics
The Transmit- and Receive Counters indicate how many transactions that have successfully been ex-
changed on the subnetwork. This feature is primarily intended for debugging purposes.
• Receive Counter Location

Specifies the location of the Receive Counter in the internal memory buffer.
• Transmit Counter Location

Specifies the location of the Transmit Counter in the internal memory buffer.
Both counters are enabled by setting ‘Statistics’ to ‘Enabled’.

9.3 Subnetwork Parameters

(To gain access to the parameters described in this section, select ‘Subnet-
work’ in the Navigation Section).
Communication
These parameters specify the actual communication settings used for the subnetwork.
Parameter Description Valid Settings

Bit rate (baud rate) Selects the bit rate 2400
4800
9600
19200
38400 (Default)
Data bits Selects the number of data bits 8
Parity Selects the parity mode None, Odd, Even
Physical standard Selects the physical interface type RS232, RS422, RS485
Start bits Number of start bits.
Stop bits Number of stop bits. 1
DF1 Settings
Master Node Address Node address of the master, valid values: 0 - 254, default 1
Poll time, active slaves (10 ms) Determines how often the slave shall be polled in steps of 10 ms, default 100 msa
Poll time, inactive slaves (10 ms) Determines how often the slave shall be polled in steps of 10 ms, default 1000 msb
a. The default value is given as 10 in the parameter window. Each change of 10 ms either increases or decreases
this value by 1, i.e. 9 represents a poll time of 90 ms and 11 represents a poll time of 110 ms.
b. The default value is given as 100 in the parameter window. Each change of 10 ms either increases or decreases

9.4 Node Parameters

To gain access to the parameters described in this section, select a node
in the navigation section. For more information about nodes, see
“Nodes” on page 33.
Parameter Description Valid Settings

Checksum Selects the type of checksum on the network. BCC
CRC (default)
Slave Address The value entered here sets the node address. 0-254
Type The PLC type of the slave PLC-5
SLC500
MicroLogix
9.5 Services
Services are commands that can be stored and reused. The user configures each slave with services that
can be issued from the master. A total of 50 services are allowed.
The Anybus Communicator supports a selection of DF1 commands. When the gateway is going to ex-
ecute a service, it automatically chooses the appropriate DF1 command(s) that are used to perform the
service on the selected DF1 node type.

9.5.1 Available Services
Right click on the node, and choose Add Command.

A pop-up window will show the four different servic-
es that are available:
• Integrity check
• Read diagnostics
• Read data
• Write data
A maximum of 50 services in total (for all nodes) can
be selected.
The predefined services can be configured to suit the
application. Select a service to show the parameters.
General Configuration Parameters

These parameters are common to all services, but the settings
are individual to each instance of a service.
General:

Offline options for The action to take for this service Clear
fieldbus if the fieldbus goes offline. This Freeze
option affects the data that is sent Noscanning
out to the subnetwork.
Offline options for The action to take for this service Clear
subnetwork if the subnetwork goes offline. Freeze
This option affects the data that is
reported to the fieldbus master.
Update mode The update mode for this service Cyclically
On data change
Single shot
Change of state
on trigger
Timing:
Parameter Description Default

Retries The number of times to resend this service before the node is disconnected 3
Timeout time (10 ms) The time to wait before resending this service (in steps of 10 ms)a 1000 ms
Update time (10 ms) The minimum time between two services of this kind (in steps of 10 ms)a 1000 ms
a. The default value is given as 100 in the parameter window. Each change of 10 ms either increases or decreases
Trigger:
Parameter Description Default

Request Trigger byte The memory location of the trigger byte this service uses for updates on trigger 0x05FF
address byte changes
Response Trigger byte Enables/disables the trigger byte Disabled
Response Trigger byte The memory location of the trigger byte this service uses for updates on trigger 0x05FF
address byte changes

9.6 Integrity Check

This service checks that a node is up and running correctly. A telegram is sent to the node. The node
mirrors and returns the telegram. No configuration is needed, apart from the general parameters, com-
mon to all services.
9.7 Read Diagnostics

This service reads diagnostic information from the module.
Command parameters
The command parameter Size decides the amount of data that can be read. The size is given in bytes
which means that it always has to be an even number as only whole elements can be read from the slave.
One bit/integer element is 2 bytes and one float element is 4 bytes. The range of the size differs, de-
pending on node type:
PLC-5 SLC500 MicroLogix

Size range (in bytes) 1-26 1-28 1-26
Data options:

Byte swap Determines if the data shall be swapped No byte swap
Swap words
Swap double words
Data length The number of bytes, read from the DF1 network, to write to the area determined ≤ Size
by the Offset parameter
Offset The offset in the internal memory buffer in the module, where the data shall be
read. See “Memory Map” on page 17

9.8 Read Data

This service is used to read data from the nodes in the subnetwork.
Command Parameters

Element Number The element number of the data file to be accessed within the slave. PLC-5: 0-999
SLC500: 0-255
MicroLogix: 0-255
File number The file number of the data file to be accessed. PLC-5: 3, 7, 8, 10-999
SLC500: 3, 7, 8, 10-255
MicroLogix: 3, 7, 8, 10-255
File type The file type of the data to be accessed. Integer
Bit
Float
Size The number of bytes to read from the slave. One bit/integer element is PLC-5: 2-240
2 bytes and one float element is 4 bytes. The parameter must have an SLC500: 2-236
even value as only whole elements can be read from the slave. MicroLogix: 2-242
Data Options

Byte swap Determines if the data shall be swapped. No byte swap
Swap words
Swap double words
Data length The number of bytes, read from the DF1 network, to write to the area determined ≤ Size
by the Offset parameter
Offset The offset in the internal memory buffer in the module, where the data shall be -
read. See “Memory Map” on page 17.
Note: If the control and status registers are enabled (default), first available data
location will be: Input area 0x002, Output area 0x202.
9.9 Write Data

This service is used to write data to the nodes in the subnetwork. The parameters to be configured are
the same as for the service Read Data. The only difference is that data is read from the internal memory
buffer in the Anybus Communicator and written to the subnetwork bus, instead of being written to the
internal memory buffer.

Chapter 10
10. Subnetwork Monitor
General
The Subnetwork Monitor is intended to simplify configuration and troubleshooting of the subnetwork.
Its main function is to display the data allocated for subnetwork communication and detect if any area
has been allocated twice (i.e if a collision has occurred).
All configured nodes, and their transactions, are listed in the middle of the screen (B). Selecting and de-
selecting single transactions makes it possible to view any combination of allocated data.
Note: The subnetwork monitor has a negative influence on the overall performance of the gateway.
Therefore the monitor functionality should be used with care.
Operation
A: Start Network & Stop Network Icons

These icons controls the subnetwork activity. To stop all subnetwork
activity, click on the red light. To start the subnetwork again, click on Start Stop
the green light.
B: Nodes / Transactions
To view data blocks associated with a transaction, select the transaction in the list. The corre-
sponding data will then appear in the Monitor Section (C).
C: Monitor Section
This section visualizes how data is allocated in the Input, Output and General Data areas.
Color Meaning
White Not allocated.
Yellow Data allocated by a Response or Consume transaction.
Blue Data allocated by a Query or Produce transaction
Red Collision; area has been allocated more than once.
Grey Reserved (illustrates memory consumption, area can be allocated if necessary)
Green Data allocated by Trigger byte, Transmit/Receive Counter, or Control/Status Registers.

Chapter 11
11. Node Monitor
11.1 General
The Node Monitor can provide valuable information when setting up the communication with the sub-
network, by allowing individual commands to be issued manually, and monitoring the response (if ap-
plicable). It also provides an overview of the memory used by a particular node.
Note: The node monitor has a negative influence on the overall performance of the gateway, i.e. it
should be used only when necessary.
The Node Monitor behaves somewhat differently in the three protocol modes:
• Master Mode and DF1 Master Mode

The selected Command (Query Transaction) or Service is sent to the subnetwork. The response
to the Query can be monitored in the Response Section.
Command Section (Query)

Subnetwork
Response Section

The selected command (Transaction Produce) is sent to the subnetwork. It is not possible to
monitor any responses etc. generated by other nodes.
Command Section (Produce) Subnetwork
(Not used)

Node Monitor 62
11.2 Navigating the Node Monitor
A: Pull-down Menu & Toolbar Icons

See “Pull-Down Menu” on page 63 and “Toolbar Icons” on page 64.
B: Command Section
This section holds the currently selected command. The individual frame objects in the com-
mand can be edited in a similar way as in the Transaction and Command Editors.
C: Response Section (Master Mode and DF1 Master Mode only)

This section holds the response to the selected Command.
D: Monitor Section
This section displays the data associated with the node. Areas in dark grey are reserved for the
Status & Control Registers, and areas displayed in light grey represent the data that is used by the
node.
The data displayed in this section will be refreshed based on the refresh-icons in the toolbar. For
more information, see “Toolbar Icons” on page 64.

Node Monitor 63
11.2.1 Pull-Down Menu
File
There is only one entry in this menu:
• Exit
This will close the Node Monitor. Note however that if the node has
been disabled using ‘Stop Node’ (see below), it will not resume data
exchange until enabled again using ‘Start node’.
Node
This menu controls the data exchange for the node. This feature can
help isolate problems associated with a particular node.
• Start Node
Enable the transactions associated with the node.
• Stop Node
Disable the transactions associated with the node.
Command
This menu is used to specify and issue a command manually.
• Select Command
Select a command to be sent to the subnetwork.
• Send Command
Send the specified command to the subnetwork.
Columns
This menu specifies the number of columns in the Monitor
Section.
• Free
The number of columns depends on the width of the window.
• 8 Multiple
The number of columns will be fixed to 8.
View
This menu specifies the data representation in the Monitor Section.
• Hex
Display the data in hexadecimal format.
• Decimal
Display the data in decimal format.

Node Monitor 64
11.2.2 Toolbar Icons
• Start Node & Stop Node

These icons corresponds to the functions in the ‘Node’-menu.
See also “Node” on page 63. Start Stop
• Select Command & Send Command

These icons corresponds to the functions in the ‘Command’-menu.
See also “Command” on page 63. Select Send
• Resume Refresh & Stop Refresh

When enabled, the data displayed in the Monitor Section will be re-
freshed cyclically. When disabled, i.e. stopped, the data will have to be
refreshed manually using the ‘Refresh’-icon (see below). Stop Resume
• Refresh
When clicking on this icon, the data displayed in the Monitor Section will be re-
freshed. Refresh

Chapter 12
12. Data Logger
12.1 General
This feature allows the subnetwork traffic to be logged into a buffer for examination. This may provide
valuable information when debugging the lowest levels of the subnetwork communication.
Note that the logger function is part of the gateway itself and is separate from the Anybus Configuration
Manager. This means that logging can be performed even if the gateway is physically disconnected from
the PC running the Anybus Configuration Manager.
12.2 Operation
Start & Stop Logging
• Start logging
Select ‘Start Logging’ in the ‘Tools’-menu. Anybus Configuration Manager will then prompt for
the desired mode of operation, see below.
• Stop logging
Select ‘Stop Logging’ in the ‘Tools’-menu. This will open the log-window, see below.
Modes of Operation
Select the desired mode of operation and click ‘OK’ to start logging data.
• Log until full

Data will be logged until the log-buffer is full.
• Log continuously
Data will be logged continuously until logging is
stopped by clicking ‘Stop Logging’. The log-buffer
will contain the most recent data.
Log Window
The logged data is displayed in hexadecimal, decimal and AS-
CII format for both directions. The time between the log-en-
tries is displayed in a separate column.
The data may optionally be saved in ASCII text format by
clicking ‘Create Text file’.
Click ‘Close’ to exit.

Data Logger 66
12.3 Configuration
By default, the log-buffer can hold 512 bytes of data in each
direction. To specify a different size for the buffer, select
‘Options’ in the ‘Tools’-menu.
A window with various settings will appear. Select the ‘ABC’-
tab, and enter the desired number of buffer entries under
‘Size of logbuffer’ (valid settings range from 1...512).
Click ‘Apply’ to validate the new settings.
Click ‘OK’ to exit.

Chapter 13
13. Configuration Wizards
13.1 General
When creating a new subnetwork configuration, the Anybus Configuration Manager provides a choice
between starting out with a blank configuration, or using a predefined template, a.k.a a wizard.
The wizard automatically creates a subnetwork configuration based on information supplied by the user,
i.e the user simply has to “fill in the blanks”. Note however that this will only work when the subnetwork
fits the wizard profile; in all other cases the ‘Blank Configuration’ option must be used.
13.2 Selecting a Wizard Profile

The following window appears each time the Anybus Configuration Manager is started, or upon select-
ing the ‘New’ entry in the ‘File’-menu (unless it has been disabled in the ‘Options’-menu, see “Tools”
on page 26).
Currently, the following wizards are available:
• ABCC ExtLink Wizard

This wizard is intended for use with the Anybus-Com-
pactCom Modbus-RTU fieldbus communication
module.
• Wizard - Modbus RTU Master

This option is suitable for Modbus RTU-based net-
works.
See also “Wizard - Modbus RTU Master” on page 68.
• Blank Configuration
This option creates an empty configuration.
Highlight the desired wizard and click ‘OK’ to continue.

Configuration Wizards 68
13.3 Wizard - Modbus RTU Master

This wizard can be used to create a Modbus-RTU-based network configuration based on certain infor-
mation about the subnetwork. The online help system explains each configuration step in detail.
• Important Notes:
Many OEM devices do not fully comply with the Modbus standard. For example, they may im-
plement a variation of this standard or be limited to the use of specific Modbus commands other
than the ones used by this wizard. In all cases, the user should consult the documentation of the
devices that shall be used on the subnetwork for information about their serial communication
requirements, and if necessary contact the manufacturer of the device to obtain further informa-
tion about the serial communication protocol.
In the event that the wizard doesn’t handle a particular Modbus command required by a device,
it is possible to specify this command manually as a transaction in the Anybus Configuration
Manager.
Using this wizard involves the following steps:
Step 1: Communicator Type

Select ‘CANopen’.
Click ‘Next’ to continue.
Tip: It is possible to return to a previous
menu at any time without losing any set-
tings by clicking ‘Previous’.
Step 1a: I/O Sizes

Specify the sizes of the input and output
data areas. For more information, see
“IO Sizes” on page 29.
Step 2: Physical Settings

Select the physical properties of the sub-
network.
Steps 3 - 6
Consult the online help system for fur-
ther information.

Chapter 14
14. Control and Status Registers
14.1 General
The Control and Status Registers are disabled by default, but can be enabled using the Anybus Config-
uration Manager (see “Status / Control Word” on page 30). These registers form an interface for ex-
changing status information between the subnetwork and the fieldbus control system.
The main purpose of these registers is to...
• Report subnetwork related problems to the fieldbus control system
• Ensure that only valid data is exchanged in both directions
• Enable the fieldbus control system to start/stop data exchange with selected nodes on the sub-
network
If enabled, these registers occupy the first two bytes in the input and output data areas (0x000-0x001 and
0x200-0x201 respectively), which means they can be accessed from the fieldbus just like any other data
in these areas.
Note: Internally, these registers are stored in Motorola-format (i.e. MSB first). If the higher level net-
work uses a different byte order, the upper and lower bytes will appear swapped.
14.1.1 Handshaking Procedure
A special handshaking procedure, which is illustrated in the two flowcharts below, must be followed
when accessing these registers to ensure that both parts receive proper information.
Read Status Register Write to Control Register
Start Start
CR_HS_CONFIRM= Yes SR_HS_CONFIRM= No

SR_HS_SEND? CR_HS_SEND?
No Yes
Read Status Register Write to Control Register
Set CR_HS_CONFIRM
Toggle CR_HS_SEND
to SR_HS_SEND
Done Done

Control and Status Registers 70
14.1.2 Data Consistency
The ‘Data Valid’-bits in the Control and Status Registers are used to ensure data consistency during start-
up and fieldbus offline/online transitions.
If the ‘Status / Control Word’-parameter in Anybus Configuration Manager is set to ‘Enabled’, the gate-
way will wait for the fieldbus control system to set the ‘Data Valid’-bit in the Control Register before it
starts exchanging data on the subnetwork.
If the same parameter is set to ‘Disabled’ or ‘Enabled but no startup lock’, communication will start as
soon as the fieldbus goes online.
State Machine
The fieldbus network participation can be described using a state machine as described below.
A: Offline (No data exchange)

1. Clear the ‘Data Valid’-bit in the Con- A Start
trol Register. Offline
(no data exchange)
2. Write initial data to the Output Area
according to the subnetwork configu-
ration.
3. Wait until the fieldbus control system
B
and the gateway are online on the field- Online
bus network, and shift to state B. (not yet exchanging data)
B: Online (Not yet exchanging data)

4. Wait until the ‘Data Valid’-bit in the
Status Register is cleared by the gate- C
way. Online
(exchanging data)
5. Set the ‘Data Valid’-bit in the Control
Register.
6. When the ‘Data Valid’-bit in the Status
Register is set by the gateway, shift to
state C.
7. If the gateway goes offline on the fieldbus, shift to state A.
C: Online (Exchanging data)

Exchanging valid data in both directions.
If the gateway goes offline on the fieldbus, shift to state A.
Note: The gateway cannot spontaneously clear the ‘Data Valid’-bit in the Status Register.
Latency
The ‘Data Valid’-bit in the Status Register may in some cases be delayed. This latency can be caused by
a missing node or a bad connection to a node with a long timeout value assigned to it.
Therefore, the fieldbus control system should not wait for this bit to be set before communicating with
the subnetwork devices; it should be considered as an aid for the fieldbus control system to know when
all data has been updated.

14.2 Status Register Contents (Gateway to Control Sys-

tem)
14.2.1 General Information
The Status Register is (if enabled) located at 0x000-0x001 and constitutes a bit-field as follows:
bit(s) Name Description
15 Send These bits control the handshaking towards the fieldbus control system.
(SR_HS_SEND)
14 Confirm See also...
(SR_HS_CONFIRM) - “Handshaking Procedure” on page 69
- “Control Register Contents (Control System to Gateway)” on page 73
13 Data Valid This bit is set when all transactions have been executed successfully at least once.
(Master Mode and DF1 Once set, it will not change.
Master Mode Only) 1:Data Valid
0:Data not Valid
Note: This bit is not used in Generic Data Mode.
12... 8 Status Code This field holds the last status report from the gateway.
7... 0 Data See also...

- “Status Codes in Master Mode and DF1 Master Mode” on page 71
- “Status Code in Generic Data Mode” on page 72
Note: Internally, this is treated as a Motorola-format word (i.e. MSB first). If the higher level network
uses a different byte order, the upper and lower bytes will appear swapped.
14.2.2 Status Codes in Master Mode and DF1 Master Mode
(This table is valid only in Master Mode and DF1 Master Mode).
Code Condition Type Data Description
0x00 Retransmission Warning Counter The number of retransmissions on the subnet-
Counter Updated work has increased. If this problem persists,
this may eventually trigger a Single- or Multi-
ple Node(s) Missing condition.
0x01 Single Node Missing Error Slave address A single node is missing.
0x02 Multiple Nodes Missing Error Number of nodes Multiple nodes are missing.
0x03 Buffer Overrun Warning Slave address A node returned more data than expected.
0x04 Other Error Error Slave address Undefined error
0x1F No Error Warning - No errors
Note: Conditions of type ‘Error’ will eventually be followed by a ‘No Error’ condition when the cause
has been resolved. Conditions of type ‘Warning’ are however considered informational and may not nec-
essarily be followed by a ‘No Error’ condition later on.

14.2.3 Status Code in Generic Data Mode
(This table is valid only in Generic Data Mode).

Code Condition Type Data Description
0x00 Invalid Transaction Error Counter The number of invalid transactions (i.e. received transac-
Counter Updated tions which doesn’t match any of the consume-transactions
defined in the subnetwork configuration) has increased.
0x01 Frame Error Warning - End character is enabled, but a message delimiter timeout
occurs prior to receiving it.
0x02 Offline Timeout Error Counter The of number of timed out consume-transactions has
Counter Updated increased.
See also...
- “Consume-Transactions” on page 39 (Offline timeout
time)
0x03 Buffer Overrun Warning - A node returned more data than expected - or - the gate-
way was unable to finish processing a message prior to
receiving a new one.
0x04 Other Error Error - Undefined error
0x1F No Error Warning - No errors
Note: Conditions of type ‘Error’ will eventually be followed by a ‘No Error’ condition when the cause
no longer is detected. Conditions of type ‘Warning’ are however considered informational and may not
necessarily be followed by a ‘No Error’ condition later on.

14.3 Control Register Contents (Control System to Gate-

way)
14.3.1 General Information
The Control Register is (if enabled) located at 0x200-0x201 and constitutes a bit-field as follows:
bit(s) Name Description
15 Confirm These bits control the handshaking towards the gateway.
(CR_HS_CONFIRM)
14 Send See also...
(CR_HS_SEND) - “Handshaking Procedure” on page 69
- “Status Register Contents (Gateway to Control System)” on page 71
13 Data Valid This bit controls data consistency (see “Data Consistency” on page 70).
1:Output Area valid; exchange data on the subnetwork
0:Output Area not valid; do not exchange data on the subnetwork
Note: This bit is only relevant if the Control/Status Registers are set as ‘Enabled’
12 Execute Command If set, the specified command will be executed by the gateway (see below).
11... 8 Control Code This field holds commands which can be executed by the gateway (see below).
7... 0 Data See also...

- “Control Codes in Master Mode and DF1 Master Mode” on page 73
- “Control Codes in Generic Data Mode” on page 73
Note: Internally, this is treated as a Motorola-format word (i.e. MSB first). If the higher level network
uses a different byte order, the upper and lower bytes will appear to be swapped.
14.3.2 Control Codes in Master Mode and DF1 Master Mode
(This table is valid only in Master Mode and DF1 Master Mode).
Code Instruction Data Description
0x00 Disable Node Actual node address Disables the specified node.
0x01 Enable Node Actual node address Enables a previously disabled node.
0x02 Enable Nodes Actual number of nodes to enable Enables the specified number of nodes, start-
ing from the first node in the configuration.
Remaining nodes will be disabled.
14.3.3 Control Codes in Generic Data Mode
(No Control Codes are currently supported in this mode).

Chapter 15
15. Object Dictionary Implementation
15.1 Standard Objects
15.1.1 General
The standard object dictionary is implemented according to the DS301 specification (v4.02) from CiA
(CAN in Automation).
15.1.2 Object Entries
Index Object Name Sub-Index Description Type Access Notes

1000h Device Type 00h Device Type U32 RO 0000 0000h (No profile)
1001h Error register 00h Error register U8 RO -
1003h Pre-defined 00h Number of errors U8 RW -
error field 01h...05h Error field U32 RO -
1005h COB-ID Sync 00h COB-ID Sync U32 RW -
1008h Manufacturer 00h Manufacturer device Visible RO “Anybus-C”
device name name string
1009h Manufacturer 00h Manufacturer hardware Visible RO Current hardware revision
hardware ver- version string
sion
100Ah Manufacturer 00h Manufacturer software Visible RO Current software revision
software ver- version string
sion
100Ch Guard time 00h Guard time U16 RW -
100Dh Life time factor 00h Life time factor U8 RW -
1010h Store Parame- 00h Largest sub index sup- U8 RO 01h
tersa ported
01h Store all parameters U32 RW -
1011h Restore param- 00h Largest sub index sup- U8 RO 01h
eters ported
01h Restore all default U32 RW -
parameters
1014h COB ID EMCY 00h COB ID EMCY U32 RO -
1016h Consumer 00h Number of entries U8 RO 01h
Heartbeat Time 01h Consumer Heartbeat U32 RW Node ID + Heartbeat Time.
Time Value must be a multiple of
1ms.
1017h Producer Heart- 00h Producer Heartbeat U16 RW -
beat Time Time
1018h Identity object 00h Number of entries U8 RO 04h
01h Vendor ID U32 RO 1Bh (HMS Industrial Networks)
02h Product Code U32 RO 14h (Anybus Communicator)
03h Revision Number U32 RO Current software revision
04h Serial Number U32 RO 32 bit serialnumber
1400h Receive PDO 00h Largest sub-index sup- U8 RO 02h
... parameter ported
144Fh 01h COB ID used by PDO U32 RW -
02h Transmission type U8 RW -

Object Dictionary Implementation 75

1600h Receive PDO 00h No. of mapped applica- U8 RW -
... mapping tion objects in PDO
164Fh 01h Mapped object #1 U32 RW -
02h Mapped object #2 U32 RW -
1800h Transmit PDO 00h Largest sub-index sup- U8 RO 05h
... parameter ported
184Fh 01h COB ID used by PDO U32 RW -
02h Transmission type U8 RW -
03h Inhibit time U16 RW -
05h Event Timer (ms) U16 RW -
1A00h Transmit PDO 00h No. of mapped applica- U8 RW -
... mapping tion objects in PDO
1A4Fh 01h Mapped object #1 U32 RW -
a. Relevant only for communication parameters

15.2 Manufacturer Specific Objects
15.2.1 Input Buffer, Byte Access

2000h Input area 00h No. of entries U8 RO 129
01h Input area byte #0 U8 RO -
02h Input area byte #1
... ...
... ...
... ... ... ...
... ...
2004h
... - - - - - (reserved)
200Fh
15.2.2 Input Buffer, Word Access

01h Input area word #0 U16 RO -
02h Input area word #1
... ...
... ...
... ... ... ...
... ...
2024h
... - - - - - (reserved)
202Fh

15.2.3 Input Buffer, Double Word Access

01h Input area dword #0 U32 RO -
02h Input area dword #1
... ...
... ...
... ... ... ...
... ...
2044h
... - - - - - (reserved)
204Fh
15.2.4 Output Buffer, Byte Access

2100h Output area 00h No. of entries U8 RO 129
01h Output area byte #0 U8 R/W -
02h Output area byte #1
... ...
... ...
... ... ... ...
... ...
2104h
... - - - - - (reserved)
210Fh

15.2.5 Output Buffer, Word Access

01h Output area word #0 U16 R/W -
02h Output area word #1
... ...
... ...
... ... ... ...
... ...
2124h
... - - - - - (reserved)
212Fh
15.2.6 Output Buffer, Double Word Access

01h Output area dword #0 U32 R/W -
02h Output area dword #1
... ...
... ...
... ... ... ...
... ...
2144h
... - - - - - (reserved)
214Fh

15.2.7 Anybus Status & Diagnostics
Index Object Name Sub-Index Type Access Notes

2200h Bus State Indicator 00h U8 RO Reflects the actual state of the bus.
1: Bus running
2: Bus error
2205h Module State Indicator 00h U8 RO Reflects the state of the module on the network:
1: Init error
2: Prepared
3: Pre-operational
4: Operational
2210h
... - - - - (reserved)
2263h
2800h Bus-off timeout 00h U16 R/W Number of ms needed before the node re-initiates
and enters pre-operational.
(Default = 2000ms)

Chapter 16
16. Advanced Fieldbus Configuration
16.1 General
The fieldbus interface of the gateway consists of an embedded Anybus-S communication interface. Nor-
mally, the Anybus-S configuration settings are set up automatically by the gateway. However, advanced
users can configure the Anybus-S card for specific features. This chapter assumes that the reader is fa-
miliar with the Anybus-S and it’s application interface. For more information about the Anybus-S plat-
form, consult the Anybus-S Parallel Design Guide.
The standard initialization parameters are determined by the subnetwork configuration. Information
about the amount of input and output data used for subnetwork communication is used by Anybus Con-
figuration Manager to create the configuration message that sets the sizes of the input and output data
areas in the Dual Port RAM of the embedded Anybus-S interface. It is possible to add fieldbus specific
mailbox messages to customize the initialization. This is done in the Mailbox Editor, see below.
(A mailbox message is a HMS specific command structure used for low-level communication with an
Anybus-S interface. Consult the Anybus-S Parallel Design Guide and the fieldbus appendix for the de-
sired fieldbus for further information.)
16.2 Mailbox Editor

To add a mailbox message to the configuration, right-click on
‘EndInit’ and select ‘Insert New Mailbox’.
A mailbox message consists of a Header sec-

tion and a data section where the Header con-
sists of 16 words (32 bytes) and the data A
section consists of up to 128 words (256 B
bytes). All fields are editable except the Mes-
sage information field that is fixed to 0x4002,
which means that only fieldbus specific mail-
box messages can be entered here.
The mailbox message is presented as two col-
umns; one contains header information (A),
the other one contains the message data (B).
To add message data, simply change the Data
size parameter in the header column (A), and
the corresponding number of bytes will ap-
pear in the message data column (B).
For more information about fieldbus specific mailbox messages, consult the separate Anybus-S Fieldbus
Appendix for the fieldbus you are using. For general information about the Anybus-S platform, consult
the Anybus-S Design Guide.

Appendix A
A. Connector Pin Assignments
A.1 CANopen Connector

Pin Signal Description
Housing Shield CAN_SHLD
1 - -
2 CAN_L CAN_L bus line (dominant low)
3 CAN_GND CAN ground 1 (male) 5
4 - -
5 CAN_SHLD Optional CAN shield
6 9
6 GND Optional ground
7 CAN_H CAN_H bus line (dominant high)
8 - -
9 (reserved) -
A.2 Power Connector

Pin Description 1 2
1 +24V DC
2 GND
Notes:
• Use 60/75 or 75×C copper (CU) wire only.
• The terminal tightening torque must be between 5... 7 lbs-in (0.5... 0.8 Nm)

Connector Pin Assignments 82
A.3 PC Connector
Configuration Cable Wiring
DP9F (PC) RJ11 (ABC)
1 1 Ground
RS232 Rx 2 2 Ground
RS232 Tx 3 3 Rx
4 4 Tx
Ground 5
RJ11 (4P4C modular)1 : ABC
Pin Description
1 Signal ground 4
2
3
3 RS232 Rx (Input)
2
4 RS232 Tx (Output) 1
DB9F : PC
Pin Description
1 -
2 RS232 Rx (Input) 5 (female) 1
3 RS232 Tx (Output)
4 -
9 6
5 Signal Ground
6-9 -
1. The RJ11 (4P4C modular) is sometimes referred to as an RJ9.

A.4 Subnetwork Interface
A.4.1 General Information
The subnetwork interface provides for RS232, RS422 and RS485 communications. Depending on the
configuration specified in the Anybus Configuration Manager, different signals are activated in the sub-
network connector.
A.4.2 Bias Resistors (RS485 Only)
When idle, RS485 enters an indeterminate state, which may cause the serial receivers to pick up noise
from the serial lines and interpret this as data. To prevent this, the serial lines should be forced into a
known state using pull-up and pull-down resistors, commonly known as bias resistors.
The bias resistors form a voltage divider, forcing the voltage between the differential pair to be higher
than the threshold for the serial receivers, typically >200mV.
Note that bias resistors shall only be installed on one node; installing bias resistors on several nodes may
compromise the signal quality on the network and cause transmission problems.
A.4.3 Termination (RS485 & RS422 Only)
To avoid reflections on the serial lines, it is important to properly terminate the subnetwork by placing
termination resistors between the serial receivers near the end nodes.
The resistor value should ideally match the characteristic impedance of the cable, typically 100... 120R.
A.4.4 Connector Pinout (DB9F)
Pin Description RS232 RS422 RS485 RS485

1 +5V Output(100mA max)   
2 RS232 Rx 
3 RS232 Tx 
4 (reserved) 5 (female) 1
5 a   
Signal Ground
6 RS422 Rx +  9 6
7 RS422 Rx - 
8 RS485 + /RS422 Tx+  
9 RS485 - /RS422 Tx-  
(housing) Cable Shield   
a. Connecting this signal directly to Protective Earth (PE) of other nodes may, in case of grounding loops etc., cause
damage to the on-board serial transceivers. It is therefore generally recommended to connect it only to Signal
Ground (if available) of other nodes.

A.4.5 Typical Connection (RS485)

+5V
470R
RS485 + RS485 +
120R 120R
RS485 - RS485 -
470R
Signal Signal
Ground Ground
Ground
Signal
RS485 -
RS485 +
Ground
Signal
RS485 -
RS485 +
Ground
Signal
RS485 -
RS485 +
Ground
Signal
RS485 -
RS485 +
Cable
Shield
Anybus Communicator Node Node Node Node End Node
A.4.6 Typical Connection (RS422 & 4-Wire RS485)

+5V
470R
RS422 Rx+ RS422 Tx+
120R
RS422 Rx- RS422 Tx-
470R 470R
RS422 Tx+ RS422 Rx+
120R
RS422 Tx- RS422 Rx-
470R
Signal Signal
Ground Ground
Cable
Shield
Anybus Communicator Device
Note: Bias resistors are normally not needed on RS422, but may be required when using 4-wire RS485.
A.4.7 Typical Connection (RS232)
RS232 Tx RS232 Rx
RS232 Rx RS232 Tx
Signal Signal
Ground Ground
Cable
Shield
Anybus Communicator Device

Appendix B
B. Technical Specification
B.1 Mechanical Properties
Housing
Plastic housing with snap-on connection to DIN-rail, protection class IP20
Dimensions
120 mm x 75 mm x 27 mm, L x W x H (inches: 4.72” x 2.95” x 1.06”; L x W x H)
B.2 Electrical Characteristics
Power Supply
Power: 24V ± 10%
Power Consumption
Maximum power consumption is 280mA on 24V. Typically around 100mA
B.3 Environmental Characteristics
Relative Humidity
The product is designed for a relative humidity of 0 to 95% non-condensing
Temperature
Operating: ±0°C to +55°C
Non Operating: -25°C to +85°C

Technical Specification 86
B.4 Regulatory Compliance
EMC Compliance (CE)

This product is in accordance with the EMC directive 89/336/EEC, with amendments 92/31/EEC and
93/68/EEC through conformance with the following standards:
• EN 50082-2 (1993)
EN 55011 (1990)Class A
• EN 61000-6-2 (1999)
EN 61000-4-3 (1996)10V/m
EN 61000-4-6 (1996)10V/m(all ports)
EN 61000-4-2 (1995)±8kVAir Discharge
±4kVContact discharge
EN 61000-4-4 (1995)±2kVPower port
±1kVOther ports
EN 61000-4-5 (1995)±0.5kVPower ports (DM/CM)
±1kVSignal ports
UL/c-UL compliance
The certification has been documented by UL in file E214107.
Galvanic isolation on subnetwork interface
• EN 60950-1 (2001)
Pollution Degree 2
Material Group IIIb
250 VRMS or 250 VDCWorking voltage
500 VSecondary circuit transient rating

Appendix C
C. Troubleshooting
Problem Solution
Problem during configuration Upload / Download. • Serial communication failed. Try again
The Config Line “LED” turns red in the Anybus Configura-
tion Manager.
The serial port seems to be available, but it is not possible • The serial port may be in use by another application.
to connect to the gateway Exit the Anybus Configuration Manager and close all
other applications including the ones in the system
tray.
Try again
• Select another serial port
Try again
Poor performance • Right click ‘subnetwork’ in the Navigation window and
select ‘subnetwork Status’ to see status / diagnostic
information about the subnetwork.
If the gateway reports very many retransmissions,
check your cabling and/or try a lower baud rate setting
for the subnetwork (if possible).
• Is the Subnet Monitor in the Anybus Configuration
Manager active?
The subnetwork monitor has a negative influence on
the overall performance of the gateway, and should
only be used when necessary.
• Is the Node Monitor in the Anybus Configuration Man-
ager active?
The node monitor has a negative influence on the
overall performance of the gateway, and should only
be used when necessary.
No subnetwork functionality • Use the ‘Data logger’-functionality to record the serial
data communication on the subnetwork.
• If no data is being transmitted, check the configuration
in Anybus Configuration Manager.
• If no data is received, check the subnetwork cables.
Also verify that the transmitted data is correct.

Appendix D
D. ASCII Table
x0 x1 x2 x3 x4 x5 x6 x7 x8 x9 xA xB xC xD xE xF
NUL SOH STX ETX EOT ENQ ACK BEL BS HT LF VT FF CR SO SI

0x
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
DLE DC1 DC2 DC3 DC4 NAK SYN ETB CAN EM SUB ESC FS GS RS US
1x
16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
(sp) ! " # $ % & ' ( ) * + , - . /
2x
32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
0 1 2 3 4 5 6 7 8 9 : ; < = > ?
3x
48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63
@ A B C D E F G H I J K L M N O
4x
64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79
P Q R S T U V W X Y Z [ \ ] ^ _
5x
80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95
` a b c d e f g h i j k l m n o
6x
96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111
p q r s t u v w x y z { | } ~ DEL
7x
112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127


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User Manual

Anybus® Communicator™ for CANopen

HMS Industrial Networks

Intellectual Property Rights

CANopen protocol mode for Anybus Communicator

Preface About This Document

Chapter 1 About the Anybus Communicator for CANopen

Chapter 2 Basic Operation

Chapter 3 Navigating the Anybus Configuration Manager

Anybus Communicator for CANopen

Chapter 4 Basic Settings

Chapter 7 Frame Objects

Anybus Communicator for CANopen

Chapter 9 DF1 Protocol Mode

Chapter 10 Subnetwork Monitor

Chapter 11 Node Monitor

Chapter 12 Data Logger

Chapter 13 Configuration Wizards

Chapter 14 Control and Status Registers

Anybus Communicator for CANopen

Chapter 15 Object Dictionary Implementation

Chapter 16 Advanced Fieldbus Configuration

Appendix A Connector Pin Assignments

Appendix B Technical Specification

Appendix D ASCII Table

Anybus Communicator for CANopen

About This Document

Summary of Recent Changes (3.00... 3.01)

Revision Date Author Chapter Description

Anybus Communicator for CANopen

Conventions & Terminology

Anybus Communicator for CANopen

Sales and Support

Anybus Communicator for CANopen

1. About the Anybus Communicator for CANopen

CANopen Master CANopen Master

Serial communication devices

Single-Node Serial Sub Network Multi-Node Serial Sub Network

Anybus Communicator for CANopen

1.1 External View

Anybus Communicator for CANopen

1.2 Status LEDs

2 - Error Off No error

Triple Flash Sync Error

Anybus Communicator for CANopen

1.3 Configuration Switches

Node Address = (Switch B x 10) + (Switch A x 1)

Anybus Communicator for CANopen

1.4 Hardware Installation

2. Connect the gateway to the CANopen network

Anybus Communicator for CANopen

1.5 Software Installation

1.5.1 Anybus Configuration Manager

• Anybus Communicator resource CD

1.5.2 Electronic Data Sheet

Anybus Communicator for CANopen

Anybus Communicator for CANopen

2.2 Data Exchange Model

Higher Level Network