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Step-by-Step Guide to your own Linux Application

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125

Debugging of User Space Programs

WAGO-I/O-SYSTEM 750

Linux Fieldbus Coupler

5.12.6 Debugging via the Graphical Interface DDD

To debug via the graphical interface, you must first install a graphical front
end for command line debuggers on the PC. In this example it is DDD. See
also section 5.12.2.

Like debugging via GDB, it is necessary to start the GDB server on the Linux
fieldbus controller. To do so, change the directory in which the program that
has been created. To start the GDB server, enter the following calls into the
console:

> gdbserver 192.168.1.4:1234 newProg

Fig. 5-8: Starting the GDB server on the 750-860

The GDB server will now wait for a connection request via port 1234 of IP
address 192.168.1.4.

The graphical interface DDD and the debugger GDB will be started on the
Linux PC when you enter the following calls into the console:

> cd ~/uclinux-dist/user/newProg
> ddd newProg.gdb --command=gdb.script
--degugger arm-uclinux-elf-gdb --gdb

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Summary of Contents for 750 Series

Page 1: ...Modular I O System Linux Fieldbus Coupler 750 860 Manual Technical description installation and configuration Version 1 1 1 ...

Page 2: ...port wago com Every conceivable measure has been taken to ensure the correctness and completeness of this documentation However as errors can never be fully excluded we would appreciate any information or ideas at any time E Mail documentation wago com We wish to point out that the software and hardware terms as well as the trademarks of companies used and or mentioned in the present manual are ge...

Page 3: ...age Assembly and Transport 17 2 6 Mechanical Setup 18 2 6 1 Installation Position 18 2 6 2 Total Expansion 18 2 6 3 Assembly onto Carrier Rail 19 2 6 3 1 Carrier Rail Properties 19 2 6 3 2 WAGO DIN Rail 20 2 6 4 Spacing 20 2 6 5 Plugging and Removal of the Components 21 2 6 6 Assembly Sequence 22 2 6 7 Internal Bus Data Contacts 23 2 6 8 Power Contacts 24 2 6 9 Wire Connection 25 2 7 Power Supply ...

Page 4: ...9 3 8 Memory Map 49 3 9 Linux System Start 50 3 10 Error Indication IO LED 51 3 11 Technical Data 53 4 Board Support Package BSP 55 4 1 Scope of delivery 55 4 2 File System Root File System 58 4 3 The Console of the Linux Fieldbus Coupler 62 4 3 1 Shells 63 4 3 2 Busybox 64 4 3 3 User Administration Tinylogin 67 4 3 4 Terminal Program getty 68 4 3 5 Setting the Hardware and System Clock 68 4 4 Web...

Page 5: ...ograms 117 5 12 1 Description of the GDB 117 5 12 2 Preparation for Using the Debugger 118 5 12 3 Creating a Testable User Space Application 119 5 12 4 Creating an Example Application for Debugging 121 5 12 5 Debugging via the GDB Console 122 5 12 6 Debugging via the Graphical Interface DDD 125 6 Process Image 127 6 1 Basic Structure 127 6 2 Example for an Input Process Image 128 6 3 Example for a...

Page 6: ...e Source Code 188 9 4 Compile Boot Loader 188 9 5 Environment Variables 189 10 Fieldbus Communication 191 10 1 ETHERNET 191 10 1 1 General 191 10 1 2 Network Architecture Principles and Regulations 192 10 1 2 1 Transmission Media 193 10 1 2 2 Network Topologies 195 10 1 2 3 Coupler Modules 198 10 1 2 4 Transmission Mode 198 10 1 2 5 Important Terms 200 10 1 3 Network Communication 202 10 1 3 1 Pro...

Page 7: ...3 2 Explosion Protection Group 220 11 3 3 Unit Categories 221 11 3 4 Temperature Classes 222 11 3 5 Types of Ignition Protection 223 11 4 Classifications Meeting the NEC 500 224 11 4 1 Divisions 224 11 4 2 Explosion Protection Groups 224 11 4 3 Temperature Classes 225 11 5 Identification 226 11 5 1 For Europe 226 11 5 2 For America 227 11 6 Installation Regulations 228 12 Glossary 230 13 Literatur...

Page 8: ... Kontakttechnik GmbH Co KG reserves the right to perform modifications allowed by technical progress In case of grant of a patent or legal protection of utility patents all rights are reserved by WAGO Kontakttechnik GmbH Co KG Products of other manufacturers are always named without referring to patent rights The existence of such rights can therefore not be ruled out 1 1 2 Personnel Qualification...

Page 9: ... any requirements pertaining to a modified and or new hardware or software configuration directly to WAGO Kontakttechnik GmbH Co KG 1 2 Symbols Danger Always abide by this information to protect persons from injury Warning Always abide by this information to prevent damage to the device Attention Marginal conditions must always be observed to ensure smooth operation ESD Electrostatic Discharge War...

Page 10: ...ic i e Save A backslash between two names marks a sequence of menu items i e File New END Press buttons are marked as bold with small capitals i e ENTER Keys are marked bold within angle brackets i e F5 Courier Program code is printed with the font Courier i e END_VAR 1 4 Number Notation Number Code Example Note Decimal 100 normal notation Hexadecimal 0x64 C notation Binary 100 0110 0100 Within Ni...

Page 11: ...components only with clean tools and materials Attention Cleaning of soiled contacts may only be done with ethyl alcohol and leather cloths Thereby the ESD information is to be regarded Do not use any contact spray The spray may impair the functioning of the contact area The WAGO I O SYSTEM 750 and its components are an open system It must only be assembled in housings cabinets or in electrical op...

Page 12: ...ual describes the Linux fieldbus coupler item no 750 860 WAGO I O SYSTEM 750 Item No Description 750 860 Linux fieldbus coupler 1 7 Abbreviation AI Analog Input AO Analog Output DI Digital Input DO Digital Output I O Input Output ID Identifier Linux FBK Programmable Linux fieldbus coupler ...

Page 13: ...levant field bus The electronics process the data of the bus modules and make it available for the field bus communication The 24 V system supply and the 24 V field supply are fed in via the integrated power supply terminal The field bus coupler communicates via the relevant field bus The programmable field bus controller PFC enables the implementation of additional PLC functions Programming is do...

Page 14: ...on type CAGE CLAMP Wire range 0 08 mm 2 5 mm AWG 28 14 Stripped length 8 9 mm 9 10 mm for components with pluggable wiring 753 xxx Contacts Power jumpers contacts blade spring contact self cleaning Current via power contacts max 10 A Voltage drop at I max 1 V 64 modules Data contacts slide contact hard gold plated 1 5 µm self cleaning Climatic environmental conditions Operating temperature 0 C 55 ...

Page 15: ... 5 kV line earth 1 B 1 kV line line 2 EN 61000 4 5 surge AC supply 2 kV line earth 3 B EN 61000 4 6 RF disturbances 10 V m 80 AM 0 15 80 MHz 3 A Emission of interference for industrial areas acc to EN 61000 6 4 2001 Test specification Limit values QP Frequency range Distance 79 dB μV 150 kHz 500 kHz EN 55011 AC supply conducted 73 dB μV 500 kHz 30 MHz 40 dB μV m 30 MHz 230 MHz 10 m EN 55011 radiat...

Page 16: ...st a Frequency change max 1 octave minute b Vibration direction 3 axes 15 g IEC 60068 2 27 shock Note on shock test a Type of shock half sine b Shock duration 11 ms c Shock direction 3x in positive and 3x in negative direction for each of the three mutually perpendicular axes of the test specimen IEC 60068 2 32 free fall 1 m module in original packing QP Quasi Peak Note If the technical data of co...

Page 17: ...AF disturbances harmonic waves 3 V 2 W A Type test high voltage 755 V DC 1500 V AC Emission of interference acc to Germanischer Lloyd 2003 Test specification Limit values Frequency range Distance 96 50 dB μV 10 kHz 150 kHz 60 50 dB μV 150 kHz 350 kHz Type test EMC1 conducted allows for ship bridge control applications 50 dB μV 350 kHz 30 MHz 80 52 dB μV m 150 kHz 300 kHz 3 m 52 34 dB μV m 300 kHz ...

Page 18: ...residential areas housing commercial and business areas small scale enterprises The special permit can be obtained from an authority or inspection office In Germany the Federal Office for Post and Telecommunications and its branch offices issues the permit It is possible to use other field bus couplers controllers under certain boundary conditions Please contact WAGO Kontakttechnik GmbH Co KG Maxi...

Page 19: ...r Dimensions 51 24V 0V 01 02 C D B A C D B A C D B A C D B A C D B A 100 12 24 64 35 65 Side view Dimensions in mm Fig 2 2 Dimensions g01xx05e Note The illustration shows a standard coupler For detailed dimensions please refer to the technical data of the respective coupler controller ...

Page 20: ... 1 0 3 0 0 0 2 0 3 B 0 0 0 0 0 0 Hansastr 27 D 32423 Minden ITEM NO 750 333 PROFIBUS DP 12 MBd DPV1 0 V Power Supply Electronic PATENTS PENDING II 3 GD DEMKO 02ATEX132273 X EEx nA II T4 24V DC AWG 28 14 55 C max ambient LISTED 22ZA AND 22XM 7 2 0 7 2 0 1 0 3 0 0 0 2 0 3 B 0 6 0 6 0 6 1 0 3 0 0 0 2 0 0 3 D S N O S W H W GL F W L Power Supply Field 24 V B 0 6 0 6 0 6 PROFIBUS WAGO I O SYSTEM 750 333...

Page 21: ...the current version data are registered into the columns of the matrix Additionally with the update of a field bus coupler or controller also the cover of the configuration and programming interface of the coupler or controller is printed on with the current manufacturing and production order number The original manufacturing data on the housing of the component remain thereby 2 5 Storage Assembly...

Page 22: ... be connected to the coupler controller is 780 mm When assembled the I O modules have a maximum length of 768 mm Examples 64 I O modules of 12 mm width can be connected to one coupler controller 32 I O modules of 24 mm width can be connected to one coupler controller Exception The number of connected I O modules also depends on which type of coupler controller is used For example the maximum numbe...

Page 23: ...nd electro magnetic disturbances In order to avoid corrosion this tin plated carrier rail contact must not form a galvanic cell with the material of the carrier rail which generates a differential voltage above 0 5 V saline solution of 0 3 at 20 C The carrier rail must optimally support the EMC measures integrated into the system and the shielding of the bus module connections A sufficiently stabl...

Page 24: ...romated slotted unslotted 210 118 35 x 15 2 3 mm steel yellow chromated unslotted 210 198 35 x 15 2 3 mm copper unslotted 210 196 35 x 7 5 1 mm aluminum unslotted 2 6 4 Spacing The spacing between adjacent components cable conduits casing and frame sides must be maintained for the complete field bus node Fig 2 4 Spacing g01xx13x The spacing creates room for heat transfer installation or wiring The...

Page 25: ...ing disc using a screwdriver To pull out the field bus coupler controller release the locking disc by pressing on the bottom groove with a screwdriver and then pulling the orange colored unlocking lug Fig 2 5 Coupler Controller and unlocking lug g01xx12e It is also possible to release an individual I O module from the unit by pulling an unlocking lug Fig 2 6 removing bus terminal p0xxx01x Danger E...

Page 26: ...ch other according to the project planning Errors in the planning of the node in terms of the potential groups connection via the power contacts are recognized as the bus modules with power contacts male contacts cannot be linked to bus modules with fewer power contacts Attention Always link the bus modules with the coupler controller and always plug from above Warning Never plug bus modules from ...

Page 27: ...data contacts which are available as self cleaning gold spring contacts Fig 2 7 Data contacts p0xxx07x Warning Do not touch the gold spring contacts on the I O modules in order to avoid soiling or scratching ESD Electrostatic Discharge The modules are equipped with electronic components that may be destroyed by electrostatic discharge When handling the modules ensure that the environment persons w...

Page 28: ...ntacts on the left side Danger The power contacts are sharp edged Handle the module carefully to prevent injury Attention Please take into consideration that some bus modules have no or only a few power jumper contacts The design of some modules does not allow them to be physically assembled in rows as the grooves for the male contacts are closed at the top Fig 2 8 Example for the arrangement of p...

Page 29: ...erted into the opening After removing the operating tool the conductor is safely clamped More than one conductor per connection is not permissible If several conductors have to be made at one connection point then they should be made away from the connection point using WAGO Terminal Blocks The terminal blocks may be jumpered together and a single wire brought back to the I O module connection poi...

Page 30: ...olated please see catalog Fig 2 10 Isolation g0xxx01e Attention The ground wire connection must be present in each group In order that all protective conductor functions are maintained under all circumstances it is recommended that a ground wire be connected at the beginning and end of a potential group ring format please see chapter 2 8 3 Thus if a bus module comes loose from a composite during s...

Page 31: ...ternal system supply modules 750 613 The voltage supply is reverse voltage protected Attention The use of an incorrect supply voltage or frequency can cause severe damage to the component Fig 2 11 System Supply g0xxx02e The direct current supplies all internal system components e g coupler controller electronics field bus interface and bus modules via the internal bus 5 V system voltage The 5 V sy...

Page 32: ...stem voltage 5 V for electronics of the bus modules and coupler controller Residual current for bus terminals Available current for the bus modules Provided by the bus power supply unit See coupler controller and internal system supply module 750 613 cf catalogue W4 Volume 3 manuals or internet Example Coupler 750 301 internal current consumption 350 mA at 5V residual current for bus modules 1650 ...

Page 33: ...n be tested via the integrated accuracy check The maximum input current of the 24 V system supply is 500 mA The exact electrical consumption I 24 V can be determined with the following formulas Coupler Controller I 5 V total Sum of all the internal current consumption of the connected bus modules internal current consumption coupler controller 750 613 I 5 V total Sum of all the internal current co...

Page 34: ...ilable for other potentials e g AC 230 V Likewise with the aid of the power supply modules various potentials can be set up The connections are linked in pairs with a power contact Fig 2 13 Field Supply Sensor Actuator g0xxx03e The supply voltage for the field side is automatically passed to the next module via the power jumper contacts when assembling the bus modules The current load of the power...

Page 35: ...fferent potentials e g the alteration from DC 24 V to AC 230V a spacer module should be used The optical separation of the potentials acts as a warning to heed caution in the case of wiring and maintenance works Thus the results of wiring errors can be prevented 2 7 3 2 Fusing Internal fusing of the field supply is possible for various field voltages via an appropriate power supply module 750 601 ...

Page 36: ...t or change a fuse or to switch off the voltage in succeeding bus modules the fuse holder may be pulled out In order to do this use a screwdriver for example to reach into one of the slits one on both sides and pull out the holder Fig 2 15 Removing the fuse carrier p0xxx05x Lifting the cover to the side opens the fuse carrier Fig 2 16 Opening the fuse carrier p0xxx03x Fig 2 17 Change fuse p0xxx04x...

Page 37: ...atively fusing can be done externally The fuse modules of the WAGO series 281 and 282 are suitable for this purpose Fig 2 18 Fuse modules for automotive fuses series 282 pf66800x Fig 2 19 Fuse modules with pivotable fuse carrier series 281 pe61100x Fig 2 20 Fuse modules series 282 pf12400x ...

Page 38: ... required for the certified operation of the system Item No Name Description 750 626 Supply filter Filter module for system supply and field supply 24 V 0 V i e for field bus coupler controller and bus power supply 750 613 750 624 Supply filter Filter module for the 24 V field supply 750 602 750 601 750 610 Therefore the following power supply concept must be absolutely complied with Fig 2 21 Powe...

Page 39: ...10 750 401 750 613 750 512 750 512 750 616 750 513 750 610 750 552 750 600 750 612 750 616 1 a b c d 1 2 2 24V 24V 10 A 10 A L1 L2 L3 N PE 230V 230V Main ground bus Shield screen bus System Supply Field Supply Field Supply 1 Separation module recommended 2 Ring feeding recommended a Power Supply on coupler controller via external Supply Module b Internal System Supply Module c Supply Module passiv...

Page 40: ... the field devices and bus modules should be considered The field supply as well influences the bus modules as the inputs and outputs of some bus modules require the voltage of the field supply Note The system supply and the field supply should be isolated from the power supplies in order to ensure bus operation in the event of short circuits on the actuator side WAGO products Item No Description ...

Page 41: ...2 Insulated Assembly Insulated assembly has been achieved when there is constructively no direct conduction connection between the cabinet frame or machine parts and the carrier rail Here the earth must be set up via an electrical conductor The connected grounding conductor should have a cross section of at least 4 mm2 Recommendation The optimal insulated setup is a metallic assembly plate with gr...

Page 42: ...erences Some components in the I O system have a carrier rail contact that dissipates electro magnetic disturbances to the carrier rail Fig 2 23 Carrier rail contact g0xxx10e Attention Care must be taken to ensure the direct electrical connection between the carrier rail contact and the carrier rail The carrier rail must be grounded For information on carrier rail properties please see chapter 2 6...

Page 43: ... module Attention Should the ground conductor connection of the power jumper contacts within the node become disrupted e g due to a 4 channel bus terminal the ground connection will need to be re established The ring feeding of the grounding potential will increase the system safety When one bus module is removed from the group the grounding connection will remain intact The ring feeding method ha...

Page 44: ... With this incoming disturbances can be easily diverted The shielding should be placed over the entrance of the cabinet or housing in order to already repel disturbances at the entrance 2 9 2 Bus Conductors The shielding of the bus conductor is described in the relevant assembly guidelines and standards of the bus system 2 9 3 Signal Conductors Bus modules for most analog signals along with many o...

Page 45: ...eet Together these allow many different possibilities See catalog W4 volume 3 chapter 10 Fig 2 25 WAGO Shield Screen Connecting System p0xxx08x p0xxx09x and p0xxx10x Fig 2 26 Application of the WAGO Shield Screen Connecting System p0xxx11x 2 10 Assembly Guidelines Standards DIN 60204 Electrical equipping of machines DIN EN 50178 Equipping of high voltage systems with electronic components replacem...

Page 46: ... the base image is the right platform It allows fast access via the Linux console which is provided by both the Ethernet telnet and the serial interface getty The base image is part of the Bord Support Package BSP for the Linux fieldbus coupler You can download the BSP with the item number 759 914 from the WAGO homepage free of charge The BSP contains the source code for the Kernel 2 6 and the boo...

Page 47: ...4V power jumper contacts flap open USR Fig 3 1 The Linux fieldbus coupler g086000d The Linux fieldbus coupler comprises Power supply for the system supply as well as power jumper contacts for the field side supply via I O modules Fieldbus interface with fieldbus connection LEDs for status indication i e operational status fieldbus communication operating voltages error message and diagnostics Conf...

Page 48: ... both the system and the field side 1 2 3 4 5 6 7 8 DC DC 24 V 10 nF 24 V 10 nF 0 V 24 V 0 V 24 V 0 V 0 V 750 841 FiELDBUS INTERFACE ELECTRONIC ELECTRONIC FiELDBUS INTERFACE I O MODULES Fig 3 2 Power supply identical to 750 841 g086001d The integrated power supply provides the required power to the electronics and to the I O modules An electrically isolated power supply is provided to the fieldbus...

Page 49: ...cables with a maximum segment length of 100 m 328 feet can be used The connection point is lowered in such a way that after a connector is inserted installation in an 80 mm high switchgear cabinet is possible The electrical isolation between the fieldbus system and the electronics is provided by DC DC converters and optocouplers in the fieldbus interface Contact Signal Description 1 TD Transmit 2 ...

Page 50: ...shed LINK Off Fieldbus node has no physical connection to the Ethernet network Green Re d STATUS Off Function can be defined by the user Green Re d SERVICE Off Function can be defined by the user Green Data is being exchanged via Ethernet TxD RxD Off No data is being exchanged via Ethernet Red Internal bus error or fieldbus coupler error Green Linux fieldbus coupler operational no internal errors ...

Page 51: ...ration and programming interface 1 4 Fig 3 5 Configuration interface g86001d The communication cable 750 920 is connected to the four pole header Caution The communication cable 750 920 must not be connected or removed when energized i e the coupler controller must be voltage free Contact Signal Description 1 TxD Transmit 2 RxD Receive 3 VSS Voltage Source 4 GND Ground Attention The level adjustme...

Page 52: ...ies with EN61131T2 Selector switch Function Upper position The Linux coupler is started with a Linux console on the serial interface 38400 8 N 1 NoFlowControl Middle position WAGO program IO update is supported Lower position Linux coupler starts Bootstrap Loader BSL Pressed down e g using a screwdriver Hardware reset The boot loader analyzes the position of the selector switch changes the Linux k...

Page 53: ...n the flash memory looks as follows Flash memory address Description Size approx 0x003FFFFF 0x003F0000 Start parameter U Boot environment 64 kB 0x003EFFFF 0x002D0000 Linux kernel 1 1 MB 0x002CFFFF 0x00040000 File system JFFS2 2 6 MB 0x0003FFFF 0x00010000 Boot Loader U Boot 192 kB 0x0000FFFF 0x00000000 BSL and FWL 64 kB Attention Do not delete the contents of the BSL FWL memory addresses Otherwise ...

Page 54: ...ry if you intend to change the boot behavior of the Linux kernel To abort the boot loader boot process and to change to the U Boot environment you have to enter the password geheim on the serial console when the following is output I2C EEPROM detected I2C RTC detected In serial Out serial Err serial Booting in 3 seconds enter abort password to prevent this The boot loader switches to its shell env...

Page 55: ... Error Indication IO LED If errors occur during the operation of the Linux fieldbus coupler detailed error messages are indicated via the blink code of the I O LED The IO LED flashes red 24V 0V 01 02 I O C D B A C B A LINK STATUS SERVICE LINUX TXD RXD USR Fig 3 7 I O LED displaying the blink code g08603x A blink code consists of three blink sequences with a pause between each sequence The error di...

Page 56: ...ler replace the coupler and switch on again 5 Fault when reading the serial EEPROM Switch off the supply voltage of the Linux fieldbus coupler replace the coupler and switch on again 6 The I O module configuration after an internal bus reset differs from the one after the last I O IPC start up Restart the Linux fieldbus coupler by turning the power supply off and on again 14 Maximum number of gate...

Page 57: ...limited by ETHERNET specification Baud rate 10 100 Mbit s Protocols MODBUS TCP HTTP BootP DHCP DNS SNTP FTP Telnet NFS CPU 32 Bit Risc ARM7 44 MHz RAM 1 16 MByte RAM 2 NOVRAM 32 kbytes FLASH memory 4 MByte 2 69 MByte for file system EEPROM 4 kbytes Standards and guidelines see chapter 2 2 EMC CE Immunity to interference Acc to EN 61000 6 2 1999 EMC CE Emission of interference Acc to EN 50081 2 199...

Page 58: ... Via PC Max number of socket connections 1 HTTP 1 FTP 8 Telnet 8 NFS Powerfail RTC buffer Min 6 days Voltage supply DC 24 V 15 20 Input current max 500 mA at 24 V Efficiency of the power supply 87 Internal current consumption 300 mA bei 5 V Total current for I O modules 1700 mA bei 5 V Isolation 500 V system supply Voltage via power jumper contacts DC 24 V 15 20 Current via power jumper contacts m...

Page 59: ...ons are an excellent starting point for the development of your own user space applications The WAGO base image for the Linux fieldbus coupler is part of the BSP The following chapters relate to this WAGO base image 4 1 Scope of delivery The CD ROM of the BSP includes the following directories images Hex files including the images for kernel file system U Boot IOUpdates Update program for firmware...

Page 60: ... system Copying the image is started from uboot using the TFTP protocol or netflash ub bin Image of the boot loader uboot Copying the image is started from uboot using the TFTP protocol or netflash image hex Complete base image consisting of the file system operating system boot loader and firmware loader Transfer to the Linux fieldbus coupler is done using the WAGO IO Update windows program You w...

Page 61: ...irectory of the current user toolchain ARM toolchain for x86 systems The install sh script requires super user privileges The uboot directory This directory contains the source code as well as the toolchain of the boot loader uboot for x86 systems Changes to the boot loader should only be made in some rare exeptions sources The uboot source code The source code is unpacked by the install sh script...

Page 62: ...for everybody cgi bin CGI files of the web server tmp Temporary files write rights for everybody run pid files tmp Link to var tmp srv Link to var www nfs Mount point for an NFS dirtectory mnt Free mount point lib Libraries modules modules Kernel modules iocheck or kbus internal bus etc Configuration files boa Configuration files of the Web server dhcp Configuration files of the DHCP client wagoco...

Page 63: ...AM For example the entry cat meminfo provides information on the used system memory The following is a list not complete that shows the most important entries loadavg Information on processor utilization meminfo Information on the used RAM memory modules Overview of the embedded kernel modules devices Used device drivers interupts Used interrupts with counter cmdline Command line when starting the...

Page 64: ...oc directory to the file system Starts inetd for Telnet FTP inittab Starts and monitors getty if process stops it retries to start getty up to 5 times startwago Starts internal bus driver Starts IO Check driver Starts the Web server BOA Changes the link to getty depending on the entry in the Linux kernel command line boa Configuration of the Web server fstab Configuration of the file system motd S...

Page 65: ...ybox Combines the common Linux console programs for system administration tinylogin Combines the common user administration programs boa Compact and safe web server mkfs jffs2 Used to create the JFFS2 file system in the flash memory telnetd Telnet server inetd Inet server for the connection with Telnet and FTP ftpd Ftp server msntp SNTP client to query an NTP time server leds Example for controlli...

Page 66: ...the other files in the bin directory are links that refer to the busybox or tinylogin program 4 3 The Console of the Linux Fieldbus Coupler The console of the Linux fieldbus coupler provides the basic functions for administration such as starting a program or executing scripts for example You can access the console via both the serial interface and the Ethernet interface Before you can use the con...

Page 67: ... www and only has rights to change or to delete files there This directory contains the files that are used for the Web server More users or user groups to which you can assign any rights can be created using the Busybox programs adduser and addgroup see chapter 4 3 2 4 3 1 Shells The Linux console provides the basic functions to start a program or to execute scripts The console of the Linux field...

Page 68: ...upler implements all the required functions for a minimum system The following call lists the implemented programs make menuconfig Customize Vendor User Settings By changing the Busybox settings during compilation they can be changed arbitrarily see chapter 5 The list contains the following programs mount Linking file system to the kernel reboot Rebooting the Linux fieldbus coupler insmod Linking ...

Page 69: ...rectory mkdir Creates a directory lsmod Shows an overview of the linked kernel modules klogd Sets settings to log kernel messages clear Clears the screen chown Changes a file directory owner chgrp Changes the group that owns the file directory tail Shows the last lines of a file ping PING service Ethernet diagnostics service more Shows text files page by page kill Unpacks a file in the user space ...

Page 70: ...h Minix shell to execute simple scripts cat Shows text files vi Editor to change text files rm Deletes file ps Shows all loaded programs in the user space mv Moves files ls Lists all files of the current directory ln Creates links df Shows file system information free memory cp Copies files top Shows the system capacity occurring through each individual process in ...

Page 71: ...f users and groups on the Linux fieldbus coupler Tinylogin includes the following utilities passwd Changes the password adduser Creates a new user addgroup Creates a new user group delgroup Deletes a user group login Starts a login session getty Console support deluser Deletes a user su Switches to super user mode The table shows the users that are already stored condition upon delivery User Passw...

Page 72: ...e hardware clock is Greenwich Main Time GMT or UTC the system time corresponds to the local time The system variable TZ determines the system time local time The system variable is stored in the file etc TZ and describes the time difference between a time zone and the Greenwich Main Time The system variable TZ is defined as follows TZ MEZ 1MESZ 2 M3 5 0 M10 5 0 MEZ Abbreviation for Central Europea...

Page 73: ... The options for the hardware clock are hwclock r or hwclock show Reads the hardware clock and displays it on the console This time is always indicated in local time even if the hardware clock is set to Greenwich Time UTC hwclock s or hwclock hctosys System time is set using the hardware clock time hwclock w or hwclock systohc Hardware clock is set using the current system time hwclock l or localt...

Page 74: ... R Outputs an RFC 822 compliant data string that consists of date and system time date d STRING Converts a STRING e g 01241040 into an RFC compliant data string and outputs it It consists of the delivered data and time date s STRING Sets the system time that is delivered with STRING e g 01241045 date r FILE Shows the last modification in the file FILE date u Sets the system time to Greenwich Time ...

Page 75: ...y page allows you to access the following pages directly Information TCP IP settings Kernel Messages Operating State Messages I O terminals and Reboot The Web server starts with the following Status information page Fig 4 2 Screen view Status p086005d The status page shows the following values Coupler details Order description Description of the Linux fieldbus coupler Order number Item number of t...

Page 76: ...O I O SYSTEM 750 Linux Fieldbus Coupler FWL version Version of the implemented firmware loader Serial number Wago serial number Network details MAC address MAC address of the Linux fieldbus coupler IP address The IP address which is currently used or assigned ...

Page 77: ...Name server 2 IP address of the second name server in the network Hostname Name of the Linux fieldbus coupler in the dynamic network DHCP BootP Default Search Domain Name of the local domain You require the local domain name if you want the Linux coupler to access other network participants via the DNS server using short network names For example ping pc1234 would not work since the complete name ...

Page 78: ...ert dann wird die Ethernetschnittstelle beim Neustart deaktiviert Fig 4 4 Lower screen view TCP IP configuration p086006d Static IP Configuration Static IP address Activate the Ethernet device to use a static IP address IP address Static IP address if activated Subnet Mask Subnet mask with static IP address Gateway Default gateway with static IP address ...

Page 79: ...I file will save the changed values in several different places of the Linux fieldbus coupler The new values will only be activated after a reboot of the Linux fieldbus coupler because theEthernet interface is only initialized during a boot process Note If wrong values are entered they cannot possibly be corrected again after a reboot of the Linux fieldbus coupler since it is no longer possible to...

Page 80: ... see the logged kernel messages that have been entered into the proc kmsg file since the Linux coupler system start Fig 4 5 Screen view Kernel message p086002d Among other things you can find information on the hardware on the installed Linux version the drivers or on the IO modules that are connected to the Linux fieldbus coupler ...

Page 81: ...to a Linux fieldbus coupler reset Date Date of the EEPROM message Time Time of the EEPROM message Error source The cause for the EEPROM message Hex value Error value Value of the EEPROM message Hex value Description Description of the EEPROM message The EEPROM can be erased A user with root rights enters his name and the correct password in both text fields and clicks on the RESET EEPROM button Af...

Page 82: ...are connected to theLinux coupler p086003d I O Modules Color The IO module color indicates the module type For example yellow modules are digital input modules Slot number Slot number indicates the position of the IO module behind the Linux fieldbus coupler Article number Item number of the IO module Type The type of I O module is indicated once more see Color Number of channels Number of channels...

Page 83: ...or entry First column Type of I O module offset of the I O module channel in the process image of the Linux fieldbus coupler Second column for digital I O modules colored background same color as LEDs Value of the channel in the memory Hex value Light green channel set Dark green channel not set Gray the LEDs only indicate readiness for operation no channels set ...

Page 84: ...e name of a user with root rights and the correct password Fig 4 8 Screen view of Linux fieldbus coupler reboot p086004d The Root passord for the user root is stored in encoded form in the passwd file and is initially wago condition upon delivery Note The password is not transmitted via an encrypted connection It can thus be seen and used by any other network participant ...

Page 85: ...ormation on the Linux coupler settings via a web browser SNTP client The installed MSNTP client can retrieve the exact time of a remote SNTP server via the network NFS client The Linux fieldbus coupler incorporates an NFS client which can link shared network drives of NFS servers TFTP client The TFTP client is only implemented in the boot loader U Boot and allows update of the Linux kernel the roo...

Page 86: ...n a PC and the Linux fieldbus coupler via Ethernet The Windows Explorer also offers the possibility to do that however we do not recommend this approach since the Explorer has many disadvantages very slow communication wrong interpretation of the directory structure view is not updated which confuses the user To use the Explorer the following entry is made in the data record ftp username password ...

Page 87: ...lable commands examples put Datei html Writes file in the Linux fieldbus coupler get Bild gif reads file from the Linux fieldbus coupler cd Switches to the root directory The most convenient way to use FTP is to use an FTP client program such as Filezilla http sourceforge net projects filezilla which is distributed under the GPL The FTP connection is established via port 21 which needs to be regis...

Page 88: ...very user Port 21 is used for the FTP protocol FTP Client Operation In order to be able to use the FTP client an FTP server and a user for the FTP access must be installed on the remote PC It is started by ftp IP hostname Example ftp 192 168 1 11 The FTP server asks for user and password You can then execute commands on the server What commands are supported by the server can be queried by the com...

Page 89: ...Marzullo University of San Diego To get the time from an SNTP server start msntp as follows msntp Hostname IP Adresse Examples msntp 192 168 1 11 msntp WagoLFBC The output is for example 2005 Aug 31 06 44 41 897 94504 34 secs First the date and the time of the time server are shown The following number is the deviation in this case 94 504 seconds The last number indicates the jitter The more the n...

Page 90: ...automatically if the program crashes The entry in the file etc inittab looks as follows etc inittab respawn bin msntp r P no x minutes IP Hostname Example respawn bin msntp r P no x 10 192 168 1 11 This would mean that the time would be checked every 10 minutes The entry r means that the process sets the time via settimeofday P no means that any time error is corrected x 10 means that the process ...

Page 91: ... files Calling CGI files CGI file stdout outputs are redirected in HTML frames The BOA web server is preloaded on the Linux fieldbus coupler BOA is a program under GPL You can find the official web site for this project under http www boa org The web server version is 0 94 The BOA web server will run on startup condition upon delivery It provides a second graphical user interface via the web based...

Page 92: ... by adding the extension cgi bin Examples for activating CGI files 192 168 1 12 cgi bin ether Activates CGI file var www cgi bin ether 192 168 1 12 cgi bin restart Activates CGI file var www cgi bin restart CGI files The BOA web server can execute files in the var www cgi bin directory These files will output HTML code via the standard console stdout which will be transmitted via the WWW by the we...

Page 93: ...next page the flash memory will be updated in the following way All processes are terminated The indicated file is loaded The checksum of the loaded file is verified If the checksum is correct the image is written to the flash memory of the Linux fieldbus controller The Linux fieldbus controller is rebooted The general syntax for netflash is netflash bCfFhijklnzuv c console device d delay o offset...

Page 94: ... the blank areas of the flash memory s Stops deleting and writing at the end of the input data t Checks the image and deletes it if it is faulty u Enables the areas of the flash memory before data is written v Indicates the version number Example After the log in on the buscoupler via Telnet an example application with netflash could look like the following netflash k n j r dev mtd3 192 168 1 11 j...

Page 95: ...ddress The Linux fieldbus coupler has IP address 192 168 1 3 and subnet mask 255 255 255 0 This results in network address being 192 168 1 and the device address of 3 If you want another address or dynamic address assignment the configuration must be done via the serial interface of the Linux fieldbus coupler Connect the serial interface COM port to the configuration interface of the Linux fieldbu...

Page 96: ...ly The program is directly accessed via the console and has the following HELP page Usage wagoset OPTION VALUE WAGO ETHERNET BOOT CONFIGURATION OPTION v view View Configuration m mode Ethernet Mode VALUE static dhcp bootp none i ip Static IP VALUE x x x x s subnet Subnet Mask VALUE x x x x g gateway Gateway VALUE x x x x o hostname Hostname VALUE String Hostname h help Print this message Proprieta...

Page 97: ... 6 2 to change the boot command of the kernel with regard to the Ethernet connection You can select whether the kernel will get its IP address via DHCP or Bootp or whether a static IP address is set Section 4 6 1 Another possibility to get the IP address dynamically is to start appropriate programs bootpc or dhcpcd in the user space after the kernel has been started This results in a time saving d...

Page 98: ...g call bootpc startup The Bootp client is started in the background and sends a Bootp request approx every two seconds With a correct reply the Ethernet interface is parameterized automatically IP address netmask gateway The program and the script are terminated as soon as a valid Bootp server has sent a reply The call can also be a part of the boot script etc inittab of course wagoset h Usage wag...

Page 99: ...be a part of the boot script etc inittab of course 4 6 4 Checking the Network Connection 1 In order to check communication with the Linux fieldbus coupler and the correct IP address assignment start the DOS prompt via Start menu Programs Command prompt 2 Type the command ping using the IP address you assigned and using the following sytax ping blank XXX XXX XXX XXX IP address Example ping 10 1 254...

Page 100: ...encies Since the effort is disproportionate to the results we recommend the use of the toolchains that have already been compiled For the Linux fieldbus coupler this is the so called arm elf toolchain Usually your own applications will run in the user space it is also possible to run drivers programs in the kernel space however it is essential to know the hardware and driver programming book recom...

Page 101: ...d by all means be done in the user mode not in the super user mode cd media cd rom linux sources in S U S E a CD drive is mounted in media cd rom if it was linked via Konqueror for example sh install sh Call installation script The installation is done automatically During the installation a uclinux dist directory is created in the home directory of the user in which are stored the files required ...

Page 102: ... the first compilation of the kernel cd uclinux dist make menuconfig Starts a graphical configuration tool to set the kernel options Exit the dialog with EXIT and end the program without saving changed settings Note If the graphical interface to configure the distribution cannot be opened please install the NCURSES components from your PC Linux distribution on your host PC make Note In some versio...

Page 103: ...ilation image Creates the HEX images linux flashme Linux kernel jffs2 img file system with user programs menuconfig Invokes a menu driven configuration of the Linux kernel of the modules and of the application programs clean Deletes all files that were created by compilation distclean Deletes all files created by configuration and compilation ...

Page 104: ...s for the communiction with the Linux coupler Task Program Description Serial console minicom For communication with console of Linux fieldbus coupler via serial interface Ethernet console telnet For communication with console of Linux fieldbus coupler via Ethernet Web browser konqueror Tool to view HTML files or to query the web server of the Linux fieldbus coupler File explorer konqueror Visual ...

Page 105: ...e Linux coupler start up the selector switch must be in the upper position in order to start the Linux console The Linux console has the following preset values 38400 8 N 1 Baud rate 38400 bits per second Data bits 8 Parity none Stop bits 1 Flow control none If minicom is not communicating check if the right interface has been configured To do so start the program with the option s and verify the ...

Page 106: ... order that the backspace key functions properly the option Backspace sends Del ete needs to be set In minicom this is done via the Strg a t b key combination In the Windows operating systems Hyperterminal is the recommended program for the serial terminal communication The following figure shows the required settings Fig 5 2 Configuration of the serial interface in Hyperterminal p0860010d ...

Page 107: ...et program via the console Under DOS or the MS DOS prompt you can also start a Telnet client using the call telnet Under Windows the Hyperterminal program can also communicate with the Linux fieldbus coupler via telnet Hyperterminal then requires the following settings Fig 5 3 Hyperterminal Telnet settings g086008d In the Connect to dialog select TCP IP in the Connect via selection field In the ne...

Page 108: ...ration of the new IP address a terminal program must be used to communicate between the two devices This can be minicom under Linux or Hyperterminal exe under Windows The terminal program should be configured with the parameters 38400 8 N 1 NoFlowControl A volatile IP adress can then be assigned in the console e g ifconfig eth0 192 168 1 4 sets temporary IP address Please use the wagoset program f...

Page 109: ...r your project cd uclinux dist user Change to root directory for user space applications mkdir newProg Create project folder newProg cd newProg Change to project folder newProg A minimum project consists of a source code file and a make file Create the source code file newProg c e g using EMACS KATE or JOE emacs newProg c Call EMACS editor Insert the following code into the emacs and press CTRL X ...

Page 110: ... speichern Sie ihn CTRL X CTRL S The program along with all other user space programs is compiled if make in the uclinux dist directory is executed with the following option see chapter 5 3 cd uclinux dist make user A binary file newProg is created which can be copied into the Linux fieldbus coupler via NFS or FTP for example cd uclinux dist make user romfs image This will also create a binary fil...

Page 111: ...rectory can be accessed via NFS see chapter 5 11 The targetfs directory needs to be embedded into the Linux fieldbus coupler using the mount command It can now be directly executed on the coupler The user space application can also be copied into the Linux fieldbus coupler via FTP and then be executed locally To do so enter the following on the host PC cd uclinux dist user newProg ftp 192 168 1 8 ...

Page 112: ...Automatic start of new Programs inittab startwago During the startup of the operating system Linux starts the processes that can be found in the inittab file during boot up in our system inittab looks as follows sysinit etc rc sysinit etc startwago respawn etc getty L ttyS0 38400 In this file the startwago file with the attribute sysinit is run among others This means the startwago script is start...

Page 113: ...id Bit for tinylogin su chmod s bin tinylogin start the KBus Driver insmod kbus start modbus tcp server bin mb_tcp start web server BOA boa c etc boa if it is configured start the IOCheck Driver Application if grep q wago_console yes proc cmdline then rm etc inittab ln s etc wago_console inittab nottys0 etc inittab insmod iocheck else rm etc inittab ln s etc wago_console inittab ttys0 etc inittab ...

Page 114: ...te new image files use the following call cd uclinux dist make romfs image To restore the Linux coupler default values use the image files of the Bord Spport Package BSP The image files jffs2 img and linux flashme are created in the tftpboot directory The image files are transferred to the Linux fieldbus coupler via TFTP For that purpose you have to set up and start a TFTP server which has tftpboo...

Page 115: ...t2 or xinetd When using xinetd the configuration of the tftpboot source directory is done via the graphical desktop environment of KDE If you use inetd make the following entry in the etc inetd conf after the installation host ip tftp dgram udp wait root usr sbin in tftpd s tftpboot inetd starts automatically after a reboot or it can be started manually with etc init d inetd start gestartet werden...

Page 116: ...In serial Out serial Err serial Booting in 3 seconds enter abort password to prevent this you have to enter the password geheim on the serial console to abort the boot loader boot process and to change to the U Boot environment The boot loader switches to its shell environment If after three seconds the password has not been entered the boot loader loads the Linux kernel The printenv command outpu...

Page 117: ... of the Linux fieldbus coupler and the TFTP server must be checked If the IP addresses are not conclusive they possibly need to be adapted using the following call setenv ipaddr IP Linux FBK setenv serverip IP Host PC See also chapter 9 5 Environment Variables An update of the Linux kernel or of the entire file system can be started via the calls LFBK run update kernel LFBK run update rootfs These...

Page 118: ...I 10Mbs half duplex link established TFTP from server 192 168 1 2 our IP address is 192 168 1 3 Filename linux flashme Load address 0x40000 Loading done Bytes transferred 1239096 12e838 hex Un Protect Flash Sectors 52 70 in Bank 1 Erase Flash Sectors 52 70 in Bank 1 Erasing sector 52 ok Erasing sector 53 ok Erasing sector 54 ok Erasing sector 55 ok Erasing sector 56 ok Erasing sector 57 ok Erasing...

Page 119: ...ovide the new image files needs to incorporate a TFTP server in order to allow an update In order to eliminate confusion every file is given an unambiguous name A JFFS2 image of the file system is called jffs2 img and the kernel file with bootloader header is called linux flashme The files are available on the WAGO Linux distribution CD under CD images and must be copied into the tftpboot director...

Page 120: ...14 uucp which results in targetfs rw sync all_squash anonuid 501 anongid 100 Linux coupler NFS client configuration NFS is integrated into the Linux kernel and is used as a file system In order to link a directory of a remote system it has to be assigned to the Linux directory structure using the mount call just like a partition on the hard drive In order to be able to use the NFS service a NFS se...

Page 121: ...and modified and functions can be called independently of the program s normal behavior The GDB is to be used in connection with the GDB server to allow cross debugging between a PC and the Linux fieldbus coupler Start both the GDB server on the Linux fieldbus coupler and the GDB debugger on the PC Both programs are connected via the Ethernet interface providing a complete debugger including all s...

Page 122: ...s controller and can be called directly In order to use the graphical front end DDD on the PC it must be installed over the distribution that is used With the S U S E Linux distribution this is completed as follows 1 Click on the program Control center and select Yast2 Module Software Software installation 2 A search window opens Enter DDD and press the Enter key 3 If the search result shows the D...

Page 123: ...owing calls into the console cd uclinux dist make menuconfig A window opens Select the menu path Kernel Library Default Settings and press the Enter key The following window will open Fig 5 Window Make menuconfig enable user settings 1 Select Customize Vendor User Settings and press the space bar 2 Quit the menu and the following menus by clicking the EXIT button 3 The following question appears D...

Page 124: ...ears Do you wish to save your kernel configurations Click on YES After the above described settings are done the compiler is ready to compile user space applications without optimization The compiled programs become bigger and will likely operate at a slower speed For final release versions of the programs it is advisable to cancel the above setting Build debuggable applications and completely com...

Page 125: ... cd uclinux dist user newProg emacs newProg c Enter the following code into the emacs and save it via CTRL X CTRL S A subfunction with a counter variable is added to the code in order to be able to test the functions of the debugger better The makefile of section 5 6 is not modified Recreate the program Enter the following calls into the console cd uclinux dist make user Copy the program to the Li...

Page 126: ...ess 192 168 1 3 using port number 1234 The second line sets a breakpoint to the main routine and the third line starts the program that runs until the breakpoint is reached 5 12 5 Debugging via the GDB Console In order to enable cross debugging between the PC and the Linux fieldbus controller a connection via Ethernet is used In the procedure described below the Linux fieldbus controller has the d...

Page 127: ...nux dist user newProg arm uclinux elf gdb newProg gdb command gdb script Fig 5 7 Starting GDB on the PC You can use the following commands for debugging GDB command Description step The program is executed until the next program line is reached Also steps into subroutines if it is the next code line stepi The program is executed until the next assembler code line next The program is executed until...

Page 128: ...The value or the values are updated after every execution of code step next continue undisplay Undisplays the value that was displayed via the display call before whatis i Displays the data type of the i variable backtrace Displays the calling functions and their parameter values from the stack where Displays the content of the stack like backtrace set var i set var i 5 sets the i variable to 5 he...

Page 129: ...t the GDB server on the Linux fieldbus controller To do so change the directory in which the program that has been created To start the GDB server enter the following calls into the console gdbserver 192 168 1 4 1234 newProg Fig 5 8 Starting the GDB server on the 750 860 The GDB server will now wait for a connection request via port 1234 of IP address 192 168 1 4 The graphical interface DDD and th...

Page 130: ...ion Debugging of User Space Programs WAGO I O SYSTEM 750 Linux Fieldbus Coupler Fig DDD Graphical interface of the debugger DDD now offers all the features of an integrated development environment The operation is not described further in this manual ...

Page 131: ...e IO modules The coupler generates an internal local process image from the data width and the type of I O module as well as the position of the I O modules in the Linux fieldbus coupler node This is divided into an input and an output area The data of the IO modules is separated for the local input and output process image in the sequence of their position after the Linux fieldbus coupler in the ...

Page 132: ...4 Byte1 1 4 1 4 1 1 4 1 DI DI DI DI AI AI AI AI 0x0001 0x0000 LINK MS NS ETHERNET TxD RxD I O 750 341 Byte2 0x0003 0x0002 DI Digital Input AI Analog Input Addresses Process input image Byte Input modules 750 402 402 472 472 402 476 402 476 Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 ...

Page 133: ...e for the digital outputs i e 9 bytes in total Bit 1 Bit 2 0x0003 0x0002 0x0001 0x0000 AO DO AO LINK MS NS ETHERNET TxD RxD I O 750 341 Addresses Process output image Byte Output modules 750 501 550 550 DO Digital Output AO Analog Output Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 0x...

Page 134: ... input image Byte I O Modules 750 402 472 501 550 600 Process output image Byte DO Digital Output Module AO Analog Output Module DI Digital Input Module AI Analog Input Module Addresses Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 0x0003 0x0004 Byte1 Byte2 Byte 3 Byte 4 Byte 2 Byte 1 0x0003 0x0001 0x0000 0x0002 0x0004 Fig 6...

Page 135: ...t essential It may be beneficial to customize structures with meaningful names taken from the control process Source code files uclinux dist user kbusapi kbusapi h Driver Kernel module kbus ko internal bus support Function Description The internal bus driver can be used with the following functions open dev kbus O_WRONLY Opens the kbus driver ioctl iFD IOCTL_KBUSUPDATE ulTmp Writes the modified da...

Page 136: ...be increased to 10 if only very slow analog I O modules are involved and fast updates of the process image are not desired close iFD Closes the KBus driver Using predefined structures it is possible to access the input or output process image byte by byte via the following lines pstPabIn uc Pab byteNo pstPabOut uc Pab byteNo or word by word via the lines pstPabIn us Pab wordNo pstPabOut us Pab wor...

Page 137: ...ogram run Note The internal bus driver does not control if several programs change data in the process image and then call ioctl iFD IOCTL_KBUSUPDATE Therefore if two application programs access the process image make sure that the output data to be written is not overwritten by the other program The programs should block each other Example bit query The following example shows how to query a bit ...

Page 138: ... 1111 0111 with the output process image to set the bit 0 3 to FALSE Example byte query The following example shows how to query a byte Using the if pstPabIn uc Pab 0 38 code allows you to check whether byte 0 has the value 38 by using the equal conditional operatior Example word query The following example shows how to query a word Using the if pstPabIn us Pab 0 0x0008 sample code allows you to c...

Page 139: ...art address Byteoffset Bitoffset of the individual process image is shown Example cat proc driver kbus pab Slot Terminal Output Input Byte Bit Offset Byte Bit Offset 8 750 553 000 000 0 0 x x 9 750 559 000 000 6 0 x x 1 750 4xx x x 0 0 2 750 4xx x x 0 4 3 750 4xx x x 0 6 4 750 4xx x x 1 0 5 750 4xx x x 1 2 6 750 4xx x x 1 4 7 750 4xx x x 1 6 PAB In 00ffe060 PAB Size 2040 bytes PAB Out 00ffe858 PAB...

Page 140: ...igh side switching DI DC 5 12 V 753 434 8 Channel DC 5 12 V 0 2 ms 1 conductor connection high side switching DI DC 24 V 750 400 753 400 2 Channel DC 24 V 3 0 ms 2 to 4 conductor connection high side switching 750 401 753 401 2 Channel DC 24 V 0 2 ms 2 to 4 conductor connection high side switching 750 410 753 410 2 Channel DC 24 V 3 0 ms 2 to 4 conductor connection high side switching 750 411 753 ...

Page 141: ...C 24 V 0 2 ms 1 conductor connection high side switching 750 436 8 Channel DC 24 V 3 0 ms 1 conductor connection low side switching 750 437 8 Channel DC 24 V 0 2 ms 1 conductor connection low side switching DI AC DC 24 V 750 415 753 415 4 Channel AC DC 24 V 2 conductor connection 750 423 753 423 4 Channel AC DC 24 V 2 to 3 conductor connection with power jumper contacts DI AC DC 42 V 750 428 753 4...

Page 142: ...de switching diagnostics 750 507 753 507 2 Channel DC 24 V 2 0 A short circuit protected high side switching diagnostics no longer available replaced by 750 508 750 508 2 Channel DC 24 V 2 0 A short circuit protected high side switching diagnostics replacement for 750 507 750 535 2 Channel DC 24 V EEx i short circuit protected high side switching 750 504 753 504 4 Channel DC 24 V 0 5 A short circu...

Page 143: ... free 2 make contacts 7 1 3 Analog Input Modules Tab 7 3 Analog input modules AI 0 20 mA 750 452 753 452 2 Channel 0 20 mA differential input 750 465 753 465 2 Channel 0 20 mA single ended 750 472 753 472 2 Channel 0 20 mA 16 bit single ended 750 480 2 Channel 0 20 mA differential input 750 453 753 453 4 Channel 0 20 mA single ended AI 4 20 mA 750 454 753 454 2 Channel 4 20 mA differential input 7...

Page 144: ...surement input 750 476 753 476 2 Channel DC 10 V single ended 750 457 753 457 4 Channel DC 10 V single ended AI DC 0 30 V 750 483 753 483 2 Channel DC 0 30 V differential measurement input AI Resistance Sensors 750 461 753 461 2 Channel resistance sensors PT100 RTD 750 481 003 000 2 Channel resistance sensors PT100 RTD EEx i 750 460 4 Channel resistance sensors PT100 RTD AI Thermocouples 750 462 2...

Page 145: ... 0 20 mA 750 585 2 Channel 0 20 mA EEx i 750 553 753 553 4 Channel 0 20 mA AO 4 20 mA 750 554 753 554 2 Channel 4 20 mA 750 554 753 554 4 Channel 4 20 mA AO DC 0 10 V 750 550 753 550 2 Channel DC 0 10 V 750 560 2 Channel DC 0 10 V 10 bit 100 mW 24 V 750 559 753 559 4 Channel DC 0 10 V AO DC 10 V 750 556 753 556 2 Channel DC 10 V 750 557 753 557 4 Channel DC 10 V ...

Page 146: ...cor interface differential inputs 750 634 Incremental encor interface DC 24 V 750 637 Incremental encor interface RS 422 cam outputs 750 635 753 635 Digital pulse interface for magnetostrictive distance sensors Serial Interfaces 750 650 753 Serial interface RS 232 C 750 653 753 Serial interface RS 485 750 651 TTY Serial interface 20 mA Current Loop 750 654 Data exchange module DALI DSI Master Modu...

Page 147: ... PROFIsafe 8 channel digital input module 750 665 000 001 4FDO 0 5A 4FDI 24V DC PROFIsafe PROFIsafe 4 channel digital input and output module 750 666 000 001 1FDO 10A 2FDO 0 5A 2FDI 24V PROFIsafe PROFIsafe power switch module RTC Module 750 640 RTC module KNX EIB TP1 Module 750 646 KNX EIB TP1 module device mode router mode ...

Page 148: ...max 6 3 A without diagnostics with fuse holder AC 230 V Power Supply Modules 750 612 AC DC 230 V without diagnostics passive 750 609 AC 230 V max 6 3 A without diagnostics with fuse holder 750 611 AC 230 V max 6 3 A with diagnostics with fuse holder Filter Modules 750 624 Filter module field side power supply 750 626 Filter module system and field side power supply Field Side Connection Module 750...

Page 149: ...dules must be taken into account to determine its location in the process data map For the PFC process image of the programmable fieldbus controller is the the structure of the process data mapping identical 7 2 1 Digital Input Modules Digital input modules supply one bit of data per channel to specify the signal state for the corresponding channel These bits are mapped into the Input Process Imag...

Page 150: ... with Diagnostics and Output Process Data 750 418 753 418 The 750 418 753 418 digital input module supplies a diagnostic and acknowledge bit for each input channel If a fault condition occurs the diagnostic bit is set After the fault condition is cleared an acknowledge bit must be set to re activate the input The diagnostic data and input data bit is mapped in the Input Process Image while the ack...

Page 151: ... Data bit DI 3 Channel 3 Data bit DI 2 Channel 2 Data bit DI 1 Channel 1 7 2 2 Digital Output Modules Digital output modules use one bit of data per channel to control the output of the corresponding channel These bits are mapped into the Output Process Image When analog output modules are also present in the node the digital image data is always appended after the analog data in the Output Proces...

Page 152: ... Process Image while the output control bits are in the Output Process Image Input Process Image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Diagnostic bit S 2 Channel 2 Diagnostic bit S 1 Channel 1 Output Process Image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 controls DO 2 Channel 2 controls DO 1 Channel 1 750 506 753 506 The 750 506 753 506 digital output module has 2 bits of diagnost...

Page 153: ...t 0 controls DO 4 Channel 4 controls DO 3 Channel 3 controls DO 2 Channel 2 controls DO 1 Channel 1 4 Channel Digital Output Modules with Diagnostics and Input Process Data 750 532 The 750 532 digital output modules have a diagnostic bit for each output channel When an output fault condition occurs i e overload short circuit or broken wire a diagnostic bit is set The diagnostic data is mapped into...

Page 154: ...tput channel When an output fault condition occurs i e overload short circuit or broken wire a diagnostic bit is set The diagnostic data is mapped into the Input Process Image while the output control bits are in the Output Process Image Input Process Image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Diagnost ic bit S 7 Channel 8 Diagnost ic bit S 6 Channel 7 Diagnost ic bit S 5 Channel 6 Diag...

Page 155: ...Process Image When digital input modules are also present in the node the analog input data is always mapped into the Input Process Image in front of the digital data 1 Channel Analog Input Module 750 491 and all variations Input Process Image Byte Destination Offset High Byte Low Byte Remark 0 D1 D0 Measured Value UD 1 D3 D2 Measured Value Uref 2 Channel Analog Input Modules 750 452 454 456 461 4...

Page 156: ...of control status However the coupler controller with MODBUS TCP does not have access to the 8 control status bits Therefore the coupler controller with MODBUS TCP can only access the 16 bits of analog data per channel which are grouped as words and mapped in Intel format in the Output Process Image When digital output modules are also present in the node the analog output data is always mapped in...

Page 157: ... transmitted from the control system to the module and the status byte from the module to the control system This allows for example setting of a counter with the control byte or displaying of overshooting or undershooting of the range with the status byte Further information For detailed information about the structure of a particular module s control status byte please refer to that module s man...

Page 158: ...ut Process Image 4 bytes of counter data and 1 byte of control status The two counter values are supplied as 16 bits The following tables illustrate the Input and Output Process Image which has a total of 3 words mapped into each image Word alignment is applied Input Process Image Byte Destination Offset High Byte Low Byte Remark 0 S Status byte 1 D1 D0 Counter Value of Counter 1 2 D3 D2 Counter V...

Page 159: ...0 Counter Value of Counter 1 2 S1 Status byte of Counter 2 3 D3 D2 Counter Value of Counter 2 Output Process Image Byte Destination Offset High Byte Low Byte Remark 0 C0 Control byte of Counter 1 1 D1 D0 Counter Setting Value of Counter 1 2 C1 Control byte of Counter 2 3 D3 D2 Counter Setting Value of Counter 2 Pulse Width Modules 750 511 and all variations The above Pulse Width modules have a tot...

Page 160: ...e freely parametrizable variations 003 000 of the serial interface modules the desired operation mode can be set Dependent on it the process image of these modules is then the same as from the appropriate variation The above Serial Interface Modules with alternative data format have a total of 4 bytes of user data in both the Input and Output Process Image 3 bytes of serial data and 1 byte of cont...

Page 161: ...tput Process Image which have a total of 3 words mapped into each image Word alignment is applied Input and Output Process Image Byte Destination Offset High Byte Low Byte Remark 0 D0 C S Data byte Control Status byte 1 D2 D1 2 D4 D3 Data bytes Data Exchange Module 750 654 and the variation 000 001 The Data Exchange modules have a total of 4 bytes of user data in both the Input and Output Process ...

Page 162: ... Data bytes Incremental Encoder Interface Modules 750 631 The above Incremental Encoder Interface modules have 5 bytes of input data and 3 bytes of output data The following tables illustrate the Input and Output Process Image which have 4 words into each image Word alignment is applied Input Process Image Byte Destination Offset High Byte Low Byte Remark 0 S not used Status byte 1 D1 D0 Counter w...

Page 163: ...in the control byte the cycle duration is given as a 24 bit value that is stored in D2 together with D3 D4 Output Process Image Byte Destination Offset High Byte Low Byte Remark 0 C not used Control byte 1 D1 D0 Counter Setting word 2 3 not used 750 637 The above Incremental Encoder Interface Module has a total of 6 bytes of user data in both the Input and Output Process Image 4 bytes of encoder d...

Page 164: ...has a total of 6 bytes of user data in both the Input and Output Process Image 4 bytes of module data and 1 byte of control status and 1 byte ID for command The following table illustrates the Input and Output Process Image which have 3 words mapped into each image Word alignment is applied Input and Output Process Image Byte Destination Offset High Byte Low Byte Remark 0 ID C S Command byte Contr...

Page 165: ... 2 DALI Address 3 D4 D3 Command Extension Parameter 1 EnOcean Radio Receiver 750 642 The EnOcean radio receiver has a total of 4 bytes of user data in both the Input and Output Process Image 3 bytes of module data and 1 byte of control status The following tables illustrate the Input and Output Process Image which have 2 words mapped into each image Word alignment is applied Input Process Image By...

Page 166: ...Process Image 6 bytes of module data and 2 bytes of control status The following table illustrates the Input and Output Process Image which have 4 words mapped into each image Word alignment is applied Input and Output Process Image Byte Destination Offset High Byte Low Byte Remark 0 C1 S1 C0 S0 extended Control Status byte Control Status byte 1 D1 D0 2 D3 D2 3 D5 D4 Data bytes ...

Page 167: ...cess Image which have 8 words mapped into each image Word alignment is applied Input and Output Process Image byte Destination Offset High Byte Low Byte Remark 0 C0 S0 Not used Control Status byte log Channel 1 Sensor input 1 1 D1 D0 Data bytes log Channel 1 Sensor input 1 2 C1 S1 Not used Control Status byte log Channel 2 Sensor input 2 3 D3 D2 Data bytes log Channel 2 Sensor input 2 4 C2 S2 Not ...

Page 168: ...Input and Output Process Image Word alignment is applied The first Input and output word which is assigned to an AS interface master module contains the status control byte and one empty byte Subsequently the mailbox data are mapped when the mailbox is permanently superimposed Mode 1 In the operating mode with suppressable mailbox Mode 2 the mailbox and the cyclical process data are mapped next Th...

Page 169: ... Bit 0 Diagnostic bit S 2 Fuse Diagnostic bit S 1 Voltage Binary Space Module 750 622 The Binary Space Modules 750 622 behave alternatively like 2 channel digital input modules or output modules and seize depending upon the selected settings 1 2 3 or 4 bits per channel According to this 2 4 6 or 8 bits are occupied then either in the process input or the process output image Input or Output Proces...

Page 170: ...e appropriate call parameters leds Describes how to access the LEDs of the Linux coupler kbusdemo Describes how to access the process image mb_tcp Describes a more complex program which allows to access the internal bus via a Modbus TCP protocol CGI application Describes the use of the CGI interface of the BOA web server for the transmission of dynamic web content Note The example programs are a b...

Page 171: ...l module ledman LED support Function description Using this example program you can access the freely programmable LEDs STATUS SERVICE and USR 24V 0V 01 02 I O C D B A C B A A B LINK STATUS SERVICE LINUX TXD RXD USR Fig 8 1 Display elements of the fieldbus coupler g086002x LED Color Signification Green Red STATUS Off Function can be defined by the user Green Red SERVICE Off Function can be defined...

Page 172: ... the following HELP page Usage leds OPTION LEDNAME OPTION LEDNAME WAGO LED SERVER OPTION n on Switch LED on o off Switch LED off f flash Switch LED to flashing Mode h help Print this message LEDNAME sr Status LED 1 red sg Status LED 1 green er Service LED 2 red eg Service LED 2 green ur User LED red ug User LED green a All LEDs Proprietary Send bug reports to support wago com Different OPTIONS com...

Page 173: ...e following definitions describe the functions define WAGO_FBK_LED_CMD_SET 0x01 turn on briefly to show activity define WAGO_FBK_LED_CMD_ON 0x02 turn LED on permanently define WAGO_FBK_LED_CMD_OFF 0x03 turn LED off permanently define WAGO_FBK_LED_CMD_FLASH 0x04 flash this LED Using these definitions you can assign a function to every LED Additionally the following LED names are defined which can b...

Page 174: ...mbination RED on and GREEN BLINKING is also possible and results in a user LED that blinks rot orange green The header file also contains the ledman_cmd macro which imlements the access to the kernel driver Every time the driver is called dev ledman is opened written to and closed again Source code description leds c The leds c file contains the main function The console entries are analyzed and t...

Page 175: ...addressed via byte addresses Writing data multiple bytes of data is not possible in this example However this feature could be added in the source code with little effort The dynamic loadable module kbus o is used for the internal bus support In addtition kbusapi is used which makes it easier to access the internal bus module This API Application Interface is added to the program during compilatio...

Page 176: ...to support wago com Via the OPTIONS of this example program it is possible to select whether to read or to write data The ADDRESS field determines the corresponding address The addresses follow the process image The proc driver kbus pab file of the internal bus driver shows the configuration of the process image Example cat proc driver kbus pab Slot Terminal Output Input Byte Bit Offset Byte Bit O...

Page 177: ...ON is linked to a certain address in the process image Example kbusdemo n 0 0 The bit for the output address 0 0 in the process image is set to TRUE kbusdemo o 1 7 The bit for the output address 1 7 in the process image is set to FALSE kbusdemo r 0 Reads the data at input byte 0 Output IN 0 0b10100000 IN 0 0xa0 The first byte has the following format IN Byte binary IN Byte hexadecimal output ...

Page 178: ...le contains the main function The console entries are analyzed and the internal bus read and write commands are executed Process image pointers which are initialized by the use of definitions from the kbusdemo h file are used to read and write internal bus data The KBusUpdate function from the kbusapi h file is used to update the process image The console output is generated like the help text in ...

Page 179: ...rogram Please find more information on MODBUS and MODBUS definitions under http www modbus org In this example a remote Modbus master can establish only one Modbus TCP connection The user space server can only manage one connection at the same time Function description This example program allows to read the state of the input modules and to set outputs via Ethernet The data can be accessed byte b...

Page 180: ...terface is added to the program during compilation and linking The API interfaces are also described in this chapter The dynamic loadable module kbus o serves to access the connected modules from a user program environment In order to illustrate the driver interface the Linux coupler incorporates the kbusdemo example program This program can read or write the state data of the internal bus via the...

Page 181: ...goweb info c uclinux dist user wagoweb ether c uclinux dist user wagoweb kernelmsg c uclinux dist user wagoweb eeprom c uclinux dist user wagoweb config c uclinux dist user wagoweb restart c Function description This example program implements the web based management WBM of the Linux fieldbus coupler The web server BOA uses the CGI files programs The HTML pages come directly from the web server T...

Page 182: ...enuframe html file In order to load the status page the Index html file executes the CGI call as dynamic part Source code description web c The name of the symbolic call is analyzed in the web c file and the appropriate function is called Source code description info c The status page of the Linux fieldbus coupler is generated in the info c file The file includes four functions read_envvar read_BK...

Page 183: ...eads values from the highest flash memory sector If a fixed IP address is used these are the IP address the subnet mask the gateway and the host name If the IP address is assigned dynamically via DHCP or BootP it is only the host name The other values are set to default values The function write_envvar writes values into the highest flash memory sector If a fixed IP address is used these are the I...

Page 184: ... These entries are authenticated in the crypt c file After successful authentication the SAVE CONFIGURATION query string is analyzed and if a value is changed the appropriate write_ function is called Source code description restart c The restart page of the Linux fieldbus coupler is generated in the restart c file The file includes the function main_restart main_restart writes the HTML code to th...

Page 185: ...ludes the function main_eeprom main_eeprom reads the dev eeprom device file and displays the data on the screen in a table Source code description config c The config c file displays the IO modules sorted by type that are connected to the Linux fieldbus coupler on the screen The file inludes the functions printStandard printAnalogOutput printAnalogInput printDigitalOutput printDigitalInput printSp...

Page 186: ... special parameters of the individual digital modules separately in pop up tables The printSpecial function displays the special parameters of the individual complex modules specialty modules separately in pop up tables The main_config function initializes that part of the pop up table which needs to be opened For that purpose the submit buttons are analyzed ...

Page 187: ...ser space access to the NVRAM int open const char pathname int flags This function opens the indicated file and returns the file descriptor The file descriptor is a reference to the open file pathname Path of the device file dev nvram flags O_WRONLY O_RDONLY O_RDWR ssize_t read int fd void buf size_t count This function reads a specified number of bytes from the referenced file and returns the num...

Page 188: ... pointer to any byte within the file and returns the current position in the file fd File descriptor returned by the open function offset Position within the file from which the bytes are read and written mode SEEK_SET Within the file both read write operations start from the offset value in bytes SEEK_CUR Within the file both read write operations start from the current position offset value SEEK...

Page 189: ...device dev nvram n close file exit 1 Read Device sstmp read file buf 8 printf read d bytes n sstmp if sstmp 8 printf ERROR Reading NVRAM failed n else printf read x x x x x x x x n buf 0 buf 1 buf 2 buf 3 buf 4 buf 5 buf 6 buf 7 Trivial change of values for i 0 i 8 i buf i 1 Write into Device if 1 lseek file 0 SEEK_SET printf ERROR lseek failed n sstmp write file buf 8 printf Write d bytes n sstmp...

Page 190: ...ert There is no equal sign between variable name and variable value All changes that are made are not permanent and are lost when the Linux fieldbus coupler is rebooted Use the saveenv call in order to get permanent changes in the flash memory LFBK saveenv Saving Environment to Flash LFBK A list of all possible Shell commands can be viewed using Help 9 1 Boot Loader Toolchain The boot loader requi...

Page 191: ...he tftpboot directory in the root directory su Password mkdir tftpboot chmod 777 tftpboot You have to install inetd and atftp via yast2 S U S E before you can install a TFTP server on the development PC After the installation make the following entry in the etc inetd conf host ip tftp dgram udp wait root usr sbin in tftpd s tftpboot inetd starts automatically after a reboot or it can be started ma...

Page 192: ... stored 9 4 Compile Boot Loader The source code is configured and compiled via cd uboot make modnet50_config make The ELF object file is called ub elf the binary image for a Linux coupler update is called ub bin which is copied into the tftpboot directory as ub bin Create Flash Images Images of the kernel and of the file system can be created during the compilation of the Linux distribution see ch...

Page 193: ...he format xxx xxx xxx xxx or a completely static configuration in the format FBK IP ServerIP GW IP Netmask Hostname Device 10 1 1 8 10 1 2 1 10 1 1 254 255 255 255 0 lfbk eth0 bootargs Contains further parameters for the kernel for example the root file system root dev mtdblock3 bootcmd Contains a macro that creates a kernel command line from ipmode and bootargs and starts the kernel This macro is...

Page 194: ...stem update update kernel Macro for a Linux kernel update Note Please refer to chapter 9 2 for details on a TFTP server setup required for a software update The following environment variables can be used to determine the standard interfaces stdin Standard input interface stdout Standard output interface sterr Standard error output interface baudrate Baud rate of the serial interface An update of ...

Page 195: ...ility for the transmission of information In the ETHERNET based programmable fieldbus couplers and controllers developed by WAGO usually various application protocols have been implemented on the basis of the TCP IP stack These protocols allow the user to create applications master applications with standardized interfaces and transmit process data via an ETHERNET interface In addition to a series...

Page 196: ...te maintenance and control of processes possible 10 1 2 Network Architecture Principles and Regulations A simple ETHERNET network is designed on the basis of one PC with a network interface card NI one crossover connection cable if necessary one ETHERNET fieldbus node and one 24 V DC power supply for the coupler controller voltage source Each fieldbus node consists of a programmable fieldbus coupl...

Page 197: ...ses a 24 AWG UTP or STP UTP twisted pair cable for a 10Mbps baseband signal for distances up to 100 m in a physical star topology 10Broad36 Uses a 75 Ohm coaxial cable for a 10Mbps baseband signal for distances of up to 1800 m or 3600 m with double cables in a physical bus topology 100BaseTX Specifies a 100 Mbps transmission with a twisted pair cable of Category 5 and RJ45 connectors A maximum seg...

Page 198: ... overall shield is provided Wiring of the fieldbus nodes Maybe a crossover cable is required for direct connection of a fieldbus node to the network card of the PC Fig 10 2 Direct Connection of a Node with Crossover Cable g012906d If several fieldbus nodes are to be connected to a network card the fieldbus nodes can be connected via an ETHERNET switch or hub with straight through parallel cables F...

Page 199: ...ogy according to the 10Base T ETHERNET Standard Therefore this manual only deals with the star topology and the tree topology for larger networks in more detail Star Topology A star topology consists of a network in which all nodes are connected to a central point via individual cables Fig 10 4 Star Topology G012903e A star topology offers the advantage of allowing the extension of an existing net...

Page 200: ...ombines characteristics of linear bus and star topologies It consists of groups of star configured workstations connected to a linear bus backbone cable Tree topologies allow for the expansion of an existing network and enables schools etc to configure a network to meet their needs Fig 10 5 Tree Topology G012904e ...

Page 201: ...twork protocols or ETHERNET networks where all fiber optic cabling or a combination of a backbone with UTP cabling is used If there is a combination of fiber optic backbone and UTP cabling the rule is simply translated to 7 6 5 rule Cabling guidelines Structured Cabling specifies general guidelines for network architecture of a LAN establishing maximum cable lengths for the grounds area building a...

Page 202: ...te star topologies supports various transmission media does not prevent any network collisions 2 Router Links two or more data networks Matches topology changes and incompatible packet sizes e g used in industrial and office areas 3 Gateway Links two manufacturer specific networks which use different software and hardware i e ETHERNET and Interbus Loop 4 7 Tab 10 2 Comparison of Coupler Modules fo...

Page 203: ... mode for the autonegotiation of both communication partners must be supported and activated 10 1 2 4 3 Errors Occurring when Configuring the Transmission Mode Invalid configurations are listed below Problem Cause Symptoms Mismatch of the transmission rate Occurs when configuring one link partner with 10 Mbit s and the other one with 100 Mbit s Link failure Duplex mode mismatch Occurs when one lin...

Page 204: ...tively long 0 1 10 seconds However real time behavior within the fieldbus system level is required for ETHERNET in industry In ETHERNET it is possible to meet the real time requirements by restricting the bus traffic 10 by using a master slave principle or also by implementing a switch instead of a hub MODBUS TCP is a master slave protocol in which the slaves only respond to commands from the mast...

Page 205: ...criber is limited Therefore the delay time of a message is predictable Switched ETHERNET In the case of Switched Ethernet several fieldbus nodes are connected by a switch When data from a network segment reaches the switch it saves the data and checks for the segment and the node to which this data is to be sent The message is then only sent to the node with the correct target address This reduces...

Page 206: ...D 2 IP For the communication the Internet Protocol IP is positioned above the Ethernet hardware This bundles the data to be transmitted in packets along with sender and receiver address and passes these packets down to the Ethernet layer for physical transmission At the receiver end IP accepts the packets from the Ethernet layer and unpacks them 2 IP 1 Ethernet physical interface CSMA CD 3 TCP UDP...

Page 207: ...wsers and some others In this example the protocols MODBUS TCP UDP and EtherNet IP are implemented for use in industrial data communication Here the MODBUS protocol is also positioned directly above TCP UDP IP EtherNet IP on the other hand basically consists of the protocol layers Ethernet TCP and IP with an encapsulation protocol positioned above it This serves as interface to CIP Control and Inf...

Page 208: ...ouplers and controllers IP Version 4 Raw IP and IP Multicast TCP UDP ARP The following diagram is intended to explain the data structure of these protocols and how the data packets of the communication protocols Ethernet TCP and IP with the adapted application protocol MODBUS nested in each other for transmission A detailed description of the tasks and addressing schemes of these protocols is cont...

Page 209: ...he sender does not receive any feedback from the receiver The data used is packed in an address information frame The following figure shows the structure of such a packet Preamble ETHERNET Header ETHERNET_Data Check sum 8 Byte 14 Byte 46 1500 Byte 4 Byte Fig 10 9 ETHERNET Packet The preamble serves as a synchronization between the transmitting station and the receiving station The ETHERNET header...

Page 210: ...e incorrect Therefore it is necessary to use a higher level protocol for example TCP to guarantee correct transmission IP addresses To allow communication over the network each fieldbus node requires a 32 bit Internet address IP address Attention Internet addresses have to be unique throughout the entire interconnected networks As shown below there are various address classes with net identificati...

Page 211: ...s range of Class C networks in the first byte is always between 192 and 223 Additional network classes D E are only used for special tasks Key data Address range of the Possible number of subnetwork networks Subscribers per network Class A 1 XXX XXX XXX 126 XXX XXX XXX 127 27 Ca 16 Million 224 Class B 128 000 XXX XXX 191 255 XXX XXX Ca 16 thousand 214 Ca 65 thousand 216 Class C 192 000 000 XXX 223...

Page 212: ...e size and position of the subnetwork ID are not defined however the size is dependent upon the number of subnets to be addressed and the number of subscribers per subnet 1 8 16 24 32 1 0 Net ID Subnet ID Host ID Fig 10 10 Class B address with Field for Subnet ID Subnet mask A subnet mask was introduced to encode the subnets in the Internet This involves a bit mask which is used to mask out or sel...

Page 213: ...etwork mask defined by the administrator in the same way as the IP address when installing the network protocol Gateway The subnets of the Internet are normally connected via gateways The function of these gateways is to forward packets to other networks or subnets This means that in addition to the IP address and network mask for each network card it is necessary to specify the correct IP address...

Page 214: ... a multicast address in order to send the packet to several recipients with a single send operation Here the common medium enables packets to be sent simultaneously to several recipients The stations do not have to inform each other on who belongs to a specific multicast address every station physically receives every packet The resolution of IP address to Ethernet address is solved by the use of ...

Page 215: ...at least 20 bytes and contains among others the application port number of the transmitter and the receiver the sequence number and the acknowledgement number The resulting TCP packet is used in the data unit area of an IP packet to create a TCP IP packet 10 1 3 3 3 UDP The UDP protocol like the TCP protocol is responsible for the transport of data Unlike the TCP protocol UDP is not connection ori...

Page 216: ...quests and generates the response from a configuration database The dynamic configuration of the IP address via a BootP server offers the user a flexible and simple design of his network The WAGO BootP server allows any IP address to be easily assigned for the WAGO programmable fieldbus coupler or controller You can download a free copy of the WAGO BootP server over the Internet at http www wago c...

Page 217: ...e programmable fieldbus coupler or controller which is accessed via the Port link If the BootP protocol is deactivated the programmable fieldbus coupler or controller uses the parameters stored in the EEPROM at the next boot cycle If there is an error in the stored parameters a blink code is output via the IO LED and configuration via BootP is automatically switched on 10 1 3 4 2 HTTP HyperText Tr...

Page 218: ...ned how long the coupler controller keeps the assigned IP address The maximum lease time is 24 8 days This results from the internal resolution of timer Renewing time The Renewing time indicates starting from when the coupler controller must worry about the renewal of the leasing time Rebinding time The Rebinding time indicates after which time the coupler controller must have gotten its new addre...

Page 219: ...the Clock link The following parameters must be set Parameter Meaning Address of the Time server The address assignment can be made either over a IP address or a host name Time zone The time zone relative to GMT Greenwich Mean time A range of 12 to 12 hours is acceptable Update Time The update time indicates the interval in seconds in which the synchronization with the time server is to take place...

Page 220: ...STRU Determines the structure for the transferred file MODE Determines the kind of file transmission RETR Reads file from server STOR Saves file on server APPE Saves file on server Append mode ALLO Reservation of the necessary storage location for the file RNFR Renames file from with RNTO RNTO Renames file in with RNFR ABOR Stops current function DELE Deletes file CWD Changes directory LIST Gives ...

Page 221: ...esktop computers are switched off at the end of the day it is impractical to send SMTP mail there For that reason in many networks special SMTP hosts are installed in many networks which are permanently switched on to enable distribution of received mail to the desktop computers 10 1 3 5 Application Protocols If fieldbus specific application protocols are implemented then the appropriate fieldbus ...

Page 222: ...es the secondary explosion protection comes into play Following is a detailed description of such secondary measures 11 3 Classification Meeting CENELEC and IEC The specifications outlined here are valid for use in Europe and are based on the following standards EN50 of CENELEC European Committee for Electrotechnical Standardization On an international scale these are reflected by the IEC 60079 st...

Page 223: ...asional occurrence of an explosive atmosphere 10 h 1000 h year Zone 2 areas can expect the rare or short term occurrence of an explosive atmosphere 0 h 10 h year Explosive areas subject to air borne dust Zone 20 areas are subject to an explosive atmosphere 1000 h year continuously or for extended periods Zone 21 areas can expect the occasional occurrence of an explosive atmosphere 10 h 1000 h year...

Page 224: ...ed by pertinent combustible gases in the environment Subdivision IIA IIB and IIC takes into account that different materials substances gases have various ignition energy characteristic values For this reason the three sub groups are assigned representative types of gases IIA Propane IIB Ethylene IIC Hydrogen Tab 11 1 Minimal ignition energy of representative types of gases Minimal Ignition Energy...

Page 225: ... the electrical operating means Tab 11 2 Unit categories Unit category Explosion group Area of use M1 I Fire damp protection M2 I Fire damp protection 1G II Zone 0 Explosive environment by gas fumes or mist 2G II Zone 1 Explosive environment by gas fumes or mist 3G II Zone 2 Explosive environment by gas fumes or mist 1D II Zone 20 Explosive environment by dust 2D II Zone 21 Explosive environment b...

Page 226: ...nding temperature of 40 C for operation and testing of the electrical components The lowest ignition temperature of the existing explosive atmosphere must be higher than the maximum surface temperature Tab 11 3 Temperature classes Temperature Classes Maximum Surface Temperature Ignition Temperature of the Combustible Materials T1 450 C 450 C T2 300 C 300 C to 450 C T3 200 C 200 C to 300 C T4 135 C...

Page 227: ...N 50 021 IEC 79 15 Electrical components for zone 2 see below Zone 2 Ignition protection n describes exclusively the use of explosion protected electrical components in zone 2 This zone encompasses areas where explosive atmospheres can only be expected to occur rarely or short term It represents the transition between the area of zone 1 which requires an explosion protection and safe area in which...

Page 228: ...the following assignments apply Explosion endangered areas due to combustible gases fumes mist and dust Division 1 Encompasses areas in which explosive atmospheres are to be expected occasionally 10 h 1000 h year as well as continuously and long term 1000 h year Division 2 Encompasses areas in which explosive atmospheres can be expected rarely and short term 0 h 10 h year 11 4 2 Explosion Protecti...

Page 229: ...mperature classes Maximum surface temperature Ignition temperature of the combustible materials T1 450 C 450 C T2 300 C 300 C to 450 C T2A 280 C 280 C to 300 C T2B 260 C 260 C to 280 C T2C 230 C 230 C to 260 C T2D 215 C 215 C to 230 C T3 200 C 200 C to 215 C T3A 180 C 180 C to 200 C T3B 165 C 165 C to 180 C T3C 160 C 160 C to 165 C T4 135 C 135 C to 160 C T4A 120 C 120 C to 135 C T5 100 C 100 C to...

Page 230: ... DC AWG 28 14 55 C max ambient LISTED 22ZA AND 22XM 2 4 2 4 6 2 1 0 1 0 2 0 3 II 3 G KEMA 01ATEX1024 X EEx nA II T4 Explosion protection group Unit category Community symbol for explosion protected electrical components Approval body and or number of the examination certificate E conforming with European standards Ex explosion protected component n Type of ignition Extended identification Explosio...

Page 231: ...ING II 3 G KEMA 01ATEX1024 X EEx nA II T4 CL I DIV 2 Grp A B C D op temp code T4A 24V DC AWG 28 14 55 C max ambient 2 4 2 4 6 4 1 0 0 0 2 0 3 LISTED 22ZA AND 22XM CL I DIV 2 Grp ABCD optemp code T4A Explosion group gas group Explosion protection group condition of use category Area of application zone Temperature class Fig 11 5 2 1 Example for lateral labeling of bus modules 750 400 2 channel digi...

Page 232: ...e excerpts from additional VDE regulations DIN VDE 0100 Installation in power plants with rated voltages up to 1000 V DIN VDE 0101 Installation in power plants with rated voltages above 1 kV DIN VDE 0800 Installation and operation in telecommunication plants including information processing equipment DIN VDE 0185 lightning protection systems The USA and Canada have their own regulations The follow...

Page 233: ...C D or in non hazardous areas Installation connection addition removal or replacement of modules field bus connectors or fuses may only take place when the system supply and the field supply are switched off or when the area is known to be non hazardous Ensure that only approved modules of the electrical operating type will be used The Substitution or Replacement of modules can jeopardize the suit...

Page 234: ...target address is in the connected segment A bridge creates a data base which contains all station addresses MAC addresses On the basis of this data the bridge decides whether or not the received data packets are forwarded to another network segment By and by the bridge will be better able to decide in which segment the data belongs Today switches are often used instead of bridges Broadcast A mess...

Page 235: ...ed time constant The ETHERNET network can be defined and calculated A Switched ETHERNET architecture makes this possible Driver Software code which communicates with a hardware device This communication is normally performed by internal device registers DHCP Dynamic Host Configuration Protocol This protocol allows to configure the network of a computer automatically as well as to assign addresses ...

Page 236: ...ogy in the process related field area Firewall Collective term for solutions which protect LANs connection to the Internet from unauthorized access They are also able to control and regulate the traffic from the LAN into the Internet The crucial part of firewalls are static routers which have an access control list used to decide which data packets can pass from which subscriber Frame Unit of data...

Page 237: ...lar central Services i e UNIX Subscribers on the Internet HTML Abbreviation of hypertext markup language HTML is the description language for documents on the World Wide Web It contains language elements for the design of hypertext documents HTTP Hyper Text Transfer Protocol client server TCP IP protocol which is used on the Internet or Intranets for exchanging HTML documents It normally uses port...

Page 238: ...ler controller to establish the process image In the coupler controller memory the module data is aligned in different ways depending on the set configuration Intel Motorola Format word alignment The format determines whether or not high and low bytes are changed over They are not changed over with the Intel format Internet A collection of networks interconnected to each other throughout the world...

Page 239: ... Specification which establishes the specific structure of a MODBUS TCP data packet This is dependant upon the selected function code Operating system Software which links the application programs to the hardware P Ping command When a ping command ping IP address is entered the ping program ICMP generates echo request packets It is used to test whether a node is available Port number The port numb...

Page 240: ...tice the proxy gateway apart from the single configuration in the web browser Most web browsers can be configured so that they use different or no proxy gateways per access method FTP HTTP R Repeater Repeaters are physical amplifiers without their own processing function They refresh data without detecting damaged data and forward all signals Repeaters are used for longer transmission distances or...

Page 241: ... S SCADA Abbreviation for Supervisory Control and Data Acquisition SCADA software is a program for the control and visualization of processes Segment Typically a network is divided up into different physical network segments by way of routers or repeaters Server Device providing services within a client server system The service is requested by the Client Service Object operation read write SMTP S...

Page 242: ...STP cable is a multi core cable whose stranded conductors are isolated The conductors of the STP cable are individually protected It has no total screen S STP Beside the STP cables there is cable which has total shielding from foil or network shielding additionally to the single shielding of the conductors still another These cables are called S STP cables Screened Shielded twisted pair Subnet A p...

Page 243: ... applications for switching technologies ETHERNET switching is becoming increasingly popular in local networks as it allows the realization of a deterministic ETHERNET T TCP Transport Control Protocol TCP IP Protocol Stack Network protocols which allow communication between different networks and technologies Telnet The Telnet protocol fulfils the function of a virtual terminal It allows remote ac...

Page 244: ...r uniform resource locator Address form for Internet files which are mostly applied within the World Wide Web WWW The URL format makes the unambiguous designation of all documents on the Internet possible by describing the address of a document or object which can be read by a web browser URL includes the transmission type http ftp news etc the computer which contains the information and the path ...

Page 245: ... Theis GmbH 1st edition 11 1999 http www WuT de us_printmed html Local Area Networks An introduction to the technology John E McNamara Digital Press 1985 ISBN 0 932376 79 7 Digital Press Teil Nummer EY 00051 DP Network Troubleshooting Guide von Digital Equipment Corporation August 1990 Digital Press Teil Nummer EK 339AB GD 002 ...

Page 246: ... 170 Shared 169 Standard 163 174 Switched 170 Ethernet standard 163 165 F Fieldbus node Architecture 162 Firewall 169 G Gateway 168 178 201 204 H HTML pages 182 HTTP 182 hub 162 164 168 169 Hub 90 165 201 I I O Modules 130 Internal bus error 89 Internet 162 169 177 182 Intranet 169 IP address 82 175 176 178 181 Key data 176 L LED blink code 78 red 78 LEDs 43 locking disc 18 M MAC ID 46 174 Modbus ...

Page 247: ...ard Cabling 167 EN 50173 ISO 11801 TIA 568 A 167 Standardization IEEE 802 3 161 Structured cabling 167 Subnet 178 206 mask 177 206 Subscriber ID 177 Switch 162 168 207 Switched Ethernet 170 199 207 T TCP IP 161 Topology 163 165 167 168 201 202 Star 165 Transmission media 163 rate 161 speed 163 U unlocking lug 18 W word alignment 137 WWW 182 ...

Page 248: ...WAGO Kontakttechnik GmbH Postfach 2880 D 32385 Minden Hansastraße 27 D 32423 Minden Phone 05 71 8 87 0 Fax 05 71 8 87 1 69 E Mail info wago com Web http www wago com ...

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