Anybus-AB9004

Hello,
We have an issue reading the CAN messages with our CAN master. The setup is as follows: we have a sensor connected via Modbus TCP with the Anybus AB9004 (network2). Network 1 is the CAN connection to an IMC device. (data-acquisition system with 2 CAN nodes) Network 2 is functioning and we can create a CAN maping with the webpage tool on the anybus device. The problem is we only see the anybus status message, the livelist and the first mapped message of network 2 on the CAN bus apearing. The last one is the message related to ID 38x. (x being the CAN slave device number). The other messages don’t seem to come on the bus. We expect them at 48x, 58x, etc. Is this a configuration issue or what could be the problem here?
With kind regards,
Luk

Hi Luk,
Can you tell me a little bit more about the IMC Data Acquisition System (Model Series, Part Number, etc.)?

My potential concern here is that our AB9004 supports CANopen as a slave device, which is based on the CAN 2.0A specification. It seems the IMC products support a generic form of CAN which may be incompatible with out gateway but I am not 100% certain yet without looking at the specific product you have.

Please let me know what you find out and I will get this resolved for you.

Best regards,
Jason Block

Dear Jason,

The IMC hardware is not a CANopen device but does support CAN and is able to receive and send messages. Attached you find the manual of the software we use to configure the CAN interface. You will find it at page 382 and further. The system supports different CAN standards including 2.0A as you can see on page 399 where you select the CAN Format.

We can’t work with the .eds in our system.

· We configure the CAN node of our system first : setting baud rate to 125kbit/s (same as on anybus gateway), select the termination resistor and CAN format.

· Next step is to define CAN messages, specifying the identifier and message length, sample rate and of course if our device needs to receive or send this message. In our case we look at f.e. identifier 383 where we expect data from the gateway. We named the gateway CAN node 3 via the web interface tool and we can define transactions to correspond with this message. The data is coming in over Modbus from the sensor and we were able to make different registers correspond with the first transaction and get them through. The length of the message is set to 8 bytes.

· Final step is defining the channels within the message, here we can set f.e. first 2 bytes are unsigned integer, start bit, length and intel endianness,… to make sure we can interpret the data send from the gateway.

Further more we also know we have to initialize the gateway sending a message to identifier 0h to set the device in the operational state after a power up.

What we see on our imc-device is that messages are coming in on identifier 183 (status gateway), 283 (livelist we can’t interpret yet fully), and 383 (our first data set we want to transfer). We expect more on identifiers 483,583, etc when we make the IO mapping on the web interface of the gateway but these messages don’t seem to get through. The data is coming in over Modbus from the sensor and we were able to make different registers correspond with the first transaction and get them through. But only the first transaction we define is getting through. We can also see all traffic on the imc equipment and only the messages up to 383 appear. So it seems the gateway is not sending out more than one transaction. So our question remains how can we set the gateway to transfer the rest of the messages, are we missing a setting or need to activate something,…

Already a big thanks for your support.

Luk

Vriendelijke groeten / Kind regards,

Luk Geens

Industrial Technology

Business Unit Wind Power Technology

Digital Solution Engineering

Senior Technology Engineer

ZF Wind Power Antwerpen NV

Post X – Borsbeeksebrug 28

2600 Berchem

België/Belgium

Tel/Phone: +32 11 54 94 03

Luk.Geens@zf.com

Disclaimer: This e-mail and any documents transmitted with it are strictly confidential and intended solely for the use of the addressed individual or entity. If you have received this e-mail by mistake, please notify the sender immediately.

Please note that any views presented in the e-mail are solely those of the author and do not necessarily represent those of ZF, Business Unit Wind Power.

While all care has been taken to avoid viruses the recipient is advised to check this e-mail and attachments for presence of any viruses.

You can find information on how we process your data and your rights in our data protection notice: www.zf.com/en/data-protection-notice

______________________________________________________________________________________________________ ZF Wind Power Antwerpen NV, Gerard Mercatorstraat 40, 3920 Lommel, Belgium, VAT BE 0403.646.296, RPR Hasselt

Studio5-manual.pdf (28.2 MB)

Dear Jason,

Do you have already a feedback for us, something we could try. At the moment we are a bit out of idea’s I’m afraid.

With kind regards,

Luk

Hi Luk,
My apologies for the delay on this.

Since you do not have a traditional CANopen Master with .eds support, you will need to manually implement the CANopen objects into your CAN messages and follow the rules for issuing SDO messages. I am not sure what your current message structure looks like.

The CAN Open object list is in section 7 of the attached manual.

hms-hmsi-168-38.pdf (2.1 MB)

Jason

Hey Jason,

Indeed, we don’t have the CanOpen master that supports .eds. We like to make an easy thing complicated here J.

We create transactions on Anybus on index 210Ah, first transaction corresponds with subindex1, second with subindex2 etc. we expect them to come on the Canbus on identifier 38x, 48x, etc. but only 38x is coming through. Do we need to tell the Anybus device that there is more than one we want to send through? We configure the transactions on the in the web tool so we were assuming the gateway would know it needs to put them on the bus. Do we need to send a message to the gateway still to request the other transactions? And what would that message look like? In IMC we can make up a message, assemble it bit by bit if needed, and put it on the bus, but at the moment we don’t understand what the gateway is expecting or waiting for, so to speak.

Greets,

Luk

Topic closed due to inactivity.