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Page 57

EtherCAT Interface

IF1032/ETH

7.

EtherCAT Interface

7.1

Introduction

The EtherCAT interface allows a fast transfer of measuring values. The interface module supports CANopen
over EtherCAT (CoE).
Service Data Objects SDO: All parameters of the interface module can thus be read or modified.
Process Data Objects PDO: A PDO telegram is used for real-time transmission of measuring values. Individu-
al objects are not addressed. The content of the previously selected data is transmitted.
The displacement values are transmitted as 32 bit Float values.

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Summary of Contents for IF1032/ETH

Page 1: ...Instruction Manual IF1032 ETH...

Page 2: ...ESSTECHNIK GmbH Co KG K nigbacher Stra e 15 94496 Ortenburg Germany Tel 49 0 8542 168 0 Fax 49 0 8542 168 90 e mail info micro epsilon de www micro epsilon com Certified acc to DIN EN ISO 9001 2008 In...

Page 3: ...2 Storage 12 4 Installation and Mounting 13 4 1 Mounting the Interface Module 13 4 2 Pin Assignment Inputs and Outputs 14 4 4 Power Supply 16 4 5 RS485 Interface 16 5 Operation 17 5 1 Configuring Sens...

Page 4: ...t and EtherCAT IFC Interface 34 6 3 12 Access Channel Information CHI Channel info 35 6 3 13 Access Controller Information COI Controller info 35 6 3 14 Login for Web Interface LGI Login 35 6 3 15 Log...

Page 5: ...Level 45 6 6 2 2 Measuring Mode 46 6 6 2 3 Trigger Mode 47 6 6 2 4 Sensor Interface 48 6 6 2 5 Digital Interfaces 51 6 6 2 6 Manage Settings 52 6 6 3 Menu Measuring 53 6 6 3 1 Channel Info 53 6 6 3 2...

Page 6: ...1 4 Sync Manager 64 A 2 1 5 EtherCAT State Machine 65 A 2 1 6 CANopen via EtherCAT 66 A 2 1 7 Process Data PDO Mapping 66 A 2 1 8 Service Data SDO Service 66 A 2 2 CoE Object Directory 67 A 2 2 1 Com...

Page 7: ...user tip Measure Indicates a hardware or a button menu in the software 1 2 Warnings Connect the power supply and the display output device in accordance with the safety regulations for elec trical equ...

Page 8: ...Co KG K nigbacher Stra e 15 94496 Ortenburg Germany The interface module IF1032 ETH is designed for use in industry and satisfies the requirements 1 EMC 1 4 Proper Use The interface module IF1032 ETH...

Page 9: ...Safety IF1032 ETH 1 5 Proper Environment Protection class IP 40 Operating temperature 0 60 C 32 140 F Storage temperature 10 75 C 14 167 F Humidity 5 95 non condensing Ambient pressure Atmospheric pr...

Page 10: ...F1032 ETH interface module also has three analog inputs 2 x 0 10 V voltage 1 x 4 20 mA current which can be used to convert the measuring values from analog sensors to Ethernet EtherCAT Features Autom...

Page 11: ...og inputs Outputs Ethernet EtherCAT Sync output only EtherCAT Analog inputs Measuring range 2 x 0 10 V voltage max 20 V 1 x 4 20 mA current max 30 mA Resolution 14 Bit Linearity 0 1 Sampling rate 2 Sp...

Page 12: ...ual 1 CD with measurement tool MEDAQ LIB Ethernet SensorFinder ESI File EtherCAT 2 Terminal blocks Check for completeness and shipping damage immediately after unpacking In case of damage or missing p...

Page 13: ...ul handling during mounting and operation 4 1 Mounting the Interface Module 25 98 69 2 72 84 3 31 2 08 55 4 2 18 10 39 4 16 2 x 4 2 1 7 d i a 2x 4 2 17 6 5 26 59 2 2 33 11 43 10 39 53 2 09 103 5 4 07...

Page 14: ...to that of the connected sensor as it is internally looped through to the sensor MICRO EPSILON recommends the use of the optionally available power supply PS2020 or the plug in power supply PS2401 for...

Page 15: ...wer supply ground for sensor looped through V Negative power supply for sensor looped through RS485 A RS485 sensor interface only ME sensor protocol RS485 B RS485 sensor interface only ME sensor proto...

Page 16: ...ed through for the sensor in case this needs an additional negative voltage 4 5 RS485 Interface i Look for a RS485 bus to a correct line termination We recommend a termination resistance of 120 Ohm be...

Page 17: ...from the sensor If the analog inputs are selected as sensor interface the measuring range offset and the unit per input can be defined in the web interface for the scaling of the measuring values Thu...

Page 18: ...or by software Fig 3 Switch for changing the interface If the switch is in the Ethernet position the Ethernet interface is always active irrespective of the software setting If the switch is in the E...

Page 19: ...the maximum trigger frequency If triggering is faster than the specified data rate separate measuring values are sent duplicated as new measuring values of the AD converter are not yet present intern...

Page 20: ...y averaging The averaging has no influence on the data rate The interface module is shipped from the factory without averaging 5 5 2 Moving Average The selected number N of successive measuring values...

Page 21: ...d number of measurements The incoming measuring values are also sorted again after each measurement Afterwards the average is output as the median If an even number is selected for the averaging numbe...

Page 22: ...or on the Internet www micro epsilon de software Standard applications MEDAQlib 6 1 Hardware Interface Connect the IF1032 ETH to an available Ethernet interface at the PC Use a crossover cable Ethern...

Page 23: ...Page 23 Ethernet Interface IF1032 ETH Fig 6 LAN connection of a PC Define the following address in the properties of the LAN connection IP address 169 254 168 1 Subnet mask 255 255 0 0...

Page 24: ...Page 24 Ethernet Interface IF1032 ETH Select Properties Select Internet Protocol TCP IP Properties...

Page 25: ...ansmission A command port Telnet port 23 is used for sensor commands The IP settings and the data port can be changed at any time by using the web browser Enter the current IP address into the address...

Page 26: ...tains the device name and serial number Structure NAME_SN e g IF1032_1001 The interface module supports UPnP If you use an operational system with activated UPnP client e g stan dard with Windows 7 t...

Page 27: ...t field which channel available Two bits per channel are used 00 channel is not available 01 channel available and transmission as int 10 channel available and transmission as uint 11 channel avai lab...

Page 28: ...t then the formula is Measuring value Digital value Float The unit of the measuring value and the parameter measuring range Offset DataRangeMin DataRangeMax can be accessed for each channel via the se...

Page 29: ...smitted via port 23 Telnet Each command starts with a character The interface module ignores all characters which are transmitted before the character The interface module immediately returns all tran...

Page 30: ...o the controller Because any sample time is not possible the controller replies with the next available sampletime in s This is active from then STI Set Sample Time Command STIn CR Example STI1200 CR...

Page 31: ...ion default setting n 1 Trigger mode 1 rising edge n 2 Trigger mode 2 high level n 3 Trigger mode 3 gate rising edge Request trigger mode Request trigger mode Command TRG CR Response TRG nOK CRLF 6 3...

Page 32: ...ber Command AVN CR Response AVN nOK CRLF 6 3 5 Channel Status CHS Channel Status Specifies in increasing order which channels are available in the controller 0 no channel available 1 channel available...

Page 33: ...ewayAddress CRLF Example IPS0 169 254 168 150 255 255 0 0 169 254 168 1 CRLF Response IPSm IPAddess SubnetAddress GatewayAddress OK CRLF Index m 0 static IP address m 1 activates DHCP If DHCP is activ...

Page 34: ...e between Ethernet and EtherCAT IFC Interface Command switches between Ethernet and EtherCAT interface Effective only if the switch Ethernet EtherCAT is in the position ECAT AUTO Otherwise the Etherne...

Page 35: ...pe of measuring value 0 no measuring value 1 int 2 unit 3 float 6 3 13 Access Controller Information COI Controller info Reads information of the connected controller e g serial number Command COI CR...

Page 36: ...OK CRLF A password can be from 0 16 characters and must only contain letters and numbers When delivered no password is assigned The field can remain empty blank 6 3 17 Change Language for the Web Inte...

Page 37: ...RLF 6 3 20 Sensor Baud Rate SBR Sensor Baud Rate Changes the Baud Rate of the RS485 interface Problem You do not know which baud rate the sensor supports so the desired baud rate is set to the inter f...

Page 38: ...hanges only the scaling not the actual input range Command ARAm value CR Response ARAm value OK CRLF Parameter m 1 2 3 channel Value range 0 10 000 000 Request ARAm CR Response example ARA1 1000OK CRL...

Page 39: ...CR Response AOFm value OK CRLF Parameter m 1 2 3 channel Value range 0 10 000 000 Request AOFm CR Response example AOF1 1000OK CRLF 6 3 25 Analog Unit AUN Sets the unit of the analog inputs This only...

Page 40: ...Factor 1 Factor 2 Factor 3 float with this factor the respective ana log output is multiplied Example AMF100 1 25 2 0 CR sets a math function with offset 100 analog chan nel 1 is multiplied with fact...

Page 41: ...r Internet Explorer 10 on a PC with network connection To sup port a basic first commissioning of the interface module the interface module is set to a direct connection If you have configured your br...

Page 42: ...s tablished a network connec tion connection with limited connectivity Now start the Sensor Finder program You will find this program on the provided CD Klicken Sie auf die Schaltfl che Start Sensor S...

Page 43: ...ss Parallel operation with web interface and Telnet commands is possible the last setting applies The appearance of the web pages may vary depending on functions and peripherals Each page contains par...

Page 44: ...ace Module Parameter 6 6 1 Preliminary Notes to the Settings You can program the IF1032 ETH at the same time in two different ways Using a web browser via the sensor web interface With ASCII command s...

Page 45: ...custom password User can do the following User Professional Password required no yes View settings yes yes Change settings change password no yes Start measuring yes yes Scaling graphs yes yes Fig 9...

Page 46: ...ype Moving average Arithmetic mean Median Off Designation of averaging type Averaging number indicates about how many current measuring values should be averaged in the controller before a new measuri...

Page 47: ...l electrical signal see Chap 4 2 If the trigger mode is turned off the IF1032 ETH will send measuring values without interruption with the adjusted data rate Trigger mode Rising edge A measuring value...

Page 48: ...rnet Interface IF1032 ETH 6 6 2 4 Sensor Interface Fig 11 Web page Settings Sensor interface Fields with a grey background re quire a selection Value Fields with a dark border require the specificatio...

Page 49: ...5 and analog inputs are available as sensor interface Depending on the use the corresponding unused setting is grayed out If the RS485 interface is selected then baud rate and address of the sensor mu...

Page 50: ...ase select at first the analogue channel and subsequently enter the start of measuring range and the end of measuring range the desired unit and the according voltage and current values and click on t...

Page 51: ...shared for the network Any modified IP settings are active immediately and the user might be required to enter the new IP address in the browser to enable the web interface to be launched The data po...

Page 52: ...ava is enabled on your computer Fig 12 Web page Manage settings Use this to export the settings of the controller into a file respectively import it from a file Fields with a grey background re quire...

Page 53: ...be started and stopped as measuring values can be saved and channel settings can be displayed 6 6 3 1 Channel Info Channel info Data channel 1 2 3 4 Summary of all channel dependent controller settin...

Page 54: ...Page 54 Ethernet Interface IF1032 ETH 6 6 3 2 Measuring Data Display Fig 14 Web page measuring data display...

Page 55: ...s of the measurement The dark shaded area defines the view the time period of the upper diagram This area can be moved or resized by using the mouse with left button down The upper diagram can be resi...

Page 56: ...Ethernet Interface IF1032 ETH 6 6 4 Menu Help Info This page contains information such as the sensors serial and version numbers channel names and serial numbers of the used channels Fig 15 Web page H...

Page 57: ...ANopen over EtherCAT CoE Service Data Objects SDO All parameters of the interface module can thus be read or modified Process Data Objects PDO A PDO telegram is used for real time transmission of meas...

Page 58: ...software adjust ment the Ethernet interface is always active ECAT Auto Interface is active which is adjusted via web interface or command Fig 16 Switch to change the interface A change back from the E...

Page 59: ...nted are accepted MICRO EPSILON will specifically not be responsible for eventual consequential damage The terms of the purchasing contract apply in full MICRO EPSILON always strives to supply the cus...

Page 60: ...ll cables on interface module Incorrect disposal may cause harm to the environment Dispose of the device its components and accessories as well as the packaging materials in compli ance with the appli...

Page 61: ...PS2020 Power supply DIN rail mounting 2 5 A input 100 240 V AC output 24 V DC 2 5 A installation type mounting on sym metrical standard rail 35 mm x 7 5 mm DIN 50022 PS2401 Plug in power supply 1 A i...

Page 62: ...the data Further information can be obtained from Technology Group www ethercat org or Beckhoff GmbH www beckhoff com A 2 1 Preamble A 2 1 1 Structure of EtherCAT Frames The transfer of data occurs in...

Page 63: ...f a physical area for all slaves LRD Logical read Reading of a logical storage area LWR Logical write Writing of a logical storage area RW Logical read write Reading and writing of a logical storage a...

Page 64: ...r output of the process data A 2 1 4 Sync Manager Sync Managers serve the data consistency during the data exchange between EtherCAT master and slaves Each Sync Manager channel defines an area of the...

Page 65: ...the mailbox communication In the Pre Operational state communication via the mailbox is possible and it can access the object directory and its objects In this state no process data communication occu...

Page 66: ...aves outputs not used in the IF1032 ETH The PDO mapping defines which application objects measurement data are transmitted into a PDO The IF1032 ETH has a Tx PDO for the measuring data The following m...

Page 67: ...vice type Device type 1001 Error register Error register 1008 Device name Device name 1009 Hardware version Hardware version 100A Software version Software version 1018 Identity Device identification...

Page 68: ...sion V x xxx Visible String ro Object 1018h Device identification 1018 RECORD Identity Subindices 0 VAR Number of entries 4 Unsigned8 ro 1 VAR Vendor ID 0x0000065E Unsigned32 ro 2 VAR Product code 0x0...

Page 69: ...20 08 Unsigned32 ro 3 VAR Subindex 004 0x6020 09 Unsigned32 ro 4 VAR Subindex 005 0x6020 0A Unsigned32 ro 6 VAR Subindex 006 0x6020 0B Unsigned32 ro 7 VAR Subindex 007 0x6020 0C Unsigned32 ro 8 VAR Su...

Page 70: ...settings of channel 3 2023 Channel 4 Info Information and settings of channel 4 2024 Channel 5 Info Information and settings of channel 5 2025 Channel 6 Info Information and settings of channel 6 2026...

Page 71: ...xxxxxxx Unsigned32 ro 4 VAR Option No xxx Unsigned32 ro 5 VAR Software version xxx Visible String ro Object 2020h Channel information 2020 RECORD Channel 1 Info ro Subindices 0 VAR Number of entries...

Page 72: ...er 2 Unsigned32 rw 4 VAR Trigger Off Enum rw Object 2100h Controller interface 2100 RECORD Controller Interface ro Subindices 0 VAR Number of entries 7 Unsigned8 ro 1 VAR Ethernet EtherCAT EtherCAT En...

Page 73: ...RS485 Baud rate 115200 Unsigned32 rw 3 VAR RS485 Address 126 Unsigned8 rw Object 2200h Commands 2200 RECORD Commands ro Subindices 0 VAR Number of entries 2 Unsigned8 ro 1 VAR Command AVT1 Visible Str...

Page 74: ...AR Channel 1 xxxx Float ro 9 VAR Channel 2 xxxx Float ro 10 VAR Channel 3 xxxx Float ro 11 VAR Channel 4 xxxx Float ro 12 VAR Channel 5 xxxx Float ro 13 VAR Channel 6 xxxx Float ro 14 VAR Channel 7 xx...

Page 75: ...CAT IO EtherCAT for TwinCAT V2 xx or TwinCAT 3 1 Config IO EtherCAT for TwinCAT V3 xx before the measuring device can be configured via EtherCAT EtherCAT slave information files are XML files which sp...

Page 76: ...ix EtherCAT Documentation IF1032 ETH Confirm with OK The window Scan for boxes EtherCAT slaves appears Confirm with Ja Yes The IF1032 ETH is now shown in a list Now confirm the window Activate Free Ru...

Page 77: ...IF1032 ETH The latest status on the Online side should be at least PREOP SAFEOP or OP Example for a complete object directory subject to change without prior notice On the Process Data side the PDO a...

Page 78: ...Page 78 Appendix EtherCAT Documentation IF1032 ETH The selected measuring values are transmitted as process data in the status SAFEOP and OP...

Page 79: ......

Page 80: ...N MESSTECHNIK GmbH Co KG K nigbacher Str 15 94496 Ortenburg Germany Tel 49 0 8542 168 0 Fax 49 0 8542 168 90 info micro epsilon de www micro epsilon com X9751309 A041046GBR X9751309 A04 MICRO EPSILON...

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