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EC 121

S-DIAS ETHERCAT CONTROL MODULE

Page 26

02.07.2020

8.2.2

EtherCAT

The following graphic shows the possible modes and mode transitions on the EtherCAT
bus.

8.2.2.1 Init

→

PreOp

•

EtherCAT master reads the ID from the EEPROM.

•

Mailbox SyncManager (SM) is configured.

•

Distributed Clock (DC) is configured.

•

Module status LED on the S-DIAS slaves continue to blink.

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Содержание S-DIAS EC 121

Страница 1: ...EC 121 S DIAS Control Module EtherCAT Operating Manual Date of creation 07 04 2020 Version date 02 07 2020 Article number 20 003 121 E...

Страница 2: ...rved No part of this work may be reproduced edited using an electronic system duplicated or dis tributed in any form print photocopy microfilm or in any other process without express permission We res...

Страница 3: ...between an S DIAS control system and EtherCAT bus The module provides the voltage supply for up to 32 S DIAS modules With an additional power boost module PSB 001 up to 64 modules can be connected via...

Страница 4: ...d 7 2 2 Disclaimer 8 2 3 General Safety Guidelines 9 3 Norms and Guidelines 10 3 1 Guidelines 10 3 2 EU Declaration of Conformity 10 4 Technical Data 11 4 1 Performance Data 11 4 2 EtherCAT Specificat...

Страница 5: ...rain Relief 21 7 2 Supported S DIAS Modules 22 8 System Description 24 8 1 Architecture 24 8 2 Initialization 25 8 2 1 S DIAS Manager 25 8 2 2 EtherCAT 26 9 Initial Startup 28 9 1 Automatic S DIAS Mod...

Страница 6: ...ync Manager Type 39 10 4 9 Object 0x1C12 RxPDO Assign Object 0x1C13 TxPDO Assign 39 10 4 10 Object 0x1C32 0x1C33 SM Output Input Parameter 40 10 4 11 Object 0xF000 Modular Device Profile 42 10 4 12 Ob...

Страница 7: ...11 3 File Names 57 11 4 File Validation 57 11 5 List Function 57 11 6 Logfile 57 11 6 1 S DIAS Slave ID Display 58 12 Update Process 59 12 1 Configuration File 60 12 2 Providing Update Files 61 13 Tra...

Страница 8: ...icians Commissioning engineers Machine operators Maintenance test technicians General knowledge of automation technology is required Further help and training information as well as the appropriate ac...

Страница 9: ...juries observe the all guidelines Avertissement d une situation dangereuse qui faute de prendre les mesures ad quates entra nera des blessures graves voire mortelles Respectez toutes les consignes pou...

Страница 10: ...ator is responsible for safe han dling as well as proper operation The current document can be found on our website If necessary contact our support Subject to technical changes which improve the perf...

Страница 11: ...ing a machine to the market Before commissioning this product check that conformance with the provi sions of the 2006 42 EG guidelines is correct As long as the machine with which the with the device...

Страница 12: ...ty EU Declaration of Conformity The EC 121 product conforms with the following European guidelines 2014 35 EU Low voltage guideline 2014 30 EU Electromagnetic Compatibility EMC guideline 2011 65 EU Re...

Страница 13: ...s Potential separation 500 V EtherCAT S DIAS Bus FMMU 3 Sync manager 4 Process data RAM 8 kbyte Synchronization 64 bit distributed clock Process image modular device profile Asynchronous data exchang...

Страница 14: ...loads max 2 75 A Power supply on the S DIAS bus via the EC 121 Current capacity on the S DIAS bus power supply for the mod ules 5 V 24 V maximum 1 6 A maximum 1 6 A 1 Limited Voltage Limited Current...

Страница 15: ...S DIAS ETHERCAT CONTROL MODULE EC 121 02 07 2020 Page 13...

Страница 16: ...perature by 0 5 C per 100 m Operating conditions pollution degree 2 EMC resistance in accordance with EN 61000 6 2 industrial area EMC noise generation in accordance with EN 61000 6 4 industrial area...

Страница 17: ...S DIAS ETHERCAT CONTROL MODULE EC 121 02 07 2020 Page 15 5 Mechanical Dimensions...

Страница 18: ...X4 pin 3 and pin 4 are internally bridged To supply the module only one connection to a 24 V pin pin 1 or pin 2 and a GND pin pin 3 or pin 4 is required The bridged connections may be used for further...

Страница 19: ...Connectors 6 1 1 X1 USB Device 2 0 not used n c do not use 6 1 2 X2 EtherCAT IN RJ45 6 1 3 X3 EtherCAT OUT RJ45 Pin Function 1 5 V 2 D 3 D 4 n c 5 GND Pin Function 1 Tx Rx 2 Tx Rx 3 Rx Tx 4 5 n c 6 Rx...

Страница 20: ...general runtime error BLINKS configuration error OFF No errors EC IN Link Active yellow ON connection to the upstream EtherCAT module established without data communication BLINKS connection to the u...

Страница 21: ...ting direction parallel to the conductor axis or circuit board Conductor cross section rigid 0 2 1 5 mm2 Conductor cross section flexible 0 2 1 5 mm2 Conductor cross section strands ultrasonically com...

Страница 22: ...OL MODULE Page 20 02 07 2020 6 4 Label Field Manufacturer Weidm ller Type MF 10 5 CABUR MC NE WS Article number Weidm ller 1854510000 Compatible printer Weidm ller Type Printjet Advanced 230V Article...

Страница 23: ...Wiring Instructions Recommended Shielding Wiring the EtherCAT cables according to Ether CAT Technology Group ETG 7 1 Strain Relief The EtherCAT cable must be mounted close to the module e g using a c...

Страница 24: ...l number AI 022 5939502 AI 043 6060705 AI 075 6064879 AI 084 6056902 AI 088 6095866 AI 088 1 5963592 AM 221 6039568 AM 222 6019430 AM 441 6070032 AM 442 6044310 AO 081 6096202 NC 100 6060801 SR 020 60...

Страница 25: ...S DIAS ETHERCAT CONTROL MODULE EC 121 02 07 2020 Page 23 ICA 011 6082482 ICA 012 6096378 SI 021 5898508 SCP 011 independent...

Страница 26: ...be thereby implemented The S DIAS EtherCAT control module supports only S DIAS modules with a specific FPGA version S DIAS modules with an older version are not compatible with the S DIAS EtherCAT co...

Страница 27: ...21 Power Up 2 The S DIAS Manager integrated into the EC 121 searches the S DIAS bus for available modules 3 Create service and process data configuration for the EtherCAT protocol for this purpose inf...

Страница 28: ...following graphic shows the possible modes and mode transitions on the EtherCAT bus 8 2 2 1 Init PreOp EtherCAT master reads the ID from the EEPROM Mailbox SyncManager SM is configured Distributed Clo...

Страница 29: ...configuration of the S DIAS modules are accepted S DIAS bus starts with the process data for the module s inputs EC 121 starts copying the S DIAS input data with SafeOP status After the successful tra...

Страница 30: ...ules may be destroyed For the following example TwinCAT was selected as the EtherCat bus to demonstrate commissioning the S DIAS Control Module EtherCAT 9 1 Automatic S DIAS Module Configuration If th...

Страница 31: ...cted module configuration is ena bled As can be seen in the graphic above some S DIAS slaves have special functions such as Samplepoints or Timeoffsets For this reason different variations available f...

Страница 32: ...hronous mode the EC 121 uses the distributed clock as a reference and oper ates with the specified cycle time Possible cycle times are 250 s 500 s and between 1 ms and 32 ms in millisecond intervals W...

Страница 33: ...S DIAS ETHERCAT CONTROL MODULE EC 121 02 07 2020 Page 31 10 Object Directory 10 1 Overview The following graphic shows an overview of the objects in the S DIAS EtherCAT control module...

Страница 34: ...2 1 TxPDO Index TxPDO Function Group Index TxPDO Function Group 0x6xx0 Digital Input 0x6xxA Status 0x6xx1 Analog Input 0x6xxB Miscellaneous 0x6xx2 Analog Range 0x6xxC 0x6xx3 Status word 0x6xxD Error...

Страница 35: ...scellaneous 0x7xx2 0x7xxC 0x7xx3 Control word 0x7xxD 0x7xx4 PWM 0x7xxE 0x7xx5 Time offset 0x7xxF 0x7xx6 0x7xx7 0x7xx8 DriveCmd 0x7xx9 Command 10 2 3 CnfSDO Index CnfSDO Function Group Index CnfSDO Fun...

Страница 36: ...nformation on the object directory for the basic structure of indi vidual objects and the module device profile to use can be found in the corresponding EtherCAT specifications Part 1 General MDP Devi...

Страница 37: ...escription Sub Index Description Value Name Device Type Object code VAR Data type Sub Index 0x00 UNSIGNED32 Access Sub Index 0x00 RO Default value Sub Index 0x00 0x00001389 10 4 2 Object 0x1008 Device...

Страница 38: ...ersion Object code VAR Data type Sub Index 0x00 Visible String Access Sub Index 0x00 RO Default value Sub Index 0x00 10 4 4 Object 0x100A Software Version The object 0x100A contains the firmware versi...

Страница 39: ...ame Identity Object Object code RECORD Data type Sub Index 0x00 UNSIGNED8 Sub Index 0x01 to 0x04 UNSIGNED32 Access Sub Index 0x00 RO Sub Index 0x01 to 0x04 RO Function Sub Index 0x00 Number of entries...

Страница 40: ...lue Name Error Settings Object code RECORD Data type Sub Index 0x00 UNSIGNED8 Sub Index 0x01 UNSIGNED32 Sub Index 0x02 UNSIGNED16 Access Sub Index 0x00 RO Sub Index 0x01 RW Sub Index 0x02 RW Function...

Страница 41: ...n Value Name Sync Manager Type Object code ARRAY Data type Sub Index 0x00 UNSIGNED8 Sub Index 0x01 to 0x04 UNSIGNED8 Access Sub Index 0x00 RO Sub Index 0x01 to 0x04 RO Function Sub Index 0x00 Number o...

Страница 42: ...Sub Index 0x01 UNSIGNED16 Sub Index 0x02 UNSIGNED32 Sub Index 0x04 UNSIGNED16 Sub Index 0x05 UNSIGNED32 Sub Index 0x06 UNSIGNED32 Sub Index 0x08 UNSIGNED16 Sub Index 0x09 UNSIGNED32 Sub Index 0x0A UNS...

Страница 43: ...Mode Sub Index 0x02 Cycle Time Sub Index 0x04 Sync modes supported Sub Index 0x05 Minimum cycle time Sub Index 0x06 Calc and copy time Sub Index 0x08 Get cycle time Sub Index 0x09 Delay time Sub Index...

Страница 44: ...b Index 0x02 UNSIGNED16 Sub Index 0x03 UNSIGNED32 Sub Index 0x04 UNSIGNED32 Sub Index 0x05 UNSIGNED16 Access Sub Index 0x00 RO Sub index 0x01 to 0x05 RO Function Sub Index 0x00 Number of entries Sub I...

Страница 45: ...ndex 0x01 to 0x41 UNSIGNED16 Access Sub Index 0x00 RW Sub Index 0x01 to 0x41 RW Function Sub Index 0x00 Number of entries Sub Index 0x01 to 0x40 Module identification number 10 4 13 Object 0xF050 Dete...

Страница 46: ...IAS versions Object code RECORD Data type Sub Index 0x00 UNSIGNED8 Sub Index 0x01 to 0x02 UNSIGNED32 Sub Index 0x03 UNSIGNED8 Access Sub Index 0x00 RO Sub Index 0x01 to 0x03 RO Function Sub Index 0x00...

Страница 47: ...b Index 0x01 RO Function Sub Index 0x00 Number of entries Sub Index 0x01 Serial number Default value Sub Index 0x01 0 10 4 16 Object 0xF110 S DIAS Diagnosis The object 0xF110 Diagnostics information f...

Страница 48: ...O Sub Index 0x01 to 0x07 RO Function Sub Index 0x00 Number of entries Sub Index 0x01 ErrorCounter Sub Index 0x02 NewErrorCounter Sub Index 0x03 Last Error Sub Index 0x04 Second Last Error Sub Index 0x...

Страница 49: ...dler 10 The Output handler could not be started 11 Error stopping the Output handler 12 Error creating the PDO mapping 13 Copying the Input PDO failed 14 Copying the Output PDO failed 15 Error accessi...

Страница 50: ...EC 121 S DIAS ETHERCAT CONTROL MODULE Page 48 02 07 2020 29 Reading the type label failed 30 S DIAS module from non supported provider 31 Sync mode not supported 32 Invalid serial number...

Страница 51: ...change the data objects of the PDO mapping 9 Configuration inconsistent 10 Error during Mutex request 11 Starting SDO communication failed 12 TimeOut 13 Entry not found 14 Module specific function fa...

Страница 52: ...on call in OP mode failed 0x8006 Slave specific function call in the SafeOP mode failed 0x8007 Copy function between EtherCAT hardware and EtherCAT data object failed 0x8008 Copy function between Ethe...

Страница 53: ...ct code RECORD Data type Sub Index 0x00 UNSIGNED8 Sub Index 0x01 to 0x04 UNSIGNED32 Access Sub Index 0x00 RO Sub Index 0x01 0x03 RO Sub Index 0x02 0x04 RW Function Sub Index 0x00 Number of entries Sub...

Страница 54: ...tions for the EC 121 Description Sub Index Description Value Name Device Control Object code RECORD Data type Sub Index 0x00 UNSIGNED8 Sub Index 0x01 UNSIGNED32 Access Sub Index 0x00 RO Sub Index 0x01...

Страница 55: ...time in free run mode Sub Index 0x02 ISO start time from the S DIAS bus in Default value Sub Index 0x01 4000 s Sub Index 0x02 50 In free run mode the S DIAS bus cycle time can be defined with this ob...

Страница 56: ...on Object code RECORD Data type Sub Index 0x00 UNSIGNED8 Sub Index 0x01 to 0x04 0x06 UNSIGNED32 Sub Index 0x05 Visible String Access Sub Index 0x00 RO Sub Index 0x01 to 0x06 RO Function Sub Index 0x00...

Страница 57: ...stored on drive 1 is loaded and displayed as such in the EtherCAT master The following files can be exchanged between the EtherCAT and the EC 121 Update files received via FoE are first stored in the...

Страница 58: ...location for verified files config Storage location for update configuration files 1 Root directory Golden image of the EC 121 firmware The following table shows an overview of the files that can be e...

Страница 59: ...r the EC 121 can be validated and stored in the verified folder for updates The update files for all update targets must be signed and provided by the manufacturer The S DIAS EtherCAT control module o...

Страница 60: ...ul 103ef01 verified AI_075_FW delete In this example a firmware update file was transferred via FoE verified and moved to the verified folder After a power cycle the update for the S DIAS slave with t...

Страница 61: ...made and the EC IN LED indicates a link The update process can depending on the number of update files take several minutes During this time do not turn of the voltage supply and try not to interrupt...

Страница 62: ...format per entry or line to be verified by the EC 121 as a configuration file DeviceID TargetDevice Option ModuleSelection Parameters Value Description DeviceID 1000 7999 Manufacturer specific identif...

Страница 63: ...ine for the corresponding S DIAS slave or target device If the parameters from the configuration file do not match the specification the module is not updated and a log entry is created As soon as all...

Страница 64: ...tronics During transport and storage high mechanical stress must therefore be avoided For storage and transport the same values for humidity and vibration as for operation must be maintained During tr...

Страница 65: ...panel of the control cabinet The individual S DIAS modules are mounted on the DIN rail as a block and secured with latches The modules must be mounted horizontally module label up with sufficient cle...

Страница 66: ...EC 121 S DIAS ETHERCAT CONTROL MODULE Page 64 02 07 2020 Recommended minimum distances of the S DIAS modules to the surrounding components or control cabinet wall a b c distances in mm inches...

Страница 67: ...rted in the original pack aging if possible Otherwise packaging should be selected that sufficiently protects the product from external mechanical influences such as card board filled with air cushion...

Страница 68: ...pter Note 12 05 2020 12 4 3 Electrical requirements UL info added 14 4 4 Environmental Conditions Environmental temperature changed to 60 C 28 05 2020 21 7 2 Supported S DIAs Modules Serial number add...

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