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Application example FGEN for Modbus TCP with CODESYS Win V3

D301271  1013 - FGEN - multi protocol

10-16

Modbus data mapping

The mapping for the input and output data of a FGEN Modbus station depends on it's configuration.

The data mapping of the single FGEN stations can be found in 

chapter 9

, section 

Register mapping of 

the FGEN-stations (page 9-11)

. 

The TURCK-Software "I/O-ASSISTANT" offers the feature of creating a Modbus report for each Modbus-
station, which shows the mapping for the respective station (see below).

Modbus mapping (I/O-ASSISTANT)

Figure 10-15: 
Modbus report 
in 
the I/O-ASSIS-
TANT 

Note

Detailed information about the modbus registers of the FGEN-stations can be found in the 
descriptions in 

chapter 9

.

Summary of Contents for FGEN-AIM Series

Page 1: ...USER MANUAL FGEN AIM stations with multi FUNTIONALITY Sense it Connect it Bus it Solve it...

Page 2: ...uhr All rights reserved including those of the translation No part of this manual may be reproduced in any form printed photocopy microfilm or any other process or processed duplicated or distributed...

Page 3: ...6 3 4 2 Operating load voltage 3 6 3 4 3 Analog inputs and outputs 3 7 3 5 Address assignment 3 8 3 5 1 Default setting of the gateway 3 8 3 5 2 Resetting the IP address switch position 000 3 8 3 5 3...

Page 4: ...al in outputs FGEN IOM88 x001 FGEN XSG16 x001 6 1 FGEN IOM88 x001 6 2 6 1 1 Technical data 6 2 6 1 2 Wiring diagrams 6 3 6 1 3 Parameters 6 3 6 1 4 Diagnostic messages 6 4 6 2 FGEN XSG16 000x 6 5 6 2...

Page 5: ...8 4 1 Setting outputs 8 11 8 4 2 Example program 8 11 8 5 Activating QuickConnect 8 13 9 Implementation of Modbus TCP 9 1 Common Modbus description 9 2 9 1 1 Protocol description 9 3 9 1 2 Data model...

Page 6: ...ule parameters parameters for slot 0 turck fgen 11 5 11 4 2 Parameters for I O channels 11 5 11 5 Description of user data for acyclic services 11 7 11 5 1 Description of the acyclic gateway user data...

Page 7: ...ction 13 5 13 4 Shielding of cables 13 6 13 5 Potential compensation 13 7 13 5 1 Switching inductive loads 13 7 13 5 2 Protection against Electrostatic Discharge ESD 13 7 14 Appendix 14 1 Changing the...

Page 8: ...D301271 1013 FGEN multi protocol vi...

Page 9: ...tocol 1 1 1 About this manual 1 1 Documentation concept 1 2 1 2 Description of symbols used 1 3 1 3 General 1 4 1 3 1 Prescribed use 1 4 1 3 2 Notes concerning planning installation of this product 1...

Page 10: ...n class IP67 with multi protocol function The following chapters contain the general technical data and station properties a description of the function and the assembly of the single devices in the p...

Page 11: ...sign means for the operator work with extreme caution Attention This sign can be found next to all notes that indicate a potential hazard This can refer to possible danger to personnel and damages to...

Page 12: ...ouble free and safe operation of these devices 1 3 2 Notes concerning planning installation of this product Attention Please read this section carefully Safety aspects cannot be left to chance when de...

Page 13: ...been made Table 1 1 List of revisions Chapter Subject new changed 3 Web server remote access configuration page 3 16 x 5 Changes in th technical data of module page 5 2 x 6 Changes in th technical da...

Page 14: ...About this manual D301271 1013 FGEN multi protocol 1 6...

Page 15: ...D301271 1013 FGEN multi protocol 2 1 2 Multi protocol functionality 2 1 General 2 2 2 1 1 Protocol dependent functions 2 2 PROFINET 2 2 EtherNet IP 2 2...

Page 16: ...rameterization in all of the three Ethernet protocols mentioned During the start up after a power on the module runs in snooping mode and detects the Ethernet protocol which requests a link connection...

Page 17: ...ing via the rotary mode 3 9 3 5 4 Address setting via the mode BootP 3 9 3 5 5 Address setting via the mode DHCP 3 10 3 5 6 Address setting via mode PGM 3 10 3 5 7 Addressing via mode PGM DHCP 3 11 PR...

Page 18: ...chapter contains all information about the hardware of the FGEN stations the general technical data as well as the connection possibilities the addressing etc Note Station specific information can be...

Page 19: ...onnection of up to 16 digital in and outputs to an Ethernet network Protocols EtherNet IP Modbus TCP and PROFINET RT in one single device channel related short circuit diagnosis of outputs and slot re...

Page 20: ...ly voltage against Ethernet 500 V AC UETHETH ETH1 against ETH 2 500 V AC Housing Fibre glass reinforced Polyamide PA6 GF30 Size 60 4 220 5 27 mm B L H Mounting via 4 through holes 4 4 mm Mounting dist...

Page 21: ...ed operating voltage green UB and UL in the operating range red UL 18 V DC Check the load voltage Ix Ox green 24 V at input output red Overcurrent at the output or at the sensor supply BUS green Activ...

Page 22: ...observe the following for QuickConnect QC and Fast Start Up FSU applications do not use a crossover cable ETH1 connector for incoming Ethernet line ETH2 connector for outgoing Ethernet line Figure 3...

Page 23: ...the FGEN XSG16 5001 Figure 3 5 7 8 male and female 4 pole U UL and UB galvanically isolated No galvanic isolation of UL and UB at the FGEN XSG16 4001 Note For the pin assignment of the M12 connectors...

Page 24: ...on Figure 3 6 Decimal rotary coding switches for address setting Attention The cover of the decimal rotary coding switches must be closed by tightening the screw after use The seal in the cover must n...

Page 25: ...tP switch position 300 Address setting is carried out by a BootP server in the network after the start up of the gateway PROFINET Please assure that in PROFINET applications the address assigned via a...

Page 26: ...twork administrator and DHCP is used simply to convey the assigned address to the client PROFINET Please assure that in PROFINET applications the address assigned via a BootP server corresponds to the...

Page 27: ...ROFINET This mode assures a PROFINET compliant operation of the modules 3 5 8 F_Reset Factory Reset switch position 900 Setting 900 sets all device settings back to the default values and deletes all...

Page 28: ...ISTANT enables direct access to the Ethernet network via the Ethernet cable The IP address as well as the subnet mask of the TURCK Ethernet stations can be changed according to the application by usin...

Page 29: ...01271 1013 FGEN multi protocol 3 13 Address assignment Figure 3 8 Busaddress management Figure 3 9 Searching network Nodes in the Busaddress management A Search function in the Busad dress manage ment...

Page 30: ...it is operated in switch position 500 PGM or 600 PGM DHCP mode see also Address assignment page 3 8 Note When using Windows XP as operating system difficulties may occur with system integrated firewal...

Page 31: ...mote access configuration page 3 16 3 6 SET button Pushing the SET button causes a device restart 3 7 Device configuration files The actual device configuration files for the stations can be downloade...

Page 32: ...er can be opened using the default IP address 192 168 1 254 Note When working with the webserver of the module it should be assured that the browser always reloads the HTML pages from the module s web...

Page 33: ...s please log on to the web server see Login password page 3 17 3 8 3 Login password Login to the web server by using the default password password The default password can be changed by the administra...

Page 34: ...al technical properties D301271 1013 FGEN multi protocol 3 18 3 8 4 Network Configuration On the Network Configuration page network relevant settings can be changed Figure 3 14 Web server Network Conf...

Page 35: ...ostics Diagnostic messages of the device are displayed on the Station Diagnostics page 3 8 7 Ethernet Statistics The page Ethernet Statistics shows information like the port status telegram and error...

Page 36: ...hange Admin Password Please define an individual password for administrator rights Default password password Note A reset of the device to the default settings using the switch position 900 F_Reset al...

Page 37: ...D301271 1013 FGEN multi protocol 3 21 Web server remote access configuration 3 8 10 Parameters The Parameters page is used to parameterize the station s I O channels Figure 3 17 Web server Parameters...

Page 38: ...l Word has no function at the moment it is reserves for further use Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Status 0 UL Diag Warn 1 FCE CFG COM UB Table 3 3 Meaning of the status bits Nam...

Page 39: ...tocol 4 1 4 Digital inputs FGEN IM16 x001 4 1 FGEN IM16 x001 4 2 4 1 1 Technical data 4 2 4 1 2 Wiring diagrams 4 2 Ethernet 4 2 Power supply 4 2 Input M12x1 4 2 4 1 3 Parameters 4 3 4 1 4 Diagnostic...

Page 40: ...ensors Supply via UB 18 30 VDC from operating voltage Supply current 120 mA per connector short circuit protected Switching threshold OFF ON 2 mA 4 mA Low level signal voltage 3 to 5 VDC EN 61131 2 ty...

Page 41: ...message of I O channels Further information about the diagnostic data mapping can be found in the fieldbus specific chapters EtherNet IP chapter 7 4 4 Process Data Class VSC102 page 7 31 Modbus TCP c...

Page 42: ...Digital inputs FGEN IM16 x001 D301271 1013 FGEN multi protocol 4 4...

Page 43: ...lti protocol 5 1 5 Digital outputs FGEN OM16 x001 5 1 FGEN OM16 x001 5 2 5 1 1 Technical data 5 2 5 1 2 Wiring diagrams 5 2 Ethernet 5 2 Power supply 5 2 Input M12x1 5 2 5 1 3 Parameters 5 3 5 1 4 Dia...

Page 44: ...EN OM16 x001 Number of channels 16 DC actuators Output voltage 18 30 V DC from load voltage Output current per channel 2 0 A short circuit proof Load type resistive inductive lamp load Simultaneity fa...

Page 45: ...ping can be found in the fieldbus specific chapters EtherNet IP chapter 7 4 3 Process Data Class VSC102 page 7 31 ff Modbus TCP chapter 9 3 2 Register mapping of the FGEN stations page 9 11 ff PROFINE...

Page 46: ...Digital outputs FGEN OM16 x001 D301271 1013 FGEN multi protocol 5 4...

Page 47: ...M88 x001 6 2 6 1 1 Technical data 6 2 6 1 2 Wiring diagrams 6 3 Ethernet 6 3 Power supply 6 3 6 1 3 Parameters 6 3 6 1 4 Diagnostic messages 6 4 6 2 FGEN XSG16 000x 6 5 6 2 1 Technical data 6 5 6 2 2...

Page 48: ...gnal voltage 3 to 5 VDC EN 61131 2 type 1 and 3 High level signal voltage 11 to 30 VDC EN 61131 2 type 1 and 3 Max input current 6 mA Switch on delay 2 5 ms Switching frequency 500 Hz Potential isolat...

Page 49: ...f the FGEN stations page 9 11 ff PROFINET chapter 11 4 Parameters page 11 5 Figure 6 1 Wiring diagram input M12 x 1 Figure 6 2 Wiring diagram output M12 x 1 Table 6 2 Parameters Parameter name Value D...

Page 50: ...s specific chapters EtherNet IP chapter 7 3 3 Process data mapping FGEN IM16 x001 page 7 11 ff Modbus TCP chapter 9 3 2 Register mapping of the FGEN stations page 9 11 ff PROFINET chapter 11 3 PROFINE...

Page 51: ...protected Switching threshold OFF ON 2 mA 4 mA Low level signal voltage 3 to 5 VDC EN 61131 2 type 1 and 3 High level signal voltage 11 to 30 VDC EN 61131 2 type 1 and 3 Max input current 6 mA Switch...

Page 52: ...ring diagrams Ethernet Ethernet page 3 6 Power supply Operating load voltage page 3 6 Figure 6 3 Wiring diagrams Connection of 2 actuators Connection of 2 sensors Combination of sensor and actuator 5...

Page 53: ...mapping of the FGEN stations page 9 11 ff PROFINET chapter 11 4 Parameters page 11 5 Table 6 5 Parameters Parameter name Value Description A default setting Digital input Inv DI 0 normal A 1 inverted...

Page 54: ...s specific chapters EtherNet IP chapter 7 3 3 Process data mapping FGEN IM16 x001 page 7 11 ff Modbus TCP chapter 9 3 2 Register mapping of the FGEN stations page 9 11 ff PROFINET chapter 11 3 PROFINE...

Page 55: ...Process data mapping FGEN OM16 x001 7 13 Process data mapping FGEN IOM88 x001 7 15 Process data mapping FGEN XSG16 x001 7 17 Meaning of Process data bits 7 20 7 3 4 Connection Manager Object 0 06 7 21...

Page 56: ...stic data between two specific devices This is a point to point connection in a Server Client System that requires a request from a client always to be confirmed by a response from the server Message...

Page 57: ...explicit messaging is normally used for random non periodic requests It is not recommended for frequent messaging because the UCMM input queue in a product is typically limited to just a few messages...

Page 58: ...port QuickConnect QuickConnect is activated via the configuration data in the PLC program per Assembly Class 0 04 Configuration Assembly 106 bit 9 1 see also chapter 8 Activating QuickConnect page 8 1...

Page 59: ...mation Quick Connect via Class Instance Attribute Activate QuickConnect via Class Instance Attribute using the following setting Figure 7 1 Configuration Assembly Note Further information about the co...

Page 60: ...lasses The FGEN stations support the following EtherNet IP Standard Classes in accordance with the CIP specification Table 7 1 EtherNet IP Standard Classes Class Code Object name 01 0 01 Identity Obje...

Page 61: ...ATTRIBUTE G UINT 7 Table 7 3 Instance attributes Attr No Attribute name Get Set Type Description 1 0 01 VENDOR G UINT Contains the vendor ID TURCK 48 2 0 02 PRODUCT TYPE G UINT Indicates the general t...

Page 62: ...ablished 0110 At least one I O connection in run mode 0111 At least one I O connection established all in IDLE mode All other settings reserved 8 to 15 reserved Default 0 Table 7 5 Common services Ser...

Page 63: ...butes Common services Configuration Assembly Instance 106 14 byte configuration data Byte 9 bit 1 is used to activate QuickConnect in the station see also QuickConnect via Configuration Assembly page...

Page 64: ...th 256 bytes 2 Bytes Control data mapped but not defined process data Instance 103 und Instance 104 In and output assembly instances with variable assembly sizes The assembly size is pre calculated to...

Page 65: ...C3P2 DI6 C3P4 DI5 C0P2 DI4 C2P4 DI3 C1P2 DI2 C1P4 DI1 C0P2 DI0 C0P4 3 DI15 C7P2 DI14 C7P4 DI13 C6P2 DI12 C6P4 DI11 C5P2 DI10 C5P4 DI9 C4P2 DI8 C4P4 OUT Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 B...

Page 66: ...Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Status 0 Diag Warn 1 FCE CFG COM UB Inputs 2 DI7 C3P2 DI6 C3P4 DI5 C0P2 DI4 C2P4 DI3 C1P2 DI2 C1P4 DI1 C0P2 DI0 C0P4 3 DI15 C7P2 DI14 C7P4 DI13 C6P2 DI12 C6P4 DI11...

Page 67: ...Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Control 0 Control word MSB 1 Control word LSB Outputs 2 DO7 C3P2 DO6 C3P4 DO5 C2P2 DO4 C2P4 DO3 C1P2 DO2 C1P4 DO1 C0P2 DO0 C0P4 3 DO15 C7P2 DO14 C7P4 DO13 C6...

Page 68: ...1 Bit 0 Status 0 UL Diag Warn 1 FCE CFG COM UB Diagnos tics 2 I O Diag 3 Sched Diag 4 5 SCO7 SCO6 SCO5 SCO4 SCO3 SCO2 SCO1 SCO0 6 SCO15 SCO14 SCO13 SCO12 SCO11 SCO10 SCO9 SCO8 7 OUT Byte Bit 7 Bit 6...

Page 69: ...DI6 C3P4 DI5 C2P2 DI4 C2P4 DI3 C1P2 DI2 C1P4 DI1 C0P2 DI0 C0P4 3 OUT Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Control 0 Control word MSB 1 Control word LSB Outputs 2 DO7 C3P2 DO6 C3P4 DO5...

Page 70: ...3 Bit 2 Bit 1 Bit 0 Status 0 UL Diag Warn 1 FCE CFG COM UB Inputs 2 DI7 C3P2 DI6 C3P4 DI5 C2P2 DI4 C2P4 DI3 C1P2 DI2 C1P4 DI1 C0P2 DI0 C0P4 Diagnos tics 3 4 I O Diag 5 Sched Diag 6 SCS3 SCS2 SCS1 SCS...

Page 71: ...t 4 Bit 3 Bit 2 Bit 1 Bit 0 Status 0 UL Diag Warn 1 FCE CFG COM UB Inputs 2 DI7 C3P2 DI6 C3P4 DI5 C2P2 DI4 C2P4 DI3 C1P2 DI2 C1P4 DI1 C0P2 DI0 C0P4 3 DI15 C7P2 DI14 C0P2 DI13 C0P2 DI12 C6P4 DI11 C5P2...

Page 72: ...G COM UB Inputs 2 DI7 C3P2 DI6 C3P4 DI5 C2P2 DI4 C2P4 DI3 C1P2 DI2 C1P4 DI1 C0P2 DI0 C0P4 3 DI15 C7P2 DI14 C0P2 DI13 C0P2 DI12 C6P4 DI11 C5P2 DI10 C5P4 DI9 C4P2 DI8 C3P4 Diagnos tics 4 I O Diag 5 OUT...

Page 73: ...P4 DI3 C1P2 DI2 C1P4 DI1 C0P2 DI0 C0P4 3 DI15 C7P2 DI14 C0P2 DI13 C0P2 DI12 C6P4 DI11 C5P2 DI10 C5P4 DI9 C4P2 DI8 C3P4 Diagnos tics 4 I O Diag 5 Sched Diag 6 SCS7 SCS6 SCS5 SCS4 SCS3 SCS2 SCS1 SCS0 7...

Page 74: ...DO digital output Cx C connector Px P Pin Diagnostics DiagWarn see VSC 100 attr 109 6Dh Status register 2 page 7 30 UL UB COM CFG FCE I O Diag Summarized diagnostic message of I Os SchedDiag The mappi...

Page 75: ...g connections across multiple subnets The following description of the Ethernet Link Object is taken from the CIP specification Vol 2 Rev 2 1 by ODVA ControlNet International Ltd and adapted to FGEN C...

Page 76: ...14 Interface Status 2 0 02 CONFIGURATION CAPABILITY G DWORD Interface Capability Flag see page 7 23 Table 7 15 Configuration Capability 3 0 03 CONFIGURATION CONTROL G S DWORD Interface Control Flag se...

Page 77: ...1 yes yes Get_Attribute_All 02 0x02 no no Set_Attribute_All 14 0x0E yes yes Get_Attribute_Single 16 0 10 no yes Set_Attribute_Single Table 7 14 Interface Status Bit s Name Definition 0 3 Interface Con...

Page 78: ...values results in an error status code 0x09 returned from the Set service If initial configuration is obtained via BOOTP or DHCP the Interface Configuration attribute components are all 0 until the BO...

Page 79: ...onfiguration Waiting for configuration Applying configuration TCP IP network interface configured Status 0 00000001 Powerup Reset BOOTP DHCP response received BOOTP DHCP disabled and stored config val...

Page 80: ...bute name Get Set Type Description 1 0 01 INTERFACE SPEED G UDINT Speed in megabits per second e g 10 100 1000 etc 2 0 02 INTERFACE FLAGS G DWORD see Table 7 19 Interface flags 3 0 03 PHYSICAL ADDRESS...

Page 81: ...Auto negotiation not attempted Forced speed and duplex Depends on application 5 Manual Setting Requires Reset 0 interface can activate changes to link parameters auto negotiate duplexmode interface sp...

Page 82: ...ss page 7 34 Describes the I O channels 126 1Ah Miscellaneous Parameters Class page 7 35 Describes the EtherNet IP Port properties Note The class instance attributes are the same for each Vendor Speci...

Page 83: ...he number of the last object attribute to be implemented 101 65h Hardware revision G STRUCT Contains the hardware revision number of the station USINT Maj USINT Min 102 66h Firmware revision G STRUCT...

Page 84: ...ow System voltage too low 18 VDC Bit 08 reserved Bit07 UL toolow Loadvoltagetoolow 18 VDC Bit 06 reserved Bit 05 reserved Bit 04 reserved Warnings Bit 03 reserved Bit 02 reserved Bit 01 reserved Bit00...

Page 85: ...ance of the VSC page 7 28 for the description of the class instances for VSC Table 7 25 Object instance 1 standard input process data compressed Attr No dec hex Attribute name Get Set Type Description...

Page 86: ...ocess input data G S ARRAY OF WORD Output process data 16 bit aligned compressed 103 67h Process data byte count G USINT The number of bytes that are exchanged with this Instance Table 7 27 Object Ins...

Page 87: ...tance Attr No dec hex Attribute name Get Set Type Description 104 68h COS data mapping G S ENUM USINT The actual data are loaded to the non volatile memory of the station Changes become valid after a...

Page 88: ...odules revision G USINT Contains the revision number of the station 107 6Bh Module type ID G ENUM USINT Describes the station type 0 01 digital station 108 6Ch Modulecommand interface G S ARRAY The st...

Page 89: ...1 to 16 have to be retriggered in case of an overload 139 8Bh Enable high side output driver_1 G S DWORD Enables the high side output driver of channels channel 1 to 16 Table 7 30 Object Instance Att...

Page 90: ...it indicates that at least one of the station channels sends a diagnosis This bit will be 0 if there are no diagnostic flags set on the device If there are any diagnostic events on the device the bit...

Page 91: ...rdware 8 2 Software 8 2 8 2 Network configuration 8 3 8 2 1 Configuration of the network in RS Logix 5000 8 3 Configuration of the controller 8 3 Dimensions for the FGEN stations 8 5 8 2 2 Downloading...

Page 92: ...ion of FGEN stations for EtherNet IP to an Allen Bradley PLC 8 1 1 Used hard software Hardware Hardware used in this example Allen Bradley PLC 1756 L55 A 1756 M12 A LOGIX5555 Ethernet Bridge 1756 ENBT...

Page 93: ...he IP address of a PC network interface card page 14 2 8 2 1 Configuration of the network in RS Logix 5000 The EtherNet IP hosts PLC EtherNet IP interface I O stations have to be configured using the...

Page 94: ...he bridge In this example this would be 1756 ENBT A Enter the Major Revision of your EtherNet IP bridge and click OK In the following dialog box New Module enter a name for the bridge and define its I...

Page 95: ...bridge module 1756 ENBT A and select New Module 2 Open Communications and select the entry Generic Ethernet Module to configure the station 3 Enter the necessary device information like Module name a...

Page 96: ...higher 6 Configuration of FGEN IOM 5001 Figure 8 8 Configuration of FGEN IOM 5001 Note If the variable Assembly Instances 103 and 104 see page 7 9 are used the Connection Parameters have to be set acc...

Page 97: ...D301271 1013 FGEN multi protocol 8 7 Network configuration 7 The both stations are now added to the project tree Figure 8 11 Set connection options for FGEN Figure 8 12 Projecttree with FGEN stations...

Page 98: ...mand 2 In the Download dialog box start the download by pressing the Download button 3 If an error message is generated warning that the communication path can not be found please open the Path menu s...

Page 99: ...he controller is in Run or Remote Run mode the I O data mapping of the FGEN stations is shown in the Controller Tags The controller tags are divided into xxx C the station s mapped configuration data...

Page 100: ...ow accessible via the controller tags for viewing input data and or forcing outputs The data mapping depends on process data mappings of the configured FGEN modules see chapter 7 3 3 Assembly Object 0...

Page 101: ...1 Setting outputs Example To set the outputs 0 and 1 at the station FGEN IOM88 5001 bit 0 bit 1 in output data word 1 IOM88 O Data 1 have to be set see above Figure 8 16 I O data mapping 8 4 2 Exampl...

Page 102: ...e counter counts upwards 2 The counter value is moved to the outputs of the FGEN XSG16 4001 Word XSG16 0 Data 1 3 The counter is set to 0 by setting the variable xReset BOOL to 1 xReset has been defin...

Page 103: ...ting QuickConnect The QuickConnect function of the FGEN stations is activated via Configuration Assembly byte 9 bit 1 Figure 8 22 Activating the QuickConnect function Note Further information about Qu...

Page 104: ...Application example FGEN for EtherNet IP with Allen Bradley PLC and RS Logix 5000 D301271 1013 FGEN multi protocol 8 14...

Page 105: ...FGEN OM16 x001 9 12 FGEN IOM88 x001 9 13 FGEN XSG16 x001 9 14 Meaning of the register bits 9 15 9 3 3 Register 100Ch Station status 9 16 9 3 4 Register 1130h Modbus Connection Mode 9 17 9 3 5 Registe...

Page 106: ...ta Unit It is currently implemented using TCP IP over Ethernet that is used for the FGEN modules and described in the following Asynchronous serial transmission over a variety of media wire RS232 RS42...

Page 107: ...ent to a Server device the function code field tells the server what kind of action to perform Function code 0 is not valid Sub function codes are added to some function codes to define multiple actio...

Page 108: ...ction code It s obvious that all the data handled via Modbus bits registers must be located in device application memory Access to these data is done via defined access addresses see Modbus registers...

Page 109: ...FGEN devices have only one data block whose data can be accessed via different Modbus functions The access can be carried out either via registers 16 bit access or for some of them via single bit acc...

Page 110: ...tput bits 2 Read Discrete Inputs Serves for reading multiple input bits 3 Read Holding Registers Serves for reading multiple output registers 4 Read Input Registers Serves for reading multiple input r...

Page 111: ...r 100Ch Station status 0x1012 ro process image length in bit for the intelligent output modules 0x1013 ro process image length in bit for the intelligent input modules 0x1017 ro Register mapping revis...

Page 112: ...SYS mV 0 if 18 V 0x2401 ro Load voltage UL mV 0 if 18 V 0x8000 to 0x8400 ro process data inputs 32 registers per station 0x9000 to 0x9400 rw process data outputs 32 registers per station 0xA000 to 0xA...

Page 113: ...ess image length in bit for the digital output modules 0x1012 4114 44115 404115 process image length in bit for the digital input modules 0x1013 4115 44116 404116 watchdog actual time 0x1020 4128 4412...

Page 114: ...gisters per station 0 A000 00A001 40960 40961 440961 440962 diagnostics max 4 registers per station 0 B000 0 B001 45056 45057 445057 445058 Table 9 5 process data length of the stations Station Proces...

Page 115: ...C7P4 DI13 C6P2 DI12 C6P4 DI11 C5P2 DI10 C5P4 DI9 C4P2 DI8 C4P4 0 0001 Status Word Diag Warn FCE CFG COM UB 0 0002 group diagnostic s I O Diag Inputs 0 8000 DI7 C3P2 DI6 C3P4 DI5 C0P2 DI4 C2P4 DI3 C1P...

Page 116: ...2P2 DO4 C2P4 DO3 C1P2 DO2 C1P4 DO1 C0P2 DO0 C0P4 DO15 C7P2 DO14 C7P4 DO13 C6P2 DO12 C6P4 DO11 C5P2 DO10 C5P4 DO9 C4P2 DO8 C4P4 Outputs 0 9000 DO7 C3P2 DO6 C3P4 DO5 C2P2 DO4 C2P4 DO3 C1P2 DO2 C1P4 DO1...

Page 117: ...B 0 0002 group diagnostic s I O Diag Inputs 0 8000 DO7 C3P2 DO6 C3P4 DO5 C2P2 DO4 C2P4 DO3 C1P2 DO2 C1P4 DO1 C0P2 DO0 C0P4 packed output data 0 0800 DO7 C3P2 DO6 C3P4 DO5 C2P2 DO4 C2P4 DO3 C1P2 DO2 C1...

Page 118: ...3P2 DO6 C3P4 DO5 C2P2 DO4 C2P4 DO3 C1P2 DO2 C1P4 DO1 C0P2 DO0 C0P4 DO15 C7P2 DO14 C7P4 DO13 C6P2 DO12 C6P4 DO11 C5P2 DO10 C5P4 DO9 C4P2 DO8 C4P4 Outputs 0 9000 DO7 C3P2 DO6 C3P4 DO5 C2P2 DO4 C2P4 DO3...

Page 119: ...I O Diag Summarized diagnostic message of I Os SCSx Short circuit at sensor supply of the respective channel SCOx Short circuit at output of the respective channel Parameters Inv DIx The input signal...

Page 120: ...ription Station 15 14 FCE The Force Mode is activated which means the actual output values may no match the ones defined and sent by the field bus 13 12 Module bus 11 CFG I O configuration error 10 CO...

Page 121: ...achieved by using a following save service Table 9 8 Register 1130h Modbus Connection Mode Bit Name Description 15 to 2 reserved 1 MB_ImmediateWritePermission 0 With the first write access a write au...

Page 122: ...13E and 0 113F are used for the non volatile saving of parameters in registers 0 1120 and 0 1130 to 0 113B or this purpose write 0 7361 in register 0 113E To activate the saving of the registers write...

Page 123: ...e available for reading and writing single bits FC1 Read Coils FC2 Read Discrete Inputs FC 5 Write Single Coil FC15 Write Multiple Coils Data mapping in the input discrete and coil areas Mapping input...

Page 124: ...s follows depending on the defined time for the Watchdog register 0x1120 page 9 7 watchdog 0 ms default outputs hold the momentary value watchdog 0 ms outputs switch to 0 after the watchdog time has e...

Page 125: ...ers and diagnostic messages of the I O channels 9 6 Parameters and diagnostic messages of the I O channels Note Please find explanations regarding parameters and diagnostic messages in the section Reg...

Page 126: ...Implementation of Modbus TCP D301271 1013 FGEN multi protocol 9 22...

Page 127: ...Gateway definition 10 7 Setting the communication path 10 8 10 3 4 Adding the Ethernet Adapter 10 9 10 3 5 Adding the Modbus master 10 10 10 3 6 Adding a Modbus TCP slave 10 11 10 3 7 Programming exam...

Page 128: ...DESYS Win V3 D301271 1013 FGEN multi protocol 10 2 10 1 Used hard software 10 1 1 Hardware FGEN IOM88 5001 IP address 192 168 1 90 FGEN XSG16 5001 IP address 192 168 1 107 10 1 2 Software CODESYS 3 4...

Page 129: ...egrating it into your own network for detailed information about the different possibilities for address setting please read chapter 3 Connection possibilities page 3 6 or to change the IP address of...

Page 130: ...3 4 10 3 1 Predefined feature sets In this example CODESYS is run with the Professional feature set not with the Standard feature set This setting has influence on different CODESYS functions and can...

Page 131: ...10 5 Programming with CODESYS 10 3 2 Creating a new project 1 Create a new CODESYS project using the File New project command 2 Select Standard project and define a project name Figure 10 2 New proje...

Page 132: ...your preferred programming language In this example Structured Text is used 4 The new project is created 5 In CODESYS the project tree is build up as follows Figure 10 4 Selection of CODESYS Con trol...

Page 133: ...efined in the Communication Settings tab Gateway definition 1 Use the Add gateway button to open the dialog box Gateway and where necessary assign a new gateway name 2 Keep the setting localhost or de...

Page 134: ...SYS Win V3 D301271 1013 FGEN multi protocol 10 8 Setting the communication path 1 Mark the gateway and scan the network via the respective button 2 The network card of your PC will be found and set as...

Page 135: ...3 4 Adding the Ethernet Adapter Open again the context menu by right clicking the Device entry In the dialog Add Device select the 3S Ethernet Adapter under fieldbusses Ethernet Adapter and add it to...

Page 136: ...CODESYS Win V3 D301271 1013 FGEN multi protocol 10 10 10 3 5 Adding the Modbus master A right click on the Ethernet master opens the context menu Select Add Device and add the Modbus TCP master to the...

Page 137: ...01271 1013 FGEN multi protocol 10 11 Programming with CODESYS 10 3 6 Adding a Modbus TCP slave 1 Now add the Modbus TCP slaves to the project and rename them if necessary Figure 10 10 Selecting a slav...

Page 138: ...in a double click onto the slave in the project tree opens the respective editors 3 In the Modbus TCP Slave tab set the nodes IP address in this example 192 168 1 90 for FGEN IOM88 5001 und 192 168 1...

Page 139: ...ct page 10 5 Small example program 1 The counter counts 2 Counter reset via setting the variable xReset BOOL to 1 xReset has been defined in the global variables see also page page 10 14 Note The stat...

Page 140: ...1271 1013 FGEN multi protocol 10 14 10 3 8 CODESYS Global variables Global variables are defined either in the Global Variable List see page 10 15 or directly in the I O Mappings of the single station...

Page 141: ...bus slaves is realized through defined Modbus channels These channels are set in the register tab Modbus Slave Channel using the Add Channel button The process data of a slave can then be monitored un...

Page 142: ...tations can be found in chapter 9 section Register mapping of the FGEN stations page 9 11 The TURCK Software I O ASSISTANT offers the feature of creating a Modbus report for each Modbus station which...

Page 143: ...er see PLC_PRG page 10 13 to the output byte of the station FGEN XSG16 5001 QW0 1 1 Write QW0 Access Type Write Single Register function code 06 Write Register Offset 0 9000 see Register mapping of th...

Page 144: ...r is done the the ModbusTCPSlave I O Mapping Double click the field variable in the respective line Use the button to open the dialog box Input Assistant Select the variable to be mapped As Counter be...

Page 145: ...d Bit 0 at FGEN IOM88 5001 resetting the counter with xReset 1 2 1 Read IW0 Access Type Read Holding Registers function code 03 Read Register Offset 0 0000 see Register mapping of the FGEN stations FG...

Page 146: ...001 This is done in the ModbusTCPSlave I O Mapping Double click the field variable in the respective line Use the button to open the dialog box Input Assistant Select the variable to be mapped xReset...

Page 147: ...GEN XSG16 5001 Access Type Read Holding Registers function code 03 Read Register Offset 0 0001 see Register mapping of the FGEN stations FGEN XSG16 x001 page 9 14 The status word of the FGEN XSG16 500...

Page 148: ...ations FGEN XSG16 x001 page 9 14 The parameters of the station can be found in register 0xB000 to 0 B003 Parameterization of the station The parameterization to be done here is to invert the input sig...

Page 149: ...amming with CODESYS 10 3 10 Building login and start 1 The WIN V3 PLC has to be running This is done in the Windows task bar 2 Building the program 3 Login Figure 10 22 StartingtheWIN V3 PLC Figure 10...

Page 150: ...Application example FGEN for Modbus TCP with CODESYS Win V3 D301271 1013 FGEN multi protocol 10 24 4 Start the program Figure 10 25 Starting the program...

Page 151: ...3 11 Reading out the process data The station s process data are shown in the register tab ModbusTCPSlave I O Mapping Note In order assure a regular updating of the process data activate the function...

Page 152: ...ng the Modbus channels examples example 4 page 10 21 IW1 contains station s the status word the message is to be interpreted as follows IW 2 actual value 129 1 Byte 0 bit 0 1 status message DiagWarn a...

Page 153: ...11 2 GSDML file 11 3 11 3 PROFINET Error Codes 11 4 11 4 Parameters 11 5 11 4 1 General module parameters parameters for slot 0 turck fgen 11 5 11 4 2 Parameters for I O channels 11 5 11 5 Descriptio...

Page 154: ...ecessary for robotic tool changes for example in the automobile industry 11 1 2 FSU in FGEN TURCK FGEN stations support the prioritized start up FSU In order to enable FSU the field bus nodes have to...

Page 155: ...GSDML file 11 2 GSDML file The actual device configuration file for FGEN can be downloaded from the TURCK home page www turck com Table 11 1 Designation of the GSDML files Station GSD file FGEN GSDML...

Page 156: ...1 2 Channel specific diag nostics Value dec Diagnosis Error codes 1 to 9 according to the standards 1 Short circuit at output 2 Undervoltage Undervoltage channel 0 Undervoltage at UB Undervoltage chan...

Page 157: ...10 keep last value The station maintains the actual output data Disable all diagnosis 0 inactive A Diagnostic messages and alarms are gener ated 1 active Diagnostic messages and alarms are not genera...

Page 158: ...on overcurrent 0 automatic recovery A The output switches on automatically after an overload 1 recovery at signal change The output is manually switched off and on again output 0 deactivate 1 activat...

Page 159: ...w Parameter data of the station slot 0 2 Station designation STRING r Designation of the station slot 0 3 Station revision STRING r Firmware revision of the station 4 Vendor ID WORD r Ident number fo...

Page 160: ...active fieldbus protocol Table 11 6 I O channel user data Index dec Name Data type r w Comment 1 Station parameters specific r w Parameters the station 2 Station type ENUM UINT8 r Contains the station...

Page 161: ...uring of FGEN stations 12 8 12 1 7 Scanning the network for PROFINET nodes 12 10 12 1 8 Name assignment for FGEN stations 12 11 12 1 9 PROFINET neighborhood detection LLDP 12 12 Necessary setting of t...

Page 162: ...nager version 5 5 from Siemens is used 12 1 2 Example network Siemens PLC S7 CPU 315 2 PN DP 6ES7 315 2EH14 0AB0 V3 2 IP address 192 168 144 112 Siemens switch 4 port 2 RJ45 2 LWL Device name SCALANCE...

Page 163: ...the software s hardware configuration 12 1 4 Setting the PG PC interface In order to be able to build up communication between the PLC and your PG PC via Ethernet the respective interface network car...

Page 164: ...the GSDML files 1 In the hardware configuration HW config open the Options Install GSD file command in order to install new GSD files 2 Define the directory for the TURCK GSDML files by browsing the d...

Page 165: ...D301271 1013 FGEN multi protocol 12 5 Application example The FGEN stations can now be found under PROFINET IO Additional Field Devices I O TURCK Figure 12 5 FGEN modules in the hardware catalog...

Page 166: ...to the network window 4 After this select the Siemens CPU from the hardware catalog In this example a CPU 315 2 PN DP version 6ES7 315 2EH14 0AB0 V 3 2 is used 5 In the dialog Properties Ethernet Inte...

Page 167: ...work nodes The nodes of the example network see page 12 2 are added to the PROFINET as follows Siemens switch Device name SCALANCE X202 2P IP address 192 168 144 166 ET200S Device name ET200 S IP addr...

Page 168: ...added to the configuration FGEN IOM88 x001 Device name not assigned yet IP address not assigned yet FGEN XSG16 x001 Device name not assigned yet IP address not assigned yet 1 Select the station under...

Page 169: ...ialog Figure 12 11 Dialog properties turck fgen Note In PROFINET the connected device is not identified by it s IP address but recognized and addressed by it s device name The selection of a device na...

Page 170: ...tified via their MAC address 1 Open the respective dialog box by using PLC Ethernet Edit Ethernet Node 2 Browse the network for active network nodes identified by means of their MAC address by using t...

Page 171: ...name TURCK FGEN 90 FGEN XSG16 x001 Device name TURCK FGEN 107 Figure 12 13 Adaptation of the Ethernet node configura tion o Note Here you can also assign an application specific device name to the de...

Page 172: ...will be assigned to the new device by the neighbor device configured before see Configuring the neighborhood detection page 12 13 Necessary setting of the PROFINET controller The neighborhood detectio...

Page 173: ...n used to assign the IP address and the device name to the new device The definition of the partner port is done either in the properties of the devices Ethernet ports or directly in the PROFINET Topo...

Page 174: ...nt using the Topology Editor The assignment of neighboring devices is done either in the tabular or the graphical view The copper ports of the devices are shown in green the fiber optic ports in orang...

Page 175: ...tection The Step 7 software allows an offline online comparison of the configured and the actually present topology 1 Start the Offline online comparison in the Topology Editor using the Start button...

Page 176: ...ck fgen 90 Prioritized stat up activation at PN IO FSU is activated at the PN IO slots of FSU devices in the hardware configuration HW Config in the Simatic software In this example the PN IO slots of...

Page 177: ...s Autonegotiation disable Transmission medium duplex set to a fixed value Here also the port configuration is shown using the example of port 1 at station turck fgen 107 Note Please observe during con...

Page 178: ...figuration The FGEN stations for PROFINET show gateway diagnostics and channel specific module diagnostics in the hardware configuration of the Step 7 software Furthermore a special help text which cl...

Page 179: ...3 2 13 1 3 Lightning protection 13 3 13 1 4 Transmission media 13 3 13 2 Potential relationships 13 4 13 3 Electromagnetic compatibility EMC 13 5 13 3 1 Ensuring electromagnetic compatibility 13 5 13...

Page 180: ...ata cables shielded analog cables unshielded cables for DC voltage 60 V unshielded cables for AC voltage 25 V Group 2 unshielded cables for DC voltage 60 V and 400 V unshielded cables for AC voltage 2...

Page 181: ...installed at the point where the cables enter the building 13 1 4 Transmission media For a communication via Ethernet different transmission media can be used coaxial cable 10Base2 thin coax 10Base5...

Page 182: ...ti protocol 13 4 13 2 Potential relationships The potential relationships of an Ethernet system realized with FGEN stations is characterized as shown in the following figure Figure 13 1 Block diagram...

Page 183: ...pecial applications 13 3 2 Grounding of inactive metal components All inactive metal components for example switchgear cabinets switchgearcabinet doors supporting bars mounting plates tophat rails etc...

Page 184: ...oing create a large surface contact area The shield rail must have a low impedance for example fixing points of 10 to 20 cm apart and be connected to a reference potential area The cable shield should...

Page 185: ...25 inch2 If the cable length is greater than 200 m then a cross section of at least 25 mm2 0 039 inch2 is required The compensation cable must be made of copper or zinc coated steel The compensation c...

Page 186: ...Guidelines for Electrical Installation D301271 1013 FGEN multi protocol 13 8...

Page 187: ...1 Changing the IP address of a PC network interface card 14 2 14 1 1 Changing the IP address in Windows 14 2 14 1 2 Changing the IP address via I O ASSISTANT V3 14 4 14 2 Deactivating adapting the fir...

Page 188: ...of a PC network interface card 14 1 1 Changing the IP address in Windows The IP address is changed in the Control Panel in Windows 2000 Windows XP under Network Connections in Windows 7 under Network...

Page 189: ...D301271 1013 FGEN multi protocol 14 3 Changing the IP address of a PC network interface card Figure 14 2 Changing the IP address in Windows 7...

Page 190: ...ccess via Additional functions Busaddress Management offers the possibility to browse the whole Ethernet network for connected nodes and to change their IP address as well as the subnet mask according...

Page 191: ...hanging IP addresses via the I O ASSISTANT In this case you can deactivate the system integrated Windows firewall com pletely or adapt it to your application Deactivating the Windows firewall Open the...

Page 192: ...multi protocol 14 6 Adapting the Windows firewall The firewall remains active the option Don t allow exceptions it deactivated Figure 14 6 Adapting the Firewall in Windows 2000 XP Figure 14 7 Adapting...

Page 193: ...o 254 can be allocated The addresses 0 and 255 are reserved for broadcast messages in the subnet After having been connected to the network the BL20 sends DHCP requests to the server using its MAC ID...

Page 194: ...the device and after a few seconds the stations answers with its new IP address when having stored it Figure 14 10 Setting the IP address via DHCP Figure 14 11 Set IP address Attention If the device...

Page 195: ...Baud is a measure for the transmission speed of data 1 Baud corresponds to the transmission of one bit per second Bit s Baud rate Unit of measurement for measuring data transmission speeds in Bit s Bi...

Page 196: ...acronym for German Industrial Standard EIA Electronic Industries Association association of electrical companies in the United States Electrical components All objects that produce convert transmit d...

Page 197: ...round a given value Should a reference value be within this fluctuating range then the relevant output would be turned on and off in rhythm with the fluctuating signal I O Input output Impedance Total...

Page 198: ...in a system communicate with equal rights via the bus NAMUR German acronym for an association concerned with standardizing measurement and control engineering NAMUR initiators are special versions of...

Page 199: ...ts a conductive structure Voltages and currents are induced by the collision Typical sources of interference are for example sparking gaps spark plugs commutators from electric motors and transmitters...

Page 200: ...or I O components consisting of a number of elements SUB D connector 9 pin connector for connecting the fieldbus to the I O stations Terminating resistor Resistor on both ends of a bus cable used to p...

Page 201: ...tation concept 1 2 E electrical installation 13 2 electrostatic discharge 13 7 EMC 13 5 F Fast Start Up 3 6 FSU 3 6 G grounding 13 5 GSD files 3 6 H Hardware 8 2 10 2 I I O connection 3 7 I O diagnosi...

Page 202: ...Index D301271 1013 FGEN multi protocol 16 2 U use prescribed 1 4 user data 11 7 V Voltage supply 7 8 3 7 W WIN 2000 14 2 WIN NT 14 2 WIN XP 14 2...

Page 203: ...D301271 1013 Hans Turck GmbH Co KG 45472 M lheim an der Ruhr Germany Witzlebenstra e 7 Tel 49 0 208 4952 0 Fax 49 0 208 4952 264 E Mail more turck com Internet www turck com www turck com...

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