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YASKAWA VIPA IM 053IP, Manual

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4.9  Error handling

4.9.1  Overview

In EtherCAT there are the following two types of error messages:

n

Emergency error message

n

Standard error message

4.9.2  Emergency error message

Emergency error messages are generated on errors during state changes respectively at

hardware and diagnostic interrupts if the interrupt is activated by parameterization. Emer-

gency error messages are released within device-internal mechanisms and sent to the

master by means of the mailbox service.

Byte

0

1

2

3

4

5

6

7

EEC

ER

DATA

EEC -

E

mergency 

E

rror 

C

odes following ETG specifications:

0xFFxx: Vendor-specific emergency message (VIPA = 0xFF00)

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:

01: Init

02: Pre-Op

03: BootStrap

04: Safe-Op

08: Op

DATA - Error data with more information concerning the error

With a hardware interrupt or diagnostic interrupt respectively in DATA the 

Manufacturer

Specific Error Field

 (MEF) may be found. The field has the following structure:

Byte

0

1

2

3

4

5

6

7

EEC

ER

SLOT

TYPE

DIAG

MEF

SLOT - EtherCAT-Slot of the module where is the error from

TYPE - Interrupt type

01: Hardware interrupt

02: Diagnostics interrupt

DIAG - Error code, which is described at corresponding module.

Frame structure

VIPA System SLIO

Deployment

Error handling > Emergency error message

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

 

92

Summary of Contents for VIPA IM 053IP

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: ...4 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 4 1 1 General 44 4 1 2 EtherCAT State Machine 46 4 1 3 CoE CANopen over Ethernet 47 4 1 4 EoE Ethernet over EtherCAT 47 4 1 5 ESI files 47 4 2 Setting the HotConnect address 48 4 2 1 HotConnect via ...

Page 4: ...0 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 Firmware update 96 4 11 Replace EtherCAT slave 053 1EC00 with 053 1EC01 96 Appendix 100 A History of changes 102 VIPA System SLIO Table of contents HB300 IM 053 1EC01 en 18 49 4 ...

Page 5: ...s 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 systems are in compliance with the essential requirements and other relevant provisions Conformity is indicated by the CE marking affixed to the product For more information regarding CE marking and Decla...

Page 6: ...IPA 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 background in automation technology The manual consists of chapters Every chapter provides a self contained description of a specific topic The following guides are available in the manual n An overall table...

Page 7: ...nnel 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 this manual Hardware modifications to the process control system should only be carried out when the system has been disconnected from power Installation and hardware modifications only by properly trai...

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 meticulous attention to the applicable rules and regulations for handling the respective equipment can prevent failures of electrostatic sensitive modules Modules must be shipped in the original packi...

Page 9: ...lexity 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 contrasting colors within the system further isolated areas may be defined for the DC 24V power section supply respectively the electronic power supply may be extended with 2A VIPA System SLIO Basics and mou...

Page 10: ...dules 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 backplane bus these are electrically connected this means these are assigned to the backplane bus the elec tronic modules are power supplied and each periphery module is connected to the DC 24V power sectio...

Page 11: ...dule 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 for fixing at a mounting rail By means of this locking system your SLIO system may be assembled outside of your switchgear cabinet to be later mounted there as whole system The functionality of a SLIO...

Page 12: ...e 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 0AA00 There is the possibility to fix the assignment of electronic and terminal module Here coding pins order number 000 0AC00 from VIPA can be used The coding pin consists of a coding jack and a coding ...

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: ...vers 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 sum current of the electronic power supply does not exceed the maximum value of 3A By means of the power module 007 1AB10 the current of the electronic power supply may be expanded accordingly 1 Mount ...

Page 16: ...e 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 Mounting periphery modules VIPA System SLIO Basics and mounting Mounting bus coupler HB300 IM 053 1EC01 en 18 49 16 ...

Page 17: ...ironment 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 Wiring bus coupler The System SLIO bus coupler have a power module integrated Terminals with spring clamp technology are used for wiring The spring clamp technology allows quick and easy connection of...

Page 18: ...rt 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 terminal 1 DC 24V for power section supply I O area max 10A 2 DC 24V for electronic power supply bus coupler and I O area Wiring procedure Standard wiring VIPA System SLIO Basics and mounting Wiring ...

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 breaker 10A characteristics Z n It is recommended to externally protect the electronic power supply for bus coupler and I O area with a 2A fuse fast respectively by a line circuit breaker 2A characte...

Page 20: ...ach 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 explicitly stated in the corresponding module description hazardous voltages are not allowed to be connected to the corresponding terminal module With wiring the terminal modules terminals with spring cl...

Page 21: ...ring 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 available as accessory serves to carry the shield bus to connect cable shields 1 Each System SLIO module has a carrier hole for the shield bus carrier Push the shield bus carrier until they engage into ...

Page 22: ...wer 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 connections this type of connection is vibration proof Umax 30V DC Imax 10A Cross section 0 08 1 5mm2 AWG 28 16 Stripping length 10mm Terminal module terminals Data VIPA System SLIO Basics and mounting Wiri...

Page 23: ...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 terminal 1 DC 24V for power section supply I O area max 10A 2 DC 24V for electronic power supply bus coupler and I O area Wiring procedure Standard wiring VIPA System SLIO Basics and mounting Wiring W...

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 breaker 10A characteristics Z n It is recommended to externally protect the electronic power supply for head modules and I O area with a 2A fuse fast respectively by a line circuit breaker 2A character...

Page 25: ...ith 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 supply the power modules may be mixed used 1 DC 24V for power section supply I O area max 10A 2 DC 24V for electronic power supply bus coupler and I O area 3 DC 24V for power section supply I O area ...

Page 26: ...or 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 screen and fix it by the shield clamp with the shield bus 2 6 Demounting 2 6 1 Demounting bus coupler CAUTION Bus interface and power module may not be separated Here you may only exchange the electronic...

Page 27: ...us 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 exchanged upwards 7 To mount the bus coupler put it to the left periphery module and push it guided by the stripes to the mounting rail 8 Turn all the locking lever downward again VIPA System SLIO Ba...

Page 28: ... side until this engages to the terminal module ð 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 head module or a group of modules due to mounting reasons you always have to remove the electronic module right beside After mounting it may be plugged again Press the unlocking lever at the lower ...

Page 29: ...e 10 Wire your module ð 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 group of modules due to mounting reasons you always have to remove the electronic module right beside After mounting it may be plugged again Press the unlocking lever at the lower side of the just mou...

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 which you have removed before 10 Wire your module group ð Now you can bring your system back into operation VIPA System SLIO Basics and mounting Demounting Demounting periphery modules HB300 IM 053 1EC01...

Page 31: ...ng 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 to the configured module Remedy Match configuration and hardware structure Behaviour After PowerON all of the RUN LEDs up to the defective module are flashing With all following modules the MF LED is...

Page 32: ...to 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 the most times it is enough to take care of some elementary rules to guarantee the EMC Please regard the following basic rules when installing your PLC n Take care of a correct area wide grounding of t...

Page 33: ...th 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 isolation tangle n The hiding power of the isolation should be higher than 80 n Normally you should always lay the isolation of cables on both sides Only by means of the both sided connection of the isol...

Page 34: ...ulation 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 14 25 70 C Operation Horizontal installation hanging EN 61131 2 0 60 C Horizontal installation lying EN 61131 2 0 55 C Vertical installation EN 61131 2 0 50 C Air humidity EN 60068 2 30 RH1 without co...

Page 35: ...y 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 Burst degree of severity 3 EN 61000 4 5 Surge degree of severity 3 Due to the high energetic single pulses with Surge an appropriate external protective circuit with lightning protection elements like c...

Page 36: ...ver 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 HotConnect Station Alias address via SII parameterizable Explicit Device ID via dip switch n Easy Maintenance n Display of substitute values possible n Integrated Web server n LEDs for status displa...

Page 37: ...pply 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 CAUTION Bus interface and power module of the bus coupler may not be sepa rated Here you may only exchange the electronic module 053 1EC01 VIPA System SLIO Hardware description Structure Interfaces HB300...

Page 38: ...rt 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 used Here distances of about 100m between 2 stations are possible n Only EtherCAT components may be used in an EtherCAT network For topologies which depart from the line structure the corresponding E...

Page 39: ...4 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 Description X Power section supply OK Electronic section supply OK X X Fuse electronic section supply defective not relevant X LEDs power module VIPA System SLIO Hardware description Structure LEDs HB300 IM ...

Page 40: ...mware 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 Operational L A1 Off no communication to the preceding station green Blinking with 10Hz Preceding EtherCAT station is connected L A2 Off no communication to the succeeding station green Blinking with 10Hz Succ...

Page 41: ... of 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 Error Sync Manager In No byte of the output area is used by the EtherCAT coupler Input area Output area VIPA System SLIO Hardware description Address area HB300 IM 053 1EC01 en 18 49 41 ...

Page 42: ...tatus display yes Interrupts yes parameterizable Process alarm yes parameterizable Diagnostic interrupt yes parameterizable Diagnostic functions yes parameterizable Diagnostics information read out possible Supply voltage display green LED Service Indicator Group error display red SF LED Channel error display none Hardware configuration Racks max 1 Modules per rack max 64 Number of digital modules...

Page 43: ...ytes 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 accessories 160 g Gross weight 175 g Environmental conditions Operating temperature 0 C to 60 C Storage temperature 25 C to 70 C Certifications UL certification in preparation KC certification in preparation ...

Page 44: ...many 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 sub frames which serve for a storage area of the process image EtherCAT uses Ethernet as transfer medium Standard CAT5 cables are used Here dis tances of about 100m between 2 stations are possible Onl...

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 EtherCAT provides the distributed clock func tionality In EtherCAT Distributed Clocks means a logical combination of clocks which are located in the EtherCAT devices With this there is the possibility to l...

Page 46: ...tion 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 process data communication are correct Before it acknowledges the state change the EtherCAT slave copies current input data to the corresponding DP RAM areas of the EtherCAT slave controller In the st...

Page 47: ... 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 From VIPA there are ESI files for the EtherCAT coupler available These files may be found at the Service Support è Downloads è Config files of www vipa com Please install the ESI files in your configur...

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 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 Switch on the power supply of the bus coupler ð The value set on the address switch is used as Explicit Device ID If addressing via ad...

Page 49: ...ter 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 slave station in your configuration activate Check identification and enter the ESC register address 0x0012 at Select local address In this case the Configured Station Alias address must be specifie...

Page 50: ...rs 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 mode to Free Run SM Synchron and write 0 to the objects 0x1C32 01 and 0x1C33 01 in the PreOp state The object can also be written by an Init command More may be found in the manual of your configura...

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 µs so that the coupler safely switches to the state Operational Op Max required cycle time in µs 1 83 number of modules 0 33 S of input and output bytes 60 In the following you will find the description of...

Page 52: ...a 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 the output data may also be written Information concerning the process data transfer by means of PDO may be found in the manual of your EtherCAT master Additionally the in output data are mapped on S...

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 Ä Explanation of the elements page 71 With this object the input data of a System SLIO module may be read Here the addressing of the EtherCAT Slot via index 0x6000 EtherCAT Slot takes place The corresponding inpu...

Page 54: ...he 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 subindexes The allocation of the subindexes may be found in the descrip tion of the corresponding module Information concerning the write access to outputs may be found in the manual of your EtherCAT maste...

Page 55: ...Index 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 0x3100 0x313F 01 Param1 U8 16 rw Module parameter data see module description 0x3100 0x313F 02 Param2 U8 32 rw 0x3100 0x313F Modules with no interrupt capability or whose diagnostic interrupt is de ...

Page 56: ...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 tool in your project 3 Activate the parameter Download slot configuration for the slave station ð The module IDs of the target configuration are written to the CoE object 0xF030 4 Adjust the CoE init co...

Page 57: ...ottarget 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 configuration is located If a module from the target configuration is missing for Mapping the value FFh for virtual module is to be used If modules of the target configuration are to be ignored the ...

Page 58: ...3C3Ch 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 configuring hardware variants I Otarget Number of input and output bytes of the target configuration This value is identical when configuring hardware variants Sample application VIPA System SLIO Deploy...

Page 59: ...ation at Slotactual 5 à Mapping 05h n Subindex 05 The module of Slottarget 5 is in the actual configuration at Slotactual 6 à Mapping 06h n Subindex 06 The module of Slottarget 6 is in the actual configuration at Slotactual 4 à Mapping 04h Slottarget The FMM configuration always refers to the slot of the target configuration Subindex The subindex for the FMM configuration results from the Slottarg...

Page 60: ...otactual 4 à Mapping 04h n Subindex 06 The module of Slottarget 6 is not available in the actual configuration à Mapping FFh 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 configuring hardware variants Slotactual Slot of the actual configuration on which ...

Page 61: ...uration at Slotactual 6 à 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 value is identical when configuring hardware variants Slotactual Slot of the actual configuration on which the module of the target configura tion is located Mapping For variant 3 Mapping corres...

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 448 ro 0 Product version of the module 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 V...

Page 63: ...00 03 Diagnostic Module Status U64 80 ro 0x00000000 64 bit array each bit represents a pending but acknowledged diagnostic alarm Ä Explanation of the elements page 71 n With de activated Auto Acknowledge of the EtherCAT coupler the corresponding counter is set to 1 until you acknowledge this accordingly For this you have to write any value you like to subindex 0x06 under the accordingly assigned i...

Page 64: ...ike 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 data 0x5002 01 Slot number U8 16 ro 0x00 EtherCAT Slot of the module which reports an interrupt 0x5002 02 Diagnostic data 00 U8 24 ro 0x00 Byte 1 4 of the diagnostic data see module description 0x500...

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 channel 2 U8 104 ro 0 0x5005 0D Channel specific error channel 3 U8 112 ro 0 0x5005 0E Channel specific error channel 4 U8 120 ro 0 0x5005 0F Channel specific error channel 5 U8 128 ro 0 0x5005 10 Chan...

Page 66: ... activation is carried out via the Command object 0x2000 Default deactivated Ä Command page 81 Procedure n Use Parameter object 0x2000 02 to determine whether the web server is enable 1 or disable 0 n use Execute Command object 0x2000 01 to issue the command 0x00008001 Set web server state n Status object 0x2000 03 indicates whether the command was executed success fully or incorrectly 1 command e...

Page 67: ...he 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 Configuration State Deviations between the setpoint and actual configuration are shown here OK no deviation Diagnosis Entries Here all pending diagnostic messages are shown Diagnosis Buffer Here the content o...

Page 68: ...odule 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 tially dangerous condition As long as Active setting mode is activated set variables retain their value Active setting mode should only be used for test purposes respec tively for troubleshooting ...

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 Here the content of the diagnostics buffer is listed Expert View takes you to the advanced Expert View Web page with selected module Expert View VIPA System SLIO Deployment Accessing the web server ...

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 change from Pre Op to Safe Op condition of the appropriate EtherCAT coupler n Within your EtherCAT master system EtherCAT configurator the PDO contents may be removed or added Here the startup command ...

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 0 In the following example at the physical slot 2 a clamp module CM is connected Since the clamp module does not have any module ID this is not recognized by the EtherCAT coupler So in EtherCAT the n...

Page 72: ...iption 0x1009 00 Hardware version VSTRG ro Hardware version of the coupler Ä Explanation of the elements page 71 Software version Index Sub Name Type Access Default Description 0x100A 00 Software version VSTRG ro Software version of the coupler Ä Explanation of the elements page 71 Identity object Index Sub Name Type Offset Access Default Description 0x1018 00 Identity object U8 0 ro 4 Identity ob...

Page 73: ...Type 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 Message n 0x10F3 02 Reading Newest Message and save at user program n Bit 0 set again read again 0x10F3 02 and difference to previously read value is the number of new entries n 0x10F3 xx Read entries ...

Page 74: ...th of 1 bit 0x1600 0x163F 02 Output mapping U32 ro rw 0x1600 0x163F Ä Explanation of the elements page 71 rw only at output modules with variable process output image Input mapping modules Index Sub Name Type Offset Access Default Description 0x1A00 0x1A3F 00 TxPDO map U8 0 ro rw Number of inputs at this slot Entry only available at slots with input modules 0x1A00 0x1A3F 01 Input mapping U32 16 ro...

Page 75: ...nded Diagnostic Data Diagnostic Module Status 0x1B00 02 Input Mapping 02 U32 48 ro 0x10F30401 New Message available Ä Explanation of the elements page 71 The PDOs 0x1B00 and 0x1B01 are optional and can be activated or deactivated as required n Default PDO 0x1B00 is activated PDO 0x1B01 is deactivated Input Mapping coupler Index Sub Name Type Offset Access Default Description 0x1B01 00 Status PDO M...

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 Ä Explanation of the elements page 71 TxPDO Assign Index Sub Name Type Offset Access Default Description 0x1C13 00 TxPDO Assign U8 0 ro Number of input PDOs of coupler and modules Sync Manager 3 PDO Assignment 0x1C13 01 TxPDO Mapping 1 U16 16 ro PDO Mapping obj...

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 Synchronous or DC Mode 0x1C32 06 Calc and Copy Time U32 144 ro Time needed by the application controller to copy the process data from the Sync Manager to the local memory and perform calculations if neces...

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 Toggle Failed U16 336 ro This error counter is incremented when the slave supports the RxPDO Toggle and does not receive new RxPDO data from the master RxPDO Toggle set to TRUE 0x1C32 15 Minimum Cycle Dist...

Page 79: ...cycle 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 Used in Synchronous or DC Mode 0x1C33 06 Calc and Copy Time U32 144 ro Time in ns needed by the application controller to perform calculations on the input values if necessary and to copy the process d...

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 n This error 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 0x1C33 1...

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 permanently 0x2000 03 Status U32 80 ro 0 Return value of command execution n 0 initial state n 1 command executed n 2 command not executed n 3 command unknown n 4 command not executable in this state ...

Page 82: ...interrupt 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 Acknowledge should be activated Free Module Mapping FMM Configuration Index Sub Name Type Offset Access Default Description 0x3001 00 Free Module Mapping Configu ration U16 0 ro 0x64 Slot configurat...

Page 83: ...f 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 0x3102 the parameters of the module at the physically slot 4 may be accessed Physical slot number 1 2 3 4 Module DI CM DO AI Index 0x3100 0x3101 0x3102 EtherCAT Slot 0 1 2 This entry is not listed be...

Page 84: ...ode 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 0x4001 0E Three or More Telegram Retry Counter U16 224 ro 0 Ä Explanation of the elements page 71 Module MDL counter Index Sub Name Type Offset Access Default Description 0x4002 00 Module MDL counter U8...

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 0x4100 08 Mx File VSTRG 648 ro 0 Mx File of the coupler Ä Explanation of the elements page 71 Here the value of the versions of the components of the IM 053EC may be accessed Serial number modules Ind...

Page 86: ...etermine 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 modules 0x4107 01 Slot 1 U16 ro EtherCAT Slot 0x4107 02 Slot 2 U16 ro 0x4107 U16 ro 0x4107 40 Slot 64 U16 ro Ä Explanation of the elements page 71 The FPGA version of the SLIO module at the slot in EtherCA...

Page 87: ...e 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 diagnostic interrupt data 0x5002 01 Slot number U8 16 ro 0x00 EtherCAT Slot of the module which reports an interrupt 0x5002 02 Diagnostic data 00 U8 24 ro 0x00 Byte 1 4 of the diagnostic data see module ...

Page 88: ...x5005 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 Channel specific error channel 2 U8 104 ro 0 0x5005 0D Channel specific error channel 3 U8 112 ro 0 0x5005 0E Channel specific error channel 4 U8 120 ro 0 0x5005 0F Channel specific error channel 5 U8 128 ro...

Page 89: ...e 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 EtherCAT Slot 0x7000 0x703F 01 U32 16 ro Output data see module description 0x7000 0x703F 02 U32 ro 0x7000 0x703F ro Ä Explanation of the elements page 71 With this object the output data of a System SLIO...

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 Ä Explanation of the elements page 71 Configured Module Ident List Index Sub Name Type Offset Access Default Description 0xF030 00 Configured Module Ident List U8 0 rw 0x40 64 Module ID of the configured modules 0xF030 01 Subindex...

Page 91: ...errupt 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 but acknowledged diagnostic alarm Ä Explanation of the elements page 71 n With de activated Auto Acknowledge of the EtherCAT coupler the corresponding counter is set to 1 until you acknowledge this ac...

Page 92: ...0xFF00 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 01 Init 02 Pre Op 03 BootStrap 04 Safe Op 08 Op DATA Error data with more information concerning the error With a hardware interrupt or diagnostic interrupt respectively in DATA the Manufacturer Speci...

Page 93: ...016 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 Synchronization error O S O S E 0x001B SyncManager watchdog O S S E 0x001C Invalid SyncManager Types O S P S S E 0x001D Invalid Output Configuration O S P S S E 0x001E Invalid Input Configuration O S P S P E 0...

Page 94: ...0 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 elapsed The time is to be configured in the master n SyncManager watchdog is used for frame monitoring If no more frames arrive to the slave in a certain time it comes to the watchdog and the slave chan...

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 parameter too high 0x06070013 Data type does not match length of service parameter too low 0x06090011 Subindex does not exist 0x06090030 Value range of parameter exceeded only for write access 0x0609003...

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 available in the configuration tool 5 Download the package to your slave After the package is completely transferred to the slave the firmware update starts recognizable by the alternately flashing SF and MT ...

Page 97: ...ention 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 recognized n PDO mapping of the modules For modules with variable IO size for this modules the PDO mapping of the 053 1EC01 should be set exactly the same as for the 053 1EC00 Otherwise the slave does not chang...

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 Object 0x4100 n Information about FPGA or SLIO version Object was deleted or has got another meaning Object 0x4101 n List of all FPGA versions of all connected modules Object was deleted or has got ano...

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 1EC00 only the PDO 0x1AFF must be activated The PDOs 0x1B00 and 0x1B01 should be deactivated The changed hardware configuration and if necessary the adapted user program must be finally transmitted ...

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: ...ia 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 Replace EtherCAT slave 053 1EC00 with 053 1EC01 was added 18 45 Chapter Deployment n Description of Accessing the web server via Ethernet Web server Configuration was added and the pictures adjusted 1...

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