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Eaton Moeller SmartWire-Darwin EU5C-SWD-CAN Hardware And Engineering Download Page 83

Object list

79

02/09 AWB2723-1612en

Object list

The object list of the SmartWire Darwin CANopen gateway 
consists of static and dynamic entries.

Static entries are available in any case, dynamic entries being 
generated depending on the attached slaves.

Static entries

CANopen-specific entries (0x1000 - 0x1FFF)

The entries in the CANopen specific area of the object list are 
created statically and are attainable via an SDO access as 
soon as the gateway participates in CAN communication.

Further information on the type and use of the listed 
CANopen-specific entries in the object list can be referred to 
in /CiA301/.

Table 10: CANopen-specific entries

Index

Subindex

Data type

Default value

Description

0x1000

0

U32

0x

Device type (device profile additional information):

0x1001

0

U8

0x0

Error register

0x1003

0 - 6

U32

Error history

0x100C

0

U16

0x0

Guard time (node guarding)

0x100D

0

U8

0

Life time factor (node guarding)

0x1014

0

U32

0x80+NodeID

COB-ID EMCY object

0x1016

0 - 4

U16

Consumer heartbeat time

Summary of Contents for Moeller SmartWire-Darwin EU5C-SWD-CAN

Page 1: ...er distribution uninterruptible power supply and industrial automation products and services Eaton s global electrical brands including Cutler Hammer MGE Office Protection Systems Powerware Holec MEM Santak and Moeller provide customer driven PowerChain Management solutions to serve the power system needs of the industrial institutional government utility commercial residential IT mission critical...

Page 2: ...GmbH All rights reserved including those of the translation No part of this manual may be reproduced in any form printed photocopy microfilm or any other process or processed duplicated or distributed by means of electronic systems without written permission of Moeller GmbH Bonn Subject to alteration without notice Rückenbreite festlegen 1 Blatt 0 106 mm gilt nur für XBS 1 Blatt 0 080 mm für Eberw...

Page 3: ...hey are well protected against unintentional operation Suitable safety hardware and software measures should be implemented for the I O interface so that a line or wire breakage on the signal side does not result in undefined states in the automation devices Ensure a reliable electrical isolation of the low voltage for the 24 volt supply Only use power supply units complying with IEC 60364 4 41 VD...

Page 4: ...g states even for a short time If necessary emergency stop devices should be implemented Wherever faults in the automation system may cause damage to persons or property external measures must be implemented to ensure a safe operating state in the event of a fault or malfunction for example by means of separate limit switches mechanical interlocks etc ...

Page 5: ...ring 8 Connection 9 PROFIBUS address setting 11 PROFIBUS connection 11 Baud Rates 11 Programming system 12 2 Installation 13 Mounting 13 Potential Relationship between the Components 15 Connection SmartWire Darwin 15 PROFIBUS DP connection 16 EMC conformant wiring of the network 17 3 Commissioning 19 Putting the SmartWire Darwin network into operation 19 Creating field bus communication 22 Content...

Page 6: ...ing 42 Connection 43 CANopen address setting 45 CANopen connection 45 Baud Rates 45 Programming system 46 6 Installation 47 Mounting 47 Potential Relationship between the Components 49 Connection SmartWire Darwin 49 Connection CANopen 50 EMC conformant wiring of the network 50 7 Commissioning 53 Putting the SmartWire Darwin network into operation 53 Switching on for initial startup a replacement o...

Page 7: ... programming 63 Guarding mechanisms 65 Parameters of individual SmartWire Darwin slaves 68 Input output addresses 70 Diagnostics 71 PDO communication 74 Object list 79 Static entries 79 User specific entries 0x2000 0x5FFF 81 Dynamic entries 85 Meaning of the LED indicators 92 Compatibility 94 The planned configuration is available 95 Appendix 99 Technical data 99 Index 103 ...

Page 8: ...4 02 09 AWB2723 1612en ...

Page 9: ...e Darwin slaves with the overriding PLC is performed via standard field bus systems For this purpose gateways are used that map the data of the SmartWire Darwin network onto the field bus This manual describes both systems PROFIBUS gateway EU5C SWD DP CANopen gateway EU5C SWD CAN Additional device manuals The manuals are available for download on the Internet as PDF files They can be quickly locat...

Page 10: ...s to be followed For greater clarity the name of the current chapter is shown in the header of the left hand page and the name of the current section in the header of the right hand page This does not apply to pages at the start of a chapter and empty pages at the end of a chapter h Caution warns of the risk of material damage i Warning warns of the possibility of serious damage and slight injury ...

Page 11: ...ection between the SmartWire Darwin slaves and an overriding PROFIBUS DP master Layout Figure 1 Front view EU5C SWD DP a 24 V power supply POW b Field bus interface c Diagnostics interface d Configuration button e Diagnostics displays f 24 V power supply AUX g Connection SmartWire Darwin h Address switches f g e d c b a h ...

Page 12: ...aves The power supply of the SmartWire Darwin slaves and the data communication are conducted via the 8 pole SmartWire Darwin cable from the gateway to the slaves Engineering In connection with the SmartWire Darwin slaves the gateway appears as a modular slave on the PROFIBUS Each SmartWire Darwin slave is a module of its own Up to 58 SmartWire Darwin slaves can be operated via a PROFIBUS gateway ...

Page 13: ... slaves with an amperage of 0 7 A X On the SWD gateway connect the POW and AUX supply voltages via separate miniature circuit breakers or fuses Miniature circuit breaker 24 V DC for POW Cable protection in accordance with DIN VDE 0641 Part 11 IEC EN 60898 Miniature circuit breaker 24 V DC rated operational current 3 A tripping characteristics C or Fuse 3 A utilisation class gL gG Line protection f...

Page 14: ...teristics Z or Fuse 2 A h Please take heed of the total current consumption of your SmartWire Darwin network and if necessary plan for an additional feeder module EU5C SWD PF2 You can find information on the current consumption in the device operating manual AWB2723 1617 h If any switching devices are also connected via the SmartWire Darwin slaves DIL SmartWire Darwin 32 001 002 the AUX supply wil...

Page 15: ... g ZB4 209 DS2 This also includes a connectable bus termination resistor Figure 3 Pin assignments Baud Rates The gateway supports operation on PROFIBUS masters at up to 12 MB Setting of the baud rate takes place automatically h In the planning of the SmartWire Darwin network you are also supported by the software program SmartWire Darwin Assist which automatically draws your attention to the use o...

Page 16: ...t for the PROFIBUS gateway for Motorola based CPUs e g for Siemens S7 Moel4d13 gsd with the relevant illustrations KM4D12_N bmp and KM4D12_D bmp for Intel based CPUs e g for Moeller XC100 200 PS4 Moe4d13 gsd with the relevant illustrations KM4D12_N bmp and KM4D12_D bmp h As of version V 2 3 9 and service pack ecp_update_0109 these files are included in the Moeller programming system easySoft CoDeS...

Page 17: ...the PROFIBUS slave address This is set on the gateway via DIP switches switches 2 8 The DIP switches are located under a cover on the right side of the gateway The valid addresses are 1 125 Figure 4 Setting the slave address X Mount the device on the top hat rail Slave address OFF ON 2 3 4 5 6 7 8 1 1 2 4 8 16 32 64 ...

Page 18: ...nals AUX j Warning In safety related applications the power supply unit that supplies the SmartWire Darwin system must be executed as a PELV power supply unit protective extra low voltage h Caution You must take safety precautions Emergency Stop in the external circuitry of the EU5C SWD DP and any power modules type EU5C SWD PF1 1 or EU5C SWD PF2 1 that are used To do so plan to switch off the pow...

Page 19: ...ork via the 8 pole SmartWire Darwin cable To do so use the SmartWire Darwin cable SWD 4 100LF8 24 and the relevant blade terminal SWD 4 8MF2 or prefabricated cables of the type SWD 4 3 5 10 F8 24 2S j Warning Switch off the power supply if you are reconnecting slaves in the SmartWire Darwin system or reconnecting the ribbon cable connection Otherwise the SmartWire Darwin slaves can be destroyed j ...

Page 20: ...up to 12 Mbits sec X Connect the PROFIBUS DP cable by means of the PROFIBUS DP plug to the field bus interface of the gateway The first and the last slave of a PROFIBUS DP field bus segment must be terminated with a switched on terminating resistor The bus termination resistors are connected externally The external connection can be implemented either with a separate terminating resistor or by a s...

Page 21: ...able EMC measures These include EMC conformant system configuration EMC compliant cable installation Measures which prevent the development of large differences in potential und correct installation of the PROFIBUS system cables connection of the bus connectors etc The electromagnetic interference can be significantly reduced by the use of a cable screen shield The following illustrations indicate...

Page 22: ...Installation 18 02 09 AWB2723 1612en Figure 8 Shielding of network cable for top hat rail for mounting plate M4 ZB4 102 KS1 ZB4 102 KS1 FM 4 TS 35 Weidmüller KLBü 3 8 SC Weidmüller ...

Page 23: ...work into operation Before the gateway can exchange data with the PLC a valid SmartWire Darwin network configuration a so called gateway target configuration has to be stored in the gateway This is compared with the current configuration actual configuration each time the gateway is restarted If the gateway ascertains in this process that a SmartWire Darwin slave cannot be reached or a wrong slave...

Page 24: ...to flash orange The SmartWire Darwin status LEDs on the SmartWire Darwin slaves also flash All slaves are addressed in sequence the complete configuration is stored retentively gateway target configuration The gateway is then restarted see following section j Warning If a SmartWire Darwin slave has failed the SmartWire Darwin network can still be operated with the remaining slaves depending on the...

Page 25: ...arwin status LED on the gateway Description SmartWire Darwin status LED Data interchange between the gateway and SmartWire Darwin slaves Thecurrentactualconfigurationcomplies with the gateway target configuration Green continuous light yes A necessary SWD slave is missing or the gateway target configuration does not comply with the actual configuration Flashing red no Slave addressing is active af...

Page 26: ...mplies with the stored gateway configuration all status LEDs indicate a green continuous light Any errors that occur are indicated via the DP status LED and the Config status LED Table 1 Error messages Description PROFIBUS status LED Datainterchangebetween the gateway and the PLC via PROFIBUS Cyclic data communication runs on the PROFIBUS The planned configuration complies with the gateway target ...

Page 27: ...ignals of the SmartWire Darwin configuration LED Description SmartWire Darwin configurations LED Data interchange between the gateway and the PLC via PROFIBUS The planned configuration complies with the gateway target configuration Green continuous light yes The planned configuration does not comply with the gateway target configuration but is compatible with it list of the devices that are compat...

Page 28: ...24 02 09 AWB2723 1612en ...

Page 29: ... PS4 Moe4d13 gsd with the relevant illustrations KM4D12_N bmp and KM4D12_D bmp h As of version V 2 3 9 and service pack ecp_update_0109 these files are included in the Moeller programming system easySoft CoDeSys Otherwise you can find the current version of the GSD files on our web site at www moeller net in the Support section In this case load the relevant GSD files with the relevant bitmap file...

Page 30: ... described in this section Please check beforehand whether you have a current easySoft CoDeSys version installed with the necessary GSD files Then please proceed as follows X Start easySoft CoDeSys and open a project X Open the controller configuration and select the PROFIBUS master module XIOC NET DP M This must be positioned on the first three slots Figure 9 Selection of the DP master ...

Page 31: ...gateway EU5C SWD DP int Moe4d13 gsd Figure 10 Selection of the gateways Selection of the SmartWire Darwin slave X Change over to the register Inputs Outputs X Now select here the SmartWire Darwin slaves that you require for your SmartWire Darwin network Please heed of the correct sequence The modules must be configured just as they will be arranged afterwards in your application ...

Page 32: ...k are also defined in the controller configuration The meaning of the individual registers Basic Parameters register You can define here the I O start addresses for the mapping of the SmartWire Darwin slaves onto the inputs outputs of the controller map As standard the programming system creates complete connection to the I Os up to now You can however change these values to other unassigned areas...

Page 33: ...include for example the DP slave address node ID or the monitoring time watchdog control Figure 12 Setting the DP parameters Register Application Parameters Application parameters define the general specifications of the gateway and SmartWire Darwin slaves The following table shows the parameters their meaning and setting facilities The delivery condition is marked in bold font ...

Page 34: ...teway target configuration If not no data interchange takes place with the DP master Yes Data interchange takes place if the SmartWire Darwin slaves are compatible with the DP configuration This is displayed via the status LED on the device All slaves optional Defined for each slave Specification is performed individually for each slave a section Parameters of individual SmartWire Darwin slaves Ye...

Page 35: ...is also reported to the application via the diagnosis so that the failure of a slave can be reacted to individually here a section Diagnostics Changing the setting X Select the corresponding SmartWire Darwin module in the Inputs Outputs register in the table Selected Modules X Press the button Properties The dialogue field Module Properties relating to the selected module is displayed By double cl...

Page 36: ...is set in the application parameters for the parameter All Slaves optional Input output addresses With the configuration of the SmartWire Darwin slaves in the controller configurator the input output addresses of the slaves are assigned automatically Assignment of the addresses to the individual SmartWire Darwin slaves can be viewed in the controller configuration ...

Page 37: ...12en Figure 14 SWD slave addresses The inputs and if necessary the outputs are used as normal local inputs outputs in the application program h Please refer to the manual AWB2723 1613 for the assignment and meaning of the input and output data ...

Page 38: ...se two information items are located in the first input byte in bit positions 4 and 6 for all SmartWire Darwin slaves They permit fast and easy assessment of the condition of the SmartWire Darwin slave The slave is available and integrated actively into the network The slave is operating fault free Example M22 SmartWire Darwin K11 LED R function element with one byte input switch position indicato...

Page 39: ...t Designation Meaning 0 NC1 Normally Close 0 contact actuated 1 contact not actuated 1 NO Normally Open 0 contact not actuated 1 contact actuated 2 not used 3 not used 4 F Failure 0 No diagnostic alarm 1 Diagnostics available 5 not used 6 P modules present 0 Modules not available 1 Modules available 7 not used 7 6 5 4 3 2 1 0 Q0 Bit Designation Meaning 0 Q0 Activation LED 1 not used 2 not used 3 n...

Page 40: ...s header DP V0 header of a likewise standardized module status and of optionally extended diagnostic messages in the attachment from one or several slaves that report detailed diagnostics The terms used in the standard PROFIBUS are used in the following The designation module is synonymous with a SmartWire Darwin slave Value Meaning 0x10 The contact is longer than four seconds in the middle positi...

Page 41: ...ule status block complies with the standard requirement of the diagnosis of a modular DP slave from the structure standpoint Structure of the module status block Byte Value Explanation 1 V0 Status 1 2 V0 Status 2 3 V0 Status 3 4 DP master address 5 0x4d Moeller device identification 6 0x13 Moeller device identification h Please refer to the documentation of the PROFIBUS DP master XIOC NET DP M in ...

Page 42: ...he extended diagnostics contain the slave address of the SWD slave status information and one or several detailed specifications relating to error or diagnostic causes You can find the meaning of the specifications in the manual AWB2723 H1613 Module status 5 Two status bits for SWD slaves 1 4 Two status bits for SWD slaves 5 8 Lx Two status bits for other SWD slaves Byte Value Description 2 bit st...

Page 43: ...s follows Byte Value Description 1 Ly Length of detailed status message 2 0xA1 Status type 3 SmartWire Darwin slave address 1 58 4 0 5 first detailed diagnostic message status message 6 Ly nth detailed diagnostic message status message Absolute byte Byte Value Description 1 1 0x8 V0 Status 1 2 2 0xC V0 Status 2 3 3 0 V0 Status 3 4 4 1 DP master address 5 5 0x4D Gateway ID 6 6 0x13 Gateway ID Modul...

Page 44: ...nosis 13 7 0x0 The SmartWire Darwin slave 9 does not report a diagnosis Extended diagnostics E A module 14 1 5 Length of detailed status message 15 2 0xA1 Status type 16 3 0x5 SmartWire Darwin slave address 17 4 0 18 5 0x13 Message short circuit overload Absolute byte Byte Value Description ...

Page 45: ... between the SmartWire Darwin slaves and an overriding CANopen master Layout Figure 15 Front view EU5C SWD CAN a 24 V power supply POW b Field bus interface c Diagnostics interface d Configuration button e Diagnostics displays f 24 V power supply AUX g Connection SmartWire Darwin h Address switches f g e d c b a h ...

Page 46: ...o operated via a SmartWire Darwin slave The power supply and the data communication are conducted via the 8 pole SmartWire Darwin cable from the gateway to the slaves Engineering In connection with the SmartWire Darwin slaves the gateway appears as a modular slave according to profile DS301 4 on the field bus CANopen Each SmartWire Darwin slave is a module of its own Up to 99 SmartWire Darwin slav...

Page 47: ...in slaves with an amperage of 0 7 A X On the SWD gateway connect the POW and AUX supply voltages via separate miniature circuit breakers or fuses Miniature circuit breaker 24 V DC for POW Line protection in accordance with DIN VDE 0641 Part 11 IEC EN 60898 Miniature circuit breaker 24 V DC rated operational current 3 A tripping characteristics C or Fuse 3 A utilisation class gL gG Line protection ...

Page 48: ...win 32 001 002 the AUX supply will also be required This provides the supply for activation of the contactor coils This supply must be fused by an miniature circuit breaker 3 A gG gl or 3 A miniature circuit breaker with a Z characteristic If switching devices with an activation power greater than 3 A are connected an additional feeder module EU5C SWD PF1 or EU5C SWD PF2 must be used h Please take...

Page 49: ...id addresses are 2 32 CANopen connection Connection to the field bus is performed via a 9 pole D SUB socket Figure 17 Configuration of the CANopen plug on the gateway Baud Rates The gateway supports operation on CANopen masters at up to 1 MB Adaptation to the baud rate of the network master takes place automatically SUB D plug Signal 1 2 CAN_L 3 GND 4 5 6 GND 7 CAN_H 8 9 1 6 7 8 9 2 3 4 5 ...

Page 50: ... contains standardized descriptions of the CANopen slaves For the CANopen gateway EU5C SWD CAN this is the file EU5C SWD CAN eds h As of version V 2 3 9 and service pack ecp_update_0109 this file is included in the Moeller programming system easySoft CoDeSys You can also find these files on our web site as follows http www moeller net de support index jsp Please follow the links provided there ...

Page 51: ...dress node address This is set on the gateway via DIP switches switches 2 6 The DIP switches are located under a cover on the right hand side of the gateway The valid addresses are 2 31 Figure 18 Setting the slave address X Mount the device on the top hat rail Terminating resistor Node address OFF ON 2 3 4 5 6 7 8 1 1 2 4 8 16 32 ...

Page 52: ...Darwin system must be executed as a PELV power supply unit protective extra low voltage h Caution You must take safety precautions Emergency Stop in the external circuitry of the EU5C SWD DP and any power modules type EU5C SWD PF1 1 or EU5C SWD PF2 1 that are used To do so plan to switch off the power supply to the contactor coils AUX j Warning Switch off the power supply if you are reconnecting s...

Page 53: ...solated from one another Connection SmartWire Darwin X Connect the SmartWire Darwin network via the 8 pole SmartWire Darwin cable To do so use the SmartWire Darwin cable SWD4 100LF8 24 and the relevant spade connector SWD4 8MF2 or prefabricated cables for example SWD4 3F8 24 2S Figure 20 Connection j Warning The gateway has protection against polarity reversal for the 24 V DC POW supply However if...

Page 54: ...e terminating resistor can be activated by means of DIP switch 1 Figure 21 Activation of the terminating resistor EMC conformant wiring of the network Undesired faults can occur on the field bus due to electro magnetic interference This can be minimised beforehand by the implementation of suitable EMC measures These include EMC conformant system configuration EMC compliant cable routing Measures t...

Page 55: ...e can be significantly reduced by the use of a cable screen shield The following illustrations indicate the correct method for connecting the shield Figure 22 Shielding of network cable for top hat rail for mounting plate M4 ZB4 102 KS1 ZB4 102 KS1 FM 4 TS 35 Weidmüller KLBü 3 8 SC Weidmüller ...

Page 56: ...52 02 09 AWB2723 1612en ...

Page 57: ... into operation Before the gateway can exchange data with the PLC a valid SmartWire Darwin network configuration a so called gateway target configuration has to be stored in the gateway This is compared with the current configuration actual configuration each time the gateway is restarted If the gateway ascertains in this process that a SmartWire Darwin slave cannot be reached or a wrong slave typ...

Page 58: ...to flash orange The SmartWire Darwin status LEDs on the SmartWire Darwin slaves also flash All slaves are addressed in sequence the complete configuration is stored retentively gateway target configuration The gateway is then restarted see next section j Warning If a SmartWire Darwin slave has failed the SmartWire Darwin network can still be operated with the remaining slaves depending on the conf...

Page 59: ...ield bus X Load the program into the PLC The configuration of the CANopen network is transferred to the PROFIBUS master when the program is uploaded onto the controller The configuration of the SmartWire Darwin network is now transferred to the gateway and checked by the CANopen master this is only the case if you have Description SmartWire Darwin status LED Data interchange between the gateway an...

Page 60: ...sult of this check is signalled on the gateway via the SmartWire Darwin configuration LED Description CAN Status LED Data exchange gateway via the CANopen to PLC CAN interface inactive off no Baud rate detection active on the CAN bus Red strobe light no CAN baud rate detected waiting for a valid target configuration orange no Communication error on the CAN bus error warning level reached Red flash...

Page 61: ...igurations LED Data exchange gateway via the CANopen to PLC The planned configuration complies with the gateway target configuration Green continuous light yes The planned configuration does not comply with the gateway target configuration but is compatible with it List of the devices that are compatible with one another a table 12 page 96 Flashing green yes The planned configuration and the gatew...

Page 62: ...58 02 09 AWB2723 1612en ...

Page 63: ... on our web site as follows As of version V 2 3 9 and service pack ecp_update_0109 this file is included in the Moeller programming system easySoft CoDeSys You can also find these files on our web site as follows http www moeller net de support index jsp Please follow the links provided there h Now please download the file EU5C SWD CAN eds to the corresponding directory of your programming system ...

Page 64: ...e necessary EDS file Then please proceed as follows X Start easySoft CoDeSys and open a project X Open the controller configuration and activate the CANopen master function of the CPU 3S_CANopenMaster lib is inserted into Ressourcen Bibliotheksverwalter After adding the file 3S_CANopenMaster lib the additionally required libraries Bibliotheken 3S_CANopenManager lib and 3S_CanDrv lib are also autom...

Page 65: ...9 AWB2723 1612en Figure 23 Select the CAN master X Mark the CAN master and via the menu option Insert Attach sub element or the context menu open die selection list of the CANopen slave modules Select the gateway EU5C SDW CAN ...

Page 66: ...win slave X Change over to the register CAN module selection X Now select here the SmartWire Darwin slaves that you require for your SmartWire Darwin network Please take heed of the correct sequence The modules must be configured exactly as they will be arranged afterwards in your application ...

Page 67: ...be compared with the one drawn up here in the programming system If this box is not selected you must set the parameter Disable configuration check in the register Service data objects to True 1 Parametric programming Parameters for communication of the gateway with the CANopen master and with the SmartWire Darwin network are also defined in the controller configuration These are the meanings of t...

Page 68: ...ng time watchdog control h Only the addresses 1 to 32 may be assigned for the gateway The gateway requires for communication four times the number of PDOs than it does for a standard CANopen slave Ensure that the COB IDs of the activated PDOs do not collide with the other CANopen slaves in the same network The addresses of the individual PDOs are derived as follows PDO 1 4 address NodeID standard ...

Page 69: ... the number of repeat attempts can be set Node guarding is deactivated as standard Heartbeat If the option Activate heartbeat creation is selected the module emits heartbeats at the millisecond intervals specified in Heartbeat producer time If the value is 0 the function is deactivated The following illustration shows the register with the CAN parameters h The node guarding mechanism cannot be ope...

Page 70: ...ure 26 Setting the CAN parameters Service data objects register In the register Service data objects you can make parameter settings both for the SmartWire Darwin network and for individual slaves Parameters for the SmartWire Darwin network ...

Page 71: ...ace with the CAN master 1 Data interchange also takes place if the SWD slaves are not identical to the CANopen configuration but are compatible with each other This is displayed via the status LED on the device you will find the list of devices that are compatible with one another in table 12 page 96 All slaves optional 1 Yes 0 No 0 A data transfer to the CANopen master takes place only if all SWD...

Page 72: ...g To find the parameters more easily the name of the slave and the position of the SWD slave in the SmartWire Darwin network are always appended to the actual settings 0 first slave 1 second slave etc Disable configuration check 1 Yes 0 No 0 A check is performed between the planned and stored target configuration If not equal no data interchange takes place 1 No check is performed between the plan...

Page 73: ...arwin network is stopped Note this is only effective if the parameter All slaves optional in the general SWD network settings has the value 0 0 The SmartWire Darwin slave may be missing at the start or in operation Absence of the slave is reported to the application Communication with the other slaves in the network remains unchanged Q_byte 0 255 0 The initial value of the outputs that is output w...

Page 74: ...re assigned automatically Assignment of the addresses to the individual SmartWire Darwin slaves can be viewed in the controller configuration Figure 27 SWD slave addresses The inputs and if necessary the outputs are used as normal local inputs outputs in the application program h Please refer to the manual AWB2723 1613 for the assignment and meaning of the input and output data ...

Page 75: ...e slave is on the network and exchanging data via the SmartWire Darwin network and reporting current diagnostic messages These two information items are located in the first input byte in bit positions 4 and 6 for all SmartWire Darwin slaves They permit fast and easy assessment of the status of the SmartWire Darwin slave The slave is present and integrated actively into the network The slave is op...

Page 76: ... Normally Closed 0 contact actuated 1 contact not actuated 1 NO Normally Open 0 contact not actuated 1 contact actuated 2 not used 3 not used 4 F Failure 0 no diagnostic message 1 diagnosis present 5 not used 6 P modules present 0 module not present 1 module present 7 not used 7 6 5 4 3 2 1 0 Q0 Bit Designation Meaning 0 Q0 Activation LED 1 not used 2 not used 3 not used 4 not used 5 not used 6 no...

Page 77: ...is An extended diagnosis is reported automatically via emergency telegrams in the event of a diagnosis It can also be read out for each slave via an SDO request You will find details on this in the section Object list subsection Extended diagnosis Value Meaning 0x10 The contact is longer than four seconds in the middle position 0x11 There is a short circuit in the contact ...

Page 78: ...n slaves in the same network The addresses of the individual PDOs are derived as follows PDO 1 4 address NodeID standard offset PDO 5 8 address NodeID standard offset 64 PDO 9 12 address NodeID standard offset 96 PDO 13 16 address NodeID standard offset 32 Accordingly only node IDs in the range 1 to 32 should be used for the gateway PDO assignment As standard byte variables in PDOs 1 to 8 and word...

Page 79: ...F01 to 0xFF63 is displayed extended diagnostic messages are specified in bytes 3 to 7 The length of a diagnostic entry is one byte up to five diagnostic messages being transferred in bytes 3 to 7 Non used bytes are assigned 0x00 no error The ID of the slave reporting the error is located in byte 2 of the EMCY telegram Some examples of extended diagnostic messages are cited in the following table B...

Page 80: ...l devices that support the extended diagnosis 0x10 Contact in middle position RMQ 0x11 Contact short circuit RMQ 0x13 Output overload I O module Byte Bit dwBit Relevance Meaning 4 0 0 Info CANopen not all reception word variables can be mapped in PDOs 1 1 Info CANopen not all reception byte variables can be mapped in PDOs 2 2 Info CANopen not all transmission word variables were able to be mapped ...

Page 81: ...ation but compatible 4 20 Error SWD no valid target configuration present 5 21 Error SWD no valid project configuration present 6 22 Error SWD differences between target configuration and actual configuration 7 23 Error SWD differences between project configuration and target configuration 7 0 24 Error SWD short circuit in the 15 V power supply of the SWD bus 1 25 Error SWD internal error of the S...

Page 82: ...y the dispatch of an EMCY telegram that the gateway is still in the SWD mode Failsafe This error message is taken back to the SWD mode normal after the change Failsafe no initial data are transferred to the SmartWire Darwin slaves The initial information of the SmartWire Darwin slaves is available in the PLC ...

Page 83: ...tainable via an SDO access as soon as the gateway participates in CAN communication Further information on the type and use of the listed CANopen specific entries in the object list can be referred to in CiA301 Table 10 CANopen specific entries Index Subindex Data type Default value Description 0x1000 0 U32 0x Device type device profile number additional information 0x1001 0 U8 0x0 Error register ...

Page 84: ...VendorID DeviceID rw 0x1029 0 1 U8 Error behaviour object communication error rw 0x1200 0 3 Server SDO Parameters 0x1400 0x140F 0 2 RX PDO communication parameters 0x1600 0x160F 0 8 RX PDO mapping parameters 0x1800 0x180F 0 2 TX PDO communication parameters 0x1A00 0x1A0F 0 4 TX PDO mapping parameters Index Subindex Data type Default value ...

Page 85: ...300 0x23FF extended diagnostic messages from SWD slaves Index Subindex Data type Default value Configuration settings of the SWD master Description 0x2000 0 U8 4 1 7 Baud rate SmartWire Darwin r w 0x2001 0 U8 0 0 1 Compatibility rule for exchange 0 compatible devices allowed 1 compatible devices not allowed r w 0x2002 0 U8 0 0 1 Presence of slave devices 0 defined by each slave 1 all slaves are op...

Page 86: ...1 0 1 Presence of device on SWD 0 device may not be present 1 device shall be present r w 0x2101 0 100 U16 Device options parameter presence slave address 0x2102 0 100 U32 CFG of devices 0x2103 0 100 U32 Serial number of SWD device 0x2110 0 100 U32 Parameter of devices Acyclic communication with SWD slaves 0x2200 0x22FF 0 100 U32 Acyclic communication with slaves r w Extended diagnostic messages f...

Page 87: ...he desired compatibility behaviour 0 or 1 Presence of slave devices 0x2002 Content This global entry defines how the SWD network behaves if no slave is found 0 it is individually settable for each SWD slave whether it will be treated as an optional or necessary slave default setting 1 all SWD slaves are treated as optional slaves Read access Delivers back the currently valid setting Write access D...

Page 88: ...guration and target configuration is mandatory default setting Read access Delivers back the currently valid setting Write access Definition of the desired behaviour DiagFlags 0x2004 Content Via this entry the current status of the diagnostic flags in accordance with table table 9 page 76 can be read out Read access The current status of the diagnostic flags is returned Write access Not permissibl...

Page 89: ...he order of the SWD network structure Input byte entry All input bytes of the SWD slaves are listed Input word entry All word input data of the SWD slaves are lined up Output byte entry All output bytes of the SWD slaves are lined up Output word entry All word output data of the SWD slaves are lined up Module list 0x1027 Content Subindex 0 U8 the subindex 0 specifies the number of SmartWire Darwin...

Page 90: ... found Subindex 0 number of slaves recognized on the SWD network Subindex 1 to number of SWD slaves this entry defines whether the corresponding slave is allowed to be missing from the SmartWire Darwin network optional in this case the SWD network continues to run Or whether the slave is regarded as being necessary If a slave is missing the SWD network is set to failsafe mode Settings 0 slave is a...

Page 91: ...Not permissible Module CFG 0x2102 Content Subindex 0 the subindex 0 represents the number of SmartWire Darwin slaves registered in the target configuration Subindex 1 to the number of SmartWire Darwin slaves number and format of the input and output data made available to these slaves Read access Data are returned from the stored gateway target configuration Write access Data are written to the Pl...

Page 92: ...teway target configuration Write access Not permissible Module parameter 0x2110 Content Subindex 0 the subindex 0 returns the number of known parameter entries in the target configuration Subindex 1 255 parameter data Read access Data are returned from the target configuration stored gateway target configuration Write access Data are written to the Planned configuration The writing may be performe...

Page 93: ...cific Write access Module specific Extended diagnosis 0x2300 0x2363 Content An index for the storage of extended diagnostic messages is reserved for each SmartWire Darwin slave registered in the target configuration Index 0x2300 SmartWire Darwin slave address A maximum of five diagnostic messages are stored for an SWD slave the length of a diagnostic entry is one byte Subindex 0 the number of diag...

Page 94: ... 0 returns the number of input bytes available in the stored gateway target configuration Subindex 1 up to the number of SWD slaves access to the input bytes available in the target configuration Read access The input byte referenced by the subindex is returned Write access Not permissible Index Subindex Data type 0x6000 0 100 U8 I bytes 0x6001 0 100 U16 I words 0x6200 0 100 U8 Q bytes 0x6201 0 10...

Page 95: ...t bytes available in the target configuration Subindex 1 up to the number of SWD slaves access to the output bytes available in the target configuration Read access The output byte referenced by the subindex is returned Write access The output byte referenced by the index is output Output word 0x6201 Content Subindex 0 the subindex 0 returns the number of output words available in the target confi...

Page 96: ...he planned configuration does not comply with the gateway target configuration Flashing green Yes No communication takes place on the PROFIBUS No DP master is detected for example on account of a wrong slave address Off No Extended DP diagnostics The input data from SmartWire Darwin slaves is invalid or the necessary slaves are missing Orange yes Description CAN status LED Data exchange gateway vi...

Page 97: ...s Description CAN status LED Data exchange gateway via CANopen to PLC Description SmartWire Darwin configurations LED Data exchange gateway via field bus to PLC The planned configuration complies with the gateway target configuration Green continuous light yes The planned configuration does not comply with the gateway target configuration but is compatible with it list of the devices that are comp...

Page 98: ...ting the SmartWire Darwin slave planned target configuration This is downloaded automatically to the gateway by the Moeller programming system during transfer of the program to the controller Description SmartWire Darwin status LED Data interchange between the gateway and SmartWire Darwin slaves Thecurrentactualconfigurationcomplies with the gateway target configuration Green continuous light yes ...

Page 99: ...comparison the SWD slaves are subdivided into various families and function classes Slaves that are compatible with one another must always be in one family The replacement of an SWD slave for contactor switch on DIL SWD is therefore fundamentally not accepted in h Information relating to the gateway EU5C SWD CAN Download of the configuration is an extended utility that is not available in standar...

Page 100: ...n element 3 pos front M22 SWD LED W Function element LED W front M22 SWD K11LED W M22 SWD K22LED W M22 SWD K11LED W Function element 2 pos LED W front M22 SWD K22LED W M22 SWD K22LED W Function element 3 pos LED W front M22 SWD LED R Function element LED R front M22 SWD K11LED R M22 SWD K22LED R M22 SWD K11LED R Function element 2 pos LED R front M22 SWD K22LED R M22 SWD K22LED R Function element ...

Page 101: ... SWD K22LEDC W M22 SWD K22LEDC W FE 3 pos LED W base M22 SWD LEDC R FE LED R base M22 SWD K11LEDC R M22 SWD K22LEDC R M22 SWD K11LEDC R FE 2 pos LED R base M22 SWD K22LEDC R M22 SWD K22LEDC R FE 3 pos LED R base M22 SWD LEDC G FE LED G base M22 SWD K11LEDC G M22 SWD K22LEDC G M22 SWD K11LEDC G FE 2 pos LED G base M22 SWD K22LEDC G M22 SWD K22LEDC G FE 3 pos LED G base M22 SWD LEDC B FE LED B base ...

Page 102: ... SWD 32 001 FE DIL MSC DIL SWD 32 002 DIL SWD 32 002 FE DIL MSC manual auto EU5E SWD 8DX Digital module 8 inputs EU5E SWD 4D4D Digital module 4 inputs 4 outputs EU5E SWD 4D2R Digital module 4 inputs 2 outputs Type Description Allowed replacement type 1 Allowed replacement type 2 ...

Page 103: ...ance IEC EN 60068 2 27 semi sinusoidal 15 g 11 ms Shocks 9 9 Drop to IEC EN 60068 2 31 Drop height mm 50 50 Free fall packaged IEC EN 60068 2 32 m 0 3 0 3 Electromagnetic compatibility EMC Overvoltage category II II Pollution degree 2 2 Electrostatic discharge IEC EN 61131 2 2008 Air discharge Level 3 kV 8 8 Contact discharge Level 2 kV 4 4 Electromagnetic fields IEC EN 61131 2 2008 80 1000 MHz V ...

Page 104: ...s cable 1 kV Radiated RFI IEC EN 61131 2 2008 Level 3 V 10 10 Ambient climatic conditions Operating ambient temperature IEC 60068 2 C 25 55 25 55 Condensation prevent with suitable measures Storage C 40 70 40 70 Relative humidity non condensing IEC EN 60068 2 30 5 95 5 95 EU5C SWD DP EU5C SWD CAN ...

Page 105: ... Yes Yes Rated current I A 0 7 0 7 Overload proof Yes Yes Inrush current and length A 12 5 A 6 ms 12 5 A 6 ms Heat dissipation at 24 V DC W 3 8 3 8 Potential isolation between UPow and 15 V Smartwire Darwin supply voltage No No Bridging voltage dips ms 10 10 Repeat rate s 1 1 Status indication LED Yes Yes Smartwire Darwin supply voltage Rated operational voltage Ue V 14 5 g 3 14 5 g 3 max current ...

Page 106: ...nfigurations LED red Connections Plug 8 pole Plug connectors Blade terminal SWD4 8MF2 Field bus interface Function PROFIBUS DP slave CANopen slave Bus protocol PROFIBUS DP CANopen Baud Rates up to 12 MB up to 1 MB Address allocation automatic automatic Station address 2 125 2 32 Address allocation DIP switches DIP switches Status display field bus interface LED Two coloured red green Two coloured ...

Page 107: ...ostic information 71 Cyclic diagnostics information 34 D Darwin Assist 11 Device master file 12 25 Diagnosis extended 75 Diagnostics acyclic 36 device specific 37 DIP switches 45 DP master select 26 E easySoft CoDeSys 25 26 EDS description file 46 Emergency error codes 75 Emergency telegrams 75 EU5C SWD CAN 41 EU5C SWD DP 7 F Feeder module 10 Field bus communication 22 55 H Heartbeat 65 ...

Page 108: ...IBUS DP cable 16 Programming 59 Protection against polarity reversal 15 R Register Application parameters 29 Basic parameters 28 64 CAN parameters 64 Service data objects 66 Ribbon cable 15 S SDO communication 74 SmartWire Darwin slave select 62 T Technical data 99 Terminating resistor 50 Terminations 14 W Watchdog control 29 Wiring EMC compliant 50 ...

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