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Tunnel-boring machines for Copenhagen’s metro

Seli (Italy) has developed a tunnel-boring machine for Copenhagen’s metro. It comprises a CANopen-to-Devicenet gateway by HMS (Sweden).

The Anybus X-gateway went underground connecting the tunnel-boring machine and the erector (Photo: HMS)

HMS'S GATEWAY LINKS THE CAN-BASED DEVICENET network in the boring-machine with the CANopen network in the erector. The product is part of the Anybus family of gateways. It can be configured by means of the Anybus configuration tool, which comes with the gateway. An USB-to-CAN dongle is required for the configuration and can be ordered separately.

On the CANopen side, it provides CANopen NMT master functionality and supports bit-rates up to 1 Mbit/s. On the Devicenet side, it acts as a slave device. The CANopen interface complies with CiA 301 version 4.2 and CiA 302 part 1 to part 5. It supports up to 128 TPDOs and 128 RPDOs. Other CANopen functionalities include Heartbeat, Node/life-guarding, SYNC and EMCY. In addition, it supports LSS master services compliant with CiA 305.

The Devicenet slave interface provides instant connectivity to the CAN-based network. The interface conforms to Devicenet 2.0 and is certified by the ODVA. It has proven conformance and interoperability with leading PLC´s, HMI´s, etc. Bit-rate and MAC-ID can be set via DIP switches.

The Anybus X-gateway copies I/O-data in both directions thus enabling data exchange between the two networks. Default I/O configuration is 16-byte input and 16-byte output. An external CANopen configuration tool is used to configure the nodes on the CANopen network. The resulting Concise DCF file is downloaded to the CANopen network master using a CANopen adapter. Embedded into a plastic housing, the product is DIN-rail mountable.

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Sontheim Peak