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TwinCAT tabs

CXxxxx-B110

22

Version: 1.3

4.2.5

Startup

The Startup tab is displayed if the EtherCAT slave has a mailbox and supports the CANopen over EtherCAT
(CoE) or Servo drive over EtherCAT protocol.

This tab indicates which download requests are sent to the mailbox during startup. It is also possible to add
new mailbox requests to the list display. The download requests are sent to the slave in the same order as
they are shown in the list.

1

2

3

4

5

No.

Description

1

Transition to which the request is sent. This can either be

• the transition from pre-operational to safe-operational (PS), or

• the transition from safe-operational to operational (SO).

If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed
and cannot be modified or deleted by the user.

2

Type of mailbox protocol.

3

Index of the object.

4

Data to be downloaded for this object.

5

Description of the request to be sent to the mailbox.

«
...
20
21
22
23
24
...
»

Содержание CX B110 Series

Страница 1: ...AS2000 Blindtext Blindtext Blindtext Manual EN CXxxxx B110 EtherCAT Slave Optional Interface for CX9020 CX5xx0 and CX20xx 2 9 2021 Version 1 3 ...

Страница 2: ......

Страница 3: ...and commissioning 24 5 1 EtherCAT State Machine 24 5 2 Parameterization with TwinCAT 2 26 5 2 1 Searching for target systems 26 5 2 2 Appending an EtherCAT device 28 5 2 3 Creating variables 29 5 2 4 Enable device status 31 5 2 5 Enable device identification 32 5 2 6 Creating a PLC project 33 5 2 7 Linking variables 35 5 2 8 Load configuration to CX 36 5 3 Parameterization with TwinCAT 3 38 5 3 1 ...

Страница 4: ...Table of contents CXxxxx B110 4 Version 1 3 6 3 State 52 6 4 WcState 53 7 Appendix 54 7 1 Accessories 54 7 2 Certifications 55 7 3 Support and Service 56 ...

Страница 5: ...ducts that have already been supplied may be made on the basis of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT G EtherCAT G10 EtherCAT P Safety over EtherCAT TwinSAFE XFC XTS and XPlanar are registered trademarks of and licensed by Beckhoff Automation GmbH Other designations used in this publication may be trademarks whose use by third part...

Страница 6: ... are familiar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instructions must be read carefully and followed without fail DANGER Serious risk of injury Failure to follow the safety instructions associated with this symbol directly endangers the life and health of persons ...

Страница 7: ...ersion 1 3 1 3 Documentation issue status Version Changes 1 0 First version 1 1 Chapter Diagnostic LEDs reworked 1 2 Chapter Technical data EtherCAT reworked 1 3 Chapter Technical data EtherCAT and EtherCAT connection adjusted ...

Страница 8: ...CAT system documentation https infosys beckhoff com content 1033 ethercatsystem index html id 7792317249389602120 EtherCAT Technology Group https www ethercat org default htm Further information about EtherCAT and features such as cable redundancy distributed clocks or diagnostics can be found in the EtherCAT system documentation or on the website of the EtherCAT Technology Group Functioning Ether...

Страница 9: ...ructure known from the fieldbuses thus also becomes available for Ethernet Particularly useful for system wiring is the combination of line and junctions or stubs The required interfaces exist on the couplers no additional switches are required Naturally the classic switch based Ethernet star topology can also be used 2 1 EtherCAT Highlights Performance 256 digital I Os in 12 µs 1 000 digital I Os...

Страница 10: ...n with switches and routers possible but not required mixed operation with other protocols also possible internet technologies Web server FTP etc compatible with the existing Bus Terminal range protocol is published completely EtherCAT is IEC ISO and SEMI standard 2 2 Technical data EtherCAT Optional interface B110 Technical data B110 Fieldbus EtherCAT Slave Data transfer rate 100 Mbaud Bus interf...

Страница 11: ...e incoming EtherCAT signal is connected to the upper port of the X300 interface The lower port forwards the signal to further EtherCAT slave devices Up to 480 bytes of input and output data or 256 variables can be connected via the EtherCAT interface It is not possible to create 480 bytes individually for sample since this would require 480 variables Assignment of the LAN ports X300 PIN Signal Des...

Страница 12: ...ged in a line topology with branches drops each of which is connected to one network device Because all the devices are in this case connected to a common transmission medium it is inevitable that collisions occur often in 10Base5 10Base2 10Base2 Cheaper net is a further development of 10Base5 and has the advantage that the coaxial cable is cheaper and being more flexible is easier to lay It is po...

Страница 13: ...hielded twisted pair screened with aluminum foil This cable has an outer screen of laminated aluminum and plastic foil S FTP Screened foiled shielded twisted pair screened with copper braid and aluminum foil Has a laminated aluminum screen with a copper braid on top Such cables can provide up to 70 dB reduction in interference power STP Shielded twisted pair Describes a cable with an outer screen ...

Страница 14: ...ology Addresses are assigned automatically and an IP address does not have to be set separately It is possible to operate up to 65 535 EtherCAT devices with a maximum distance of 100 m between two devices EtherCAT devices with optical fibers can reach a cable length of 20 000 m Twisted pair Ethernet 100BASE TX is commonly used as physical layer The Hot Connect function can be used to subdivide who...

Страница 15: ... is shown below the EtherCAT master The slave is automatically added to the tree view if the master and all connected devices are scanned 3 Input and output variables of the EtherCAT slave Process data can be created among the input and output variables which can then be exchanged cyclically The Device Status Mapping variables which are used for slave diagnostics are also displayed here 4 The vari...

Страница 16: ...gram 2 Process variables can be created under the inputs and outputs of the EtherCAT slave which can then be exchanged cyclically 3 InfoData contains input variables which provide information about the EtherCAT slave that only changes rarely 4 Further settings for the EtherCAT slave can be implemented under the tabs When the PLC process image is read the inputs and outputs of the EtherCAT slave fr...

Страница 17: ... type and ID 1 2 3 5 4 No Description 1 Name of the EtherCAT device 2 EtherCAT device type 3 Here you can add a comment e g notes relating to the system component 4 Here you can deactivate the EtherCAT device 5 Number of the EtherCAT device The EtherCAT slave can be switched off via this tab A comment field is available for describing the EtherCAT slave ...

Страница 18: ...in the ring has the address 0000hex For each further slave the address is decremented by 1 FFFFhex FFFEhex etc 4 Fixed address of an EtherCAT slave This address is allocated by the EtherCAT master during the start up phase Click the control box to the left of the input field in order to modify the default value 5 Name and port of the EtherCAT device to which the selected device is connected This c...

Страница 19: ...ngs button opens a further window with additional settings for the distributed clocks function EtherCAT slaves feature integrated local clocks which are synchronized by the EtherCAT master via special datagrams For sample the local clock of an EtherCAT slave can be used as reference clock based on which all other clocks are synchronized By default TwinCAT sets the first EtherCAT slave that support...

Страница 20: ...CXxxxx B110 20 Version 1 3 4 2 4 Process data This tab indicates the configuration of the process data The input and output data of the EtherCAT slave are represented as CANopen process data objects PDO 1 2 3 6 5 4 ...

Страница 21: ...is an optional feature that is not supported by all EtherCAT slaves PDO Assignment If this checkbox is selected the assignment which was configured in the PDO assignment list can be loaded onto the device on startup The commands required for this purpose which have to be sent to the device are listed on the Startup tab PDO configuration If this checkbox is selected the configuration for the respec...

Страница 22: ...he download requests are sent to the slave in the same order as they are shown in the list 1 2 3 4 5 No Description 1 Transition to which the request is sent This can either be the transition from pre operational to safe operational PS or the transition from safe operational to operational SO If the transition is enclosed in e g PS the mailbox request is fixed and cannot be modified or deleted by ...

Страница 23: ...atus checkbox is enabled additional inputs and outputs are added in the tree view This function can be used for EtherCAT slave diagnostics 4 If the Enable Synchronization checkbox is enabled the distributed clocks function is enabled 5 The Advanced Settings button opens a further window with additional EtherCAT slave settings 6 At this point an identification number for the EtherCAT slave can be a...

Страница 24: ...channels 0 and 1 for mailbox communication Pre Operational Pre Op During the transition from Init to Pre Op the EtherCAT slave checks whether the mailbox has been correctly initialized Mailbox communication is possible in the Pre Op state but no process data communication The EtherCAT master initializes the sync manager channels for process data from sync manager channel 2 the FMMU channels and if...

Страница 25: ...ate the slave copies the output data of the master to its outputs Process data and mailbox communication is possible Boot In the Boot state the slave firmware can be updated The Boot state can only be reached via the Init state In the Boot state mailbox communication is possible via the File Access over EtherCAT FoE protocol but no other mailbox communication and no process data communication is p...

Страница 26: ...ter is added in TwinCAT and the two CANopen slaves are located via the master 5 2 1 Searching for target systems Before you can work with the devices you must connect your local computer to the target device Then you can search for the devices with the help of the IP address or the host name The local PC and the target devices must be connected to the same network or directly to each other via an ...

Страница 27: ... 7 If you do not wish to search for any further devices click on Close to close the Add Route Dialog The new device is displayed in the Choose Target System window 8 Mark the device that you wish to set as the target system and click on OK ð You have successfully searched for a device in TwinCAT and inserted the device as the target system The new target system is displayed in the bottom right han...

Страница 28: ...ed to add an EtherCAT master or EtherCAT slave in the tree view Prerequisites for this step A scanned and selected target device Add an EtherCAT device as follows 1 In the tree view on the left right click on Devices 2 In the context menu click on Scan 3 Select the devices you want to use and confirm the selection with OK 4 Confirm the request with Yes in order to look for boxes ð The EtherCAT dev...

Страница 29: ...the inputs or outputs 2 In the context menu click on Insert Variable The Insert Variable window appears 3 Find the required variable type and click OK ð You have successfully created process data The new variable is shown in the tree view on the left In this way you can add further process data or variables for the EtherCAT slave Process data with structures In order to save a large number of link...

Страница 30: ...difference here this indicates that something is wrong with the data structure This problem can be solved by more skillful arrangement of the variables or by working with filler or dummy variables ARM address ARM variable Address x86 ARM variable Byte Offset 0 Byte Byte Offset 0 BYTE Byte Offset 1 BYTE Dummy1 Byte Offset 2 BYTE Dummy2 Byte Offset 3 BYTE Dummy3 Byte Offset 4 UDINT Byte Offset 4 UDI...

Страница 31: ...inCAT before the slave status can be displayed Prerequisites for this step A device with EtherCAT slave interface B110 must already have been added as target system in TwinCAT Enable the device status as follows 1 In the tree view click on the EtherCAT slave 2 Click on the EtherCAT Slave tab 3 Under Device Status enable the function Map Device Status ð You have successfully enabled the device stat...

Страница 32: ... slave and allocate an identification number for the EtherCAT slave In case of exchange the current address must be stored again in the replacement device The identification number is set via TwinCAT Prerequisites for this step An EtherCAT slave added in TwinCAT Enable the device identification as follows 1 In the tree view click on the EtherCAT slave 2 Click on the EtherCAT Slave tab 3 Enter an i...

Страница 33: ... on PLC Control The TwinCAT PLC Control window appears 3 In the menu click on File New and select the option PC or CX x86 4 Under Block type select the option Program and under block language select the option ST Structured Text 5 Write a small program 6 Save the PLC project and click on Project Compile in the menu ð Once the project has been compiled a file with the extension tpy is created in th...

Страница 34: ...ded in TwinCAT A correctly compiled PLC project and a tpy file Proceed as follows 1 Switch back to the System Manager window 2 Right click on PLC Configuration in the tree view on the left 3 In the context menu click on Append PLC Project 4 Select a file with the extension tpy in your system directory and confirm with OK The PLC project is added in the tree view under PLC Configuration The variabl...

Страница 35: ...d shows which inputs or outputs can be linked with variables 2 Double click on the inputs or outputs in the Attach Variable window The input variables are linked with the inputs of your hardware and the output variables with the outputs Variables that are already linked are indicated with a small arrow icon in TwinCAT 3 In the toolbar click on Activate Configuration 4 Confirm the request whether T...

Страница 36: ...completed PLC project added in the System Manager Variables from the PLC project linked with the hardware in the System Manager A CX selected as target system Load the configuration on the CX as follows 1 In the tree view on the left click on SYSTEM Configuration 2 Click on the Boot Settings Target tab 3 Under Boot Settings select the option Run Mode Enable and tick the Auto Logon checkbox 4 Enter...

Страница 37: ...en on Choose Runtime System 11 Select the runtime system from the CX and click on OK 12 In the menu bar at the top click on Online then Login The PLC project is logged in 13 In the menu bar at the top click on Online then Create Boot Project ð You have successfully loaded the CX configuration From now on TwinCAT will start in Run mode and the PLC project will start automatically Next the master ca...

Страница 38: ...ave In the last step the CANopen master is added in TwinCAT and the two CANopen slaves are located via the master 5 3 1 Searching for target systems Before you can work with the devices you must connect your local computer to the target device Then you can search for devices with the help of the IP address or the host name The local PC and the target devices must be connected to the same network o...

Страница 39: ...me Administrator Password 1 6 If you do not wish to search for any further devices click on Close to close the Add Route Dialog The new device is displayed in the Choose Target System window 7 Select the device you want to specify as target system and click OK ð You have successfully searched for a device in TwinCAT and inserted the device as the target system The new target system and the host na...

Страница 40: ...ed to add an EtherCAT master or EtherCAT slave in the tree view Prerequisites for this step A scanned and selected target device Add an EtherCAT device as follows 1 In the tree view on the left right click on Devices 2 In the context menu click on Scan 3 Select the devices you want to use and confirm the selection with OK 4 Confirm the request with Yes in order to look for boxes ð The EtherCAT dev...

Страница 41: ...ch data Prerequisites for this step A device with EtherCAT slave interface B110 must already have been added as target system in TwinCAT Create the process data as follows 1 In the tree view right click on the inputs or outputs 2 Click on Add New Item in the context menu The Insert Variable window appears 3 Find the required variable type and click OK ð You have successfully created process data T...

Страница 42: ... Byte Offset 0 Byte Byte Offset 0 BYTE Byte Offset 4 UDINT Byte Offset 1 UDINT Sum 8 byte Sum 5 byte You can determine the length of a data structure on both systems using the command SIZEOF If there is a difference here this indicates that something is wrong with the data structure This problem can be solved by more skillful arrangement of the variables or by working with filler or dummy variable...

Страница 43: ...inCAT before the slave status can be displayed Prerequisites for this step A device with EtherCAT slave interface B110 must already have been added as target system in TwinCAT Enable the device status as follows 1 In the tree view click on the EtherCAT slave 2 Click on the EtherCAT Slave tab 3 Under Device Status enable the function Map Device Status ð You have successfully enabled the device stat...

Страница 44: ... slave and allocate an identification number for the EtherCAT slave In case of exchange the current address must be stored again in the replacement device The identification number is set via TwinCAT Prerequisites for this step An EtherCAT slave added in TwinCAT Enable the device identification as follows 1 In the tree view click on the EtherCAT slave 2 Click on the EtherCAT Slave tab 3 Enter an i...

Страница 45: ...ree view Prerequisites for this step A newly created TwinCAT XAE project Create a PLC project as follows 1 Right click on PLC in the tree view 2 In the context menu click on Add New Item and select the Standard PLC Project 3 In the tree view click on the newly created PLC project then double click on MAIN PRG under POUs 4 Write a small program as shown in the diagram below ...

Страница 46: ... on the PLC project then click on Build in the context menu ð You have successfully created a PLC project and added the project in TwinCAT A PLC instance with the variables for the inputs and outputs is created from the PLC project In the next step you can link the variables with the hardware ...

Страница 47: ...uts can be linked with the variables from the PLC project 2 Double click on the inputs or outputs of the hardware in the Attach Variable window Link the input variables with the inputs and the output variables with the outputs of the hardware Variables that are already linked are indicated with a small arrow icon in TwinCAT 3 In the toolbar click on Activate Configuration 4 Confirm the request whe...

Страница 48: ...s step A completed PLC project added in the System Manager Variables from the PLC project linked with the hardware in the System Manager A CX selected as target system Load the configuration from the System Manager to the CX as follows 1 In the tree view on the left click on SYSTEM 2 Click on the Settings tab 3 Under Boot Settings select the option Run Mode Enable and tick the Auto Logon checkbox ...

Страница 49: ... in the tree view 9 In the context menu click on Auto Save to Target as Archive The setting is selected ð You have successfully loaded the CX configuration From now on TwinCAT will start in Run mode and the PLC project will start automatically Next the master can be added in a new project in the System Manager and can then be used to find slaves that have already been set up ...

Страница 50: ...D Display State Description Link Act Link Act Link Act green off No connection on the EtherCAT strand on linked EtherCAT device connected flashing active Communication with EtherCAT device Display LED Color Meaning RUN green OP mode flashing green 200 ms on off PRE OP mode flashing green 200 ms on 1000 ms off SAFE OP mode off INIT mode ERR off OK red not configured ...

Страница 51: ...ollowing tables show which values the variables can assume Inputs Meaning TxPDO State The variable provides information on whether or not the EtherCAT slave is in operational mode OP 1 the EtherCAT slave is in operational mode 0 the EtherCAT slave is not in operational mode TxPDO Toggle The variable provides information on whether or not the EtherCAT slave is in data exchange 1 the EtherCAT slave ...

Страница 52: ...as or is disabled The following table shows which values the State variable can assume Value Description 0x___1 Slave in INIT state 0x___2 Slave in PREOP state 0x___3 Slave in BOOT state 0x___4 Slave in SAFEOP state 0x___8 Slave in OP state 0x001_ Slave signals error 0x002_ Invalid vendorId productCode read 0x004_ Initialization error occurred 0x008_ Slave disabled 0x010_ Slave not present 0x020_ ...

Страница 53: ...table shows which values the WcState variable can assume Value Description 0 Valid real time communication in the last cycle 1 Invalid real time communication Invalid real time communication may affect the process data of the other EtherCAT slaves in the same SyncUnit In the event of an invalid WcState outputs can still be switched by the PLC in order to ensure a safe state of the system Inputs fr...

Страница 54: ...rCAT patch cable 0 5 m ZK1090 9191 0010 Industrial Ethernet EtherCAT patch cable 1 0 m ZK1090 9191 0020 Industrial Ethernet EtherCAT patch cable 2 0 m ZK1090 9191 0030 Industrial Ethernet EtherCAT patch cable 3 0 m ZK1090 9191 0050 Industrial Ethernet EtherCAT patch cable 5 0 m ZK1090 9191 0100 Industrial Ethernet EtherCAT patch cable 10 0 m ZK1090 9191 0150 Industrial Ethernet EtherCAT patch cabl...

Страница 55: ...e FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential ...

Страница 56: ...mponents there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support Support offers you comprehensive technical assistance helping you not only with the application of individual Beckhoff products but also with other wide ranging services support design programming and commissio...

Страница 57: ......

Страница 58: ...Beckhoff Automation GmbH Co KG Hülshorstweg 20 33415 Verl Germany Phone 49 5246 9630 info beckhoff com www beckhoff com ...

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