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Chapter

Operating Instructions

Flexi Soft Gateways

170

8012664/XB29/2013-06-11

Subject to change without notice

Fieldbus gateways

Instance 4 — Input data set 4 attribute definitions

Attribute number

Data set parameter

Size

Reserved UINT[2]

…

15 Reserved

UINT[2]

Tab. 146: Individual Input
Data Set Transfer object
(73h) instance 4 attribute
definitions

Summary of Contents for Flexi Soft

Page 1: ...O P E R A T I N G I N S T R U C T I O N S GB Flexi Soft Gateways ...

Page 2: ...cument is protected by the law of copyright whereby all rights established therein remain with the com pany SICK AG Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law Alteration or abridgement of the document is not permitted without the explicit written approval of the company SICK AG ...

Page 3: ...ons 13 3 3 Data transmitted into the network input data sets 14 3 3 1 Logic results 17 3 3 2 Gateway direct output values 17 3 3 3 Module status and EFI status as well as input and output values 17 3 3 4 Routing of data from a second network 19 3 3 5 Configuration checksums CRCs 19 3 3 6 Error and status information of the modules 19 3 4 Data received from the network network output data sets 23 4...

Page 4: ...5 3 Modbus TCP gateway 75 5 3 1 Interfaces and operation 75 5 3 2 Basic configuration Assigning an IP address 76 5 3 3 Configuration of the Modbus TCP interface to the PLC How the data are transferred 77 5 3 4 TCP IP configuration interface 83 5 3 5 Ethernet TCP IP socket interface 83 5 3 6 Diagnostics and troubleshooting 83 5 4 PROFINET IO gateway 84 5 4 1 Interfaces and operation 85 5 4 2 Basic ...

Page 5: ...ry 146 6 2 11 Guarding protocols 153 6 2 12 Error objects 155 6 2 13 CANopen diagnostics examples 156 6 2 14 Diagnostics and troubleshooting 159 6 3 DeviceNet gateway 160 6 3 1 Characteristic of the DeviceNet implementation 160 6 3 2 Interfaces and operation 161 6 3 3 Setting up DeviceNet communication 164 6 3 4 Supported DeviceNet features 166 6 3 5 DeviceNet protocol settings 167 6 3 6 Assemblie...

Page 6: ...IO 183 8 1 2 EtherCAT 183 8 1 3 PROFIBUS DP 184 8 1 4 CANopen 184 8 1 5 DeviceNet 185 8 2 Technical specifications supply circuit 185 8 3 General technical specifications 186 8 4 Dimensional drawings 187 8 4 1 Dimensional drawing FX0 GENT FX0 GMOD FX0 GPNT and FX0 GETC 187 8 4 2 Dimensional drawing FX0 GPRO FX0 GCAN and FX0 GDEV 188 8 5 Ordering information Flexi Soft gateways 188 9 Annex 189 9 1 ...

Page 7: ...272 8012484 and 8013274 are enclosed with each Flexi Soft module They inform on the basic technical specifications of the modules and contain simple mounting instructions Use the mount ing instructions when mounting Flexi Soft safety controllers The Flexi Soft hardware operating instructions SICK part no 8012999 describe all Flexi Soft modules and their functions in detail Use the Hardware operati...

Page 8: ...n the Internet at www sick com There you will find the following files for download FX0 GENT EDS file for EtherNet IP FX0 GPNT GSDML file for PROFINET IO FX0 GPRO GSD file for PROFIBUS DP FX0 GCAN EDS file for CANopen FX0 GDEV EDS file for DeviceNet FX0 GETC ESI file for EtherCAT 1 5 Scope These operating instructions are valid for all Flexi Soft gateway modules This document is part of SICK part ...

Page 9: ...k or health hazard They are designed to help you to prevent accidents Read carefully and follow the warning notices 1 8 Trademarks Windows XP Windows Vista Windows 7 and Internet Explorer are registered trademarks of Microsoft Corporation in the USA and other countries SIEMENS SIMATIC Manager is a registered trademark of SIEMENS AG DeviceNet and DeviceNet Safety are registered trademarks of the Op...

Page 10: ... Flexi Soft Designer configuration software must be at least 1 3 0 The Flexi Soft gateways do not have a dedicated voltage supply The Flexi Soft gateways are not suitable for operation on a safety fieldbus These gateways only generate non safety related fieldbus data status bytes for control and diagnostics purposes Do not use data from a Flexi Soft gateway for safety related applications With the...

Page 11: ...ns the device must be used with a Class 2 power supply or Class 2 transformer in accordance with UL 1310 or UL 1585 2 3 Environmental protection The Flexi Soft gateways are designed for minimum impact on the environment they consume only a minimum of energy and resources At work always act in an environmentally responsible manner 2 3 1 Disposal Unusable or irreparable devices should always be disp...

Page 12: ...t suitable for operation on a safety fieldbus They do not support any safety mechanism which would be mandatory to communicate within a safety network Configuration of the Flexi Soft gateways is performed using the Flexi Soft Designer configu ration software on a PC or notebook connected to the FX3 CPUx over RS 232 interface or connected to the Ethernet gateways over Ethernet TCP IP The safety rel...

Page 13: ... port 9000 via EoE1 FX0 GPRO PROFIBUS DP slave FX0 GCAN CANopen slave FX0 GDEV DeviceNet Slave You will find the device s date of manufacture on the type label in the S N field in the format yywwnnnn yy year ww calendar week nnnn continuos serial number in the calendar week 3 2 Firmware versions The Ethernet gateways FX0 GENT FX0 GMOD and FX0 GPNT are available with different firmware versions To ...

Page 14: ...ction 3 3 5 on page 19 Error and status information for all modules except the UE410 2RO and UE410 4RO see section 3 3 6 on page 19 Data sets The physical Flexi Soft modules are not represented as typical hardware modules in the network Instead the data available from the Flexi Soft system has been organized into four input data sets Data set 1 max 50 bytes contains the operational data It can be ...

Page 15: ...INET IO or TCP IP FX0 GPRO PROFIBUS DP 2 FX0 GCAN CANopen CANopen SDOs CANopen SDOs 3 FX0 GDEV DeviceNet DeviceNet DeviceNet DeviceNet FX0 GETC Input and output objects 2000h and 2001h CRC s Object 2002h Status and diagnostics Object 2003h Reserved Object 2004h 2 With the FX0 GPRO diagnostics data are available via PROFIBUS standard DP V0 diagnostics For more infor mation on how to retrieve module...

Page 16: ...s module 9 Byte 13 Input values module 10 Byte 14 Input values module 11 Byte 15 Input values module 12 Verified configuration CRC Module status module 3 Byte 16 Output values module 1 Byte 17 Output values module 2 Byte 18 Output values module 3 Byte 19 Output values module 4 Module status module 4 Byte 20 Output values module 5 Byte 21 Output values module 6 Byte 22 Output values module 7 Byte 2...

Page 17: ...atus and all input and output states of all Flexi Soft modules and EFI devices connected to the Flexi Soft system into the network Data set 1 containing the input and output values and the EFI information can be customized For detailed information see the chapter on the related gateway and chapter 7 Layout and content of the process image on page 173 Module status The Flexi Soft gateways can trans...

Page 18: ...logic for the related element on the I O module The level on the related terminals can not be reliably detected from this status as the output may be disabled by the cross circuit detection or the overload detection If dual channel output elements are configured on an I O module then only the less significant bit is used for the control information e g bit 0 for Q1 and Q2 bit 2 for Q3 and Q4 bit 4...

Page 19: ... the configuration is verified Otherwise the configuration is not verified Each checksum is four bytes long Data set 2 can not be customized 3 3 6 Error and status information of the modules Data set 3 contains the module status information transferred to the network Four bytes are transferred for each module e g FX3 XTIO Data set 3 can not be customized Reserved for future use static 1 no status ...

Page 20: ...rt circuit monitoring output 1 Short circuit to high Tab 9 Module status bits of the I O modules FX3 XTIO and FX3 XTDI Module status bits of the I O modules FX3 XTDS The module status bits have the following significance if not otherwise stated 0 Error 1 No error Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 Output load overcurrent monitoring Reserved Outputs power supply Configuration of...

Page 21: ...ork Communication from the network Configuration of this module is valid Reserved Summary of bits 0 5 to 0 7 external error Internal tests Module operating state 1 Run 0 Other Byte 1 Reserved Byte 2 Reserved Byte 3 Reserved Tab 13 Module status bits of the gateways Example Module 2 Flexi Soft XTIO has a stuck at high error 24 V on output 3 The following module status will be transferred into the n...

Page 22: ... The second relevant byte is the module status byte 3 for module 2 This is byte 08 with the hex value EF 11101111 Bit 7 6 5 4 3 2 1 0 Value 1 1 1 0 1 1 1 1 This corresponds to the error message Short circuit monitoring output 3 short circuit to high byte 3 bit 4 in Tab 9 You will find an example process image in section 5 1 3 TCP IP process image example on page 46 Tab 16 Example module status byt...

Page 23: ...ailable in the logic editor or as input to another network you must define a tag name for each bit that shall be used Bits without a tag name will not be available in the logic editor nor for routing via a second gateway For detailed information on how to define tag names for the data received please see the related section in the chapters on the different gateways The status of the communication ...

Page 24: ...ng rail must be connected to functional earth FE Additionally connect all network cable shields directly at the control cabinet entrance to a common FE ground line In a Flexi Soft system the main module FX3 CPUx is positioned at the extreme left The two optional gateways follow directly to the right of the main module Connect further Flexi Soft extension modules e g FX3 XTIO or FX3 XTDI onto the r...

Page 25: ...cally conduct Latch the module onto the DIN mounting rail by pressing it lightly in the direction of the arrow If there are several modules slide the modules together individually in the direction of the arrow until the side plug connection latches in Install end clips on the left and right The following steps are necessary after mounting Complete the electrical connections see section 4 2 Electri...

Page 26: ...emovable terminals with the wiring and the end clips If there are several modules slide the modules away from each other individually in the direction of the arrow until the side plug connection is separated Press the module downwards at the rear and remove it from the DIN mounting rail in the direction of the arrow while keeping it pressed down Fig 3 Removing the removable terminals Fig 4 Disconn...

Page 27: ...ltage supply of the devices must be capable of buffering brief mains voltage failures of 20 ms as specified in EN 60204R1 The voltage supply as well as all signals connected have to fulfil the regulations for extra low voltages with safe separation SELV PELV in accordance with EN 60664 and EN 50178 equipment of electrical power installation with electronic devices Ensure that all the modules of th...

Page 28: ...ace settings to ensure the correct communication interface has been selected The following dialog appears To edit the settings click on the pencil icon to the right The following dialog appears Modify the settings if required and click OK Click OK The dialog closes Click on Connect to physical device The Flexi Soft Designer will search for connected Flexi Soft devices and load the hardware configu...

Page 29: ...teway on page 52 section 5 3 Modbus TCP gateway on page 75 section 5 4 PROFINET IO gateway on page 84 section 5 5 EtherCAT gateway on page 101 section 6 1 PROFIBUS DP gateway on page 116 section 6 2 CANopen gateway on page 130 For the configuration of the TCP IP interface of the Ethernet gateways please refer to the following sections section 5 1 1 TCP IP configuration interface on page 32 section...

Page 30: ...rdware configuration view click on the Upload and verify configuration button A report of the current configuration will be generated Click Yes below at the question Mark device as verified if the displayed configuration is the expected configuration The system is then considered to be verified You have to be logged in as authorized user in order to mark the configuration as verified If the verifi...

Page 31: ...ject to change without notice Mounting and basic configuration of the gateways 4 3 5 Upload of a configuration When in online mode you can upload a configuration from the connected Flexi Soft system Click on Upload The current configuration of the Flexi Soft system will be loaded into the Flexi Soft Designer and can be edited after going offline ...

Page 32: ...signer either on a single PC or multiple PCs may result in inconsistencies of the configuration and the diagnostics as well as in operational errors This applies to both RS 232 and Ethernet connections equally Consider the signal delay for remote TCP IP connections Remote TCP IP connections to the gateway may be unstable if the signal delay is too great Check the signal delay to the gateway using ...

Page 33: ...P address for the Flexi Soft gateway and if required a valid Subnet mask and a valid IP address for a Default gateway Or If your network uses a DHCP server activate the DHCP checkbox Click Connect to go online and transfer the configuration to the Flexi Soft system If your project is online you can use the Read IP address button at the upper left corner of the gateway IP configuration area to retr...

Page 34: ...of your PC or the IP address set tings of the gateway to match the other device s IP setup Open the Flexi Soft Designer configuration tool installed on the PC and upload the hard ware configuration including the gateway If your project is online click on the Disconnect button to go offline Click on Com settings The following dialog appears Click on Add TCP IP profile The following dialog appears S...

Page 35: ...hernet gateways with firmware version O V2 00 0 FX0 GMOD FX0 GPNT and FX0 GENT in the network will be detected even if they are in a different subnet A FX0 GETC can be detected as well if it has been configured for EoE before see section 5 5 7 Ethernet over EtherCAT EoE on page 110 and section 5 5 8 TCP IP configuration interface on page 110 Flexi Soft Designer version 1 4 0 can detect only gatewa...

Page 36: ...ht The profile will then be activated and marked as such Click OK All communication to the Flexi Soft system will now happen via TCP IP In order to use the profile via the serial interface again you will have to re activate it The port number for the TCP IP configuration interface is pre set to port 9000 and can not be changed Step 3 Connect via TCP IP Click on the Connect button to go online Fig ...

Page 37: ...terface on page 110 Flexi Soft Designer version 1 4 0 can detect only gateways with a matching subnet address Click on the gateway you want to edit Enter the new settings in the Edit IP address area Click on the Set device config button to transfer the new settings to the device If the Flexi Soft Designer identifies a Flexi Classic series gateway in the network this will be displayed in the list a...

Page 38: ... same output data set number In that case the last message overrides data received earlier The gateway processes the data of a Flexi Soft system and makes it available in different compilations the data sets These data sets are available over the TCP IP interface For a detailed description of the data sets please refer to section 3 3 Data transmitted into the network input data sets on page 14 In ...

Page 39: ...o 1023 are managed by the Internet Assigned Numbers Authority IANA and should not be used to prevent collisions See www iana org assignments port numbers Finally determine how the data are transferred Follow the steps outlined in the following section Data transfer method How the data are transferred Whenever the TCP IP socket connection has been established either by an application on a PC or by ...

Page 40: ...ntrol 001Eh Auto update control response 002Eh Auto update input data set s message Digital outputs read write 00F2h Write output data set settings 002Fh Response to write output data set settings Parameter s Length determined by command As defined in specific command Data Length determined by command As defined in specific command Error response to invalid messages The gateway will set the most s...

Page 41: ... s request message Request data set 1 WORD 0 Do not send data set 1 1 Send data set 1 Request data set 2 WORD 0 Do not send data set 2 1 Send data set 2 Request data set 3 WORD 0 Do not send data set 3 1 Send data set 3 Request data set 4 WORD 0 Do not send data set 4 1 Send data set 4 The response message is returned to the application by the gateway The response message telegram will be structur...

Page 42: ...h WORD 0 Output data set not included in data set s data field Non zero Length of data set Output data set 4 length WORD 0 Output data set not included in data set s data field Non zero Length of data set Output data set 5 length WORD 0 Output data set not included in data set s data field Non zero Length of data set Data set s data Array of bytes Data set s information The response message is ret...

Page 43: ...Click on the Gateways button above the main window and select the desired gateway or double click the desired gateway in the hardware configuration view to open the gateway configuration dialog Click on TCP IP configuration on the left hand menu The following dialog appears Activate the Listen on radio button Enter the Port number on which the application will connect Select the update mode Enable...

Page 44: ...mand message is sent by an application to the gateway to configure the auto up date mode This message can be used to either disable or enable the auto update mode directly through the TCP IP interface Parameter Length Value Command WORD 00E1h Auto update control Request data set 1 WORD 0 Do not send data set 1 1 Send data set 1 Request data set 2 WORD 0 Do not send data set 2 1 Send data set 2 Req...

Page 45: ... the gateway Click on the Gateways button above the main window and select the desired gateway or double click the desired gateway in the hardware configuration view to open the gateway configuration dialog Click on TCP IP configuration on the left hand menu The following dialog appears Activate the Connect to radio button Enter the IP address and the Port number the gateway shall write to Select ...

Page 46: ...n Data set s information Details see section 3 3 Data transmitted into the network input data sets on page 14 and chapter 7 Layout and content of the process image on page 173 5 1 3 TCP IP process image example The following example shows a possible process image sent by a FX0 GENT gateway via TCP IP in auto update mode Byte values hex Part of message Meaning 00 2E Command Auto update data sets se...

Page 47: ...11 Input 3 external test signal failure Byte 3 FD 11111101 Output 1 stuckRatRlow error FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF Status modules 3 6 OK FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF Status modules 7 12 no modules present FF FF FF FF Status module 13 e g FX0 GENT OK FF FF FF FF Data set 3 see Tab 5 and section 3 3 6 Error and status information of the ...

Page 48: ...nitor at least one TCP IP socket must be enabled on the gateway see section 5 1 2 Ethernet TCP IP socket interface on page 37 How to use the socket monitor Power up the Flexi Soft system Connect one of the two Ethernet ports of the gateway with your Ethernet network using a shielded Ethernet cable Connect a PC or notebook to the same Ethernet network Ensure the IP address settings of the gateway a...

Page 49: ...t is enabled and if the gateway is configured to Connect on this socket the PC can connect to the gateway as server In a dropdown list in the PC is TCP Client area all available network adapters are displayed Select the network adapter that is connected to the gateway The MAC address and the IP address of the selected network adapter are displayed beneath the dropdown list The gateway socket must ...

Page 50: ... 21 on page 41 Activate all data sets that you want to receive The command that will be sent is shown in the log window Click on the Write button above the log window to send the command to the gateway The gateway will respond with a 00F1h response message see Tab 22 on page 41 that will be shown in the Read automatic data from device area below If the gateway is configured to send data sets on th...

Page 51: ...if auto update is desired The command that will be sent is shown in the log window Click on Write to send the command to the gateway The gateway will respond with a 00E1h response message see Tab 26 on page 44 that will be shown in the Read data from device automatically area below Depending on the configuration the gateway will follow up with 00E2h messages i e it will send the activated data set...

Page 52: ...ates when the last command string has been received The Clear log button erases the log You can choose from the dropdown list whether the next received command string shall override the last one or if it shall be appended at the top of the log 5 2 EtherNet IP gateway The following Flexi Soft gateway can be used for EtherNet IP FX0 GENT You will find the EDS files and the device icon for PLC interf...

Page 53: ...net connection active data transmission Power up Green Executing live process data from to FX3 CPUx Green 1 Hz Idle Red 1 Hz Configuring configuration required 2 Hz Critical fault on gateway Red Critical fault on another module STATUS 6 Red green Executing but faulty or no Ethernet communication Error elimination is described in section 5 2 10 Diagnostics and troubleshooting on page 74 Power up se...

Page 54: ...g the EtherNet IP gateway Click on the Gateways button above the main window and select the FX0 GENT or double click the FX0 GENT in the hardware configuration to open the gateway configu ration dialog Click on Gateway configuration on the left hand menu The following dialog appears If desired change the Device name for the Flexi Soft gateway Enter a valid IP address for the Flexi Soft gateway and...

Page 55: ...or fail status message Forward Open response and if successful includes a set of connec tion parameters The Forward Open message from the PLC to the EtherNet IP gateway includes the following parameters input connection type gateway to PLC either point to point or multicast input assembly object instance number input data length output connection type PLC to gateway only point to point is accepted...

Page 56: ...ted up to the next multiple of 10 ms Requested Packet Interval Maximum PLC Update Rate Actual packet update interval Description 5 ms 10 ms 10 ms Set to Maximum PLC Update Rate 10 ms 10 ms 10 ms Requested Packet Interval accepted 15 ms 20 ms 20 ms Set to Maximum PLC Update Rate 15 ms 10 ms 20 ms Requested Packet Interval adjusted upward to 20 ms 20 ms 25 ms 30 ms Maximum PLC Update Rate adjusted u...

Page 57: ... nections require more bandwidth than available the gateway will slow down and not be able to return the input data at the requested data rates Class 1 data access Input data sets All four input data sets are included in one array that can be read by all Class 1 PLCs The start of the input data received by the PLC is defined by the assembly instance number Each input instance number corresponds to...

Page 58: ...ata set 2 20 Output data sets 2 3 30 Output data sets 2 4 40 Output data sets 2 5 7 20 29 10 3 Starting at output data set 3 Can set output data sets 3 5 10 Output data set 3 20 Output data sets 3 4 30 Output data sets 3 5 8 30 39 10 4 Starting at output data set 4 Can set output data sets 4 5 10 Output data set 4 20 Output data sets 4 5 9 40 49 10 5 Starting at output data set 5 Can set output da...

Page 59: ...lid read lengths 1 120 0 255 Get 3 4 4 Request input data set 4 data BYTE 60 Valid read lengths 1 60 0 255 Get 4 Network to Flexi Soft 5 Write output data set 1 to 5 data BYTE 50 Valid write lengths 10 Set 1 20 Sets 1 2 30 Sets 1 3 40 Sets 1 4 50 Sets 1 5 0 255 Get Set 5 6 7 8 9 6 Write output data sets 2 to 5 data BYTE 40 Valid write lengths 10 Set 2 20 Sets 2 3 30 Sets 2 4 40 Sets 2 5 0 255 Get ...

Page 60: ...ion of the configuration of a class 1 connection using Rockwell RSLogix 5000 in the brochure Flexi Soft Ethernet IP Implicit Messaging with Rockwell RSLogix 5000 SICK part no 8015359 This brochure is available for download in PDF format at www sick com 5 2 5 Example configuration of implicit messaging with an OMRON PLC You will find a description of the configuration of a class 1 connection using ...

Page 61: ...PLC Transfer mode PLC requests Tx From PLC Transfer mode Gateway reads from Tag File Rx 127 Tx 1 Rx To PLC Transfer mode PLC requests Tx From PLC Transfer mode PLC writes Rx and Tx 128 Configuration process The following table outlines the configuration process depending on the transfer method Gateway is master Gateway writes to Tag File and or Gateway reads from Tag File To do in the gateway conf...

Page 62: ... on the Gateways button above the main window and select the FX0 GENT or double click the FX0 GENT in the hardware configuration view to open the gateway configuration dialog Click on Gateway configuration on the left hand menu The following dialog appears Within the Gateway configuration dialog select the transfer method by activating Gate way writes to tag file for the Flexi Soft to Network dire...

Page 63: ...eway reads from tag file for the Network to Flexi Soft direction is activated The Max PLC update rate ms defines the maximum rate the minimum time interval for transferring the data sets to and from the PLC Settings occur dependent on the PLC processing speed Minimum 10 ms maximum 65 535 ms The default value of 40 ms is suitable for most PLCs If the value entered for the Max PLC update rate is gre...

Page 64: ...tion view to open the gateway configuration dialog Click on Gateway configuration on the left hand menu The following dialog appears Within the Gateway configuration dialog select the transfer method by activating PLC requests for the Flexi Soft to Network direction PLC writes for the Network to Flexi Soft direction Select which data shall be requested or written by the PLC by checking the checkbo...

Page 65: ...ut data set information Get Attribute All requests will return all enabled input data sets All data set information will be returned in integer 16 bit word format For byte data the first byte will be placed in the most significant or leftmost byte of the integer and the second byte will be placed in the least significant or rightmost byte of the integer Attribute ID Name Data type Data values Acce...

Page 66: ...1h Yes Yes Get_Attributes_All 0Eh Yes Yes Get_Attribute_Single Instance attribute definitions Attribute 1 to n Request input data set specific parameters These attributes return the input data set specific data arrays Get Attribute Single re quests for a specific input data set will return only the requested data set parameter infor mation Get Attribute All requests will return the entire data set...

Page 67: ... Instance 2 Input data set 2 attribute definitions Attribute number Data set parameter Size 1 Overall CRC UDINT 2 System CRC SCID UDINT 3 Reserved UDINT 4 Reserved UDINT 5 Reserved UDINT 6 Reserved UDINT 7 Reserved UDINT 8 Reserved UDINT Instance 3 Input data set 3 attribute definitions Attribute number Data set parameter Size 1 Module status module 0 UINT 2 2 Module status module 1 UINT 2 15 Modu...

Page 68: ...d This method provides a polling method that allows the PLC to request data on a periodic basis In this method the input data set information is returned in the response to the data re quest message The PLC requests data by accessing the corresponding data file address on the FX0 GENT with either a SLC typed read or PLC 5 typed read message The following restrictions apply to this method The file ...

Page 69: ...s detected the output data sets will be processed accordingly The following restrictions apply to this method The output data set file locations must be of INTEGER 16 bit word format and must be of sufficient length to contain the entire output data set Data in the INTEGER file must be formatted with the first byte placed in the MS byte location Example aabb ccdd eeff etc where aa byte 1 bb byte 2...

Page 70: ...Set Message format is as defined for each individual input data set Please refer to section 3 3 Data transmitted into the network input data sets on page 14 for further details PCCC object 67h 1 instance The PCCC object provides the ability to encapsulate and then transmit and receive PCCC messages between devices on an EtherNet IP network This object is used to communic ate to SLC 5 05 and PLC 5 ...

Page 71: ...Array of USINT CMD FMC specific parameters Name Data type Description Length USINT Length of requestor ID Vendor UINT Vendor number of requestor Serial number UDINT ASA serial number of requestor CMD USINT Command byte STS USINT Status byte TNSW UINT Transport word Same value as request EXT_STS USINT Extended status if error PCCC_params Array of USINT CMD FMC specific result data CMD FNC Descripti...

Page 72: ...et must have the correct size Main program sends a message with command to SET or GET either Get_Attribute_Single or Get_Attributes_All see Tab 46 Step 1 Create two tags One for the MESSAGE and one to store the data from the GET command The MESSAGE tag will be for the MSG block which is used for explicit messaging The MSG command in this example will request Data Set 1 The received Data Set 1 will...

Page 73: ...tance 1 and Attribute 1 determine the data type which in this case is Data Set 1 see Tab 42 As Destination the WhatIWant tag must be chosen Communication The message has to contain the Path to the gateway In this example the path is 10 4 209 51 5 2 8 TCP IP configuration interface See section 5 1 1 TCP IP configuration interface on page 32 5 2 9 Ethernet TCP IP socket interface See section 5 1 2 E...

Page 74: ...t completed Configure the FX0 GENT and download the configuration to the device Wait until the configuration download has been completed FX0 GENT does not supply any data PWR Green LINK ACT Green STATUS9 Green No data set is activated No Ethernet communication interface is enabled Activate at least one data set FX0 GENT does not supply any data PWR Green LINK ACT Green STATUS9 Green 1 Hz FX0 GENT ...

Page 75: ...nent e g connection to a notebook without having to interrupt the Ethernet connection to the network LED Meaning No power supply PWR Green Power supply switched on No Ethernet connection Green Ethernet connection active no data transmission LINK ACT 1 LINK ACT 2 Green Ethernet connection active data transmission Power up Green Executing live process data from to FX3 CPUx Green 1 Hz Idle Red 1 Hz C...

Page 76: ...Flexi Soft Designer tool Via Flexi Soft Designer tool Open the Flexi Soft Designer and load the hardware configuration including the Modbus TCP gateway Click on the Gateways button above the main window and select the FX0 GMOD or double click the FX0 GMOD in the hardware configuration view to open the gateway configuration dialog Click on Gateway configuration on the left hand menu The following d...

Page 77: ...isters message Master receive method Gateway writes to PLC auto update gateway as master When it is determined that data received on the FX0 GMOD module backplane interface is to be sent to the PLC the data is immediately written to a data memory location on the PLC Slave transmit method PLC writes gateway as slave In this method the PLC will send write messages to the FX0 GMOD module to set the o...

Page 78: ...eway as master Select which data shall be written to read from the PLC Define where in the PLC memory the selected data shall be written to Enter holding register address es Example 400001 And or define where in the PLC memory the selected data shall be read from Enter holding register addresses Ensure the addresses defined in the Flexi Soft Designer configuration are available and contain the dat...

Page 79: ...rder to configure the gateway to be master perform the following steps Open the Flexi Soft Designer and load the hardware configuration including the Modbus TCP gateway Click on the Gateways button above the main window and select the FX0 GMOD or double click the FX0 GMOD in the hardware configuration view to open the gateway configuration dialog Click on Gateway configuration on the left hand men...

Page 80: ...0 ms maximum 65 535 ms The default value of 40 ms is suitable for most PLCs If this value is greater than the Heartbeat rate the heartbeat rate is slowed down to this value Go online and download the configuration to the Flexi Soft system Write to PLC The following restrictions apply when the gateway is master and writes the input data sets to the PLC The input data set address set via Flexi Soft ...

Page 81: ...nfiguration dialog select the transfer method by checking PLC requests for the Flexi Soft to Network direction and PLC writes for the Network to Flexi Soft direction Select which data shall be written read to from the PLC by checking the checkbox for the required data set For the exact description of the data sets please refer to section 3 3 Data transmitted into the network input data sets on pag...

Page 82: ...read out the data sets Unit ID 1 Address Base 1 Description Access Scope words 1000 Request all enabled input data sets Get 16 101 10 1100 Request input data set 1 data Get 25 1200 Request input data set 2 data Get 16 1300 Request input data set 3 data Get 30 1400 Request input data set 4 data Get 30 2000 Write all enabled output data sets data Set 5 25 11 2100 Write output data set 1 data Set 5 2...

Page 83: ... Flexi Soft gateway module FX0 GMOD has no power supply FX0 GMOD is not in the same physical network as the PC The PC is configured to another subnet mask in the TCP IP settings FX0 GMOD has already been configured once and has a fixed set IP address or an IP address assigned by a DHCP server that is not recognised Establish the power supply Check the Ethernet wiring and network settings on the PC...

Page 84: ...xed IP address for the FX0 GMOD in the DHCP server manual assignment by means of the MAC address of the FX0 GMOD FX0 GMOD Flexi Soft system is in Critical fault mode PWR Green LINK ACT Green MS Red FX0 GMOD is not plugged properly into the other Flexi Soft module Module connecting plug is soiled or damaged Other Flexi Soft module has internal critical error Plug the FX0 GMOD in correctly Clean the...

Page 85: ...e no data transmission LINK ACT 1 LINK ACT 2 Green Ethernet connection active data transmission Power up Green Executing live process data from to FX3 CPUx Green 1 Hz Idle 2 Hz PROFINET master requested LED flashing for physical device identification Red 1 Hz Configuring configuration required 2 Hz Critical fault on gateway Red Critical fault on another module STATUS Red green Executing but Ethern...

Page 86: ...rmanently even if no PROFINET communication is established This feature is only available with firmware O V2 00 0 and Flexi Soft Designer version O 1 4 0 Power up sequence On power up the following LED test sequence is performed STATUS LED Off for 6 s STATUS LED Red for 0 25 s STATUS LED Green for 0 25 s STATUS LED Off 5 4 2 Basic configuration Assigning a device name and IP address Configuration ...

Page 87: ...the device name on page 91 Device name set via Flexi Soft Designer Open the Flexi Soft Designer and load the hardware configuration including the PROFINET IO gateway Ensure your project is offline Click on the Gateways button above the main window and select the FX0 GPNT or double click the FX0 GPNT in the hardware configuration view to open the gateway configuration dialog Click on Gateway config...

Page 88: ...e creation of the PROFINET IO network or the rest of the automation system project in the network configuration tool It is assumed the PROFINET project has already been set up in the configuration program e g SIEMENS SIMATIC Manager Examples refer to configurations performed with SIEMENS SIMATIC manager Step 1 Install the generic station description file GSDML file Before the FX0 GPNT can be used ...

Page 89: ...e also read the documentation for the corresponding program The example below shows how to add the gateway to a SIEMENS SIMATIC Manager project In the SIEMENS SIMATIC Hardware Manager the gateway can be found in the hardware catalogue under PROFINET IO Additional Field Devices Gateway FlexiSoft Drag drop the device into the Ethernet PROFINET IO network Example After adding the device to the automa...

Page 90: ...t to change without notice Ethernet gateways Step 3 Configure the properties of the gateway Double click on the gateway hardware symbol Configure the update time of the cyclic I O data exchange To do this click on the IO cycle tab and select the desired rate from the Update time pull down menu Fig 43 Configuration of the update time of the FX0 GPNT ...

Page 91: ...ET IO device name Double click on the gateway hardware symbol Select the General tab Enter the desired device name in the dialog as shown below The device name format shall apply to the PROFINET standard specification Assign the device name to the gateway Select PLC Ethernet Assign device name The Assign device name dialog opens From the Assign device name dialog find and select the SICK gateway t...

Page 92: ...ata block 3 Data block 4 Data block 5 Input data Input data Input data Input data Input data Byte 0 Input values module 1 Output values module 1 Logic result 0 Not assigned Not assigned Byte 1 Input values module 2 Output values module 2 Logic result 1 Not assigned Not assigned Byte 2 Input values module 3 Output values module 3 Logic result 2 Not assigned Byte 3 Input values module 4 Output value...

Page 93: ...i Soft data blocks into the slots of the FX0 GPNT shown in the SIEMENS SIMATIC Manager HW Config configuration table The I and Q addresses reflect where in memory the cyclic data will be available Each input data block can only be placed into the slot of the same number Example Input data block 4 can only be mapped into slot 4 Acyclic data and alarms Record read Flexi Soft system diagnostic data i...

Page 94: ...yte 14 Byte 15 Module status module 3 Byte 16 Byte 17 Byte 18 Byte 19 Module status module 4 Byte 20 Byte 21 Byte 22 Byte 23 Module status module 5 Byte 24 Byte 25 Byte 26 Byte 27 Module status module 6 Byte 28 Byte 29 Byte 30 Byte 31 Reserved Module status module 7 Byte Byte 49 Byte Byte 56 Byte 57 Byte 58 Byte 59 Module status module 14 Module 13 and 14 are always the gateways Reserved Length 32...

Page 95: ...FINET IO alarms infrastructure Once an error occurs on any Flexi Soft module the PROFINET IO gateway raises the appropriate diagnostic alarm to the network This will trigger the fault LED on the PLC and make the specifics text and help of the diagnostic alarm available through the SIMATIC PLC inter face The RALRM function block SFB54 in OB82 the diagnostic interrupt allows the user to retrieve spe...

Page 96: ...t 3 4 dual channel input evaluation 0210 Input 5 6 dual channel input evaluation 0211 Input 7 8 dual channel input evaluation 0212 0215 Reserved 0216 External test signal Input 1 0217 External test signal Input 2 0218 External test signal Input 3 0219 External test signal Input 4 0220 External test signal Input 5 0221 External test signal Input 6 0222 External test signal Input 7 0223 External tes...

Page 97: ...tion from the network 0606 Communication to the network 0607 0631 Modbus gateway Reserved 0700 Operating state Run 0701 Internal tests 0702 Summary of bits 0705 to 0707 external error 0703 Reserved 0704 Configuration of this module is valid 0705 Communication from the network 0706 Communication to the network 0707 0731 EtherNet IP gateway Reserved 0800 Operating state Run 0801 Internal tests 0802 ...

Page 98: ...coder 2 2107 Reserved 2108 2111 Reserved 2112 User defined status bit 112 2113 User defined status bit 212 2114 User defined status bit 312 2115 User defined status bit 412 2116 2131 MOCx Reserved 2200 Operating state Run 2201 Internal tests 2202 Summary of bits 2205 to 2207 2203 Reserved 2204 Configuration of this module is valid 2205 Outputs power supply 2206 Reserved 2207 Output load overcurren...

Page 99: ...l Safety Systems Germany All rights reserved 99 Subject to change without notice Ethernet gateways 5 4 5 TCP IP configuration interface See section 5 1 1 TCP IP configuration interface on page 32 5 4 6 Ethernet TCP IP socket interface See section 5 1 2 Ethernet TCP IP socket interface on page 37 ...

Page 100: ...iguration to the device Wait until the configuration download has been completed FX0 GPNT does not supply any data PWR Green LINK ACT Green STATUS Green 1 Hz No data set is activated Flexi Soft system is in Idle mode Activate at least one data set Start CPU change into Run state FX0 GPNT does not supply any data PWR Green LINK ACT Green STATUS Green 2 Hz PROFINET master requested LED flashing for ...

Page 101: ...lexi Soft Designer program folder on your hard disk default installation folder is C programs SICK FlexiSoft DeviceDescriptions The FX0 GETC is an EtherCAT slave device It supports and requires the following services for complete function Configuration and diagnostics of the Flexi Soft station via TCP IP tunneled in EtherCAT using the EoE Ethernet over EtherCAT protocol CoE CAN application layer o...

Page 102: ...Safe operational RUN Green Operational No EtherCAT connection Green EtherCAT connection active no data transmission Link Act Green EtherCAT connection active data transmission For error diagnostics and troubleshooting see section 5 5 10 Diagnostics and troubleshooting on page 114 Power up sequence On power up the following LED test sequence is performed All LEDs Off for 6 s MS LED Red for 0 25 s M...

Page 103: ... Soft Designer and load the hardware configuration including the gateway or create a new Flexi Soft system with an FX0 GETC in the Flexi Soft Designer Configure the gateway in the Flexi Soft system Click on the Gateways button above the main window and select the FX0 GETC or double click the FX0 GETC in the hardware configuration view to open the gateway con figuration dialog The configuration dia...

Page 104: ...he communication between PLC and gateway Step 1 Install the EtherCAT Slave Information ESI file The ESI file FX0 GETC xml contains the information that is needed for the integration of the FX0 GETC in the EtherCAT network Before the FX0 GETC can be used as device in the EtherCAT network configuration tool e g TwinCAT for the first time the ESI file of the gateway must be installed into the hardwar...

Page 105: ...and Step 3 Select and configure the process data objects PDOs After adding the device to the automation network you must configure which of the pro cess data objects PDOs you want to use The FX0 GETC provides five input PDOs for the transfer of input data to a connected PLC that can be used alternatively I e only one of these five input PDOs can be active at any time There is one input PDO for 10 ...

Page 106: ...put and output with the appropriate size for the used process data in the EtherCAT network configura tion tool Only one input PDO and one output PDO can be active at any time If the selected PDO is greater than the process data configured unused data will be filled with zeroes If the selected PDO is smaller than the process data configured excess data will be truncated Example How to select the PD...

Page 107: ... 6 Input values module 7 Output values module 5 Logic result 2 Not assigned Not assigned Byte 7 Input values module 8 Output values module 6 Logic result 3 Not assigned Not assigned Byte 8 Input values module 9 Output values module 7 Gateway direct output values 0 Not assigned Not assigned Byte 9 Input values module 10 Output values module 8 Gateway direct output values 1 Not assigned Not assigned...

Page 108: ... export the tag names of the input or output data sets open the CPU to EtherCAT or the EtherCAT to CPU configuration page Click on the Export button in the toolbar A dialog window opens Select the destination folder enter a name for the export file select the required file type e g csv or exp for TwinCAT from the selection list at the bottom of the dialog window and click on Save to export the fil...

Page 109: ...double click the FX0 GETC in the hardware configuration view to open the gateway configuration dialog Click on Gateway configuration on the left hand menu The following dialog appears Click on the button to the right of the data set for which you want to change the start address The following dialog appears Type in the desired new start address or use the arrows to change the address The address w...

Page 110: ...e Operational state or higher because it relies on the EtherCAT mailboxes of the Gateway which are not available in the Init state 5 5 8 TCP IP configuration interface In order to use the TCP IP communication interface the FX0 GETC must be part of a working EtherCAT network EoE functionality must be enabled for the Flexi Soft system and an IP address and a subnet mask must be assigned to it in the...

Page 111: ...CoE CAN application layer over EtherCAT The FX0 GETC supports various CoE objects They can be viewed in the EtherCAT network configuration tool or used in an application through SDO read commands In addition to the standard EtherCAT objects the FX0 GETC has a number of vendor specific objects The CoE objects can only be read i e it is not possible to change the input or output process data or othe...

Page 112: ...taset5 10 bytes CRCs 2002h This object contains the CRCs described in section 3 3 5 Configuration checksums CRCs on page 19 Index Subindex Name Size 01 Overall CRC 4 bytes 02 System CRC 4 bytes 2002h 03 EFI ACR CRC reserved for future use 4 bytes Status and diagnosis 2003h This object contains the module status bits of the Flexi Soft system Each Flexi Soft module has 32 status bits each representi...

Page 113: ...rt any of the optional options 06h 69h Diagnosis history entries OCTET STRING See below The Diagnosis history object is structured as a ring buffer If subindex 69h has been written the next entry will start over with subindex 06h If the number of unconfirmed diagnosis messages reaches 100 older messages will not be overwritten Instead the newest diagnosis message is replaced by a buffer overflow e...

Page 114: ...th the PLC 1 Module has internal error Hardware error Replace module 2 Module has external error No process data connection with the PLC 3 Reserved n a 4 Configuration invalid or incompatible The configuration of the Flexi Soft system is invalid e g a hardware component has been added or removed or has been replaced by an incompatible device 5 Module input status invalid No process data connection...

Page 115: ...y data MS Green 1 Hz ERR Off RUN Green Flexi Soft system is in the Stop state CPU application is stopped Start CPU change into Run state FX0 GETC does not supply any data MS Green ERR Off RUN Green EtherCAT PLC is in Stop state Set EtherCAT PLC into Run state FX0 GETC is in Critical fault mode MS Red 2 Hz ERR Red RUN Off FX0 GETC internal device error CPU firmware version does not support Flexi So...

Page 116: ...ble break address fault or master is not or no longer writing to the bus Power up waiting for bus off Green Executing Green Idle Red green Executing but there is an error at the gateway Red 1 Hz Configuration required or in progress 2 Hz Critical fault on gateway MS Red Critical fault on another module No power supply Green Power supply switched on no error PWR Red Critical fault Fig 56 Controls a...

Page 117: ...e PROFIBUS DP gateway Ensure your project is offline Click on the Gateways button above the main window and select the FX0 GPRO or double click the FX0 GPRO in the hardware configuration view to open the gateway configuration dialog Click on Gateway configuration on the left hand menu The following dialog appears Select the PROFIBUS address in the PROFIBUS address field Click Connect to go online ...

Page 118: ...bus termination at both ends The possible bus lengths are 100 m at 12 Mbit s up to 1 200 m at 94 kbit s Position Description 1 PROFIBUS user grey 2 Shielded bus cable 3 PROFIBUS termination yellow with integrated terminating resistors Cable parameters The properties of the bus cable are specified in EN 50170 as cable type A Property Value Characteristic impedance 135 165 at a frequency of 3 20 MHz...

Page 119: ... firmware versions from V1 30 0 In this way it is possible to modify the scope of the alarms generated on the fieldbus side to new software versions on other modules If you change the status of this check box for a configuration already verified then you must verify this configuration again 6 1 2 Planning GSD file Normally the FX0 GPRO is used on a DP master that looks up the device characteristic...

Page 120: ...utput data blocks virtual I O device modules containing the operational data These 5 blocks must be projected in a DP configurator in natural order 1 2 3 4 5 No other sequence is possible Depending on the type of PLC used further modules may be displayed e g universal module These modules are not needed and should be ignored The data blocks 1 4 contain 12 bytes each data block 5 contains 2 bytes T...

Page 121: ...assigned Byte 7 Input values module 8 Output values module 8 Gateway direct output values 3 Not assigned Byte 8 Input values module 9 Output values module 9 Not assigned Not assigned Byte 9 Input values module 10 Output values module 10 Not assigned Not assigned Byte 10 Input values module 11 Output values module 11 Not assigned Not assigned Byte 11 Input values module 12 Output values module 12 N...

Page 122: ...r information on how to configure the process image see chapter 7 Layout and content of the process image on page 173 and the Flexi Soft Designer operating instruc tions SICK part no 8012998 6 1 3 PROFIBUS configuration of the gateway How the data are transferred The following steps need to be taken in order to configure the communication between PLC and gateway This document does not cover the cr...

Page 123: ...Manager HW Config the gateway then appears in the hard ware catalogue under PROFIBUS DP Additional Field Devices Gateway SICK Flexi Soft Step 2 Add the gateway to the project In order to have the Flexi Soft system data available in the PLC process image the gate way must be added to the hardware configuration first The procedure associated with this depends on the hardware configuration program of...

Page 124: ...00 11111 Alarm sequence number will be incremented for each state change of octet 10 Bit 0 2 error coming going In the case of modules with firmware V1 30 and later the alarm sequence number is not used for reasons of conformity with the PROFIBUS DP speci fication These bits are therefore always 0 for these modules 11 0 14 Position of the Flexi Soft module raising the diagnostic information 0 FX3 ...

Page 125: ... dual channel input evaluation 13 1 Input 3 4 dual channel input evaluation 13 2 Input 5 6 dual channel input evaluation 13 3 Input 7 8 dual channel input evaluation 13 4 13 7 Reserved 14 0 External test signal Input 1 14 1 External test signal Input 2 14 2 External test signal Input 3 14 3 External test signal Input 4 14 4 External test signal Input 5 14 5 External test signal Input 6 14 6 Extern...

Page 126: ...d 12 5 Communication from the network 12 6 Communication to the network 6 12 7 15 7 Modbus gateway Reserved 12 0 Operating state Run 12 1 Internal tests 12 2 Summary of bits 12 5 to 12 7 12 3 Reserved 12 4 Configuration of this module is valid 12 5 Communication from the network 12 6 Communication to the network 7 12 7 15 7 EtherNet IP gateway Reserved 12 0 Operating state Run 12 1 Internal tests ...

Page 127: ...ests 12 2 Summary of bits 12 5 to 12 7 12 3 Reserved 12 4 Configuration of this module is valid 12 5 Outputs power supply 12 6 Reserved 12 7 Output load overcurrent monitoring 20 13 0 15 7 STIO Reserved 12 0 Operating state Run 12 1 Internal tests 12 2 Summary of bits 12 5 to 12 7 12 3 Reserved 12 4 Configuration of this module is valid 12 5 Encoder 1 12 6 Encoder 2 12 7 Reserved 13 0 13 3 Reserve...

Page 128: ...oring 13 0 Input 1 2 dual channel input evaluation 13 1 Input 3 4 dual channel input evaluation 13 2 Input 5 6 dual channel input evaluation 13 3 Input 7 8 dual channel input evaluation 13 4 13 7 Reserved 14 0 External test signal Input 1 14 1 External test signal Input 2 14 2 External test signal Input 3 14 3 External test signal Input 4 14 4 External test signal Input 5 14 5 External test signal...

Page 129: ... CPU change into Run state FX0 GPRO does not supply any data PWR Green BF Off MS Green PROFIBUS master is in stop mode Set PROFIBUS master into Run state FX0 GPRO functioned correctly after configuration but sud denly no longer supplies data PWR Green BF Red MS Red green FX0 GPRO PROFIBUS hardware address is changed PROFIBUS cable is disconnected Check PROFIBUS address setting at hardware address ...

Page 130: ...cal layer or Error passive NS Network Status Red 1 Hz Node guarding failed NMT master does not monitor slave anymore or Heartbeat consumer failure Power up Green Executing FLEXBUS and PDO status all Good Green Idle cable not attached or node guarding failed Red green Executing FLEXBUS and PDO status any is Bad Red Critical fault caused by emergency bit Red 1 Hz Configuration required or in progres...

Page 131: ...0 Off On On Off 500 On Off On Off 800 Off Off On Off 1000 On On Off Off All other DIP switch settings will set the baud rate to 125 kbit s If the address switches on the device are set to 00 the DIP switch settings are ignored and the baud rate setting in the Flexi Soft Designer is used How to set the CANopen address and baud rate via software using the Flexi Soft Designer Set the two hardware add...

Page 132: ...settings will become effective immediately after transferring the configuration i e without switching off and switching on the Flexi Soft system Exception If the system is in bus off state a power cycle is required Plug assignment The connection to the CANopen fieldbus is made using a 5 pin open style connector Pin Description 5 4 H CAN_H CAN High 3 DR CAN_SHLD Screen connection optional 2 L CAN_L...

Page 133: ...he data are transferred This document does not cover the creation of the CANopen network or the rest of the auto mation system project in the network configuration tool It is assumed the CANopen pro ject has already been set up in the configuration program e g 3S Software CoDeSys 2 x Examples refer to configurations performed with CoDeSys 2 3 The following steps need to be taken in order to config...

Page 134: ... PLC process image the gate way must be added to the hardware configuration first The procedure associated with this depends on the hardware configuration program of the PLC being used On this topic please also read the documentation for the corresponding program Example How to add the FX0 GCAN using CoDeSys 2 3 Open the PLC Configuration editor window and select the controller Right click on the ...

Page 135: ...e the PDO transmission type using CoDeSys 2 3 In the PLC Configuration editor window select the FX0 GCAN Then click on the Send PDO Mapping tab on the right side Select one of the displayed PDOs e g PDO 1 and click on the Properties button The PDO properties dialog opens Select the desired Transmission Type for the PDO from the selection list enter the Event Time in ms and click OK For more inform...

Page 136: ... jects Each of these objects has a unique 11 bit CAN identifier that consists of a function code and a device address The device address for the broadcast objects is 0 for the other objects 1 127 Bit number 10 9 8 7 6 5 4 3 2 1 0 Function code Device address Object CAN identifier Meaning Broadcast objects NMT 00h Network management SYNC 80h Sync message Peer to peer objects EMERGENCY 081h 0FFh Sta...

Page 137: ... 01h Change to Operational The Operational state is reached from the Pre Operational state In this state communication via PDO is possible and the CANopen slave reacts to Sync commands Note On transition to NMT Operational state each slave sends a TxPDO with the transmission type 255 so that the NMT master is informed of the current input configuration 02h Change to Prepared Stopped Communication ...

Page 138: ...mode of the device must be Operational It is possible to change the transmission type for the TxPDOs using the SDOs 1800 1803 PDO communication parameter and the sub object 2 Allowed are the following types acyclic synchronous 0 cyclic synchronous 1 240 acyclic by device profile 255 only for TxPDO 1 4 digital inputs 6 2 6 Emergency A CANopen slave with the address N sends an emergency message to i...

Page 139: ...12 15 Reserved 16 External test signal Input 1 17 External test signal Input 2 18 External test signal Input 3 19 External test signal Input 4 20 External test signal Input 5 21 External test signal Input 6 22 External test signal Input 7 23 External test signal Input 8 24 Short circuit monitoring output 1 short circuit to high 25 Short circuit monitoring output 1 short circuit to low 26 Short cir...

Page 140: ...n of this module is valid 05 Communication from the network 06 Communication to the network 07 07 31 EtherNet IP gateway Reserved 00 Operating state Run 01 Internal tests 02 Summary of bits 05 to 07 03 Reserved 04 Configuration of this module is valid 05 Communication from the network 06 Communication to the network 08 07 31 PROFINET gateway Reserved 00 Operating state Run 01 Internal tests 02 Sum...

Page 141: ...nfiguration of this module is valid 05 Outputs power supply 06 Reserved 07 Output load overcurrent monitoring 08 Input 1 2 dual channel input evaluation 09 Input 3 4 dual channel input evaluation 10 Input 5 6 dual channel input evaluation 11 Input 7 8 dual channel input evaluation 12 15 Reserved 16 External test signal Input 1 17 External test signal Input 2 18 External test signal Input 3 19 Exte...

Page 142: ... Slave response CAN ID DLC DATA 700h N 1 Byte1 Bit Meaning 7 Toggle bit changes value between two sequential requests 6 0 NMT status 4 Stopped 5 Operational 127 Pre operational Bootup On bootup the gateway sends a bootup message with the CAN ID 700h N DLC 1 and Byte 1 0 Heartbeat producer If the gateway is configured as heartbeat producer i e if SDO 1017 contains a value for the producer heartbeat...

Page 143: ...te 2 Logic result 2 Input values module 7 Output values module 3 Output values module 11 Byte 3 Logic result 3 Input values module 8 Output values module 4 Output values module 12 Byte 4 Input values module 1 Input values module 9 Output values module 5 Gateway direct output values 0 Byte 5 Input values module 2 Input values module 10 Output values module 6 Gateway direct output values 1 Byte 6 In...

Page 144: ...xPDO has the transmission type 0 If the transmission type is n 1 240 n Sync commands are required for the TxPDO to be sent The transmission type for a TxPDO is 254 or 255 and the event timer SDO 1800 5 for TxPDO1 has a value N 0 In this case this TxPDO is sent every N ms A TxPDO can also be polled via remote transmission request RTR This requires a CAN telegram to the gateway containing the CAN ID...

Page 145: ... SDO index high byte SUB SDO sub index The server then replies with a confirmation message CAN ID DLC Data 580h N 8 60h SDO_L SDO_H SUB Byte 1 Byte 2 Byte 3 Byte 4 Byte 1 to 4 in the write confirmation message contain zeros SDO upload expedited Read SDO The client requests the contents of an SDO with a request message to server N The 16 bit index and the sub index for the SDO to be read are coded ...

Page 146: ...ult know the object characteristics of the CANopen device In the following table all SDOs for the FX0 GCAN gateway are shown SDO Type 1000 Device type 1001 Error register 1003 Error list error history 1005 COB ID SYNC 1008 Device name 1009 Hardware version 100A Software version 100C Guard time 100D Life time factor 1014 COB ID EMCY available version V1 30 0 or higher 1016 Consumer heartbeat time 1...

Page 147: ... device name VISIBLE STRING This SDO can not be read using a simple SDO upload expedited Instead the Upload SDO segment protocol client command specifier ccs 3 must be used as described in the CANopen specification DS 301 SDO 1009 Hardware version SDO 1009 contains the current hardware version of the device VISIBLE STRING This SDO can not be read using a simple SDO upload expedited Instead the Upl...

Page 148: ...l working correctly The producer heartbeat time is defined in ms For internal processing it is rounded to the next higher multiple of 4 If the heartbeat time is set to 0 the heartbeat signal is deactivated The heartbeat signal consists of a cyclic CAN message with the identifier 700h device address It is not possible to use heartbeat signals and life guarding messages at the same time because both...

Page 149: ...T In ms The transmission type is set to 255 asynchronous mode event triggered as a default for all TxPDOs The event timer contains the rate in ms for the cyclic transmission of the TxPDO TxPDO transmission types TxPDO Synchronous Asynchronous RTR 1 2 3 4 0 1 240 254 255 253 If the transmission type is set to an invalid value an error code is generated abort code 0609 0030h invalid parameter value ...

Page 150: ...DO 3100 contains the module status bits from the Flexi Soft system see Tab 105 Active bits are low 0 SDO array Data set parameter Module Size 3100 1 Module status module 0 CPU UDINT 3100 2 Module status module 1 Extension UDINT 3100 14 Module status module 13 Gateway UDINT 3100 15 Module status module 14 Gateway UDINT The module positions in the Flexi Soft Designer are numbered from 0 to 14 Theref...

Page 151: ...roller with EFI 02h CPU2 Main module of the Flexi Soft safety controller with EFI and ACR 03h CPU3 Main module of the Flexi Soft safety controller with EFI ACR and Flexi Link 04h XTDI Input extension module 05h XTDS Input output extension module with safe inputs and nonRsafe outputs 06h XTIO Input output extension module 07h GPRO PROFIBUS DP gateway 08h GDEV DeviceNet gateway 09h GCAN CANopen gate...

Page 152: ...x Flexi Soft EtherNet IP gateway 08h FX0 GPNTxxxxx Flexi Soft PROFINET IO gateway 0Ch FX0 GCC1xxxxx Flexi Soft CC Link standard gateway 0Fh FX3 GS3Sxxxxx Flexi Soft Sercos III gateway 10h FX0 GETCxxxxx Flexi Soft EtherCAT standard gateway 20h FX0 STIOxxxxx Flexi Soft extension module with non safe inputs and non safe outputs 21h FX3 MOCxxxxx Flexi Soft motion control module 7 0 7 22h FX3 XTDSxxxxx...

Page 153: ...e that sends a cyclic heartbeat message This enables all other CANopen devices to detect whether the heartbeat producer is still work ing correctly and what is its current status Heartbeat messages are sent in a regular time interval the producer heartbeat time which can be configured using SDO 1017 The configured 16 bit value will be rounded to the next multiple of 4 ms A heartbeat consumer is a ...

Page 154: ...ble break detection is performed by the gateway itself Heartbeat producer works without node guarding In this case the gateway can not detect a fieldbus cable break Heartbeat and node guarding life guarding can not be used simultaneously If the configuration is changed from activated life guarding to no life guarding or vice versa a complete power reset of the Flexi Soft system is required to setu...

Page 155: ...rrors Error code FLEXBUS Error type Emergency error code Error register M1 M5 Error history SDO 1003 Result possible remedy CAN data overrun CAN controller overrun in Rx Fifo 4501h Warning 8110h 11h 1 0 0 0 0 CAN messages have been lost Bandwidth is limited Check CAN settings increase baud rate reduce participants traffic CAN error passive CAN controller is in error passive state 4503h Warning 812...

Page 156: ...ule diagnostics data M2 M3 M4 M5 See Tab 105 All errors cleared 4 0000h 00h M1 0 M2 M5 0 Tab 131 Error objects overview 6 2 13 CANopen diagnostics examples Example 1 XTIO module on position 1 output Q4 stuck at high The gateway sends an emergency message see Tab 104 CAN ID DLC DATA 08C 8 03 FF 01 01 40 00 00 00 The gateway s CANopen address is 12 C hex The XTIO module has the position 1 in the Fle...

Page 157: ...e Tab 125 FB Error byte M5 bit 2 0 external error BF Error byte M2 bit 30 0 output 4 stuck at high error Reading the error from the error history in SDO 1003 PLC request CAN ID DLC DATA 60C 8 40 03 10 01 00 00 00 00 60C Identifier 600 C 8 Data length code 8 bytes follow 40 Expedited upload request 03 10 Index 1003 01 Subindex 01 last error Gateway response CAN ID DLC DATA 58C 8 42 03 10 01 40 00 0...

Page 158: ...ndex M1 module in position 12 C hex 01 Module status bit 8 bit 0 of byte M4 1 input 1 2 dual channel input evaluation error detected see Tab 105 Reading the current error using SDO 3100 PLC request CAN ID DLC DATA 60C 8 40 00 31 0D 00 00 00 00 60C Identifier 600 C 8 Data length code 8 bytes follow 40 Expedited upload request 00 31 Index 3100 0D Subindex 0D module in position 12 module position sub...

Page 159: ...ed Configure the FX0 GCAN and download the configuration to the device Wait until the configuration download has been completed FX0 GCAN does not supply any data PWR Green NS Green MS Red 1 Hz Configuration download is not completed Wait until the configuration download has been completed FX0 GCAN does not supply any data PWR Green NS Green MS Red green No PDO transfer since power up Start PDO tra...

Page 160: ...nsceiver is in error passive CAN cable has been disconnected Check CANopen cabling Check the diagnostics messages with Flexi Soft Designer Reset Flexi Soft system FX0 GCAN does not supply any data PWR Green NS Red 1 Hz MS Red green Node guarding or heartbeat consumer failure Guarding configuration has been changed Check CANopen cabling Check life guarding time life time factor O 1 Check heartbeat ...

Page 161: ...ower up Green Executing FLEXBUS and process data status all Good Green Idle cable not attached Red green Executing FLEXBUS and process data status at least one status Bad Red Critical fault caused by emergency bit Red 1 Hz Configuration required or in progress MS Module Status Red 2 Hz Critical fault caused by gateway itself For diagnostics see section 6 3 7 Diagnostics and troubleshooting on page...

Page 162: ...are DIP switches Set the baud rate using the DIP switches on the device Then switch the Flexi Soft system off and back on again Baud rate kbit s DIP 1 DIP 2 DIP 3 DIP 4 125 On On On Off 250 Off On On Off 500 On Off On Off If all DIP switches are set to Off then the setting for the baud rate in Flexi Soft Designer is used All other DIP switch settings will set the baud rate to 125 kbit s How to set...

Page 163: ...u must switch off and on again the device for the changes to become effective Plug assignment The connection to the DeviceNet fieldbus is made using a 5 pin open style connector Pin Description 5 V 24 V Voltage supply 4 H CAN_H DeviceNet High 3 DR CAN_SHLD Screen connection optional 2 L CAN_L DeviceNet Low 1 V GND GND 0V Bus cable DeviceNet is based on CAN and is therefore a 2 wire bus system to w...

Page 164: ...ll the electronic data sheet EDS file The device characteristics are described using the Electronic Data Sheet EDS which eve ry standard bus configuration tool uses Before the FX0 GDEV can be used as device in the network configuration tool for the first time the EDS file of the gateway must be installed into the hardware catalogue of the tool You will find the EDS file and device icon for PLC int...

Page 165: ...gateways Step 3 Define the contents of the communication Choose the input and output data sets that are to be transmitted between the gateway and the functional logic Fig 79 Configuration of the type of communication based on the example of the DeviceNetManager TM from Allen Bradley Fig 80 Selection of input data set 1 and output data set 1 using DeviceNetManager TM from Allen Bradley ...

Page 166: ...cted Explicit Request Messages pre defined master slave connection set Device heartbeat and shutdown messages UCMM port Unconnected Message Manager Duplicate MAC ID messages Offline Connection Set Pre defined master slave connection set The FX0 GDEV supports a pre defined master slave connection set that makes it possible to establish a DeviceNet connection that requires fewer network and device r...

Page 167: ... a single partner is possible specifically the master Duplicate MAC ID messages These messages are used to open the network access state machine that prevents two or more nodes having an identical MAC ID in the same network 6 3 5 DeviceNet protocol settings Assembly object Parameter name Meaning Value SUPPORT_ASSEMBLY_ATTRIB_1N2 0 Attributes 1 and 2 of the assembly object are not supported 0 Attri...

Page 168: ... Therefore the possible values range from 0R255 The access rule for all instances is GET SET All these assemblies can be accessed via Implicit Message or via Explicit Message Individual Data Set Transfer object 73h one instance per data set The vendor specific Individual Input Data Set Transfer object defines the attributes by which the PLC can request either full input data sets or individual par...

Page 169: ... will be placed in the least significant or rightmost byte of the integer and the second byte will be placed in the most significant or leftmost byte of the integer Example For an input data set the data will be returned as follows IntegerArray 0 BBAAh AA BYTE1 BB BYTE2 IntegerArray 1 DDCCh CC BYTE3 DD BYTE4 IntegerArray 6 NNMMh MM BYTE13 NN BYTE14 Instance 1 Input data set 1 attribute definitions...

Page 170: ...served 8012664 XB29 2013 06 11 Subject to change without notice Fieldbus gateways Instance 4 Input data set 4 attribute definitions Attribute number Data set parameter Size 1 Reserved UINT 2 2 Reserved UINT 2 15 Reserved UINT 2 Tab 146 Individual Input Data Set Transfer object 73h instance 4 attribute definitions ...

Page 171: ... and main module is stopped CPU application is stopped Start CPU change into Run state Verify the configuration with Flexi Soft Designer and start the main module FX0 GDEV does not supply PDO data PWR Green NS Green MS Off Supply voltage too low Check supply voltage FX0 GDEV does not supply any data PWR Red NS Red MS Red Supply voltage dip Check supply voltage Reset Flexi Soft system FX0 GDEV does...

Page 172: ... Soft system FX0 GDEV is in Critical fault mode PWR Green NS Red MS Red 2 Hz FX0 GDEV internal device error CPU firmware version does not support Flexi Soft gateways Switch off the power supply of the Flexi Soft system and switch it on again Check the diagnostics messages with the Flexi Soft Designer Use a FX3 CPUx with the required firmware version see section 2 2 Correct use on page 10 If the er...

Page 173: ...bytes No 3 Status and diagnostics 60 bytes No 4 Reserved 60 bytes No The operational data in data set 1 are organized into one or several data blocks depen dent of the network protocol For detailed information about the modularisation of the data sent into the network please see Tab 149 and read the chapter on the related gateway The content of data set 1 can be freely customized with a granularit...

Page 174: ...Module 12 input 1 12 bytes 12 Module 9 input Module 1 output 13 Module 10 input Module 2 output 14 Module 11 input Module 3 output 15 Module 12 input Module 4 output 16 Module 1 output Module 5 output 17 Module 2 output Module 6 output 18 Module 3 output Module 7 output 19 Module 4 output Module 8 output 20 Module 5 output Module 9 output 21 Module 6 output Module 10 output 22 Module 7 output Modu...

Page 175: ...elivery status the data routing configuration of the Flexi Soft gateways is shown in the gateway configuration dialog Click on the Gateways button above the main window and select the respective gate way or double click the desired gateway in the hardware configuration view to open the gateway configuration dialog Click on the CPU to network tab on the left hand menu to display the routing configu...

Page 176: ... network area The Undo and Redo buttons allow you to undo or redo changes you made to your configuration 7 3 2 Available data area This area offers all sources from which data may be routed into the network It is divided in two views holding the available Input types and Output data You can switch between these views using the file cards at the bottom The Input types view contains the input values...

Page 177: ...es How to delete a data byte from the routing table Drag and drop the byte you want to delete to the trashcan icon in the bottom left corner of the Gateway data set to network area Or Select the byte you want to delete by clicking it with the left mouse button Then click on the Delete routing button in the toolbar Or Call up the context menu by clicking the respective byte with the right mouse but...

Page 178: ...utput values a CPU with firmware V2 00 0 or higher is required If required you can configure any byte as gateway direct output value In order to do this you need to assign tag names for the bits you want to use How to define additional gateway direct output values Click on a free byte in the Gateway data set to network area to select it Activate the Use direct editing checkbox in the upper left co...

Page 179: ... 179 Subject to change without notice Layout and content of the process image All bits of the selected byte with a tag name will now appear in the logic editor in the Outputs file card You can edit the predefined gateway direct output values in the same way Fig 85 Defining additional gateway direct output values in the process image Note ...

Page 180: ...hand menu The following dialog appears Basically this dialog is divided into two areas Gateway data set from network 1 and Tag names 2 The Gateway data set from network area shows the current configuration of the output modules The Tag names area shows the tag names associated to the byte selected in the Gateway data set from network area Select a byte in the Gateway data set from network area For...

Page 181: ...iously made changes that have not been saved will be lost You can not undo this action 7 3 8 Importing and exporting a configuration With the Import and Export buttons you can import and export a configuration including the tag names used as a CSV file or in a network specific file format e g SIEMENS seq for PROFIBUS or PROFINET This allows you to import and use tag names you have assigned in the ...

Page 182: ...rror are displayed red This could be the case e g for the outputs of an FX3RXTIO module if the power supply of this module is faulty In the Network to Flexi Soft view bits that have no tag name assigned so that they can not be used in the logic editor but which are included in the process image that the Flexi Soft gateway receives from the PLC are highlighted yellow The Flexi Soft gateways always ...

Page 183: ...et cable Connection technique RJ 45 socket Transfer rate 10 Mbit s 10 Base T or 100 Mbit s 100 Base TX autosensing Update rate heartbeat rate Configurable from 40 65 535 ms Change of state COS update rate 10 ms Addressing factory setting IP 192 168 250 250 Subnet mask 255 255 0 0 Default gateway 0 0 0 0 MAC address Printed on type label example 00 06 77 02 00 A7 8 1 2 EtherCAT Interface Fieldbus E...

Page 184: ... 1500 200 m 12000 100 m Cable parameters see section 6 1 PROFIBUS DP gateway from page 116 8 1 4 CANopen Interface Minimum Typical Maximum Fieldbus CANopen DS 301 Interface level RS 485 Connector technology 5 pin open style connector Slave address set via rotary switches 0 99 Slave address set via Flexi Soft Designer 19 1 127 Baud rate kbit s with standard cable Max cable length 125 500 m 250 250 ...

Page 185: ...Baud rate kbits s with standard cable Max cable length 125 500 m 250 250 m 500 100 m Cable parameters see section 6 3 DeviceNet gateway on page 160 8 2 Technical specifications supply circuit These technical specifications apply to all gateways Supply circuit e g via FLEXBUS Minimum Typical Maximum Supply voltage 16 8 V DC 24 V DC 30 V DC Power consumption FX0 GPRO FX0 GCAN FX0 GDEV 1 6 W FX0 GENT...

Page 186: ...60 to 1060 hPa EN 61131R2 Mechanical strength Vibration resistance 10 500 Hz 5g EN 60068R2R6 Shock resistance Continuous shock 10 g 16 ms EN 60068R2R29 Single shock 30 g 11 ms EN 60068R2R27 Electrical safety see FX3 CPUx Enclosure rating IP 20 EN 60529 Protection class III EN 61140 Electromagnetic compatibility Class A EN 61000R6R2 EN 55011 Mechanical and assembly Housing Material Polycarbonate Ty...

Page 187: ...any All rights reserved 187 Subject to change without notice Technical specifications 8 4 Dimensional drawings 8 4 1 Dimensional drawing FX0 GENT FX0 GMOD FX0 GPNT and FX0 GETC Fig 91 Dimensional drawing FX0 GENT FX0 GMOD FX0 GPNT and FX0 GETC mm 58 93 3 96 5 114 3 93 7 96 5 22 5 29 1 78 86 5 120 6 109 11 8 4 3 15 8 ...

Page 188: ...n Flexi Soft gateways Type Gateway Part number FX0 GENT EtherNet IP 1044072 FX0 GMOD Modbus TCP 1044073 FX0 GPNT PROFINET IO 1044074 FX0 GPRO PROFIBUS DP 1044075 FX0 GCAN CANopen 1044076 FX0 GDEV DeviceNet 1044077 FX0 GETC EtherCAT 1051432 Fig 92 Dimensional drawing FX0 GPRO FX0 GCAN and FX0 GDEV mm Tab 157 Ordering informa tion Flexi Soft gateways 93 3 96 5 131 120 6 126 22 5 29 1 58 78 114 3 93 ...

Page 189: ... Flexi Soft Gateways 8012664 XB29 2013 06 11 SICK AG Industrial Safety Systems Germany All rights reserved 189 Subject to change without notice Annex 9 Annex 9 1 EC declaration of conformity Fig 93 EC declaration of conformity page 1 ...

Page 190: ...perating Instructions Flexi Soft Gateways 190 SICK AG Industrial Safety Systems Germany All rights reserved 8012664 XB29 2013 06 11 Subject to change without notice Annex Fig 94 EC declaration of conformity page 2 ...

Page 191: ...e module status byte 0 of module 2 21 Tab 16 Example module status byte 3 of module 2 22 Tab 17 Output data blocks 1 5 for the different gateways 23 Tab 18 Number of possible TCP IP connections 37 Tab 19 Telegram structure 40 Tab 20 Error response message 40 Tab 21 Get data set s request 41 Tab 22 Get data set s response 41 Tab 23 Write output data set setting command 42 Tab 24 Write output data s...

Page 192: ...CCC object 67h common services 70 Tab 54 PCCC object 67h request message 71 Tab 55 PCCC object 67h response message 71 Tab 56 PCCC object 67h supported PCCC command types 71 Tab 57 Troubleshooting for the FX0 GENT 74 Tab 58 Meaning of the LED displays 75 Tab 59 Number of possible connections 77 Tab 60 Configuration guideline Gateway as master 78 Tab 61 Configuration guideline Gateway as slave 79 T...

Page 193: ...e FX0 GCAN 130 Tab 95 Address switch FX0RGCAN 131 Tab 96 DIP switch settings on the FX0 GCAN 131 Tab 97 Maximum cable lengths FX0 GCAN 133 Tab 98 CAN identifier structure 136 Tab 99 PCS communication objects 136 Tab 100 Network management for one NMT slave with address N 137 Tab 101 Network management for all NMT slaves 137 Tab 102 Example NMT object for resetting all communication 137 Tab 103 Pol...

Page 194: ...ributes for the Individual Data Set Transfer object 73h 168 Tab 141 Instance attributes for the Individual Data Set Transfer object 73h 168 Tab 142 Individual Input Data Set Transfer object 73h general services 168 Tab 143 Individual Input Data Set Transfer object 73h instance 1 attribute definitions 169 Tab 144 Individual Input Data Set Transfer object 73h instance 2 attribute definitions 169 Tab...

Page 195: ... configuration for auto update 45 Fig 19 Socket monitor window 48 Fig 20 PC is TCP Client area Gateway is configured to listen 49 Fig 21 PC is TCP Server area Gateway is configured to connect 49 Fig 22 Write data to device Read input data sets 50 Fig 23 Write data to device Write output data sets 50 Fig 24 Write data to device Configure input data sets 51 Fig 25 Read automatic data from device 52 ...

Page 196: ...RO 118 Fig 59 Bus cable FX0 GPRO 118 Fig 60 PROFIBUS DP configuration example in Siemens SIMATIC Manager 120 Fig 61 PROFIBUS DP gateway configuration dialog 122 Fig 62 Edit the data block start address 122 Fig 63 PROFIBUS DP gateway in the PROFIBUS HW Config 123 Fig 64 Controls and status indicators FX0 GCAN 130 Fig 65 DIP switch settings on the FX0 GCAN 131 Fig 66 Setting the CANopen address for ...

Page 197: ...rect output values in the process image 179 Fig 86 Network to Flexi Soft dialog of the FX0 GMOD 180 Fig 87 Tag names of incoming bits in the logic editor dialog of the FX3 CPUx 181 Fig 88 Active and inactive bits in the online process image 182 Fig 89 Inactive Network input bits as a result of an error 182 Fig 90 Network output bits with no tag names assigned in the online process image 182 Fig 91...

Page 198: ...Chapter 9 Operating Instructions Flexi Soft Gateways 198 SICK AG Industrial Safety Systems Germany All rights reserved 8012664 XB29 2013 06 11 Subject to change without notice Annex ...

Page 199: ...Operating Instructions Chapter 9 Flexi Soft Gateways 8012664 XB29 2013 06 11 SICK AG Industrial Safety Systems Germany All rights reserved 199 Subject to change without notice Annex ...

Page 200: ...ick it Japan Phone 81 0 3 3358 1341 E Mail support sick jp Magyarország Phone 36 1 371 2680 E Mail office sick hu Nederlands Phone 31 0 30 229 25 44 E Mail info sick nl Norge Phone 47 67 81 50 00 E Mail austefjord sick no Österreich Phone 43 0 22 36 62 28 8 0 E Mail office sick at Polska Phone 48 22 837 40 50 E Mail info sick pl România Phone 40 356 171 120 E Mail office sick ro Russia Phone 7 495...

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