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ICE1-*-G60L-V1D, ICE1-*-G60L-C1-V1D

Commissioning for EtherCAT

7

Commissioning for EtherCAT

7.1

Preparation

Downloading and Installing the ESI File

An ESI file (EtherCAT Slave Information file) is required to configure a module in the controller. 
The ESI file supports all module variants.

You can find the relevant ESI file in the 

Commissioning

 section of the product detail page for 

the device. To access the product detail page for the device, go to http://www.pepperl-
fuchs.com and type information about the device, e.g. the product description or the item num-
ber, into the search function.

Use the hardware or network configuration tools from your controller manufacturer to install the 
ESI file for the module variant used. For TwinCat

®

, you usually have to copy the ESI file to the 

installation folder, for example: 

C:\TwinCAT\3.1\Config\Io\EtherCAT

. After installation, 

the modules are available in the hardware catalogs.

Reading MAC IDs

Each module has a unique MAC ID that is assigned by the manufacturer. The MAC ID cannot 
be changed by the user. The assigned MAC ID is printed on the front side of the module.

This MAC ID has no function for EtherCAT. For EoE (Ethernet over EtherCAT), the I/O module 
is assigned a virtual MAC ID.

7.2

Configuration

PDO Assignments

The module supports different PDO assignments for input and output data. There are assign-
ments for bit or byte access with or without diagnostic data that are associated with the input 
data (TxPDO, I/O module to EtherCAT

®

 controller).

You determine the data content by selecting the appropriate PDO.

The modules offer the following PDO assignments:

7.2.1

16DIO Modules, PDO Mapping

The 16DIO-variant Ethernet modules are universally applicable and provide a variety of profiles 
for basic configuration. With these, you can preconfigure a 16DIO module as a 16DI, 16DO or 
8DI/8DO module and e.g. replace another if necessary. Each I/O channel can be used as an 
input or output for the 16DI/DO profile. If an I/O channel is used as an input, the PLC program-
mer should not set the corresponding output bit.

By using the preconfigured alternate profiles, the risk of incorrect configuration is reduced 
through the use of profiles 16DI, 16DO or 8DI/8DO. In these profiles, the I/O channels are con-
figured as "input" or "output".

Ethernet IO modules of type ICE1-8DI8DO-G60L-C1-V1D ICE1-16DIO-G60L-C1-V1D have 
the DCU function. For these, the process data is extended in both directions by 4 additional 
bytes.

For this reason, each of the profiles supports flexible I/O bit mapping. Information on how to use 
flexible I/O bit mapping can be found in the following chapter, "Device Parameters" in the sec-
tions "Configuration of I/O direction (for 16DIO modules with/without DCU)" and "I/O mapping 
configuration (for 16DIO modules with/without DCU)"

Overview of the 16DIO Profiles in Byte Format

The following table provides an overview of the available I/O profiles and associated PDOs in 
byte format

Содержание ICE1 G60L-C1-V1D Series

Страница 1: ...R ICE1 G60L V1D ICE1 G60L C1 V1D Fieldbus Modules with Multiprotocol Technology Manual...

Страница 2: ...ion as well as the supplementary clause Expanded reservation of proprietor ship Worldwide Pepperl Fuchs Group Lilienthalstr 200 68307 Mannheim Germany Phone 49 621 776 0 E mail info de pepperl fuchs c...

Страница 3: ...herNet IP 19 5 1 Preparation 19 5 2 Configuration 20 5 2 1 16DIO Modules Connections and Assembly Objects 21 5 2 2 16DI Modules Connections and Assembly Objects 25 5 2 3 8DI 8DO Modules Connections an...

Страница 4: ...Modules PDO Assignment 80 7 2 4 8DI8DO Modules PDO Assignment 82 7 2 5 Device Parameters 86 7 2 6 Configuration Example with TwinCAT 3 91 8 The Integrated Web Server 107 8 1 Overview and Module Addre...

Страница 5: ...on of conformity Attestation of conformity Certificates Control drawings Instruction manual Other documents 1 1 2 Manufacturer 1 1 3 Target Group Personnel Responsibility for planning assembly commiss...

Страница 6: ...isplayed in descending order as fol lows Informative Symbols Action This symbol indicates a paragraph with instructions You are prompted to perform an action or a sequence of actions Danger This symbo...

Страница 7: ...otential line or ring topologies that can be achieved enable reliable data communication and a significant reduction in the amount of wiring required which therefore makes the costs for installation a...

Страница 8: ...ffer a fail safe function You can therefore choose the behavior of each individual output channel in the event of an interruption or a loss of communication QuickConnect QuickConnect allows the module...

Страница 9: ...s within the plant 2 2 Displays and Operating Elements 1 LED channel indicator 2 LED status indicator 3 Rotary switch 2 0 X 1 0 X X03 X4 X8 7 X 3 X X6 5 X 1 X X2 A DIA B XE X04 BF DIA Lnk Act X02 X01...

Страница 10: ...ng blue DCU function is working Off DCU function not active Force Mode disabled Flashing red DCU function error Flashing blue red Force Mode enabled LED FM For modules without decentralized control fu...

Страница 11: ...ED X02 Green connection to an Ethernet node Flashing yellow data exchange with an IO device Off no connection LED RUN Green OPERATIONAL status 1 x flashing green SAFE OPERATIONAL status Flashing green...

Страница 12: ...n Risk of destruction Never route the power supply to the data cable Caution Loss of function when the system supply voltage is too low Ensure in all cases that the supply voltage measured at the most...

Страница 13: ...ply galv insulated FE 5 FE FE Functional ground 4 1 3 2 FE Note For the system sensor and actuator supply use only power supplies that comply with PELV protective extra low voltage or SELV safety extr...

Страница 14: ...otential 4 OUT A Digital output A FE 5 FE FE Functional ground Port Pin Signal Function Inputs X1 X8 1 24 VDC Sensor system supply 2 In B Digital input B 3 0 VDC Ground reference potential 4 In A Digi...

Страница 15: ...ts and the EMC strength the modules use a short circuit to ground with an M4 thread This is marked with the symbol for grounding and the label XE Note Connect the module using a low impedance connecti...

Страница 16: ...C1 V1D Installation Warning Use temperature resistant cable with heat resistance up to at least 96 C for the following Ethernet IO modules ICE1 8DI8DO G60L C1 V1D and ICE1 8DI8DO G60L V1D ICE1 16DIO G...

Страница 17: ...he first rotary switch X100 to set the protocol For the other rotary switches set the last two digits of the IP address when using EtherNet IP Figure 4 1 Rotary switch X100 Assigning the Protocol Usin...

Страница 18: ...switch X100 to the value P EtherCAT If you are using EtherCAT as the protocol set rotary switch X100 to the value EC Factory Settings A factory reset erases any changes you have made to settings etc...

Страница 19: ...ers such as the IP address subnet mask and gateway address Please note that a fixed IP address is required to use QuickConnect Once the power supply has been restored the modules read in the switch po...

Страница 20: ...be established if an exclusive owner or input only connection also exists between another module and the controller An exclusive owner connection is only available for modules with output functionali...

Страница 21: ...6 DI DO DIA Exclusive owner Yes Output 100 2 byte Input 101 7 byte 16 DI DO Exclusive owner No Output 100 2 byte Input 102 3 byte 16 DI DO DIA Input only Yes Output 193 0 byte Input 101 7 byte 16 DI D...

Страница 22: ...ut 100 2 byte Input 107 1 byte Table 5 6 Connection Type of connec tion Diagnosis Instance ID Length 8 DO DIA Exclusive owner Yes Output 103 1 byte Input 106 5 byte 8 DO Exclusive owner No Output 103...

Страница 23: ...ive owner Yes Output 100 2 byte Input 108 8 byte 16 DI DO DIA Input No Output 193 0 byte Input 108 8 byte Generic 16 DI DIA Listen only Yes Output 192 0 byte Input 104 6 byte Table 5 10 Connection Typ...

Страница 24: ...e 5 13 Connection Type of connec tion Diagnosis Instance ID Length 8 DI DIA DCU Input only Yes Output 193 0 byte Input 104 24 byte 8 DI DCU Input only No Output 193 0 byte Input 105 20 byte Table 5 14...

Страница 25: ...5 17 Connection Type of connec tion Diagnosis Instance ID Length Generic 16 DI DIA DCU Listen only Yes Output 192 0 byte Input 101 25 byte Generic 16 DI DCU Listen only No Output 192 0 byte Input 102...

Страница 26: ...34 bytes Connection Type of connec tion Diagnosis Instance ID Length 16 bit in diagnosis Input only Yes Output 193 0 byte Input 101 4 byte 16 bit in Input only No Output 193 0 byte Input 102 3 byte 1...

Страница 27: ...IP address Ring topologies and DHCP BOOTP are not supported Please note that there is no automatic check for duplicate IP addresses within the same network If QuickConnect is activated the following p...

Страница 28: ...erved reserved parameter default value 0 Surveillance Timeout The firmware of these modules enables you to set a delay time before the monitoring of the out put currents starts i e a surveillance time...

Страница 29: ...les Fail safe values for 16DIO modules with DIO DO and 8DI 8DO profiles Word 7 Port X8 channel B pin 2 possible values 0 255 Table 5 23 MSB LSB 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Word 0 Port X1 cha...

Страница 30: ...t 5 output 0 input and output channel Input 1 input channel Output 2 output channel Process Data Direction for 16DIO Modules with DIO Profile Process Data Direction for 16DIO Modules with 16DI Profile...

Страница 31: ...default value of the parameters depend on the selected pro file A channel can also be set inactive with the value 255 For example if a channel were configured with a value of 3 its status value would...

Страница 32: ...8 7 6 5 4 3 2 1 0 Word 49 Port X1 channel A pin 4 possible values 0 7 255 default value 0 Word 50 Port X1 channel A pin 2 possible values 0 7 255 default value 255 Word 63 Port X8 channel A pin 4 poss...

Страница 33: ...es for the modules in RSLogix5000 using the EDS hardware installation tool in the Tools menu 2 Select the correct controller 3 Add the desired Ethernet IO module to your EtherNet IP communication inte...

Страница 34: ...2019 10 34 ICE1 G60L V1D ICE1 G60L C1 V1D Commissioning for EtherNet IP Figure 5 1 4 Select the Ethernet IO module you want to add and click the Create button...

Страница 35: ...missioning for EtherNet IP 2019 10 35 Figure 5 2 5 Enter a name for the Ethernet IO module and the correct IP address The name Name01 and IP address 192 168 100 10 have been used in this example 6 Cli...

Страница 36: ...in the previous sections on connections and assembly objects Figure 5 4 8 Select the type of connection in Connections This determines which process and diagnostic data the module provides 9 In the C...

Страница 37: ...OK 11 In the Controller Organizer switch to the Controller Tags section The controller tags for the configuration parameters have the same name as the module followed by C You can define the paramete...

Страница 38: ...In such cases the table below provides a list of useful parame ters ICE1 16DIO G60L V1D ICE1 16DIO G60L C1 V1D with 16DI DO Profile and Diagnosis Transport type Exclusive owner Trigger mode Cyclic Req...

Страница 39: ...ender T O connection parameters Real time transfer format Pure non modal data connection Connection type MULTICAST Assembly instance ID 101 Data type USINT Data size 1 byte Data length 4 byte Transpor...

Страница 40: ...agnosis default IO mapping assembly ID 101 16 bit input data with diagnostic and padding byte default IO mapping assembly ID 108 Note So that a diagnosis can be done within the module the actual outpu...

Страница 41: ...X7 A X6 B X5 A X4 B X3 A X2 B X1 A Table 5 40 INPUT Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 X8 B X7 A X6 B X5 A X4 B X3 A X2 B X1 A Byte 1 MI IME 0 0 0 MI SCA MI SCS MI LVA MI LVS Byte...

Страница 42: ...dules with Decentralized Control Function Bit Assignment of Pro cess Data Extension For Ethernet IO modules with decentralized control function DCU the process data range for input and output data has...

Страница 43: ...ypes as output data for the decentralized control function DCU function e g transmission of counter states 5 3 3 16DI Modules Bit Assignment of Process Data Input Data with Diagnosis Assembly ID 101 I...

Страница 44: ...5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 X4 B X4 A X3 B X3 A X2 B X2 A X1 B X1 A Byte 1 X8 B X8 A X7 B X7 A X6 B X6 A X5 B X5 A Byte 2 MI IME 0 0 0 0 MI SCS 0 MI LVS Table 5 51 INPUT Bit 7 Bit 6 Bit 5...

Страница 45: ...byte low system sensor supply voltage MI LVA Module information byte low actuator supply voltage MI SCS Module information byte sensor short circuit on an M12 slot MI SCA Module information byte actu...

Страница 46: ...log Figure 6 1 MAC IDs The modules have three MAC IDs assigned when they are delivered These are unique and cannot be changed by the user SNMP The modules support the SNMP Ethernet network protocol Si...

Страница 47: ...ortal Once the GSDML file for the PROFINET modules has been installed the modules are avail able in the TIA portal hardware catalog Figure 6 2 2 Double click on the desired module and select the corre...

Страница 48: ...e parameters I O addresses in this PLC program of this module can be replaced without any changes To change a profile the module in slot 1 must be deleted and replaced with another This is the same as...

Страница 49: ...INET IO Module So that each node in the PROFINET network can be assigned an IP address each module must have a device name A node search displays all PROFINET devices that have been found On delivery...

Страница 50: ...2019 10 50 ICE1 G60L V1D ICE1 G60L C1 V1D Commissioning for PROFINET 3 Open the dialog Accessible devices via the main menu Online Accessible devices Figure 6 8...

Страница 51: ...from those found If the desired module is not displayed in the list of available nodes on the network you can change the device filter and refresh the list If the device still does not appear please...

Страница 52: ...ramming unit 1 Click on the PLC in slot 1 1 2 In the Profinet interface_1 Module area click on Advanced options 2 3 Change to the Properties tab 3 and click on the option to replace a device without a...

Страница 53: ...logy View and on the Partner Port The Parameter Settings for the Modules The parameter setting display depends on the module version in use and the version of the device description file Each module h...

Страница 54: ...port Alarm UL Enable disable PROFINET alarm reporting on absence of supply to actuator UL If the global PROFINET alarm messages are disabled this alarm will not be reported Report Alarm DO without UL...

Страница 55: ...lling edge After this time has elapsed the monitoring of the output begins and the diagnosis begins reporting error states The surveillance timeout can be set between 0 ms and 255 ms The default value...

Страница 56: ...2019 10 56 ICE1 G60L V1D ICE1 G60L C1 V1D Commissioning for PROFINET Figure 6 15 1 2 3...

Страница 57: ...their Factory Settings To reset the modules to the factory settings you must search for accessible PROFINET nodes in the TIA Portal 1 Open the dialog Accessible devices via the main menu Online Acces...

Страница 58: ...topology An MRP redundancy manager closes the ring detects individual failures and in the case of a fault sends the data packets via the redundant path The following requirements must be met in order...

Страница 59: ...ing images show a potential MRP ring configuration The PLC is used as a redun dancy manager and all other devices are used as clients We recommend activating the diag nosis alarms to detect individual...

Страница 60: ...l For further details on how to use the extended process data ranges see the chapter decentralized control function The following representations relate to the default settings of the respective profi...

Страница 61: ...igital outputs The values refer to the following 1A 8A Target status of output channel A contact pin 4 for M12 connections 1 to 8 Input Data for 16DI Profile This module provides two bytes of input da...

Страница 62: ...es one byte of output data for controlling the digital outputs The values refer to the following 1A 8A Target status of output channel A contact pin 4 for M12 connections 1 to 8 Input Data for 8DI 8DO...

Страница 63: ...the following Ethernet IO modules ICE1 8DI8DO G60L C1 V1D ICE1 16DIO G60L C1 V1D Output Data for DCU Extension The values refer to the following 16 bit I O DCU extension bit states as output data for...

Страница 64: ...nment of Process Data Input Data This module provides two bytes of input data that depict the current status of the input and out put channels The values refer to the following 1A 4A Actual status of...

Страница 65: ...for controlling the digital outputs The values refer to the following 5A 8A Target status of output channel A contact pin 4 for M12 connections 5 to 8 5B 8B Target status of output channel B contact...

Страница 66: ...bit or byte access with or without diagnostic data that are associated with the input data TxPDO I O module to EtherCAT controller You determine the data content by selecting the appropriate PDO The m...

Страница 67: ...cal outputs 0 7 8DI Byte Input 0x1A10 1 0x6000 01 1 0 USINT Physical inputs 0 7 8DO Byte Output 0x1610 1 0x6200 01 1 0 USINT Physical outputs 0 7 8DI 8DO Byte Input 0x1A10 1 0x6000 01 1 0 USINT Physic...

Страница 68: ...DIO G60L V1D and ICE1 16DIO G60L C1 V1D with DCU function X1A X8A data from channel A pin 4 from slot X1 to X8 X1B X8B data from channel B pin 2 from slot X1 to X8 Mapping parameters Default values re...

Страница 69: ...t PDO Byte name Bit Byte name Bit 0x2304 01 0 X1A Physical inputs 0 7 0 0x2304 02 1 X1B Physical inputs 0 7 1 0x2304 03 2 X2A Physical inputs 0 7 2 0x2304 04 3 X2B Physical inputs 0 7 3 0x2304 05 4 X3...

Страница 70: ...2304 0A 9 X5B Physical outputs 8 15 1 0x2304 0B 10 X6A Physical outputs 8 15 2 0x2304 0C 11 X6B Physical outputs 8 15 3 0x2304 0D 12 X7A Physical outputs 8 15 4 0x2304 0E 13 X7B Physical outputs 8 15...

Страница 71: ...te Value Port Input PDO 0x1A10 Output PDO Byte name Bit Byte name Bit 0x2304 01 0 X1A Physical inputs 0 7 0 0x2304 02 Inac tive X1B 0x2304 03 1 X2A Physical inputs 0 7 1 0x2304 04 Inac tive X2B 0x2304...

Страница 72: ...0 X1A Physical outputs 0 7 0 0x2304 02 Inac tive X1B 0x2304 03 1 X2A Physical outputs 0 7 1 0x2304 04 Inac tive X2B 0x2304 05 2 X3A Physical outputs 0 7 2 0x2304 06 Inac tive X3B 0x2304 07 3 X4A Physi...

Страница 73: ...sical outputs 0 7 4 0x2304 0E 13 X7B Physical outputs 0 7 5 0x2304 0F 14 X8A Physical outputs 0 7 6 0x2304 10 15 X8B Physical outputs 0 7 7 Table 7 9 Mapping parameters Default values reference Proces...

Страница 74: ...t 3 0x2304 05 4 X3A Physical input 4 0x2304 06 5 X3B Physical input 5 0x2304 07 6 X4A Physical input 6 0x2304 08 7 X4B Physical input 7 0x2304 09 8 X5A Physical input 8 0x2304 0A 9 X5B Physical input...

Страница 75: ...ault values reference Process data Index Byte Value Port Input PDO 0x1A11 Output PDO 0x1611 Bit Bit 0x2304 01 0 X1A Physical input 0 Physical output 0 0x2304 02 Inactive X1B 0x2304 03 1 X2A Physical i...

Страница 76: ...hysical input 3 0x2304 08 Inactive X4B 0x2304 09 4 X5A Physical input 4 0x2304 0A Inactive X5B 0x2304 0B 5 X6A Physical input 5 0x2304 0C Inactive X6B 0x2304 0D 6 X7A Physical input 6 0x2304 0E Inacti...

Страница 77: ...it 0x2304 01 0 X1A Physical input 0 0x2304 02 1 X1B Physical input 1 0x2304 03 2 X2A Physical input 2 0x2304 04 3 X2B Physical input 3 0x2304 05 4 X3A Physical input 4 0x2304 06 5 X3B Physical input 5...

Страница 78: ...tional device diagnosis func tion MI IME Table 7 18 PDO Content Index Size Index Size Type Name 0x1A05 1 0x2001 01 4 0 UDINT Diagnosis register Table 7 19 Input Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit...

Страница 79: ...ese 2 bytes can be used for the decentralized control function DCU function as additional output data RxPDO EtherCAT controller on slave You can disable file transfer in the pro cess data PDO assignme...

Страница 80: ...0 INT DCU additional input 1 0x6080 03 2 0 INT DCU additional input 2 0x6080 04 2 0 INT DCU additional input 3 0x6080 05 2 0 INT DCU additional input 4 0x6080 06 2 0 INT DCU additional input 5 0x6080...

Страница 81: ...B X1A 0x6000 0 2 X8B X8A X7B X7A X6B X6A X5B X5A Table 7 26 PDO Content Index Size Index Size Type Name 0x1A01 2 0x6020 01 0 1 BIT Input channel X1A 0x6020 02 0 1 BIT Input channel X1B 0x6020 03 0 1 B...

Страница 82: ...0 0 0 0 0 No error 0 0 0 0 1 1 Output overload MI SCS 0 0 0 0 1 1 Voltage error MI LVS 1 0 0 0 0 1 Force Mode active MI FC 1 0 0 0 0 1 Additional device diagnosis func tion MI IME Table 7 29 PDO Conte...

Страница 83: ...1 0x6000 01 1 0 USINT Input channel X1A X8B Table 7 32 Index Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x6000 0 1 X4B X4A X3B X3A X2B X2A X1B X1A 0x6000 0 2 X8B X8A X7B X7A X6B X6A X5B X5A Tabl...

Страница 84: ...put channel X5A X8B Table 7 35 Index Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x2200 0 1 X8B X8A X7B X7A X6B X6A X5B X5A Table 7 36 PDO Content Index Size Index Size Type Name 0x1A03 2 0x2220 0...

Страница 85: ...3 SCS X2 SCS X1 Byte 3 0 0 0 0 0 0 0 0 Byte 4 CE X8B CE X8A CE X7B CE X7A CE X6B CE X6A CE X5B CE X5A Table 7 41 MI LVS Module information byte voltage for system sensor performance low MI LVA Module...

Страница 86: ...nnel X5B 0x6220 03 0 1 BIT Output channel X6A 0x6220 04 0 1 BIT Output channel X6B 0x6220 05 0 1 BIT Output channel X7A 0x6220 06 0 1 BIT Output channel X7B 0x6220 07 0 1 BIT Output channel X8A 0x6220...

Страница 87: ...ut begins and the diagnosis begins reporting error states The value of the monitoring time limit is 0 ms to 255 ms The default value is 80 ms If the output channel is in a static state i e permanently...

Страница 88: ...ameterized as the directional configuration of the I O ports is flexible Be aware of your specific I O direction configuration when customizing the Surveillance Timeout parameter This will help avoid...

Страница 89: ...t put Input Output Input 0x2303 04 X2B Input out put Input Output Input out put Input Output Input 0x2303 05 X3A Input out put Input Output Input out put Input Output Input 0x2303 06 X3B Input out put...

Страница 90: ...n Example of process data in the byte format Index byte Parameter 0x2304 01 I O mapping configuration port X1A 0 15 process data channel 0 15 255 inactive 0x2304 02 I O mapping configuration port X1B...

Страница 91: ...ased on the example of an ICE1 16DIO G60L V1D module For other module versions configuration is carried out with a few minor changes If you have a control system from a different provider please refer...

Страница 92: ...G60L V1D ICE1 G60L C1 V1D Commissioning for EtherCAT Figure 7 1 4 In the Choose Target System menu click on the Search Ethernet button Figure 7 2 5 In the Add Route Dialog menu click on the Broadcast...

Страница 93: ...EtherCAT 2019 10 93 Figure 7 3 TwinCAT lists the found nodes in the menu 6 Click on the desired device In this example CX 19FDE4 for the PLC Figure 7 4 7 In the Address Info area change the setting to...

Страница 94: ...0L C1 V1D Commissioning for EtherCAT Figure 7 5 9 You will be prompted to create a password but this is not necessary Click on the OK button without entering data Figure 7 6 10 Click on the Close butt...

Страница 95: ...k on CX 19FDE4 again within the Choose Target System dialog that is still open Figure 7 8 12 Click on the OK button to confirm the save Now the status in TwinCAT will change from Local to CX 19FDE4 13...

Страница 96: ...G60L C1 V1D Commissioning for EtherCAT Figure 7 9 15 Then select EtherCAT Master and confirm with OK Figure 7 10 16 In the Device Found At dialog select the port for your PLC In this example the port...

Страница 97: ...ot already done so select the network adapter and install the driver for EtherCAT real time communication 20 Click on the Adapter tab and then on Compatible Devices to select and install the EtherCAT...

Страница 98: ...2 Select the desired module Figure 7 14 3 Select the I O profile if you are using a 16DIO module Note Selecting a profile as follows is only possible on 16DIO modules such as ICE1 16DIO G60L V1D and I...

Страница 99: ...figuration Figure 7 16 Note The default standard PDOs will be used according to the profile selected If necessary you may change the I O profile by carrying out the following steps If you wish to chan...

Страница 100: ...1A05 if you do not wish for error and diagnosis information to be sent to the EtherCAT controller 10 In the Sync Manager section click on the Outputs option and select your output PDOs in the PDO Assi...

Страница 101: ...ICE1 G60L V1D ICE1 G60L C1 V1D Commissioning for EtherCAT 2019 10 101 Figure 7 18 11 Navigate to the Start Up tab and check the default device parameter settings Figure 7 19...

Страница 102: ...The new value can be entered in the data entry panel Figure 7 20 13 Click on the OK button to confirm the entries EoE IP Address 1 Navigate to the EtherCAT tab Note An IP address must be set if the w...

Страница 103: ...oE entry under the Mailbox option Figure 7 22 4 If no web server services are to be used disable the Virtual Ethernet Port option by clicking on the tick 5 To enable web server services click on IP Po...

Страница 104: ...and then Activate Configuration Figure 7 23 2 Select TWINCAT in the menu bar again and then Restart TwinCAT Config Mode 3 Confirm the check box with Yes The device then switches to the status OP and t...

Страница 105: ...ICE1 G60L V1D ICE1 G60L C1 V1D Commissioning for EtherCAT 2019 10 105 Figure 7 24 4 Click on the Write button to set a module output...

Страница 106: ...2019 10 106 ICE1 G60L V1D ICE1 G60L C1 V1D Commissioning for EtherCAT Note Configuration of the PLC and module is now complete You may now create your user program...

Страница 107: ...erves as a starting point for access to the integrated web server Depending on the selected protocol the URL to open the home page will be different For EtherNet IP and Profinet Enter http in the addr...

Страница 108: ...nels as well as process data sent to and received from the controller Channel errors are reported in the last column For each channel the table shows the channel direction current channel status IO ma...

Страница 109: ...ce Mode automat ically switches off This function is used for test purposes The input and output data can be set from this website and the physical input data as well as the logical output data of the...

Страница 110: ...ted the text Force Mode enabled appears in the display Figure 8 4 In the Forcing column you can set the physical output data of the individual channels using the 0 and 1 buttons The X button cancels F...

Страница 111: ...P Settings IP address readable and writable Subnet mask readable and writable Gateway address readable and writable Clicking on the Submit button transfers the new parameters to the module The new set...

Страница 112: ...ted Web Server Firmware Update By clicking on the Firmware Update button you can replace the current module firmware with a newer version Figure 8 6 Note A detailed description of the firmware update...

Страница 113: ...con nection transfer rate and transfer mode along with the network parameters and PROFINET status of the module Status of the LAN ports Duplex mode full half duplex Transfer rate 10 Mbit 100 Mbit Netw...

Страница 114: ...sion on ICE1 G60L C1 V1D modules With this function control and monitoring tasks can be run directly on the device via a decentralized control function In doing so the respective module can either sen...

Страница 115: ...ia a web browser Calling up the JSON object 1 To call up the JSON object open your web browser 2 Enter the following command in the address bar 3 IP address info json e g 192 168 1 123 info json Note...

Страница 116: ...V6 1 mac 00 0D 81 06 6D 6F bus 1 failsafe 0 inputs 30 105 outputs 28 73 consuming 28 65 producing 30 109 diag 68 8 0 0 dcu state 1 auto start 0 public 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0...

Страница 117: ...sensor Us Bit 1 Power supply error in the actuator UL Bit 2 Sensor overload Bit 3 Actuator overload Bit 6 Force mode active Bit 7 Internal module error Invalid IO data Byte 1 Sensor overload at port X...

Страница 118: ...t data and input data Output data for byte 0 and byte 1 Port X3 A port X2 B and port X2 A are activated outputs which means that bits 4 3 and 2 in byte 0 are each 1 x bit numbering The total value of...

Страница 119: ...e input data from byte 1 105 73 32 Based on the bit numbering for the ports it can be concluded that Port X7 B is an acti vated input Data under the consuming and producing headings only refers to pur...

Страница 120: ...el A pin 4 of slots X1 to X8 1B 8B output status channel B pin 4 of slots X1 to X8 Producing Data Ethernet IO Module to PLC Legend 1A 8A current status of channel A pin 4 of slots X1 to X8 1B 8B curre...

Страница 121: ...2 additional slots 2 and 3 Slot 2 contains the 16 bit exchange data and slot 3 the 16 byte exchange data words EtherNet IP The exchange data is made available within the cyclical Ethernet IP data The...

Страница 122: ...ontrol data exchange area in TwinCAT3 Byte Function 0 Output data 1 Output data 2 DCU bit exchange byte 1 3 DCU bit exchange byte 2 4 DCU integer exchange 1 MSB 5 DCU integer exchange 1 LSB 6 DCU inte...

Страница 123: ...ectly as variables of type INT and size 2 Module Parameters The ICE1 G60L C1 V1D modules have an additional PLC parameter that controls the startup behavior of the decentralized control function DCU S...

Страница 124: ...U Programming DCU LDMicro Framework Conditions 9 2 LDMicro Programming Tool LDMicro User Interface Open source ladder logic programming tool Download LDMicro at https www pepperl fuchs de or http cq c...

Страница 125: ...e switches and enabling disabling delays Incrementing decrementing circulating counter Arithmetic operations 16 bits signed DCU programs that have been created with LDMicro can Use all inputs and outp...

Страница 126: ...32768 to 32767 T Timer C Counter Type Convention Example Input bit Must begin with X X1A X5P Output bit Must begin with Y Y2B Y3P Internal relay Must begin with R R1 RRun RStart Type Convention Examp...

Страница 127: ...Bit Reads consuming bit from PLC consumption data n 0 15 YPn Output Bit Writes producing bit for PLC data creation n 0 15 XCn A B Input Bit Reads consuming data from PLC for port n 1 8 Channel A or B...

Страница 128: ...puts because they are used in a DCU program can be manipulated in this way The 8 bit cyclic output data from the PLC consuming data can also be read with a DCU pro gram with the symbol XPn n represent...

Страница 129: ...symbols for the integer variables EIn and EOn allow the reading and writing of data exchange words Physical port chan nel Port ch annel Port ch annel Port ch annel Port ch annel Port ch annel Port ch...

Страница 130: ...d manage the control status Figure 9 7 Control web interface with loaded program 1 Displays current DCU status and buttons to manage the decentralized control function 2 Uploading a program or mapping...

Страница 131: ...ue column to integer variables 6 Opens the mapping dialog to create a specific variable mapping 7 Enables disables variable forcing Note The default password for the ADMIN user is private Status Descr...

Страница 132: ...t output data In the example a variable named Y5B is automatically asso ciated with the module function Set physical output port 5 channel B If this approach is used no further mapping is required To...

Страница 133: ...By clicking on Create Mapping the variable is connected to this function The Delete Mapping button cancels an existing mapping Once all the required variables have been mapped click on the Apply Chan...

Страница 134: ...rocessed when the decentralized control function DCU is in the RUN state Figure 9 10 Variable list with active forcing Starting stopping and operating forcing To start variable forcing the user clicks...

Страница 135: ...dc int t dcu 192 168 1 20 a IO Device admin private The procedure for a mapping file is the same perl w transfer pl s dc map t dcu 192 168 1 20 a IO Device admin private You may need to adapt the user...

Страница 136: ...Firmware Update Process The firmware file must be downloaded and saved on the PC with the web server installed 1 Go to the home page of the web server For EtherNet IP and Profinet Enter http in the a...

Страница 137: ...ICE1 G60L V1D ICE1 G60L C1 V1D Firmware Update 2019 10 137 Figure 10 1 2 Click on the Config tab 3 Click on the Firmware Update button Figure 10 2...

Страница 138: ...kes about 30 secs There is a visual progress indicator Figure 10 3 5 Restart the module To do this switch the power supply of the module off and on again The module has now loaded the new firmware ver...

Страница 139: ...ICE1 G60L V1D ICE1 G60L C1 V1D Firmware Update 2019 10 139 Figure 10 4...

Страница 140: ...input socket of the module pin 1 delivers a monitored sensor voltage US In the event of a sensor short circuit a voltage error is reported Both channel indicators of the M12 input socket light up red...

Страница 141: ...the sensor low voltage bit is set in the module information byte The error message has no effect on the outputs and is not filtered but instead reported immedi ately 11 2 Diagnostics Indicator in the...

Страница 142: ...arms Diagnostic alarms are triggered by periphery faults such as overloads short circuits and low voltage An alarm is triggered both by incoming events e g sensor short circuits and outgoing events Th...

Страница 143: ...iagnostics data records The data values ChannelNumber and ChannelError contain the following values depending on the error that has occurred If there is an accumulation of errors the channel diagnosis...

Страница 144: ...an 8 byte format and is coded as follows Contents of an Error Message Contents of the Error Register CoE Register 0x1001 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Error code Error regis...

Страница 145: ...ormation byte internal module error CE X1A CE X8A Channel error channel A pin 4 of slots X1 to X8 CE X1B CE X8B Channel error channel B pin 2 of slots X1 to X8 The following example shows the error me...

Страница 146: ...Pepperl Fuchs Quality Download our latest policy here www pepperl fuchs com quality www pepperl fuchs com Pepperl Fuchs Subject to modifications Printed in Germany DOCT 5469D...

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