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Hardware description

3.1 Properties

The EtherCAT coupler IM 053EC serves for an easy connection of decentralized

periphery to EtherCAT. EtherCAT offers real time Ethernet technology on I/O level.

EtherCAT coupler for max. 64 peripheral modules

Ethernet-based field bus system with high real-time capability

Supports the application profile
–

CoE (CANopen over EtherCAT)

–

EoE (Ethernet over EtherCAT)

–

FoE (File-Access over EtherCAT)

Online configuration via master system

Various diagnostics functions

RJ45 jack 100BaseTX

Operation Modes
–

FreeRun

–

SyncManager-Event

–

Distributed Clock

HotConnect
–

Station Alias address

via SII parameterizable

–

Explicit Device ID

via dip switch

Easy Maintenance

Display of substitute values possible

Integrated Web server

LEDs for status display

Ordering data

Type

Order number

Description

IM 053EC

053-1EC01

EtherCAT coupler for System SLIO

053-1EC01

VIPA System SLIO

Hardware description

Properties

HB300 | IM | 053-1EC01 | en | 18-49

Summary of Contents for VIPA IM 053EC

Page 1: ...IM 053 1EC01 Manual HB300 IM 053 1EC01 en 18 49 VIPA System SLIO Interface module EtherCAT IM 053EC www vipa com en service support manuals...

Page 2: ...053 1EC01_000_IM 053EC 5 EN 2018 VIPA GmbH Ohmstr 4 91074 Herzogenaurach Telephone 49 9132 744 0 Fax 49 9132 744 1864 Email info vipa com Internet www vipa com...

Page 3: ...3 Hardware description 36 3 1 Properties 36 3 2 Structure 37 3 2 1 Interfaces 37 3 2 2 Address switch 39 3 2 3 LEDs 39 3 3 Address area 41 3 4 Technical data 42 4 Deployment 44 4 1 Basics EtherCAT 44...

Page 4: ...4 7 Variable PDO mapping via SDO 70 4 8 Object Dictionary 71 4 9 Error handling 92 4 9 1 Overview 92 4 9 2 Emergency error message 92 4 9 3 Standard error messages 93 4 9 4 SDO error code 95 4 10 Fir...

Page 5: ...may be included for units which are not present at the customer site The exact scope of delivery is described in the respective purchase contract Hereby VIPA GmbH declares that the products and syste...

Page 6: ...PA It contains a description of the structure project engineering and deployment Product Order number as of state HW FW IM 053EC 053 1EC01 01 V1 1 2 The manual is targeted at users who have a backgrou...

Page 7: ...nel in the n project design department n installation department n commissioning n operation CAUTION The following conditions must be met before using or commis sioning the components described in thi...

Page 8: ...that have been damaged by electrostatic discharges can fail after a temperature change mechanical shock or changes in the electrical load Only the consequent implementation of protection devices and m...

Page 9: ...exity is low because the supply of the DC 24V power section is integrated to the backplane bus and defective modules may be replaced with standing wiring By deployment of the power modules in contrast...

Page 10: ...ules are supplied The DC 24 power section supply for the linked periphery modules is established via a further connection of the power module By installing of up to 64 periphery modules at the backpla...

Page 11: ...ule contains the backplane bus with power supply for the electronic the DC 24V power section supply and the staircase shaped terminal for wiring Additionally the terminal module has a locking system f...

Page 12: ...mounting a System SLIO module For the protection of the backplane bus con nector you always have to mount the bus cover at the last module of your system again The bus cover has the order no 000 0AA0...

Page 13: ...2 3 Dimensions Dimensions CPU 01xC Dimensions CPU 01x Dimensions bus coupler and line extension slave VIPA System SLIO Basics and mounting Dimensions HB300 IM 053 1EC01 en 18 49 13...

Page 14: ...Dimensions in mm Dimensions line extension master Dimension periphery module Dimensions electronic module VIPA System SLIO Basics and mounting Dimensions HB300 IM 053 1EC01 en 18 49 14...

Page 15: ...ers The bus coupler is directly mounted at a mounting rail Up to 64 modules may be mounted The electronic and power section supply are connected via the back plane bus Please consider here that the su...

Page 16: ...mounting the periphery modules you have to remove the bus cover at the right side of the bus coupler by pulling it forward Keep the cover for later mounting 2 Mount the periphery modules you want Mou...

Page 17: ...ronment Devices which are attached to the system must meet theses specifications Installation and cable routing other than SELV PELV specification must be separated from the system s equipment 2 5 1 W...

Page 18: ...t the stripped end of wire into the round opening You can use wires with a cross section of 0 08mm2 up to 1 5mm2 3 By removing the screwdriver the wire is securely fixed via the spring contact to the...

Page 19: ...n The power section supply is to be externally protected with a fuse which corresponds to the maximum current This means max 10A is to be protected with a 10A fuse fast respectively by a line circuit...

Page 20: ...ch the cables with the accordingly stripped cable screen and fix it by the shield clamp with the shield bus 2 5 2 Wiring periphery modules CAUTION Do not connect hazardous voltages If this is not expl...

Page 21: ...ing contact to the terminal 1 Shield bus carrier 2 Shield bus 10mm x 3mm 3 Shield clamp 4 Cable shield To attach the shield the mounting of shield bus carriers are necessary The shield bus carrier ava...

Page 22: ...er modules terminals with spring clamp technology are used for wiring The spring clamp technology allows quick and easy connection of your signal and supply lines In contrast to screw terminal connect...

Page 23: ...the stripped end of wire into the round opening You can use wires with a cross section of 0 08mm2 up to 1 5mm2 3 By removing the screwdriver the wire is securely fixed via the spring contact to the t...

Page 24: ...The power section supply is to be externally protected with a fuse which corresponds to the maximum current This means max 10A is to be protected with a 10A fuse fast respectively by a line circuit br...

Page 25: ...th max 4A n By placing the power module 007 1AB10 at the following backplane bus modules may be placed with a sum current of max 2A Afterwards a power module is to be placed again To secure the power...

Page 26: ...r adaptation to a flat mounting rail you may remove the spacer of the shield bus car rier 2 Put your shield bus into the shield bus carrier 3 Attach the cables with the accordingly stripped cable scre...

Page 27: ...s coupler and pull it forward 4 Turn all the locking lever of the bus coupler to be exchanged upwards 5 Pull the bus coupler forward 6 For mounting turn all the locking lever of the bus coupler to be...

Page 28: ...side until this engages to the terminal module Now you can bring your system back into operation 1 Power off your system 2 Remove if exists the wiring of the module 3 For demounting and exchange of a...

Page 29: ...e 10 Wire your module Now you can bring your system back into operation 1 Power off your system 2 Remove if exists the wiring of the module group 3 For demounting and exchange of a head module or a gr...

Page 30: ...group put it to the gap between the both modules and push it guided by the stripes at both sides to the mounting rail 8 Turn all the locking lever downward again 9 Plug again the electronic module whi...

Page 31: ...power modules page 22 Behaviour After PowerON the MF LED of one module respectively more modules flashes The RUN LED remains off Reason At this position a module is placed which does not correspond t...

Page 32: ...o the interference cause interferences to your control occur by means of different coupling mechanisms There are n galvanic coupling n capacitive coupling n inductive coupling n radiant coupling In th...

Page 33: ...h conductor is impedance low because otherwise the interference currents may appear as interference cause When isolating cables you have to regard the following n If possible use only cables with isol...

Page 34: ...lation voltage to reference earth Inputs outputs AC DC 50V test voltage AC 500V Protective measures against short circuit Environmental conditions to EN 61131 2 Climatic Storage transport EN 60068 2 1...

Page 35: ...2 EN 61000 4 3 HF field immunity casing 80MHz 1000MHz 10V m 80 AM 1kHz 1 4GHz 2 0GHz 3V m 80 AM 1kHz 2GHz 2 7GHz 1V m 80 AM 1kHz EN 61000 4 6 HF conducted 150kHz 80MHz 10V 80 AM 1kHz EN 61000 4 4 Bur...

Page 36: ...er EtherCAT FoE File Access over EtherCAT n Online configuration via master system n Various diagnostics functions n RJ45 jack 100BaseTX n Operation Modes FreeRun SyncManager Event Distributed Clock n...

Page 37: ...ply 8 Power module 9 EtherCAT RJ45 bus interface IN 10 EtherCAT RJ45 bus interface OUT 11 Unlocking lever power module 12 Bus interface 13 Terminal power module 14 Address switch 3 2 1 Interfaces CAUT...

Page 38: ...t 1 jack is to be connected to the succeeding EtherCAT station With the respective last EtherCAT station the OUT jack remains free n EtherCAT uses Ethernet as transfer medium Standard CAT5 cables are...

Page 39: ...2 Setting the HotConnect address page 48 Pos Value Example State Address 1 not used 1 2 32 35 Address 35 2 1 1 3 2 1 4 4 0 5 8 0 6 16 0 7 32 1 8 64 0 3 2 3 LEDs PWR IO green PWR green PF red Descripti...

Page 40: ...ware update RUN Off Bus coupler in state Init green Bus coupler in state Operational green n Blinking with 2 5Hz Bus coupler in state Pre Operational n SingleFlash Bus coupler in state Safe Operationa...

Page 41: ...f hardware interrupts 4 4 Diagnostics interrupt counter number of diagnostics interrupts 8 8 Diagnostic module status 16 1 Newest Message available 17 1 Alignment 18 1 Error Sync Manager Out 19 1 Erro...

Page 42: ...atus display yes Interrupts yes parameterizable Process alarm yes parameterizable Diagnostic interrupt yes parameterizable Diagnostic functions yes parameterizable Diagnostics information read out pos...

Page 43: ...tes Parameter bytes 3 Diagnostic bytes Housing Material PPE PPE GF10 Mounting Profile rail 35 mm Mechanical data Dimensions WxHxD 48 5 mm x 109 mm x 76 5 mm Net weight 160 g Weight including accessori...

Page 44: ...any stations EtherCAT has a rate of user data of over 90 n The EtherCAT protocol which is optimized for process data is directly transported with the Ethernet frame This again can consist of several s...

Page 45: ...an EtherCAT frame at the bus the outputs of the EtherCAT slave stations are activated at different times and the inputs are read at different times For an isochronous access to the process data EtherC...

Page 46: ...ion is blocked In Safe Op the input data are cyclically updated but the outputs are de activated With the transition from Pre Op to Safe Op the EtherCAT slave checks if the SyncManager chan nels for p...

Page 47: ...s Ethernet over EtherCAT n Automatically activated when switching from Init to Pre Operational Pre Op n Is deactivated automatically when switching from Pre Operational Pre Op to Init 4 1 5 ESI files...

Page 48: ...the HotConnect address via Explicit Device ID happens as follows 1 Switch off the power supply of the bus coupler 2 Set the address at the address switch Pos Value Example State Address 1 not used 1...

Page 49: ...r an ESC register and a Configured Station Alias address in your configuration tool can be found in the associated manual For example in the EtherCAT Manager you must open the Advanced options of the...

Page 50: ...s the processing of the process data 1 EtherCAT frame 2 Jitter depends on the master implementation To use the Free Run synchronization mode in your configuration tool you must set the synchronization...

Page 51: ...on mode Synchron with distributed clocks DC no System SLIO CP 040 may exist on the backplane bus 4 4 Accessing the System SLIO 4 4 1 General Calculation formula of the max required cycle time in s so...

Page 52: ...may be accessed via the following objects n PDO n SDO 4 4 3 1 Access via PDO As soon as the EtherCAT coupler changes to the state Safe Operational the input data may be read In the state Operational...

Page 53: ...U8 0 ro 60 Number of subindexes of the input data for the corresponding EtherCAT Slot 0x6000 0x603F 01 U32 16 ro Input data see module description 0x6000 0x603F 02 U32 ro 0x6000 0x603F ro Explanation...

Page 54: ...elements page 71 With this object the output data of a System SLIO may be read Here the addressing via index 0x7000 EtherCAT Slot takes place The corresponding output data may be accessed via subinde...

Page 55: ...ndex Sub Name Type Offset Access Default Description 0x3100 0x313F 00 Parameter U8 0 ro Number of parameters Access to the parameters of the System SLIO modules Only modules with parameters are mapped...

Page 56: ...th a hardware configuration as target configuration and and create your user program The target configuration represents a superset of all available hardware variants 2 Open the EtherCAT configuration...

Page 57: ...ttarget This value is identical when configuring hardware variants Mapping Mapping corresponds to the hex value of Slotactual i e the slot of the actual configuration on which the module of the target...

Page 58: ...C3Ch Slottarget The FMM configuration always refers to the slot of the target configuration Subindex The subindex for the FMM configuration results from the Slottarget This value is identical when con...

Page 59: ...tion at Slotactual 5 Mapping 05h n Subindex 05 The module of Slottarget 5 is in the actual configuration at Slotactual 6 Mapping 06h n Subindex 06 The module of Slottarget 6 is in the actual configura...

Page 60: ...ctual 4 Mapping 04h n Subindex 06 The module of Slottarget 6 is not available in the actual configuration Mapping FFh Slottarget The FMM configuration always refers to the slot of the target configura...

Page 61: ...on at Slotactual 6 Mapping 06h Slottarget The FMM configuration always refers to the slot of the target configuration Subindex The subindex for the FMM configuration results from the Slottarget This v...

Page 62: ...IM 053EC 0x4100 01 Module Name VSTRG 16 ro 0 Module Name 0x4100 02 Module ID U32 256 ro 0 Module ID 0x4100 03 Serial Number VSTRG 288 ro 0 Serial number of the module 0x4100 04 Product Version VSTRG 4...

Page 63: ...00 03 Diagnostic Module Status U64 80 ro 0x00000000 64 bit array each bit represents a pending but acknowledged diagnostic alarm Explanation of the elements page 71 n With de activated Auto Acknowledg...

Page 64: ...ke to subindex 0x06 of index 0x5000 Diagnostic Interrupt Data byte 1 4 Index Sub Name Type Offset Access Default Description 0x5002 00 Diagnostic Interrupt Data U8 0 ro 6 Current diagnostic interrupt...

Page 65: ...f chan nels U8 72 ro 0 0x5005 09 Channel error U8 80 ro 0 0x5005 0A Channel specific error channel 0 U8 88 ro 0 0x5005 0B Channel specific error channel 1 U8 96 ro 0 0x5005 0C Channel specific error c...

Page 66: ...activation is carried out via the Command object 0x2000 Default deactivated Command page 81 Procedure n Use Parameter object 0x2000 02 to determine whether the web server is enable 1 or disable 0 n u...

Page 67: ...e IM 053 1EC01 are listed n Data The process data from the IM 053 1EC01 and all modules are displayed here n Parameter Here you can see the current parameters of the IM 053 1EC01 n Diagnosis Configura...

Page 68: ...le Parameters Here you can import and activate a configuration from an XML file whereby only the module parameters are used CAUTION Please consider that controlling of output values represents a poten...

Page 69: ...corresponding module may be shown n Diagnosis Configuration State Here the status of the configuration is displayed Diagnosis Entries All active diagnostic messages are displayed here Diagnosis Buffer...

Page 70: ...These startup commands are SDO write accesses to the areas 0x16yy and 0x1Ayy PDO mapping where the structure of the process data of a module is described The startup commands are executed with each ch...

Page 71: ...ecognized by the EtherCAT coupler and so are not listed respectively considered during slot allocation Further within EtherCAT the slots are designated as EtherCAT Slot The counting always begins with...

Page 72: ...iption 0x1009 00 Hardware version VSTRG ro Hardware version of the coupler Explanation of the elements page 71 Software version Index Sub Name Type Access Default Description 0x100A 00 Software versio...

Page 73: ...pe Offset Access Default Description 0x10F3 00 Diagnosis History U8 0 ro 0xFF Diagnosis History 0x10F3 01 Maximum Messages U8 16 ro 0xFA Maximum Messages 0x10F3 02 Newest Message U8 24 ro 0 Newest Mes...

Page 74: ...th of 1 bit 0x1600 0x163F 02 Output mapping U32 ro rw 0x1600 0x163F Explanation of the elements page 71 rw only at output modules with variable process output image Input mapping modules Index Sub Nam...

Page 75: ...nded Diagnostic Data Diagnostic Module Status 0x1B00 02 Input Mapping 02 U32 48 ro 0x10F30401 New Message available Explanation of the elements page 71 The PDOs 0x1B00 and 0x1B01 are optional and can...

Page 76: ...gnment 0x16yy 0x1C12 01 RxPDO Mapping 1 U16 16 ro PDO Mapping object index of assigned PDO 0x1C12 U16 ro 0x1C12 40 RxPDO Mapping 64 U16 ro Explanation of the elements page 71 TxPDO Assign Index Sub Na...

Page 77: ...supported by the slave maximum duration time of the local cycle in ns n It might be necessary to start the Dynamic Cycle Time measurement SI04 Bit 14 and SI08 Bit 0 to get a valid value used in Synchr...

Page 78: ...counter is incremented when the time distance between the trigger Sync0 and the Outputs Valid is too short because of a too short Shift Time or Sync1 Cycle Time n Used in DC Mode 0x1C32 14 RxPDO Toggl...

Page 79: ...ycle time supported by the slave maximum duration time of the local cycle in ns n It might be necessary to start the Dynamic Cycle Time measurement SI04 Bit 14 and SI08 Bit 0 to get a valid value n Us...

Page 80: ...cle time is too small so that the local cycle cannot be completed and input data cannot be provided before the next SM event n Used in Synchronous or DC Mode 0x1C33 13 Shift Time Too Short U16 320 ro...

Page 81: ...in 0x2000 02 n 0x00008001 Set web server state Parameter in 0x2000 02 0x2000 02 Parameter U32 48 ro 0 Additional parameter for command execution State web server n 1 enable n 0 disable Will be stored...

Page 82: ...nterrupt is automatically acknowledged by the EtherCAT coupler In this mode the diagnostics data were always overwritten by new interrupts Default setting is Auto Acknowledge 1 For continuous use Auto...

Page 83: ...the module has parameters it is valid n Index 0x3100 Access to EtherCAT Slot 0 n Index 0x3101 Access to EtherCAT Slot 1 n n Index 0x313F Access to EtherCAT Slot 64 In the following example via index...

Page 84: ...node address U16 144 ro 0 0x4001 0A Telegram valid U16 160 ro 0 0x4001 0B Master load U16 176 ro 0 0x4001 0C One Telegram Retry Counter U16 192 ro 0 0x4001 0D Two Telegram Retry Counter U16 208 ro 0 0...

Page 85: ...dule 0x4100 05 Hardware Version VSTRG 520 ro 0 Hardware version of the module 0x4100 06 Software Version VSTRG 536 ro 0 Software version of the module 0x4100 07 FPGA Version U16 632 ro 0 FPGA version...

Page 86: ...termine the firmware version of the SLIO module at the EtherCAT Slot FPGA version modules Index Sub Name Type Access Default Description 0x4107 00 Module FPGA version U8 ro FPGA versions of the module...

Page 87: ...any value you like to subindex 0x06 of index 0x5000 Diagnostic Interrupt Data byte 1 4 Index Sub Name Type Offset Access Default Description 0x5002 00 Diagnostic Interrupt Data U8 0 ro 6 Current diag...

Page 88: ...0x5005 08 Number of chan nels U8 72 ro 0 0x5005 09 Channel error U8 80 ro 0 0x5005 0A Channel specific error channel 0 U8 88 ro 0 0x5005 0B Channel specific error channel 1 U8 96 ro 0 0x5005 0C Channe...

Page 89: ...corresponding module Read output data Index Sub Name Type Offset Access Default Description 0x7000 0x703F 00 Output data U8 0 ro 60 Number of subindexes of the output data for the corresponding Ether...

Page 90: ...Bit 31 16 fix 0 Module profile specific infor mation 0xF010 01 Subindex 001 U32 16 ro 0 0xF010 02 Subindex 002 U32 48 ro 0 0xF010 U32 ro 0xF010 40 Subindex 064 U32 ro 0 Explanation of the elements pa...

Page 91: ...rupt 0xF100 02 Diagnostic inter rupt counter U32 48 ro 0x00000000 Counter for diagnostic interrupt 0xF100 03 Diagnostic Module Status U64 80 ro 0x00000000 64 bit array each bit represents a pending bu...

Page 92: ...xFF00 0xA0xx State Machine transition error e g due to a configuration error length address settings More information concerning this may be found at ETG ER Error register State of the State Machine 0...

Page 93: ...16 Invalid mailbox configuration I P I E 0x0017 Invalid SyncManager configuration P S S O Current state E 0x0018 No valid inputs available O S O S E 0x0019 No valid outputs O S O S E 0x001A Synchroniz...

Page 94: ...Reserved 4 9 3 1 SyncManager watchdog If there is no communication to the master possible e g line is interrupted you will get the error message 0x001B after the SyncMaster watchdog time has been ela...

Page 95: ...in the device 0x06060000 Access failed due to an hardware error 0x06070010 Data type does not match length of service parameter does not match 0x06070012 Data type does not match length of service par...

Page 96: ...Manager the master must be in the state Init 3 Select file Px000314 pkg for download via FoE 4 Enter the following FoE parameters Filename Px000314 Password hex 0x0000000 Timeout ms 100000 if availabl...

Page 97: ...tention to an identical slot assignment If the slot configuration fits between master and 053 1EC01 but deviates from the slot configuration of EtherCAT slave 053 1EC00 this deviation is not recognize...

Page 98: ...deviations in your user program 053 1EC00 053 1EC01 Object 0x100B n Specification of the SLIO system version n Calculation from FPGA version of the EtherCAT slave and the modules Object was deleted Ob...

Page 99: ...adapted at these points 053 1EC01 from version V1 1 2 EtherCAT Manager Rev 2 n The 053 1EC01 offers variable PDO mapping for its own process data n To achieve the same process data size as for the 053...

Page 100: ...Appendix VIPA System SLIO Appendix HB300 IM 053 1EC01 en 18 49 100...

Page 101: ...Content A History of changes 102 VIPA System SLIO Appendix HB300 IM 053 1EC01 en 18 49 101...

Page 102: ...a Ethernet was added n Description of Object Dictionary was revised and the following objects are changed 0x1018 0x1B00 0x3000 The following objects are new 0x1AFF 0x1B01 0x2000 0x3001 n Description R...

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