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AXL Sercos 3 BK Manual

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1. 8 61 Channel quantity PDOUT eene 8 61 Channel width DIAGIN eene 8 63 Channel width DIAGOUT eene 8 62 Channel width PDIN eene 8 61 Channel width PDOUT sene 8 61 Command value valid time t3 8 18 communication npo ooi cec aides 3 1 Communication cycle time tS cyc 8 16 Communication layer eese 2 6 Communication model sse 2 6 Communication state 5 3 Configuration list eene 8 38 Configuration of I O function group 8 59 Configuration phase essen 6 2 Connection control C Con 8 38 Connection number esesseeeeeene 8 36 Connection setup eseeeeene 8 35 Container input data sese 8 54 Container output 8 54 transition check 8 7 CPA transition check 8 7 Current I O diagnosis 8 58 Current length of connection 8 38 D Data block 2 11 8 1 Data link layer
2. 8 26 Generic device profile GDP 2 14 2 16 Grounding ia tod 4 11 H Hot plug service 3 5 V O control tania 8 50 I O diagnosis 8 57 I O diagnostic 7 5 I O function group Bus coupler 8 50 9 5 tes 8 52 2 12 2 14 IDN allocation of real time bit 8 40 IDN list of all backup operation data 8 8 IDN list of all operation data 8 5 IDN list of all procedure commands 8 6 IDN list of configurable data as consumer 8 8 IDN list of configurable data as producer 8 8 IDN list of invalid data for parameterization level 8 14 IDN list of invalid operation data for CP2 8 5 IDN list of invalid operation data for CP3 8 5 IDN list of password protected data 8 12 Image of connection SETUPS 8 41 IndraWorks device data 5 4 Initialization cies ore ce N 6 1 Installation icem e 2 4 Interface status 8 4 IP addiess eee ee dp 8 24 L
3. 8 7 8 3 8 5 0 0127 transition check sse 8 7 8 3 9 5 0 0128 CP4 transition check seen 8 7 8 3 10 S 0 0187 IDN list of configurable data as producer 8 8 8 3 11 S 0 0188 IDN list of configurable data as consumer 8 8 8 3 12 S 0 0192 IDN list of all backup operation data 8 8 8 3 13 S 0 0264 Backup working memory procedure command 8 9 8 3 14 S 0 0265 Language selection sse 8 9 8 3 15 58 0 0266 List of available languages 8 9 8 3 16 S 0 0267 Password Mresti e enneren Et e EEEa Si 8 11 8 3 17 5 0 0279 IDN list of password protected data 8 12 8 3 18 S 0 0390 Diagnostic number sse 8 12 8 3 19 S 0 0420 Activate parameterization level procedure command PL 8 13 8 3 20 58 0 0422 Exit parameterization level procedure command PL 8 13 8 3 21 S 0 0423 IDN list of invalid data for parameterization level 8 14 8 3 22 S 0 1000 List of SCP types amp versions 8 14 8 3 23 S 0 1002 Communication cycle time tS cyc 8 16 8 3 24 S 0 1003 Allowed MST losses in CP3 CP4 8 16 8 3 25 5 0 1005 Minimum fe
4. E g Notebook Figure 4 15 Example 1 4 14 PHOENIX CONTACT 8336_en_00 Planning E g PC or i automation component Figure 4 16 Example 2 8336 en 00 PHOENIX CONTACT 4 15 UM EN SERCOS SYS 4 2 Central and Distributed System Concepts Cross communication between I O devices allows for a cyclic fast and direct data exchange between several devices One device sends the data and several devices can read the data This makes it possible to have very fast axis couplings I O connections and connections between I O and drive without the controller being directly involved 4 3 Fast and Slow Connections 4 3 1 Realtime Ethernet and Standard Ethernet Integrating Standard Ethernet Devices via sercos Non Realtime Switches Such a switch has two sercos realtime Ethernet connections and at least one standard Ethernet connection Thus several standard Ethernet devices can be integrated in a realtime Ethernet line or a realtime Ethernet ring with such a switch If sercos devices are at the end of a line a standard Ethernet device can be connected as well This is a device specific property Data for the standard Ethernet devices is transmitted in the NRT channel to the standard Ethernet devices or even to the sercos devices This data is usually TCP IP or UDP IP telegrams Standard Ethernet devices are often HMI devices modems for remote access or engineering PCs The NR
5. 1 1 1 1 General Information on sercos sssseeeeeen nennen 1 1 1 2 Development of the sercos Automation 1 1 1 3 Ethernet in Industrial Communications with sercos 1 1 2 Overmiewand AIChIteCtUre noo eren Rake da Uer d A Malte duse p bana po Ra aa 2 1 2 1 TOPOLOGY M Er 2 1 2 1 1 The Ring Struct re ice Deer eee ras 2 1 2 1 2 The Linear Structure sici n 2 3 2 1 3 Advanced Topologies c cecseseceeeeceseeceeeseneeseeeeesneeeeeseeeeeneenenennees 2 3 2 2 stie M 2 4 2 3 Technical Properties of sercos 2 4 2 4 Overview of Transmission Performance 2 5 2 5 Communication nennen nennen nennen nennen 2 6 2 6 Basic Communication Profiles eese 2 8 2 7 neret Aga cacao 2 9 2 8 sercos Parameter Model 2 11 2 9 Grouping of ID Numbers essen nnne 2 14 2 9 1 SCP sercos Communication Profile 2 15 2 9 2 GDP Generic Device Profile 2 16
6. 8 27 8 83 45 8 0 1027 MTU iii o ete ac OR Sel ch OX e yeas ee 8 27 8 3 46 5 0 1027 02 Effective MTU 8 29 8 3 47 5 0 1028 Error counter MST P S 8 29 8 3 48 5 0 1031 Test pin assignment port 1 and port2 8 30 8 3 49 S 0 1035 Error counter port 1 and port 2 8 31 8 3 50 S 0 1040 sercos address c oncccccconcnnocccoccconnnonoccnnnnnona nan cr nc r aran 8 31 8 3 51 S 0 1041 AT Command value valid time t9 8 31 8336_en_00 PHOENIX CONTACT iii UM EN SERCOS SYS 8 3 52 5 0 1044 Device control C Dev 8 32 8 3 53 S 0 1045 Device status S Dev sse 8 33 8 3 54 5 0 1050 sercos connections ssseeeene 8 35 8 3 55 S 0 1051 Image of connection Setups 8 41 8 3 56 5 0 1300 Electronic label essen 8 41 8 3 57 S 0 1301 List of GDP classes amp version 8 44 8 3 58 S 0 1302 Resource structures of sub device 8 44 8 3 59 S 0 1303 Diagnosis trace ssssseeee 8 46 8 3 60 5 0 1305 0 01 sercos current time 8 48
7. 2 6 3 5 Device control 8 32 Device control C Dev offset in MDT 8 19 Device model rs 2 9 Device status 5 8 33 Device status S Dev offset in AT 8 20 Device specific function 2 18 DIAGIN itin 8 63 Diagnosis trace 8 46 Diagnosis trace buffer no 1 8 47 Diagnosis trace buffer no 2 8 47 Diagnosis trace buffer no 3 8 47 Diagnosis trace 8 46 Diagnosis trace control 8 46 Diagnosis trace State 8 47 Diagnostic 5 5 7 2 7 5 Diagnostic message 8 6 Diagnostic number see 8 12 Diagnostics vuitton la 7 1 DIAGOU NT uti ee 8 62 E icr treten net 8 41 Error counter data 105565 8 40 Error counter MST P S ssssseeeee 8 29 Error counter port 1 and port 2 8 31 Exit parameterization level procedure command PL
8. Status Meaning Status Meaning code code 6000 Device software 7000 Extension module s defective 6010 Software reset watchdog 7100 Power 6100 Internal software firmware 7200 Measuring circuit 6200 Application software 7300 Sensor 6300 Faulty data record 7400 Computer circuit 6310 Missing parameter 7500 Communication 6320 Parameter error 7600 Data memory 6330 Parameter not yet initialized 7700 Open circuit cable error 8000 Monitoring 9000 External error 8100 Communication 8110 Process data monitoring 8120 Host monitoring 8200 Closed loop control 8210 High system deviation 8211 Maximum manipulated variable reached 8220 System deviation 8221 Maximum manipulated variable reached 8900 Sensors 8910 Measured value above the value range 8920 Measured value below the value range 8A00 Actuator 8B00 Preventive maintenance required A000 Sub bus slave B000 Local bus A001 Sub bus slave missing B001 Local bus slave missing A002 Wrong sub bus slave present B002 Wrong local bus connected A003 Compatible replacement B003 Compatible replacement A004 Error in number of sub bus devices B004 Error in the number of local bus devices A010 Device error B010 Device error A012 Application on sub bus slave not ready B012 Application on local bus slave not ready A013 Sub bus device reset B013 Local bus device reset A020 Communication error B020 Communication error 021 Sub bus error timeout break B021 Local
9. 8 13 Extended parameterization phase 6 3 F Fall back value 8 64 Feedback acquisition capture point t4 8 18 FG Administration occccncncnnnnoninnanacanarn noo 2 17 9 4 FG Archiving 2 16 9 4 FG Bus coupler esee 2 18 FG Bus 2 15 7 1 FG Gonnection eet tte tenes 2 15 9 2 FG Gonltroli 5 e cte eee 2 15 9 2 8336 en 00 PHOENIX CONTACT 1 UM EN SERCOS SYS FG Diagnosis 2 16 7 1 9 3 FG Identification 2 17 9 4 EG NA Ticos 2 15 9 3 FG SCP identification 9 1 FG State machine 2 17 9 4 FG Telegram setup eese 2 15 FG Telegramm setup eene 9 1 FG io ton tutt ea 9 4 FG TIMING 2 15 9 1 Fiber Optic Sys epo SERE ae 4 5 FSP type amp version 8 44 ESP O scaduta dea 2 18 Function groups eeem 5 7 7 8 Function groups of the _ 9 5 Function specific profile 2 14 Funktionsgruppen 8 45 G Gateway
10. Function Structure Attributes Function Structure Attributes 8 3 33 S 0 1013 SVC offset in MDT The SVC offset in the Master Data Telegram MDT specifies at which position and in which Master Data Telegram the service channel is sent for the device see also Figure 2 4 Telegram structure of the communication layer on page 2 7 Table 8 10 Structure of S 0 1013 Bit Designation Function Comment 11 0 MDT SVC offset In bytes 13 12 MDT telegram number 00 MDTO 01 MDT1 10 MDT2 11 Reserved 15 14 Reserved Length 2 bytes Format Hexadecimal Function Parameter Changeability Communication phase CP2 8 3 34 S 0 1014 SVC offset AT The SVC offset in the Acknowledge Telegram AT specifies at which position and in which Acknowledge Telegram the service channel is sent for the device see also Figure 2 4 Telegram structure of the communication layer on page 2 7 Table 8 11 Structure of S 0 1014 Bit Designation Function Comment 11 0 AT SVC offset In bytes 13 12 AT telegram number 00 ATO 01 AT1 10 AT2 11 Reserved 15 14 Reserved Length 2 bytes Format Hexadecimal Function Parameter Changeability Communication phase CP2 8336 en 00 PHOENIX CONTACT 8 21 UM EN SERCOS SYS Function i Attributes Function Attributes 8 3 35 S 0 1015 Ring delay In communication phase CP2 the master determines the ring delay time
11. Function This transmission time determines when the master with regard to the Master Synchronization Telegram MST sends its Acknowledgement Telegram AT in communication phases CP3 and CP4 See also Figure 6 2 Timing of the communication layer on page 6 4 Attributes Length 4 bytes Format Decimal without sign bit Function Parameter Changeability No Unit ns 8336 en 00 PHOENIX CONTACT 8 17 UM EN SERCOS SYS Function Use Attributes Function Attributes 8 3 27 S 0 1007 Feedback acquisition capture point t4 Time of measurement of actual values determined by the master and after the end of the Master Synchronization Telegram MST The master can specify the same time of measurement of actual values for all devices operating in a coordinated way with each other This ensures synchronization of current value acquisition between all devices concerned The device activates the time of measurement of actual values from communication phase onwards The master must set the time of measurement of actual values lower or equal the difference of the sercos cycle time S 0 1002 Communication cycle time tS cyc and the requested Minimum time of actual value acquisition S 0 1005 Minimum feedback processing time t5 Length 4 bytes Format Decimal without sign bit Function Parameter Changeability No Unit ns 8 3 28 S 0 1008 Command value valid time t3 The time for Setpoint valid i
12. S 0 1500 0 11 List of replaced function groups List of the function groups replacing individual function page 8 55 groups which have been read by the bus coupler orthe bus header for compact devices S 0 1500 0 12 Rearrangement of I O resource page 8 55 S 0 1500 0 19 Parameter channel receive Parameter channel for the manufacturer specific configu page 8 56 ration and parameterization of the bus coupler or bus header for compact devices or the I O modules S 0 1500 0 20 Parameter channel transmit Parameter channel for the manufacturer specific configu page 8 57 ration and parameterization of the bus coupler or bus header for compact devices or the I O modules S 0 1500 0 23 Local bus cycle time Cycle time of the local bus page 8 57 S 0 1500 0 32 I O diagnosis message Diagnostic message with the highest priority page 8 57 S 0 1500 0 33 Current I O diagnosis message Current diagnostic message page 8 58 Function 8 5 1 1 S 0 1500 0 01 I O control This IDN defines the behavior of inputs and outputs regarding RTD and SVC data Input and output control is configured as Consumer connection and at best as the fastest possible connection The slave rejects the configuration in the case of multiple configurations with more than one Consumer connection or no connection configuration Upon power up the bus sets all bits of the inputs and outputs to zero by default In this case all output
13. Command value _ valid time t3 S 0 1008 Feedback acquisition capture point t4 S 0 1007 gt m ee a transmission starting time 11 m m m S 0 1006 M AT command value valid time t9 m S 0 1041 e eee m m Communication cycle time tSCYC 98 0 1002 Figure 6 2 Timing of the communication layer MDT 6 Octets 2 Octets SVC offset in MDT S 0 1013 Device control offset in MDT S 0 1009 eee ee MDT lengths S 0 1010 2 eee Figure 6 3 Telegram structure of the communication layer 6 4 PHOENIX CONTACT 8336_en_00 Startup Save Load 6 3 Loading Storing and Saving of Parameters All relevant operating data is mapped to parameters and is stored in the device S 0 0017 IDN list of all operation data S 0 0192 IDN list of all backup operation data Saving of application specific parameters S 0 0264 Backup working memory procedure command C2200 Save main memory command may be required in the following cases After initial startup Before the device is replaced for servicing if possible Saving of the parameter values by the controller is supported by the device through the listing of parameter ID numbers IDN When these lists are used it is guaranteed that the application specific parameter values are saved completely The customer may also define IDN l
14. They are physically present They do not take part in local bus communication They have their own place and a structure instance SI They do not have a placeholder function in container input data or container output data They can map an electronic rating plate in S 0 1300 Electronic label Length 4 bytes device specific Format IDN Function Parameter Changeability Communication phase CP2 Parameterization phase 8336 en 00 PHOENIX CONTACT 8 53 UM EN SERCOS SYS Function Attributes Function 8 5 1 5 S 0 1500 0 05 Container output data The process data comprise a configured container with output data This data consists of process output data PDOUT and diagnostic output data DIAGOUT S 0 1050 x 05 Current length of connection that is read by the master and the mapping rules determine the length of the container output data The data is mapped in the order of the entries in S 0 1302 0 02 Function groups Configuration of the connection As SPCP_FixCFG the container output data is a defined part of the Consumer connection AsSPCP VarCFG the container output data should have no more than one Consumer connection For this purpose the container output data is mapped to the connection data of S 0 1050 x 06 Configuration list If the length is configured S 0 1050 x 01 Connection setup bits 5 4 01 the container output data is a defined part of the Consumer connection Mappi
15. To change the password send the currently active password the new password and for confirmation the new password again over the service channel to the module each separated by a space Changing the password automatically activates write protection for all password protected parameters Activating write protection You can activate the password write protection as follows Switch on the power supply for the corresponding device on and off again Or Overwrite the password parameter with something other than the password Deactivating write protection Password write protection is deactivated by writing the current password to this parameter Write access error With every write access that is not used for changing the password or activating or deactivating the write protection the module returns the error message Error code 0x7008 Invalid data via the service channel Length Variable min 3 characters max 10 characters Format Text Function Parameter Executability Parameterization phase operating phase 8336 en 00 PHOENIX CONTACT 8 11 UM EN SERCOS SYS Function Attributes Function Structure Attributes 8 3 17 S 0 0279 IDN list of password protected data The values contained in this list can be protected by a customer password S 0 0267 Password against unintentional or unauthorized changes There is an empty list in the default state of this parameter Users can adaptthis list to the
16. 3 2 PHOENIX CONTACT 8336 en 00 sercos Communication Telegram configuration Preamble SFD Target Source address address Data field 2 bytes 2 bytes Figure 3 4 Structure of the MDT and AT array Table 3 1 sercos type structure 7 0 Telegram on the primary channel P Telegram 1 Telegram on the secondary channel S Telegram 6 MDT or AT sercos telegram type 0 MDT 1 AT 5 Cycle CNT Is required to set the sercos time 0 Cycle CNT deactivated Is defined in the MDT 1 Cycle CNT activated 4 Reserved 3 2 Telegram number 4 15 1 0 Telegram number From MDT and AT 00 Telegram number 0 01 Telegram number 1 10 Telegram number 2 11 Telegram number 3 The assignment of the service channel SVC and the realtime data arrays RTD in the MDT and AT is configured using parameters The length of the realtime data arrays in the MDT and AT is dependent upon the application and can vary for the individual slaves depending on the configuration 8336 en 00 PHOENIXCONTACT 3 3 UM EN SERCOS SYS Non realtime channel The number of MDTs and ATs may also vary The configuration must meet the following requirements service channels must be configured directly downstream of the hot plug field All realtime data arrays must be configured directly downstream of the last service channel All SVCs of a slave device must be transmitted in an MDT and an AT The telegra
17. Devices and sercos interface specific parameters can be addressed by all sercos addresses of this device butitis always the same value that is addressed Such parameters are known as global parameters see Figure 2 9 Here are a few typical examples of global parameters 0 1002 cycle time tScyc a sercos interface specific global parameter S 0 1300 electronic device identification a device specific global parameter id i t id i d t i iod H P x 4095 local Parameters global Parameters S x 0001 SubDevice 1 SubDevice 2 SubDevice n Parameter of the Device Figure 2 9 Parameter addressing of global and local parameters Slave and sub device specific parameters can only be addressed by the specific slave These parameters are known as local parameters Most parameters in a device are of this type Example S 0 1040 The sercos address is a slave related and subsequently a local parameter 8336 en 00 PHOENIX CONTACT 2 13 UM EN SERCOS SYS 2 9 Grouping of ID Numbers Each identification number IDN is assigned to precisely one function group A function group is a functional grouping of IDNs Each function group exists within a so called profile range These profile ranges are SCP sercos Communication profile GDP Generic device profile Function specific profile such as FSP Drive or FSP_I O An application expects certai
18. 5 4 1 Parameterization Phase CP2 The master can switch to parameterization phase CP2 to change the device parameters The result is that all devices are in the parameterization phase Cycle realtime data is not exchanged 5 4 2 Parameterization Level PL The master can activate the parameterization level PL with the S 0 0420 Activate parameterization level procedure command PL command in CP2 CP3 or CP4 This allows for parameterization of individual devices while others remain in operating phase CP4 and exchange cyclic realtime data Monitoring of the connected modules is deactivates so that modules can be replaced All parameters except for the communication parameters and the time parameters can be modified The S 0 0422 Exit parameterization level procedure command PL command is used to leave the parameter level and to change to the operating level 5 2 PHOENIX CONTACT 8336_en_00 Parameterization The state machine for the communication phases and device levels see Figure 5 1 sercos communication state machine shows the interaction of the various IDNs error 5 0 0423 error S 0 0022 Level OL not S 0 0420 5 0 0422 cro n c4 way Deri PL sra MN Figure 5 1 sercos communication state machine This function group contains the following IDNs 58 0 0420 Activate parameterization level procedure command PL 58 0 0422 Exit parameterization level proced
19. Function Parameter Changeability Parameterization phase 8 5 2 18 S 0 15xx y 23 Minimum delay time This parameter contains the minimum delay time between the sercos connection and the I O terminal point Length 4 bytes Format Decimal without sign bit Function Parameter Unit ns Changeability No 8 5 2 19 S 0 15xx y 24 Maximum delay time This parameter contains the maximum delay time between the sercos connection and the I O terminal point Length 4 bytes Format Decimal without sign bit Function Parameter Unit ns Changeability No 8 64 PHOENIX CONTACT 8336 en 00 Function Groups 9 Function Groups The following chapter lists all function groups with the associated IDNs The function groups are grouped according to the SCP Chapter 9 1 on page 9 1 GDP Chapter 9 2 on page 9 3 and FSP Chapter 9 3 on page 9 5 profiles 9 1 Function Groups of the SCP sercos Communication Profile The SDP is divided into the following function groups FG SCP Identification FG Timing FG Telegram Setup FG Control Bus Diagnosis FG Connection FGNRT 9 1 1 FG SCP Identification The SCP identification function group contains the following IDN S 0 1000 List of SCP types amp versions 9 1 2 FG Timing The Timing function group contains the following IDNs 8 0 1002 Communication cycle time tS cyc 8 0 1005 Minimum feedback processing time t5 58 0 1006 ATO tra
20. sercos Module Configuration This area is used for the display and modification of device specific parameters sercos Module I O Map This area is used to map the inputs and outputs of the module to project variables The current value of the variables is displayed in online mode 8336_en_00 PHOENIX CONTACT 5 7 UM EN SERCOS SYS Status Information The Status area displays status information e g Running Stopped and specific diagnostic messages from the device The Information area displays the following general information about the device where this information is present in the device description file module designation e g analog input output Manufacturer e g Phoenix Contact Categories Version e g Revision 16 4 Order No e g 2897570 Description name of the device description file e g ILB S3 Al4 AO2 xml Image image of the module The S 0 1500 0 20 Parameter channel transmit parameter channel is an asynchronous communication mechanism for the manufacturer specific configuration and parameterization of the bus coupler or the I O modules The parameter channel handles the data transparently in the form of a list 1 byte hex The maximum sercos length depends on the size of the memory Data from 1 byte up to the maximum data length is transmitted via the service channel to the parameter channel Parameter Channel Transmit The service channel
21. when unrolling it or after installation The individual wires or fibers of a cable must not be pulled at For pulling the cable install a pulling handle at the end of it It is used to reduce the strain of the cable when it is laid in the cable duct Use cable reels to reduce strain of the cable when it is laid x Figure 4 6 Do not pull at the individual wires 8336_en_00 PHOENIX CONTACT 4 9 UM EN SERCOS SYS Proper strain relief Provide a strain relief at a distance of 1 m from the connection point to compensate tensile forces Cable clamps at the sheath do not suffice for strain relief The cables must have a good strain relief when they are hanging down from the ceiling for example in hanging applications Clamp screw fittings should be used to secure the cables in the switch cabinets Do not overtighten the clamps The clamps can squeeze and break the cable The cables should be secured with velcro strips or plastic fasteners with a large surface to prevent their deformation The fasteners should have a width of at least 5 mm and it should be possible to fasten them without electric power tools Figure 4 7 Use cable clamps with large wide surface Installation of cables in Use cable glands with bending protection or other suitable methods to avoid damage to the switch cabinets and cable caused by too low bending radii housings T Figure 4 8 Cable screw connections with bending protection I
22. Drive with command value processing operating module control axis control encoder function motor control depending on actuator design for electric or hydraulic servos Virtual master axis Measuring transducer Encoder emulator Cam operated switch PLC system Digital and analog inputs outputs The general term resource is defined for functions which are essentially independent of each other A resource contains one or more function groups in order to fulfill its purpose The Real axis resource for example contains several function groups such as positioning control status machine control operating mode positioning mode motor encoder evaluation or scaling The resources are implemented in a device designated as a sub device which offers the required administrative mechanisms Multiple sub devices can be available for each device The advantage of this is that if necessary these resources can be used independently in a more complex device with several integrated resources Each sub device has an independent parameter address area The sub device itself contains several function groups in order to fulfill the required administrative functions such as sub device initialization parameter protection or error handling One or more resources are integrated in each sub device For communication the sercos device requires a sercos interface The interface provides physical access to the sercos network The serco
23. Language 8 9 red 8 20 Length of MDTS 8 19 Line Structure visas ites Ea e cte eb s 2 3 List of available 8 9 List of GDP classes amp version 8 44 List of inserted function groups 8 53 List of module type codes 8 52 List of replaced function groups 8 55 List of SCP types amp 5 8 14 Local bus cycle 8 57 M MAG address te tee etie etre Rotten 8 24 Master data telegram 3 2 Max length of connection 8 38 Maximum delay time senes 8 64 Minimum delay time eeeene 8 64 Minimum feedback processing time t5 8 16 MTU rii e debo 8 27 N Name of I O function group 8 59 Non realtime channel 3 4 Non realtime 6 2 transmission time eeeees 8 23 O Operating phase seen 6 4 P Pa
24. 1 IDN of the assigned signal List element 1 corresponds to realtime bit 2 IDN of the assigned signal Length 2x4 bytes Format IDN Function Parameter Changeability Communication phases CP2 CP3 CP4 8 3 54 12 S 0 1050 x 21 Bit allocation of real time bit The parameter contains the bit assignment of the realtime bits parameterized in 5 0 1050 x 20 IDN allocation of real time bit The list may contains up to two bit offsets with values from 0 31 This parameter contains up to two list elements Listelement 0 corresponds to realtime bit 1 Bit no of the assigned signal List element 1 corresponds to realtime bit 2 Bit no of the assigned signal Length 2x4 bytes Format Decimal without sign bit Function Parameter Changeability Communication phases CP2 CP3 CP4 8 40 PHOENIX CONTACT 8336 en 00 Parameters Function Attributes 8 3 55 5 0 1051 Image of connection setups The parameter contains the current configurations of all connections It consists of the S 0 1050 x 01 Connection setup list with all connections in ascending order Thus the master or configurator has an easy overview of the number of possible connections List length and the connections already used by the master or other configuration sources Length List with IDNs of 2 bytes each Maximum number of elements is device specific Current length is variable Format Hexadecimal Function Parameter Changeability No 8 3 56
25. 1303 0 03 Bit Value Designation Function Comment 0 0 Trace control on 1 Trace control off 1 15 Reserved Length 2 bytes Format Hexadecimal Function Parameter Changeability No 8 3 594 5 0 1303 0 10 Diagnosis trace buffer no 1 This parameter traces diagnostics and is set up as a ring buffer or as a list The contents is fixed and occupied with S 0 0390 Diagnostic number Length 4 bytes device specific Format Hexadecimal Function Parameter Changeability No 8 3 59 5 5 0 1303 0 11 Diagnosis trace buffer no 2 This parameter traces diagnostics and is set up as a ring buffer or as a list The contents is fixed and occupied with S 0 1305 0 01 sercos current time Length 8 bytes device specific Format sercos time Function Parameter Changeability No 8 3 596 5 0 1303 0 12 Diagnosis trace buffer no 3 The IDN that is to be entered in the log when the IDN S 0 0390 Diagnostic number changes can be entered in this parameter 8336 en 00 PHOENIX CONTACT 8 47 UM EN SERCOS SYS Function Structure Attributes 8 3 60 S 0 1305 0 01 sercos current time This parameter contains the sercos time in the IEC 61588 format The device marks events with this parameter This parameter is active immediately after the start within O s O ns and indicates that the time has not yet been set by the master The value 0x0 corresponds to the following time 1970 01 01 00 00 0 s Ons Ta
26. 2 9 3 FSP IO Function Specific Profile for I O Devices 2 18 3 sercos COMIMUNICALON madereras ue ed 3 1 3 1 Telegrams and Their Basic Structure ssseeee 3 1 3 2 The Data Link Eayer oie a quee deett dente dS 3 5 3 2 1 The Service Channel o RIS 3 5 3 2 2 The Hot Plug Service eese 3 5 3 2 8 The Realtime Channel RTC 3 6 3 3 Synchronization with sercos esessssseseeeeeeeenen nennen 3 7 O ees 4 1 4 1 Assembly Directives and 4 1 4 1 1 VII ME iene rete renter URP CE 4 1 4 1 2 Plug Connector ein ars 4 11 4 1 3 Grounding ior lenin neue p defe esa n hee 4 11 4 2 Central and Distributed System 4 16 4 3 Fast and Slow Connections sese 4 16 4 3 1 Realtime Ethernet and Standard Ethernet 4 16 4 3 2 Different Producer Cycle Times 4 16 8336 en 00 PHOENIX CONTACT i UM EN SERCOS SYS 5 Parameterization RE 5 1 5 1 Scope of Functions of the sercos I O 5 1 5 2 Assignment Definition Producer Consumer eese 5 1 5
27. 2 S 0 0017 IDN list of all operation data This parameter stores the IDNs of all commands and parameters of the device Length List with IDNs of 4 bytes each Number of elements is device specific Format IDN Function Parameter Changeability No 8 3 3 S 0 0021 IDN list of invalid operation data for CP2 Before the device does the upshift from phase 2 to phase 3 with the S 0 0127 CP3 transition check command it checks whether all communication parameters are complete and correct If the device detects one or several identification numbers as invalid it writes the still require or invalid process data into this IDN list The device displays this with the C0101 Parameter record incomplete gt S 0 0021 error diagnostic message Even for other error diagnostic messages will the corresponding parameters be written in S 0 0021 IDN list of invalid operation data for CP2 Length List with IDNs of 4 bytes each Maximum number of elements is device specific Current length is variable Format IDN Function Parameter Changeability No 8 3 4 S 0 0022 IDN list of invalid operation data for CP3 Before the device does a phase upshift from phase 3 to phase 4 according to the S 0 0128 CP4 transition check command it checks the parameters for the following Validity of the parameter Parameter is within the possible input range Compatibility with other parameters If the check is negative for a parameter the device writes the process
28. 4 3 The surface of the installed cable must be at least 10 mm below the isolator 4 Shielding quality DC 100 MHz equivalent to a steel conduit connection with a wall thickness of 1 5 mm This specified isolation is to be seen in addition to that of an isolator or a barrier Table 4 5 Power cable factor P Circuit 2 3 No of circuits Power cable factor P 20 A 230 V single phase 1 3 0 2 4 6 0 4 7 9 0 6 10 12 0 8 13 15 1 0 16 30 2 31 45 3 46 60 4 61 75 5 gt 75 6 1 The power cable factor must be used as a multiplier to calculate the distance A of Table 4 4 Minimum isolation S for isolation class d 2 3 phase cables must be handled the same way as 3 times 1 phase cables 3 than 20 A must be handled as multiples of 20 A 4 Low voltage AC or DC power cables must be handled on the basis of their current values e g 100 A 50 V DC cable 5 times 20 A cable P 0 4 4 1 1 5 Cable installation Storage and installation Cables must be transported stored and installed according to the manufacturer s specifications 4 6 PHOENIX CONTACT 8336 en 00 Planning Protect sercos cables against possible mechanical damage Avoid loops Figure 4 3 Use of a proper unwinding method and avoiding of loops sercos cable must not be subject to mechanical strain that exceeds the manufacturer s specifications The cable routing must be such that it is ensured that the cable is protected against damag
29. 8 Determining Cycle Times essen nennen ens 5 2 5 4 Parameterization Options sees nnns 5 2 5 4 1 Parameterization Phase CP2 5 2 5 4 2 Parameterization Level PL eene 5 2 5 5 Creatindj sercos l OS ttp deber 5 4 5 5 1 Creating a sercos Slave sess 5 4 5 5 2 Serc os O Settings iu dope Re 5 5 5 5 3 sercos O Module tite te das 5 6 Mac EU 6 1 6 1 General Information on Initialization and the Six Communication Phases 6 1 6 2 Phase Startup With Check of the Configured 6 2 6 2 1 Communication Phase NRT Non Realtime Phase 6 2 6 2 2 Communication Phase CPO Start Phase 6 2 6 2 3 Communication Phase CP1 Configuration Phase 6 2 6 2 4 Communication Phase CP2 Parameterization Phase 6 3 6 2 5 Communication Phase CP3 Extended Parameterization Phase 6 3 6 2 6 Communication Phase CP4 Operating Phase 6 4 6 3 Loading Storing and Saving of Parameters 6 5 VAIO SU CS MM CAM ERUNT 7 1 7 1 The Bus Diagnosis Function Group ccooonncccocccconnnaccconnn
30. 8336 en 00 PHOENIX CONTACT A 3 UM EN SERCOS SYS A 4 PHOENIX CONTACT 8336_en_00
31. Attributes Length 4 x 2 bytes Format Decimal without sign bit Function Parameter Changeability Communication phase CP2 Unit Byte 8336 en 00 PHOENIX CONTACT 8 19 UM EN SERCOS SYS Function Structure Attributes Function Use Attributes 8 3 31 S 0 1011 Device status S Dev offset in AT The telegram assignment indicates at which point telegram offset and in which AT telegram telegram number the device status word S Dev is located see also Figure 2 4 Telegram structure of the communication layer on page 2 7 Table 8 9 Structure of S 0 1011 Bit Designation Function Comment 11 0 Offset in MDT In bytes 13 12 AT number 00 ATO 01 AT1 10 AT2 11 AT3 15 14 Reserved Length 2 bytes Format Hexadecimal Function Parameter Changeability Communication phase CP2 8 3 32 S 0 1012 Length of ATs The list parameter contains the length of all four possible Acknowledgement Telegrams AT see also Figure 2 4 Telegram structure of the communication layer on page 2 7 The lengths are required for initialization of sercos communication The following must be observed during parameterization All four lengths must always be specified Non existing AT telegrams are marked with the length 0 Length 4 x 2 bytes Format Decimal without sign bit Function Parameter Changeability Communication phase CP2 Unit Byte 8 20 PHOENIX CONTACT 8336 en 00 Parameters
32. Costs Mechanical strain Channels between buildings Lightning protection required Short distances Lightning protection Required for channels between buildings Not required Not required very suitable suitable not suitable be avoided Note Single and multi mode fibers are not recommended since they are usually not required However if copper or POF PCF cables do not meet the requirements e g due to the channel length you may select SM MM glass fiber connections Table 4 3 Network properties of copper cables Properties sercos Supported data rates 100 Mbps Supported channel length 100m Number of connections in the channel 4 maximum Length of connecting cable 100 m AWG 22 Channel class according to ISO IEC 24702 D min Cable category according to ISO IEC 24702 S min Connection category according to ISO IEC 24702 S min Cable types sercos type A sercos type B sercos type C See the manufacturer s information regarding restrictions in the link length 4 4 PHOENIX CONTACT 8336_en_00 Planning 4 1 1 2 Covering Long Distances The maximum cable length between two devices is 100 m The distance can be elongated by 100 m per switch using special switches with cut through method or non realtime sercos switches which take over the repeater function There is no upper limit You have to consider thatthe r
33. LEM 10 1 A E 1 iv PHOENIX CONTACT 8336_en_00 Introduction 1 Introduction 1 1 General Information on sercos sercos serial realtime communication system is an open digital interface which based on standard Ethernet serves as a communication interface between controllers drives I Os input and or output devices and combinations of drives and I Os sercos is in the third generation of the automation bus series according to IEC EN 61491 Further development standardization and certification of this interface are performed by around 80 predominantly international companies involved in automation technology which are members of the sercos international e V SI user organization The organization s headquarters are based in SUBen near Stuttgart Germany with subsidiaries in North America and Asia see http www sercos de 1 2 Development of the sercos Automation Bus In the mid 1980 s the Zentralverband Elektrotechnik und Elektronikindustrie e V ZVEI and the Verein Deutscher Werkzeugmaschinenfabriken e V VDW drew up the specifications for an open digital interface The rapid development of the sercos interface is clear to see from the transmission speeds it supports The first generation had a transmission speed of 2 and 4 Mbps the second a speed of 8 and 16 Mbps and the third generation can reach transmission speeds of up to 100 Mbps The second generation sercos wa
34. O function group digital output for devices with digital outputs S 0 1503 I O function group digital input for devices with digital inputs S 0 1504 I O function group analog output for devices with analog outputs current voltage S 0 1505 I O function group analog input for devices with analog inputs current voltage temperature strain gauge S 0 1506 I O function group counter for devices with a counter The device registers and processes quick pulse trains from sensors It has a counter input a control input and a switching output for free parameterization In this way it is possible to have high system availability and fast response times The device is suitable for frequency measurement event counting time measurement and pulse generation pulse generator S 0 1507 I O function group complex protocol for devices with for example RS 232 or RS 485 interface S 0 1508 I O function group sub bus master for devices with a lower level bus master for example I O link Profibus CAN bus DALI etc S 0 1509 I O function group sub bus slave for devices attached to a lower level bus master for example I O link Profibus CAN bus DALI etc S 0 1513 I O function group motor starter for devices with servo amplifier with position speed or torque controller for motors S 0 1514 I O function group PWM for devices with PWM mode pulse width modulation frequency generators single shot single pulse generator pulse directi
35. S 0 1015 Ring delay and transfers it to the slaves With this delay the slaves can determine their synchronization time with their delay counters for the P and S Channel The master must execute the S 0 1024 SYNC delay measuring procedure command command for this The S 0 1024 SYNC delay measuring procedure command command must be executed in CP2 prior to the S 0 0127 CP3 transition check command Length 4 bytes Format Decimal without sign bit Function Parameter Changeability Communication phases CP2 CP3 CP4 Unit ns 8 3 36 S 0 1016 Slave delay P S After the master has transferred the ring delay time S 0 1015 Ring delay to the slaves the slaves determine the values for the delay counters SYNCONT P and SYNCCNT S after the S 0 1024 SYNC delay measuring procedure command command has been executed Ring topology Both list elements contain values Line topology Only one list element contains the value the other is O List element OSYNCCNT P List element 1SYNCCNT S Length 2x4 bytes Format Decimal without sign bit Function Parameter Changeability No Unit ns 8 22 PHOENIX CONTACT 8336 en 00 Parameters 8 3 37 S 0 1017 NRT transmission time Function This parameter is used to define the time slot for the NRT channel The controller defines whether the AT Telegrams are sent directly after the MDT Telegrams method 1 or after the NRT channel method 2 AT block Method 1 q AT
36. also be implemented They are considered as two plug in socket transitions as long as the manufacturer has not classified them as components In contrast to generic cabling with eight wires in twisted pair layout sercos uses a star quad optimized for 100Base T in which all four wires are twisted together All cables are shielded and optimally adapted to the sercos defined connectors for immunity to interference EMI plays an important role in the industrial environment High coupling loss of 80 dB for lines and connectors are specified to ensure a high level of immunity from interference 4 2 PHOENIX CONTACT 8336 en 00 Planning Table 4 1 Cable properties Parameter sercos type A sercos type B sercos type C Solid cables Stranded cables Special cables Nominal impedance of the cable 100 according to IEC 61156 5 Cable material Copper Wire resistance lt 115 O km Coupling loss gt 80 dB according to IEC 62153 4 9 Number of wires 4 Shield Copper braid or aluminum foil for cable shield wire pairs may be unshielded or shielded with copper braid or aluminum foil Wire colors White blue yellow orange Required sheath color Red RAL 3020 Red RAL 3020 Depends on the application Sheath material Not specified differs according to the manufacturer Resistance in harsh envi ronments e g UV oil LSOH Not specified differs according to the ma
37. by the manufacturer e g Text Vendor device ID 2688116 S 0 1300 x 06 Number of the module to which the lower level component belongs to Integer in the Connected to sub device It is only used if a device consists of several modules with several lower level range components that are all written to by one electronic rating plate 0 511 S 0 1300 x 07 Device revision Integer in the Function revision range 0 9999 S 0 1300 x 08 Hardware revision Text Hardware revision S 0 1300 x 09 Software revision Text Software revision S 0 1300 x 10 Boot loader revision Text Firmware loader revision S 0 1300 x 11 Order no e g 2688116 Text Order number S 0 1300 x 12 Serial number e g 911171676 Text Serial number whereas xxxxx is a consecutive number starting with 00001 S 0 1300 x 13 Manufacturing date Date Manufacturing date e g 2007 10 04T13 35 07Z S 0 1300 x 14 Date of final test after production Date QS date S 0 1300 x 20 Number of operating hours Date Operational hours S 0 1300 x 21 Service date Date Service date e g date of the last firmware update S 0 1300 x 22 Date of last calibration Date Calibration date S 0 1300 x 23 Date of next calibration Date 8 42 PHOENIX CONTACT 8336_en_00 Parameters Date format Text formatted according to ISO 8601 2006 09 EN 28601 extended format YYYY MM DDTHH MM SSZ Date separated with dash Time separated with colon Date and time separated wit
38. bytes each Maximum number of elements is device specific Format Decimal without sign bit Function Parameter Changeability No 8 10 PHOENIX CONTACT 8336 en 00 Parameters Function Use Attributes 8 3 16 S 0 0267 Password This parameter can be used to activate a customer password The password is used to protect the values of the parameter contained in S 0 0279 IDN list of password protected data against unintentional or unauthorized changes In the default setting some module parameters are write protected with a password The list of password protected parameters can be found in the S 0 0279 IDN list of password protected data parameter If you try to edit a parameter with write protection you will receive the following message from the module over the service channel Error code 0x7009 Operation data is password write protected You can change the password and enable or disable write protection with the S 0 0267 Password parameter The password should have 3 10 characters and no spaces and is stored in non volatile memory The following characters are permitted 0 9 a z and A Z If the password is read over the service channel the module will send the password not in plain text but as a string with 10 characters UTF8 code 2 Changing the password The devices are supplied with a default password For the default password please refer to the corresponding data sheet
39. configured in S 0 1500 0 09 Container input data Reserved Replace values This bit describes the behavior of the outputs when the I O control bit 15 changes from 1 to 0 see IDN S 0 1500 x 01 or when the communication phase changes to NRT or CPO 0 Fall back Reset values or output substitute value Freeze Freeze values 7 Virtual This bit indicates whether the I O function group is physically present or whether it has been inserted virtually for example as a placeholder 0 Physical Virtual 15 Reserved Attributes Length 2 bytes Format Binary Function Parameter Changeability phases 1 CP2 parameterization 8 60 PHOENIX CONTACT 8336 en 00 Parameters 8 5 2 3 S 0 15xx y 03 Channel quantity PDOUT Function This parameter contains the number of channels for Process Data OUTput PDOUT Attributes Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8 5 2 4 S 0 15xx y 04 Channel width PDOUT Function This parameter contains the bandwidth of a channel for Process Data OUTput PDOUT Attributes Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8 5 2 5 S 0 15xx y 05 PDOUT Function This parameter contains the OUT process data S 0 1027 x 01 Requested MTU bits 5 4 can be used to configure whether the OUT process data is contained in this parameter container output data or directly in a connection S 0 15xx y 02 Configuration of I O function group b
40. data concerned into this IDN list The device confirms the switch command with the following messages in S 0 0423 IDN list of invalid data for parameterization level C0201 Parameter record invalid C0202 Parameter limit value error C0203 Parameter conversion error C0242 Multiple configuration of a parameter Length List with IDNs of 4 bytes each Maximum number of elements is device specific Current length is variable Format IDN Function Parameter Changeability No 8336_en_00 PHOENIX CONTACT 8 5 UM EN SERCOS SYS Function Example Attributes Function Examples Attributes 8 3 5 S 0 0025 IDN list of all procedure commands The IDNs of all process command are stored in this list For a bus coupler the following IDNs are stored in this list 58 0 0099 Reset class 1 diagnostic 58 0 0127 transition check 8 0 0128 CP4 transition check 58 0 1024 SYNC delay measuring procedure command Length List with IDNs of 4 bytes each Maximum number of elements is device specific Format IDN Function Parameter Changeability No 8 3 6 S 0 0095 Diagnostic message The current operating state of the slave is monitored with diagnostic messages that are generated in the form of text messages by the bus coupler or bus head with compact devices and are stored in this IDN channel is active tScyc must be gt 1000us invalid connection length ho valid producer connect
41. e g for robot applications Figure 4 4 Avoiding torsion Tensile strength If additional cables are to be laid in the cable ducts use proper installation methods which for installed cables guarantee that the maximum tensile strength limits are not exceeded 4 8 PHOENIX CONTACT 8336 en 00 Planning Bending radius Tensile force The minimum bending radius of the cable must match the values given in the manufacturer s data sheet At no point must be bending radius fall below the value given in the specifications Notes Failure to meet this requirement may result in a permanent reduction of the electric or optical performance values bending radius of a cable depends on the following bending radius is larger when the cable is under tensile strength than in a state of rest and when installed bending radius only applies to the flat side when flat ribbon cable is bended Bending around the round side requires much larger radii It is recommended to protect the cable with cable clamps and to provide strain relief if it is installed at right angles Do not overtighten the clamps The clamps can squeeze and break the cable Figure 4 5 Observe the minimum bending radius The permitted tensile force of a cable can be taken from the manufacturer s data sheet The tensile force acting on the cable must not exceed the maximum tensile strength of the cable when handling it e g
42. has been addressed by the master Service channel Communication settings as well as parameter and diagnostic data can be exchanged between the controller master and the individual slaves via the service channel Increases the realtime capability by a time alignment and simultaneous execution of signals Device status Slave control word Secondary channel Telegram on the secondary channel Clocked data packet in which the communication data is bundled and transported to all sercos devices 10 4 PHOENIX CONTACT 8336 en 00 Index A Index A Acknowledge Telegram AT 3 2 Activate parameterization level procedure command PL 8 13 Allowed data losses 8 39 Allowed MST losses in CPS CPA 8 16 Application 2 6 Application type isme oet ce en tens 8 45 AT command value valid time 19 8 31 ATO transmission starting time 1 8 17 B Backup working memory procedure command 8 9 Basic profiles irr ettet 2 8 Bit allocation of real time bit 8 40 C Cable type A B C sese 4 3 Channel quantity 8 63 Channel quantity DIAGOUT 8 62 Channel quantity
43. practice 8336 en 00 PHOENIX CONTACT 4 1 UM EN SERCOS SYS For this reason experts of at the sercos international e V user organization have developed an installation model that allows the user to build his network using selected components and with the help of simple rules without calculations All channel lengths can be attained with permanently laid and flexible cables in any combination and partial lengths using the defined cable types Plug in connections within the channel can be implemented in a variety of ways according to industrial operating conditions as long as the limit value of four plug in connectors is not exceeded see Figure 4 1 Structure of the channel If the planning requires more than four connections additional calculation are required and measurements of the channel performance have to be carried out to ensure that the channel meets the requirements of the application Inthe case of sercos symmetrical data transmission is designed to ensure that one channel is always set up with an AWG 22 wire cross section Any combination of solid type A stranded type B or even special cables type C is possible Furthermore plug in connectors panel feed throughs couplers and installation boxes can be added as desired Individual connector socket transitions can be used such as those in outlet boxes of structured building cabling In addition panel feed throughs with two sockets otherwise known as bulkheads can
44. slave that caused the diagnostic message see I O_FG x 25 Slave Index Only used with I O function group S 0 1509 Sub bus slave Channel number Channel that caused the diagnostic message A channel number between 0 and 255 points to a specific channel of the function group channel related diagnostic events e g open circuit Channel number 0 point to the function group itself function group related diagnostic messages e g sub bus error timeout 7 8 PHOENIX CONTACT 8336_en_00 Diagnostics Example There is a short circuit at an 8 channel digital output module in a modular I O station The module is the fourth module after the bus coupler The following diagnostic messages will be displayed in this case Message in IDN S 0 1500 0 02 I O status DOOOhex D Outputs active input values valid warning Message in IDN S 0 0390 Diagnostic number C10E2344hex C10 Interpretation of bits 29 to 0 according to the sercos standard source type FSP I O E Diagnostic class warning 2344 Status code for Output overloaded Message in IDN S 0 1500 0 33 Current I O diagnosis message 0E234405DE040000hex 0 Status code according to the sercos standard E Diagnostic class warning 2344 Status code for Output overloaded 05DE Functions group 1502 digital output 04 Slot number 4 fourth module after the bus coupler 00 Module is not a sub bus slave 00 No channel specific diagnostics If no I O diagnostic message with diagnost
45. that the lists are read one after another if the user does not want to create a command for the shadow buffer As an alternative commands can be defined for reset and capture freeze But this means a clear reduction of the response time This is not necessary The user and simply write to Diagnosis trace control 8 3 59 1 5 0 1303 0 01 Diagnosis trace configuration Function This parameter contains the IDN S 0 1500 0 32 I O diagnosis message as an entry This defines that this IDN is also logged in addition to the IDN S 0 1500 0 33 Current I O diagnosis message Attributes Length 4 bytes device specific Format IDN Function Parameter Changeability No 8 3 592 S 0 1303 0 02 Diagnosis trace control Function This parameter traces diagnostics Structure Table 8 26 Structure of S 0 1303 0 02 Bit Value Designation Function Comment 0 0 Trace control on 1 Trace control off 1 3 Reserved 4 7 Threshold Threshold of the diagnostic class corresponds to bits 19 16 of S 0 0390 Only classes higher or equal to are acquired 8 15 Reserved 8 46 PHOENIX CONTACT 8336 en 00 Parameters Attributes Function Structure Attributes Function Attributes Function Attributes Function Length 2 bytes Format Hexadecimal Function Parameter Changeability Yes 8 3 593 S 0 1303 0 03 Diagnosis trace state This parameter shows the status of diagnostics Table 8 27 Structure of S 0
46. the device Attributes Length 2 bytes Format Decimal without sign bit Function Parameter Changeability Communication phase CP2 8 3 51 S 0 1041 AT Command value valid time t9 Function The time tg indicates the time after which the slave can access the new process values from the AT Thus the master can specify the time from which on the setpoints become valid for all coordinated applications The slave activates the validity of the process values in communication phase CP3 See also Figure 6 2 Timing of the communication layer on page 6 4 Attributes Length 4 bytes Format Decimal without sign bit Function Parameter Changeability Communication phase CP2 Unit ns 8336 en 00 PHOENIX CONTACT 8 31 UM EN SERCOS SYS Function 8 3 52 S 0 1044 Device control C Dev The parameter is an image of the device control word C Dev It can be read only and used for diagnostic purposes Structure Table 8 15 Structure of S 0 1044 Bit Designation Function Comment 9 0 Reserved 10 Reserved for sercos time 11 Status of the physical topology Only used in the NRT channel The source address i icable when the sl i 0 Physical ring interrupted table is not applicable when the slave recognizes a toggle 1 Physical ring closed 13 12 Topology control 00 Fast forward direction on both ports Px Py 01 Loopback with forward direction of P telegrams 10 Loopback with forward di
47. the reason is no longer present FG sub bus slave channel has signaled an error e g incorrect system bus slave present with C1D Errors must be deleted with S 0 0099 62 60 Reserved 63 Interpretation of the status code 0 Standard I O status code Status codes are defined through TWG_I O 1 Manufacturer specific status Status codes are defined through the manufacturer code Attributes Length 8 bytes Format Hexadecimal Function Parameter Changeability No 8 5 1 13 S 0 1500 0 33 Current I O diagnosis message Function This IDN contains detailed information about the last diagnostic case of the I O resource Structure Identical with S 0 1500 0 32 I O diagnosis message Attributes Length 8 bytes Format Hexadecimal Function Parameter Changeability No 8 58 PHOENIX CONTACT 8336 en 00 Parameters Function Attributes Function 8 5 2 S 0 15xx I O function groups Depending on the devices used the parameters of the following I O function groups are available S 0 1502 I O function group digital output 0 1503 I O function group digital input S 0 1504 I O function group analog output S 0 1505 I O function group analog input S 0 1506 I O function group counter 58 0 1507 I O function group complex protocol 8 0 1508 I O function group sub bus master 8 0 1509 I O function group sub bus slave 8 0 1513 O function group motor starter 8 0 1514 I O function group PWM pulse width m
48. version 8 0 1802 x 01 FSP type 8 version S 0 1302 0 02 Function groups The GDP also contains the following function groups FG Diagnosis Archiving Administration FG Identification State Machine 9 2 1 FG Diagnosis The Diagnosis function group contains the following IDNs 0 0095 Diagnostic message S 0 0099 Reset class 1 diagnostic S 0 0390 Diagnostic number 58 0 1303 Diagnosis trace 8 0 1303 0 01 Diagnosis trace configuration 5 0 1303 0 02 Diagnosis trace control 8 0 1303 0 03 Diagnosis trace state S 0 1303 0 11 Diagnosis trace buffer no 2 5 0 1303 0 12 Diagnosis trace buffer no 8336 en 00 PHOENIX CONTACT 9 3 UM EN SERCOS SYS 9 2 2 FG Archiving The Archiving function group for example contains the following IDNs S 0 0022 IDN list of invalid operation data for 0 0264 Backup working memory procedure command 9 2 3 FG Administration The Administration function group contains the following IDNs 58 0 0017 IDN list of all operation data 58 0 0025 IDN list of all procedure commands 58 0 0265 Language selection S 0 0266 List of available languages 8 0 0267 Password S 0 0279 IDN list of password protected data 9 2 4 FG Identification The Identification function group contains the following IDNs 0 1300 Electronic Label 58 0 1301 List of GDP classes amp ver
49. works with fragmentation The successful transfer via the service channel is the trigger for the command in the I O modules and the bus coupler Write access to the service channel is only confirmed to the master once the process is complete No further control signal handshake is required for this The response is retrieved via the receive channel Parameter Channel Receive Since this takes place via the service channel no special control signal handshake is required here either The bus coupler and the modules respond with variable data lengths 5 8 PHOENIX CONTACT 8336 en 00 Startup 6 Startup 6 1 General Information on Initialization and the Six Communication Phases The initialization of sercos communication consists of five states known as communication phases CPO CP4 and a starting state known as NRT which are achieved independently of each other after the master and the slaves have started up In this phase all devices act as store and forward switches when they support standard Ethernet communication Once a system has started up and the internal tests have been performed without errors the system starts in non realtime phase NRT In the non realtime phase three types of telegrams can be sent sercos telegram Ethernet type 0x88CD telegram own MAC address or broadcast Non sercos telegram not own MAC address Initialization of sercos network always begins
50. y 09 PDIN page 8 62 S 0 15xx y 11 Channel quantity DIAGOUT page 8 62 S 0 15xx y 12 Channel width DIAGOUT page 8 62 S 0 15xx y 13 DIAGOUT page 8 62 S 0 15xx y 15 Channel quantity DIAGIN page 8 63 S 0 15xx y 16 Channel width DIAGIN page 8 63 S 0 15xx y 17 DIAGIN page 8 63 S 0 15xx y 19 Parameter channel receive page 8 63 S 0 15xx y 20 Parameter channel transmit page 8 63 S 0 15xx y 22 Fall back value output page 8 64 S 0 15xx y 23 Minimum delay time page 8 64 S 0 15xx y 24 Maximum delay time page 8 64 In the overview and in the following description S 0 15xx stands for the I O function group and y for the structure instance 8336_en_00 PHOENIX CONTACT 8 49 UM EN SERCOS SYS 8 5 Description of the Parameters in FSP l O 8 5 1 S 0 1500 I O Bus coupler This function group contains the following structure elements Table 8 30 Structure elements S 0 1500 IDN Meaning See S 0 1500 0 01 I O control Behavior of inputs and outputs page 8 50 S 0 1500 0 02 I O statusS 0 1500 0 02 I O sta Status of inputs and outputs page 8 52 tus S 0 1500 0 03 List of module type codes Display of the module type key of all modules page 8 52 S 0 1500 0 04 List of inserted function groups Contains a list with function groups added by the configu page 8 53 ration tool S 0 1500 0 05 Container output data Container for output data page 8 54 S 0 1500 0 09 Container input data Container for input data page 8 54
51. 0 34 C1 0C EA Figure 8 8 MAC address S 0 1019 The MAC address is permanently assigned to the hardware and cannot be changed Length 6 x 1 byte Format Hexadecimal Function Parameter Changeability No 8 3 39 S 0 1020 IP address This parameter contains the IP address for the engineering via IP that is required during IP communication The IP address is used for unique identification of a device on the Internet Changes of the parameter only come into effect after the following Restart of the 24 volt supply of the device Pressing of the reset button Being a list parameter the IP address is structured as follows 0x0004 0x0004 fixed length 4 for actlen maxlen IPv4 address 141 70 124 199 Figure 8 4 Structure of IP address S 0 1020 The IP address must be set specifically for the application 8 24 PHOENIX CONTACT 8336 en 00 Parameters Attributes Function Structure Use Attributes Length 4 x 1 byte Format Decimal without sign bit Function Parameter Changeability Communication phases CP2 CP3 CP4 8 3 40 S 0 1021 Subnet mask This parameter contains the subnet mask for the engineering via IP that is required during IP communication Each IP address Internet protocol is separated into a network anda device part The subnet mask is used to differentiate between the network and the device part The master can change this subnet mask for IP commun
52. 0 x 04 Max length of connection This parameter defines the maximum length of the connection The 2 bytes for Connection Control C Con are part of this length If a slave has a specified length of n bytes this length contains 2 bytes C Con and n 2 bytes of data Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8 3 545 S 0 1050 x 05 Current length of connection This parameter contains the current length of the connection The 2 bytes for Connection Control C Con are part of this length If a slave has a specified length of n bytes this length contains 2 bytes C Con and n 2 bytes of data The slave updates the parameter as soon as the configuration parameters change This parameter is required for all slaves and part of the SCP_FixCFG sercos Communication Profile Fix ConFiGuration Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8 3 546 S 0 1050 x 06 Configuration list If it was specified in S 0 1050 x 01 Connection setup that the connection is configured via IDNs Bits 5 4 00 this parameter contains the list of identification numbers 4 bytes for the connection Length List with IDNs of 4 bytes each Maximum number of elements is device specific Current length is variable Format IDN Function Parameter Changeability Communication phase CP2 8 3 547 S 0 1050 x 08 Connection control C Con This parameter contains an image of th
53. 00 0 04 List of inserted function groups S 0 1500 0 05 Container output data S 0 1500 0 09 Container input data S 0 1500 0 11 List of replaced function groups S 0 1500 0 12 Rearrangement of l O resource S 0 1500 0 19 Parameter channel receive S 0 1500 0 20 Parameter channel transmit S 0 1500 0 23 Local bus cycle time S 0 1500 0 32 I O diagnosis message 8336_en_00 PHOENIX CONTACT 9 5 UM EN SERCOS SYS 9 6 PHOENIX CONTACT 8336_en_00 Glossary 10 Glossary Application layer AT Bandwidth CiD C2C C2D cc Channel width CP CPS C CON C DEV Communication Layer Component Cycle Data Link Layer Topmost layer of the communication model Acknowledge Telegram Telegram for the acknowledgment of slave data and for CC communication Specific amount of data that can be transmitted in a time unit Class 1 diagnostic Error message with the highest priority Controller to controller Networked communication between the masters of different sercos networks Class 2 diagnostic Warning Cross communication Direct data exchange without delay between slave devices See bandwidth Communication phase A sercos network requires five communication phases CP4 for initialization Communication phase switching Connection control Control word of the connection Device control Device control word that is sent from master to slave The communication layer is a 1 1 relationship between master and sla
54. 100 Mains voltage 2110 Short circuit ground fault 3110 Mains overvoltage 2120 Ground fault 3120 Mains undervoltage 2130 Short circuit 3134 Phase sequence 2131 Short circuit at VCC 3140 Mains frequency 2200 Current within the device 3200 Voltage within the device 2300 Current on the device 3210 Overvoltage within the device output side 2310 Continuous overcurrent 3220 Undervoltage within the device 2320 Short circuit ground fault 3300 Output voltage 2330 Ground fault 3310 Output overvoltage 2340 Short circuit 3320 Output undervoltage 2341 Short circuit at VCC 3400 Supply voltage 2342 Short circuit at ground 3410 Sensor supply 2344 Output overloaded 3420 Actuator supply 2345 Sensor supply overloaded 2350 Short circuit 2360 Open circuit 4000 Temperature 5000 Device hardware 4100 Ambient temperature 5010 Component error 4200 Device temperature 5100 Supply 4300 External temperature 5110 Low voltage supply e g of the drive 4400 Connection temperature 5120 Air supply 5150 Initiator supply 5160 Supply of I O devices 5200 Measuring circuit 5210 Measuring circuits 5220 Computer circuits 5230 Communication 5300 Operator interface 5400 Power section 5410 Output levels 5420 Choppers 5430 Input stages 5440 Contactors 5450 Fuses 5500 Communication with extension modules 7 6 PHOENIX CONTACT 8336_en_00 Diagnostics
55. 16 bit list in which each element describes a parameter package a communication class and its version This parameter is structured as follows Table 8 6 Basic structure of S 0 1000 Bits 15 8 Bits 7 4 Bits 3 0 Code of the communication class Reserved 0x0 sercos version number 8 14 PHOENIX CONTACT 8336 en 00 Parameters Table 8 7 Contents of S 0 1000 Bits 15 Bits Short designation of the sercos Meaning of the communication class 8 3 0 communication class version 0x01 0x1 SCP_FixCFG V1 1 1 Fix configuration of connections 0x2 SCP FixCFG 0x02 V1 3 Fix configuration of connections amp connection stop 0x02 Ox1 SCP VarCFG V1 1 1 Variable configuration of homogenous connections Variable configuration of homogenous connections 0x2 SCP VarCFG 0x02 V1 3 amp connection stop 0x03 0x1 SCP_Sync V1 1 1 Synchronization 0x2 SCP Sync 0x02 V 1 3 Synchronization tSync gt tScyc using MDT Ex tended field 0x04 Ox1 SCP WD V1 1 1 Watchdog of connection 0x2 SCP WD 0x02 V1 3 Watchdog of connection with timeout amp data losses 0x05 Ox1 SCP_Diag V1 1 1 Communication diagnosis 0x06 0x2 SCP RTB V1 1 1 Configuration of real time bits 0x07 Ox1 SCP HP V1 1 1 Hot plug 0x08 0x2 SCP SMP V1 1 1 sercos messaging protocol 0x09 Ox1 SCP MuX V1 1 1 Multiplex channel standard data container Ox0A 0 1 V1 1 1 NRT channel IP commun
56. 2 58 0 1040 sercos address 58 0 1044 Device control C Dev 0 1045 Device status S Dev 7 2 The Diagnosis Function Group With the IDNs of this function group error warning or status messages can be read out as code S 0 0390 or as text message S 0 0095 or errors can be acknowledged S 0 0099 Moreover the log function S 0 1303 provides the option of storing in a ring memory a selectable IDN including a time stamp each time the S 0 0390 Diagnostic number IDN is changed The Diagnosis function group contains the following IDNs 58 0 0095 Diagnostic message 0 0099 Reset class 1 diagnostic 8 0 0390 Diagnostic number 8 0 1303 Diagnosis trace 5 0 1303 0 02 Diagnosis trace control 8 0 1303 0 03 Diagnosis trace state 8 0 1303 0 10 Diagnosis trace buffer no 1 5 0 1303 0 11 Diagnosis trace buffer no 2 In addition to the various IDNs the sercos LED is also a part of this function group 8336 en 00 PHOENIX CONTACT 7 1 UM EN SERCOS SYS Source types Diagnostic classes Status codes 7 2 1 Diagnostic Messages of S 0 0390 The diagnostic messages of the IDN S 0 0390 are structured as follows Table 7 1 Structure of S 0 0390 Source Diagnostic Status type class code The source type is entered in bits 29 24 of the S 0 0390 Diagnostic number and may look as follows Table 7 2 S 0 0390 source type 29 24 Source typ
57. 58 1 5 0 1302 01 FSP type version The IDN S 0 1302 x 01 FSP type amp version indicates the function type and the corresponding revision of the sub device 8 44 PHOENIX CONTACT 8336 en 00 Parameters Structure Attributes Function Attributes Function Attributes Table 8 24 Structure of S 0 1302 x 01 Bit no Value Description Comment 31 P S 0 sercos standard 1 Manufacturer specific 30 16 sercos standard types 0x00 Reserved 0x01 FSP_I O 0x02 FSP_Drive 0x03 0x7F Reserved 15 0 Version 0x00 Reserved 0x01 First version Length 4 bytes Format Hexadecimal Function Parameter Changeability No 8 3 58 2 S 0 1302 0 02 Function groups This IDN contains a list of all implemented function groups FSP_I O This IDN is a list of I O function groups of the FSP_I O The elements of the list contain IDNs The structure instance shows the position number of the module structure instance module position The structure element is always 0 If the left component is a bus coupler or a bus header for compact devices itis started with the function group of the bus coupler S 0 1500 I O Bus coupler otherwise with the first I O module from the left e g S O 15xx 1 00 Every group must be listed if a module has more than one I O function group The data is mapped in the order of the entries in the input container S 0 1500 0 09 Container input data or the outpu
58. 8 4 Overview of the Parameters FSP_I O 8 49 8 5 Description of the Parameters in FSP l O ccccccssccecesseceseeeeesseeesseeeeseeeeess 8 50 8 5 1 S 0 1500 I O Bus coupler seeeneene 8 50 8 5 2 5 0 15 I O function groups sesseennn 8 59 s MER IE eis ai LEES 9 1 9 1 Function Groups of the SCP sercos Communication Profile 9 1 9 1 1 FG SCP Identification 9 1 9 1 2 FQ TIMING n aede tmd ot rte en duet tote teres 9 1 9 1 3 FG Telegram Setup 4 antecedent c 9 1 9 1 4 FG Control 2 eg eiie A ipe eis 9 2 9 1 5 FG Bus stos e re ec Ure ea Y eb 9 2 9 1 6 FG COMEN utile nin 9 2 9 1 7 ii tas 9 3 9 2 Function Groups of the GDP Generic Device 9 3 9 2 1 FG Diagnosis lk A Stall ER EE 9 3 9 2 2 FG ArchiVingi iiic nt casera Poesie ite hien Ai ewe 9 4 9 2 3 FG Administration uerit eed iden iet diodes dates oles 9 4 9 2 4 FG Identification isine ia a E e 9 4 9 2 5 FG State Machihe te ete teintes 9 4 9 2 6 FG Time meet ee nee a 9 4 9 3 Function Groups of the FSP IO Function Specific Profile 9 5 9 3 1 S 0 1500 I O Bus coupler ssssseeeeeeee 9 5 CHO e
59. Attributes Length 4 bytes Format Decimal without sign bit Function Parameter Changeability Communication phase CP2 Unit ns 8 3 549 S 0 1050 x 11 Allowed data losses Function The parameter indicates the number of permitted producer failures before a connection is saidto be aborted the consumer no longer takes data and the master sets bit 9 connection error in the device status word S Dev Attributes Length 2 bytes Format Decimal without sign bit Function Parameter Changeability Communication phases CP2 CP3 CP4 8336 en 00 PHOENIX CONTACT 8 39 UM EN SERCOS SYS Function Attributes Function Structure Attributes Function Structure Attributes 8 3 54 10 S 0 1050 x 12 Error counter data losses The parameter indicates how many producer failures the consumer has already detected The counter stops at a maximum of 65535 and does not have an overflow It is reset with the rising edge of bit 0 ProducerReady in the connection control word C Con Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8 3 54 11 S 0 1050 x 20 IDN allocation of real time bit The parameter contains the IDN assignment 4 bytes of the realtime bits in the connection control word C Con The list may contain up to 2 IDNs Bit assignment is done in the S 0 1050 x 21 Bit allocation of real time bit parameter This parameter contains up to two list elements List element 0 corresponds to realtime bit
60. Each layer has specific non overlapping tasks and features separate parameters IDNs separate control status words and a specific error handling procedure It is only ever the same layers that communicate with each other between the various nodes of a sercos network The communication layer and data link layer are specified via the SCP sercos Communication Profile while the application layer is divided into a generic device profile GDP and a function specific profile FSP for I Os drives and encoders Resources Application Device level Sub device Connection level Interface Slave Communication level Figure 2 3 Communication model for the various layers The properties and tasks of the communication layer are Handling of the communication phases Synchronization timer control Telegram handling Topology status and control Service channel SVC The MDTs Master Data Telegrams are used by the sercos master for the transmission of control data phase synchronization commanded topology identification service channel etc to the slaves The ATs Acknowledge Telegrams are used by the slaves for the transmission of status information to the master topology address active topology error flags service channel For this reason there exists a peer to peer relationship between the communication layers of the sercos master device and the slave devices Here the master uses the MDT telegrams for its specifica
61. FFFF are reserved Length 8 bytes device specific Format Hexadecimal Function Parameter Changeability No 8 5 1 4 S 0 1500 0 04 List of inserted function groups This IDN contains a list of function groups can be added manually with a configuration tool Each function group must be described as I O function group in FSP I O The entry contains the type of the function group as well as the desired structure instance SI of the new module The structure element SE always has the value 0 Structure IDN S 0 15xx y 0 Xx Identification of the function group y Desired structure instance The entries of the list must be sorted in ascending order To assign two or more function groups FG to a structure instance SI they must be listed directly one after another with the same structure instance There are two types of function groups virtual and passive Virtual modules virtual placeholders They are physically not present They do not take part in local bus communication They do not have their own place but their own structure instance SI They are used as placeholders in the container input data or the container output data Their channel number and the channel width can be controlled by describing the associated structure elements in communication phase CP2 They can map an optional electronic rating plate in S 0 1300 Electronic label Passive modules e g supply modules or local bus extensions
62. M EN SERCOS SYS ___ P Channel P Telegram S Channel S Telegram Slave 1 Slave 2 Figure 2 1 Ring structure double ring Slave n 2 2 PHOENIX CONTACT 8336 en 00 Overview and Architecture 2 1 2 The Linear Structure All sercos devices are arranged in a serial way The master is located at the start of a line or between two lines Data passes through the slaves and is returned by the last device loop back All devices analyze the data that is passing in both directions and this guarantees that all data reaches every device during one cycle Advantage Simple and low cost networking of devices over long distances e g assembly lines The linear structure eliminates the need for a cable connection which can be advantageous for systems covering a wide area However it does not offer the advantage of redundancy With sercos runtimes and jitters are reduced to a minimum since realtime data is processed by the nodes during the cycle on the fly Slave 1 Slave 2 Slave n Figure 2 2 Linear structure single ring 2 1 3 Advanced Topologies The traditional lines between control and drive technology and between central and peripheral devices are becoming increasingly blurred On the one hand drives and I O devices with integrated control and technology functions are used in decentral distributed system architectures On the other hand there exist central solutions such as a central device with int
63. N SERCOS SYS SCP_FixCFG SCP_VarCFG S 0 1000 List of SCP types amp versions bit assignment 2 6 Basic Communication Profiles sercos defines two basic communication profiles which can be specified for slaves These relate to the basic communication and are mutually exclusive The communication profile implemented in the device is stored in the www phoenixcontact com parameter The profiles feature the following properties sercos Communication profile fix configuration Features a full service channel Has one master slave connection Has telegram contents which are not configurable but are defined via the respective FSP Function specific profile Cannot be used for cross communication CC sercos Communication profile variable configuration Features a full service channel 0 n connections Master slave or cross communication connections possible Telegram contents configurable or of type Container Additional function packages possible e g SCP Sync Clock synchronous SCP_NRT NRT channel SCP_Diag Support for all error counters Table 2 2 S 0 1000 bit assignment Bit Designation Function 3 0 Version of the SCP class 7 4 Reserved 15 8 SCP class 2 8 PHOENIX CONTACT 8336_en_00 Overview and Architecture 2 7 Device Model The following typical functions are implemented in individual or multiple instances of a complex sercos device
64. NIX CONTACT 7 3 UM EN SERCOS SYS Status codes of the GDP Table 7 4 Status codes of the GDP Bits Bits Bits Description 31 20 19 16 15 0 C20 A A010 Device was restarted power on C20 A A100 Incorrect password C20 A A110 Password protection deactivated C20 A A120 Password changed C20 A A200 Diagnostic trace started C20 A A210 Diagnostic trace stopped C20 A A220 Diagnostic trace list exceeded C20 A A300 Test IDN written C20 C 0100 S 0 0099 Reset class 1 diagnostic C20 C 0200 S 0 0422 Exit parameterization level procedure command PL C20 C 0201 Incorrect or incomplete parameter record see S 0 0423 IDN list of invalid data for parameterization level C20 C 0202 Parameter limit violation see S 0 0423 IDN list of invalid data for parameterization level C20 C 0203 Parameter conversion error see S 0 0423 IDN list of invalid data for parameterization level C20 C 0400 S 0 0420 Activate parameterization level procedure command PL C20 C 0401 Cannot switch to parameterization level C20 C 0540 S 0 0264 Backup working memory procedure command C20 C sercos energy Start Pause C20 C 0co1 sercos energy Start Pause undefined parameter C20 C 0C02 sercos energy Selected energy mode not available C20 C 0C03 sercos energy Selected energy mode currently not available C20 C 0C04 sercos energy End Pause 7 2 2 sercos LED The s
65. Non realtime In contrast to realtime Polymer cladded fiber Optical fiber with a core of quartz glass Process data input Process data output Polymer optical fiber Primary channel Telegram on the primary channel Existence of timeliness and simultaneity Realtime Ethernet requires high performance protocols with cyclic clocked data traffic Standard Ethernet protocols suffice for non realtime requirements Real time sercos communication profile Comprises the parameters of the Communication Layer and the Data Link Layer sercos device description markup language Format of the device description file Structure element The structure element is used for addressing Serial real time communication system Universal standard and open automation bus for controllers actuators and sensors such as I Os and drives The worldwide operating sercos international e V user organization is responsible for further development marketing and standardization of the sercos technology 8336_en_00 PHOENIX CONTACT 10 3 UM EN SERCOS SYS SI SM Slave SVC Synchronization S DEV S Channel S Telegram Telegram Structure instance A structure instance is used to address the same type of structure within a sub device Ina modular I O station the structure instance corresponds to the slot number after the bus coupler Singlemode A slave is a device in the network that can only participate in data exchange after it
66. P parameters IDN See S 0 1016 Slave delay P S page 8 22 S 0 1017 NRT transmission time page 8 23 S 0 1019 MAC address page 8 24 S 0 1020 IP address page 8 24 S 0 1021 Subnet mask page 8 25 S 0 1022 Gateway address page 8 26 S 0 1023 SYNC jitter page 8 26 S 0 1024 SYNC delay measuring procedure command page 8 27 S 0 1026 Version of communication hardware page 8 27 5 0 1027 MTU page 8 27 S 0 1028 Error counter MST P S page 8 29 S 0 1031 Test pin assignment port 1 and port 2 page 8 30 S 0 1035 Error counter port 1 and port 2 page 8 31 S 0 1040 sercos address page 8 31 S 0 1041 AT Command value valid time t9 page 8 31 S 0 1044 Device control C Dev page 8 32 S 0 1045 Device status S Dev page 8 33 S 0 1050 sercos connections page 8 35 S 0 1051 Image of connection setups page 8 41 S 0 1300 Electronic label page 8 41 S 0 1301 List of GDP classes amp version page 8 44 S 0 1302 Resource structures of sub device page 8 44 S 0 1303 Diagnosis trace page 8 46 S 0 1305 0 01 sercos current time page 8 48 8336_en_00 PHOENIX CONTACT 8 3 UM EN SERCOS SYS Function Structure Use Attributes 8 3 Description of GDP and SCP Parameters 8 3 1 S 0 0014 Interface status The parameter contains important status bits regarding the communication phases Table 8 3 Relevant bits of S 0 0014 Interface status Bit Designation Function 2 0 Comm
67. P3 transition check Function When the S 0 0127 C0100 transition check command is executed all interface parameters are checked for their validity Use If there are invalid interface parameters device will complete the command with an error message Theinvalid parameters are entered in the S 0 0021 IDN list of invalid operation data for CP2 parameter The following commands can be used to switch from the parameterization phase to the operating phase S 0 0127 transition check and S 0 0128 CP4 transition check Attributes Length 2 bytes Format Binary Function Command Executability Communication phase CP2 8 3 9 S 0 0128 CP4 transition check Function When the S 0 0128 CP4 transition check command is executed all parameters are checked for validity and for possible limit value violations Use If there are invalid parameters or limit value violations the device will complete the command with an error message and enter the invalid parameters in S 0 0022 IDN list of invalid operation data for CP3 Moreover several device functions are initialized The following commands can be used to switch from the parameterization phase to the operating phase S 0 0127 CP3 transition check and S 0 0128 CP4 transition check 8336_en_00 PHOENIX CONTACT 8 7 UM EN SERCOS SYS Attributes Function Attributes Function Attributes Function Use Attributes Length 2 bytes Format Binary Function Comm
68. S 0 1300 Electronic label The IDNs S 0 1300 x y represent the electronic rating plate They are used for identification of the individual devices by the master or a configurator Therefore S 0 1300 x 03 Vendor code and S 0 1300 x 05 Vendor device ID are mandatory All other IDNs are optional and can be used by the manufacturer to provide further information on the devices Structure instance 0 of all IDNs of the electronic rating plate is reserved for the physical device that contains sercos The other structure instances can be assigned to every other device depending on the respective requirements The IDNs S 0 1300 x y available for the concrete device can be taken from the relevant data sheet 8336 en 00 PHOENIX CONTACT 8 41 UM EN SERCOS SYS The following IDNs may be part of the electronic rating plate Calibration due date Table 8 21 Contents of the electronic rating plate S 0 1300 IDN Contents Format S 0 1300 x 01 Device name for example sercos Fast Block IO Analog Text Component name S 0 1300 x 02 Manufacturer name e g Phoenix Contact Text Vendor name S 0 1300 x 03 Clearly identified manufacturer code that is assigned by the sercos international 2 byte integer Vendor code e V user organization e g 200 for Phoenix Contact S 0 1300 x 04 Device name e g AXL BK S Text Device name S 0 1300 x 05 Clearly identified device number that is assigned
69. SECOS the automation bus User manual UM EN SERCOS SYS sercos System Manual for I O Devices NE AED A gt o gt o PHOENIX 4 ad Y CONTACT Y ED b lt q E Y E e ae INSPIRING INNOVATIONS User manual sercos System Manual for I O Devices 2011 11 21 Designation UM EN SERCOS SYS Revision 00 This user manual is valid for I O devices with sercos interface 8336_en_00 PHOENIX CONTACT Internet Subsidiaries Published by Please observe the following notes User group of this manual The use of products described in this manual is oriented exclusively to qualified electricians or persons instructed by them who are familiar with applicable standards and other regula tions regarding electrical engineering and in particular the relevant safety concepts Explanation of symbols used and signal words hazards Obey all safety measures that follow this symbol to avoid possible in A This is the safety alert symbol It is used to alert you to potential personal injury jury or death There are three different categories of personal injury that are indicated with a signal word DANGER This indicates a hazardous situation which if not avoided will re sult in death or serious injury WARNING This indicates a hazardous situation which if not avoided could result in death or serious injury CAUTION This indicates a hazardous situa
70. T channel of a device also helps for example with firmware downloads or transmission of many parameters for backup and restore measures via the tftp protocol 4 3 2 Different Producer Cycle Times Through the use of connections with different producer cycle times you can transmit both data requiring short cycle times as well as data requiring a shorter scanning rate 4 16 PHOENIX CONTACT 8336 en 00 Parameterization 5 Parameterization 5 1 Scope of Functions of the sercos I O Master The various sercos I O masters have similar functional features which differ in the specific parameters Number of supported sercos I O devices 511 maximum Number of supported modules per device 62 maximum Number of modules supported in the system a maximum of 511 devices with 255 modules 130 305 modules Minimum cycle time between 31 25 us and 65 ms Cyclic data traffic a maximum of 6000 cyclic input data plus a maximum of 6000 cycle output data SDDML file import in the device data base scan of sercos devices Remote address assignment Automatic configuration of the devices in the device tree offline online comparison of the devices in the project sercos device related connection status in the interface Diagnostics of the sercos master and the slaves using function blocks Acyclic data transmission service channel NRT channel using function blocks Number of cycli
71. ages with a variable length between a master and the associated slaves A direct realtime data exchange between slaves cross communication is also possible via the realtime channel RTC in each communication cycle The exchange of realtime data is fully synchronized and based on the configuration and is not affected by the volume of messages sercos recognizes two types of telegrams Master Data Telegram MDT Acknowledge Telegram AT MDTs and ATs are sent from the master and checked via an FCS frame check sequence The telegrams can be arranged in the communication cycle with various methods see Figure 3 2 on page 3 2 whereby Method 1 is preferable since the IP channel time can be used as the calculating time in the controller e g time for evaluating the actual values and for calculating new desired values 8336 en 00 PHOENIX CONTACT 3 1 UM EN SERCOS SYS MDTO MDT1 MDT2 MDT3 ATO AT1 AT2 AT3 ETH telegrams HIM DIS DIS DIS DIS DIS DIS DIS DIS RIT RIT RIT RIT RIT RBI RIT t gt RT channel NRT channel Communication cycle MDTO MDT1 MDT2 MDT3 ETH telegrams ATO AT1 AT2 AT3 NRT channel RT channel Communication cycle RT channel Figure 3 2 Two methods for configuring a communication cycle Master Data Telegram MDTs are reserved for the transmission of realtime data from the sercos master to the MDT slaves T
72. al connections is defined with the various parameters of S 0 1050 Each connection can be set up either in the form of an IDN list S 0 1050 x 01 Bits 5 4 00 or in the form of containers S 0 1050 x 01 Bits 5 4 01 In this case x represents the connection of the device for example 0 First connection of the device X 1 Second connection of the device There is a device specific maximum number of possible connections for each device see device data sheet Up to a maximum of 65536 connections are possible Up to 256 connections can be configured for each slave Table 8 17 Parameters of S 0 1050 Parameter See S 0 1050 x 01 Connection setup page 8 35 S 0 1050 x 02 Connection number page 8 36 S 0 1050 x 03 Telegram assignment page 8 37 S 0 1050 x 04 Max length of connection page 8 38 S 0 1050 x 05 Current length of connection page 8 38 S 0 1050 x 06 Configuration list page 8 38 S 0 1050 x 08 Connection control C Con page 8 38 S 0 1050 x 10 Producer cycle time page 8 39 S 0 1050 x 11 Allowed data losses page 8 39 S 0 1050 x 12 Error counter data losses page 8 40 S 0 1050 x 20 IDN allocation of real time bit page 8 40 S 0 1050 x 21 Bit allocation of real time bit page 8 40 8 3 541 S 0 1050 x 01 Connection setup Function The parameter contains the configuration data of a connection which consist of Activation of the configuration Connection type Configur
73. and Executability Communication phase CP3 8 3 10 S 0 0187 IDN list of configurable data as producer This parameter contains an IDN list of all parameters that the device can write cyclically in the Acknowledge Telegram AT Length List with IDNs of 4 bytes each Maximum number of elements is device specific Current length is variable Format IDN Function Parameter Changeability No 8 3 11 S 0 0188 IDN list of configurable data as consumer This list contains the identification numbers of the parameters or process data that the device can receive Length List with IDNs of 4 bytes each Maximum number of elements is device specific Current length is variable Format IDN Function Parameter Changeability No 8 3 12 S 0 0192 IDN list of all backup operation data This IDN list contains all device parameters that have to be loaded into the device to ensure correct operation The master uses this list to create a backup copy of the device parameters Length List with IDNs of 4 bytes each Maximum number of elements is device specific Current length is variable Format IDN Function Parameter Changeability No 8 8 PHOENIX CONTACT 8336 en 00 Parameters Function Attributes Function Attributes Function Structure i i 8 3 13 S 0 0264 Backup working memory procedure command If the master activates Backup working memory procedure command all data required for operation is loaded into the n
74. ansparently in the form of a list 1 byte hex Data from 1 byte up to the maximum data length is transmitted via the service channel to the parameter channel Parameter Channel Transmit The service channel works with fragmentation The successful transfer via the service channel is the trigger for the command in the I O modules and the bus coupler or the bus header for compact devices Write access to the service channel is only confirmed to the master once the process is complete No further control signal handshake is required for this The response is retrieved via the receive channel Parameter Channel Receive Since this takes place via the service channel no special control signal handshake is required here either The bus coupler or the bus header for compact devices and the modules respond with variable data lengths Length Device specific Format Hexadecimal Function Parameter Changeability No 8 5 2 17 5 0 15 22 Fall back value output The outputs are set to this value if bit 6 von S 0 15xx y 02 Configuration of I O function group is set and the I O control bit 15 status of the outputs changes from 1 to 0 of if the communication phase changes from NRT or CPO If the IDN is not supported the substitute value is either predefined or does not exist at all Newly configured values become valid after the next change to the operating phase Length Manufacturer specific fixed or device specific Format Hexadecimal
75. as diagnostic code in the S 0 0390 Diagnostic number The master starts this process command and waits until it is completed in communication phase CP2 before it activates S 0 0127 CP3 transition check It starts itin communication phases CP3 and CP4 for every slave that must be synchronized Length 2 bytes Format Binary Function Command Executability Communication phases CP2 CP3 CP4 8 3 44 S 0 1026 Version of communication hardware This parameter contains the sercos specific hardware identification as text ASCII format FPGA version and revision Example SERCON100S VO2 R08 Length 18 bytes Format Text Function Parameter Changeability No 8 3 45 S 0 1027 MTU The following structure elements are available for this command 8 0 1027 x 01 Requested MTU S 0 1027 x 02 Effective MTU The Requested MTU parameter contains the maximum number of bytes setpoint that can be sent by a higher layer via the NRT channel This value is taken to calculate the effective MTU value actual value that you can read with S 0 1027 x 02 Effective MTU Requested MTU and Effective MTU can be different for example if the value of the Requested MTU is notin the valid range of the current communication phase The Effective MTU value is accepted immediately and updated if this IDN is edited or the communication phase is changed Example The IDN is set to 80 while the Effective MTU value of NRT CPO CP1 CP2 and HPO shows the su
76. at any Ethernet or IP protocols can be used to access sercos devices without affecting the realtime behavior of the sercos realtime domain sercos is based on the 100 Mbps Ethernet standard and as such corresponds to ISO IEC 8802 3 IEEE 802 3 for the hardware interface The only hardware requirement in the sercos specification is that when twisted pair cables are used auto crossover is supported and that CAT5 cables or better are used The cables should also be suitably shielded FTP SFTP or STP in order to ensure adherence to legal specifications EMVG Low Voltage Directive 2 3 Technical Properties of sercos The most important properties of sercos at a glance sercos connectors P1 and P2 as two RJ45 sockets each with auto negation and auto crossover 100 Mbps transmission speed Full duplex Ethernet bidirectional copper or fiber optics sercos diagnostic LED FSP IO Function Specific Profile IO for modular I O devices Various realtime data connections are possible master slave communication and cross communication communication cycle can be varied between minimum 31 25 us and maximum 65 ms Standard Ethernet protocol integration of any Ethernet protocols such as UDP IP and TCP IP Direct connection of IP devices Cyclic realtime data traffic clocked data traffic without risk of collision due to apportioned time slot Hot plug function Realtime precision jitt
77. ation source Configuration mode Clock generation producer Monitoring mechanism consumer 8336 en 00 PHOENIX CONTACT 8 35 UM EN SERCOS SYS Structure Table 8 18 Structure of S 0 1009 Bit Designation Function Comment 1 0 Monitoring mechanism 00 Producer cycle synchronous operation 01 Asynchronous operation with watchdog time defined with S 0 1050 x 10 the timeout for the watchdog is calculated as follows S 0 1050 x 10 Producer cycle time 8 0 1050 x 11 Allowed data losses 10 Asynchronous operation without watchdog 11 Reserved For the consumer Reserved Producer mechanism 0 Producer cycle synchronous 1 Asynchronous 5 4 Configuration type 00 Variable configuration of the IDNs with 0 1050 x 6 01 Configuration with connection length see S 0 1050 x 5 S 0 1050 x 6 is not taken into consideration 10 Standard telegram see S 0 0015 11 Reserved FSP_I O The connection is defined as follows C CON I O Control S 0 1500 x 5 C CON I O Status S 0 1500 x 9 11 6 Reserved 13 12 Source of the connection configuration 00 Master 01 Reserved 10 External 11 Reserved 14 Function of the connection 0 Consumer 1 Producer 15 Use of the configuration by the slave 0 Not used 1 Used Attributes Length 2 bytes Function Format Hexadecimal Function Parameter Changeability Communicati
78. ble 8 28 Structure of S 0 1305 0 01 Bit Value Designation Function Comment 0 31 Nano seconds 32 63 Seconds Length 8 bytes Format sercos time Function Parameter Changeability No 8 48 PHOENIX CONTACT 8336 en 00 Parameters 8 4 Overview of the Parameters in FSP I O Depending on the devices used the parameters of the following I O function groups are available S 0 1500 I O Bus coupler 5 0 1502 I O function group digital output S 0 1503 I O function group digital input S 0 1504 I O function group analog output S 0 1505 I O function group analog input S 0 1506 I O function group counter S 0 1507 I O function group complex protocol S 0 1508 I O function group sub bus master S 0 1509 I O function group sub bus slave S 0 1513 I O function group motor starter S 0 1514 I O function group PWM pulse width modulation S 0 1515 I O function group positioning Depending on the device used the following parameters may be contained Table 8 29 Overview of FSP_I O parameters S 0 1500 I O Bus coupler page 8 50 S 0 15xx y 01 Name of I O function group page 8 59 S 0 15xx y 02 Configuration of I O function group page 8 59 S 0 15xx y 03 Channel quantity PDOUT page 8 61 S 0 15xx y 04 Channel width PDOUT page 8 61 S 0 15xx y 05 PDOUT page 8 61 S 0 15xx y 07 Channel quantity PDIN page 8 61 S 0 15xx y 08 Channel width PDIN page 8 61 S 0 15xx
79. block MDTO MDT1 Method 2 MDT block MDTO MDT1 MDT2 MDT3 ATO AT1 AT2 AT3 Ml als leli H s lelity s lelifuls eli D 3 lc Eb s FD 3 t c F D 3 ols c 5 5 6 5 5 6 5 oe Sync tScyc Figure 8 2 Calculation of t6 and t7n Structure The list parameter is structured as follows First element Start t6 of the NRT channel Second element End t7 of the NRT channel Use The following must be observed during parameterization t7 t6 gt 125us Minimum length of the NRT channel t6 t7 0 NRT channel switched off If the length of NRT is less than 125 us S 0 1027 x 01 Requested MTU will be adapted accordingly Attributes Length 2x4 bytes Format Decimal without sign bit Function Parameter Changeability Communication phase CP2 Unit ns 8336 en 00 PHOENIX CONTACT 8 23 UM EN SERCOS SYS Function Structure Use i Attributes Function Structure Use i 8 3 38 S 0 1019 MAC address This parameter contains the MAC address for the engineering via IP that is required during Ethernet communication The MAC Media Access Control address is used for unique identification of Ethernet communication in the network Being a list parameter the MAC address is structured as follows 0 0006 0x0006 fixed value 6 for actlen maxlen MAC address 00 6
80. bus error timeout break A022 Multiple transmission error on the sub bus B022 Multiple transmission error on the local bus A023 Sub bus I O data communication error B023 Local bus I O data communication error A024 Data communication error during sub bus man B024 Data communication error during local bus man agement agement A030 Sub bus configuration error B030 Local bus configuration error A031 I O data configuration mapped twice B031 I O data configuration mapped twice A040 General error B040 General error A041 Sub bus hardware error B041 Hardware error on the local bus A042 Sub bus firmware error B042 Firmware error on the local bus A043 Sub bus runs asynchronously B043 Local bus runs asynchronously 8336 en 00 PHOENIX CONTACT 7 7 UM EN SERCOS SYS Function groups The modules connected to the bus coupler are acquired via function groups The following table lists possible function groups of I O modules Table 7 8 Function groups of I O modules Function group Name S 0 1502 Digital output S 0 1503 Digital input S 0 1504 Analog output S 0 1505 Analog input S 0 1506 Counter S 0 1507 Complex protocol S 0 1508 Sub bus master S 0 1509 Sub bus slave S 0 1513 Motor starter S 0 1514 PWM pulse width modulation S 0 1515 Positioning Slot number Slot number of the module to which the function group is assigned structure instance Sub bus slave Sub bus
81. c producer and consumer connections Number of controllers that can be networked via controller cross communication 511 maximum Time when parameterizations are transferred into the PLC online or after a new login of the PLC Parameterization of the operating phase CP4 via the parameterization level or only in the parameterization phase CP2 5 2 Assignment Definition Producer Consumer The connections must be configured for devices with several connections identification numbers IDN 1050 x y with x gt 2 present The master slave connections between controller andthe devices are created by default If two devices are to exchange data directly this must be configured separately This allows to set up homogeneous connections that have the same characteristics for each device The same process data is transferred with the same producer cycle time Of course these values can vary from device to device and must be configured device specifically 8336 en 00 PHOENIX CONTACT 5 1 UM EN SERCOS SYS 5 3 Determining Cycle Times For some controllers and some devices a distinction can be made between the sercos cycle time S 0 1002 and the producer cycle time S 0 1050 x 10 Fora system consisting of a master and the connected devices the sercos cycle time is the same everywhere producer cycle time can vary from device to device and may also be longer than the sercos cycle time 5 4 Parameterization Options
82. ce channel works with fragmentation The successful transfer via the service channel is the trigger for the command in the I O modules and the bus coupler or the bus header for compact devices Write access to the service channel is only confirmed to the master once the process is complete No further control signal handshake is required for this The response is retrieved via the receive channel Parameter Channel Receive Since this takes place via the service channel no special control signal handshake is required here either The bus coupler or the bus header for compact devices and the modules respond with variable data lengths Length Device specific Format Hexadecimal Function Parameter Changeability Communication phase CP2 8 5 1 11 S 0 1500 0 23 Local bus cycle time This parameter contains the cycle time of the local bus within a modular I O station Length 4 bytes Format Decimal without sign bit Function Parameter Changeability No Unit us 8 5 1 12 S 0 1500 0 32 I O diagnosis message This IDN comprises diagnostic messages consisting of an I O status code a diagnostic class and a local designation The diagnostic message of a device with the highest priority will be displayed whereas a new diagnostic message with the same priority will overwrite the diagnostic message stored does not apply for an existing error C1D For cyclic monitoring S 0 1500 0 32 I O diagnosis message can map the data in an existing
83. connection in S 0 1050 x 06 Configuration list 8336_en_00 PHOENIX CONTACT 8 57 UM EN SERCOS SYS Structure Table 8 33 Structure of S 0 1500 x 32 Bit Designation Function Comment 7 0 Channel number Channel that caused the diagnostic message Achannel number between 0 and 255 points to a specific channel of the func tion group channel related diagnostic events e g open circuit Channel number 0 point to the function group itself function group related di agnostic messages e g sub bus error timeout 15 8 Sub bus slave index Sub bus slave that caused the diagnostic message see I O_FG x 25 Slave Index Only used with I O function group S 0 1509 Sub bus slave 23 16 Slot number Slot number of the module to which the function group is assigned structure instance 39 24 I O function group I O function group which caused the diagnostic message e g 1503 Digital output or 1509 Sub bus slave 55 40 Status code Defined either through TWG_I O or by the manufacturer see bit 63 59 56 Diagnostic class Diagnostic class of the diagnostic message See S 0 0390 Diagnostic num FG sub bus slave channel does not have a diagnostic message per FG sub bus slave channel has information e g preventive maintenance re quired condition monitoring FG sub bus slave channel has displayed a warning e g undervoltage in the device with C2D The warning disappears automatically when
84. cordance with ISO IEC 8802 3 with a data rate of 100 Mbps whereby any combination such as full duplex 100Base TX with autocrossover function two cables with twisted wire pairs as well as 100Base FX Ethernet via glass fiber can be used The cables must be designed in accordance with CAT5 or higher and must also be sufficiently shielded in accordance with EMC requirements 4 1 1 1 General Because of its simple planning possibilities a building installation is often used as a reference installation model It stipulates that a certain quality is attained by the arrangement and use of certain components For example category 5 components for symmetrical cabling result in a class D channel that is suitable for transmission of Fast Ethernet Horizontal cable Device Patch cable Figure 4 1 Structure of the channel Key EQP Equipment TO Terminal outlet TE Termination device C Plug in connection In this case the flexible lines also known as cords can have a maximum length of 10 m and permanently installed lines a maximum of 90 m which means that the total maximum length of the channel is 100 m Since the transmission properties of flexible lines are inferior to those of installed cables length ratios must be complied with The use of higher quality components for example category 6 or the reduction of channel length for compensating the longer more flexible lines is theoretically possible but more difficult to calculate in
85. corresponds to the slot number after the bus coupler 8336 en 00 PHOENIX CONTACT 2 11 UM EN SERCOS SYS Structure element SE The structure element is used to address the elements As a result up to 256 elements are possible The structure elements 1 to 127 are specified the remainder up to 255 are producer specific The following figure shows an example structure of a modular I O station S 0 15XX SI SE Structure instance SI Module 0 Module 1 Module 2 Module 3 Module 4 SI 0 SI 1 SI 2 SI 3 SI 4 sercos S 0 1503 S 0 1503 S 0 1504 S 0 1502 bus coupler S 0 1505 5 0 1500 SE1 SE1 SE1 SE1 SE1 SE2 SE2 SE2 SE2 SE2 SE3 SE3 SE3 SE3 SE3 Structure element SE Figure 2 8 Modular I O station In the above example structure instance 1503 has two function groups The modular I O station consists of the following modules Module 0 Bus coupler Module 1 Digital inputs Module 2 Digital inputs Module 3 Analog inputs analog outputs Module 4 Digital outputs 2 12 PHOENIX CONTACT 8336 en 00 Overview and Architecture The sub device has a closed independent parameter range This means that all parameters are available in the context of the sub device whether the function group belongs to the sercos slave the sercos device the sub device or the resource The cyclic parameter access services are addressed via the sercos address of the sercos slave assigned to the sub device
86. dentification function group comprises all IDNs for classification of a slave on the SCP level The Timing function group comprises all IDNs for timing The Telegram setup function group comprises all IDNs for the telegram setup The Control function group comprises all IDNs for the control of the communication state machine of the slave The Bus diagnosis function group comprises all IDNs for bus diagnostics The Connection function group comprises all IDNs connection configuration The NRT non realtime function group comprises all IDNs for communication over the NRT channel Please refer to Section Function Groups of the SCP sercos Communication Profile on page 9 1 for a detailed list of the associated IDNs 8336 en 00 PHOENIX CONTACT 2 15 UM EN SERCOS SYS FG Diagnosis FG Archiving 2 9 2 GDP Generic Device Profile The objective of the Generic Device Profile GDP is to provide a view of the sub device which is independent of the implemented function profile FSP The GDP General Device Profile contains the sub class GDP_Basic whose parameters must be implemented in all sercos devices There are also LED displays for diagnostic and status functions which are not part of the GDP_Basic class but which are nonetheless expressly recommended for all devices see Chapter 7 2 on page 7 1 All sercos devices that is also drives cameras scales in addition to I Os use these function groups and
87. e 0x01 FSP_I O 0x02 GDP 0x03 SCP A distinction is made between the following diagnostic classes Ox9Reserved OxAOperating state lowest priority 4 OxBReserved OxCProcess command specific status priority 3 OxDReserved OxEWarning priority 2 OxFError C1D highest priority 1 The diagnostic classes 0x9 and OxE information warning are removed when they are no longer relevant Diagnostic class OxF error however can only be cleared with the S 0 0099 Reset class 1 diagnostic process command Sending this process command clears all active errors diagnostic class OxF of a device The following status codes of the SCP and GDP specified according to sercos are shown in the S 0 0390 Diagnostic number IDN 7 2 PHOENIX CONTACT 8336_en_00 Diagnostics Status codes of the SCP Table 7 3 Status codes of the SCP Bits Bits Bits Description 31 20 19 16 15 0 C30 A 0000 Communication phase CPO C30 A 0001 Communication phase CP1 C30 A 0002 Communication phase CP2 C30 A 0003 Communication phase CP3 C30 A 008 NRT phase C30 C 0100 S 0 0127 CP3 transition check C30 C 0104 Configured IDN for MDT not configurable C30 C 0105 Maximum MDT length exceeded C30 C 0106 Configured IDNs for AT not configurable C30 C 0107 Maximum AT length exceeded C30 C 0108 Time slo
88. e The manufacturer s specifications for bending radii tensile strength compressive strength and temperature range must be observed The cable paths must be designed such that the demands of the cable manufacturer are taken into consideration The cable paths must be selected such that sharp corners or edges which might damage the cable are avoided Corner protection should be used see Figure 4 2 Where required the cable ducts should protect against water or other harmful fluids Prior to installation of the cables the cable ducts must be clean and free of sharp edges This particularly applies to transitions and terminations Access points must be accessible Figure 4 2 Use edge protection Where the cable is laid in shared cable channels precautionary measures must be taken to avoid damaging the new and already installed cables Redundant cables should always be installed in separate cable channels to avoid simultaneous damage by the same event Ifthe cable is placed into the cable ducts make sure thatthe cable drum is handled properly to avoid damage caused by torsion or loops 24 8336_en_00 PHOENIX CONTACT 4 7 UM EN SERCOS SYS Torsion Torsion may result from a displacement of individual cable elements This may result in a negative influence on the electric properties of the cable This is the reason why sercos cables must not be twisted provided that they are not special cables for torsional loads
89. e master then starts the Synchronize command If the topology is changed to CP4 the master can execute the Synchronize command again If the command is positively acknowledged the master clears the Synchronize command in the relevant slave If the command is negatively acknowledged error the master reads the diagnosis S 0 0390 before clearing the Synchronize command Either the master eliminates the error itself or the error must be removed by startup personnel Once the error has been eliminated the Synchronize command must be reactivated for all slaves requiring synchronization 8336 en 00 PHOENIX CONTACT 3 7 UM EN SERCOS SYS 3 8 PHOENIX CONTACT 8336_en_00 Planning 4 Planning As described in Section Topology on page 2 1 ring structures or linear structures can be used for sercos networks whereby routers and switches can be completely dispensed with Here the individual devices are linked via their Ethernet ports The Ethernet ports P1 and P2 of the individual devices can be freely exchanged and can also be used for example to connect standard Ethernet devices e g a notebook to a sercos realtime domain This means that any Ethernet or IP protocols can be used to access sercos devices without affecting the realtime behavior of the sercos realtime domain 4 1 Assembly Directives and Standards 4 1 1 Wiring The Physical Layer is implemented via an Ethernet standard connection in ac
90. e C Con control word of the connection This is true for producer and consumer connections 8 38 PHOENIX CONTACT 8336 en 00 Parameters Structure Table 8 20 Structure of S 0 1050 x 08 Bit Designation Function 0 ProducerReagy 0 Producer does not yet enter valid setpoint values 1 Producer enters valid setpoint values and the slave can accept these values by toggling bit 1 1 NewDataToggle Bit An edge indicates that the connection contains new data 2 CC DataFieldDelay 1 CC Producer data have a sercos cycle offset since they have been copied via the bus master The consumer should preferably take the data from the port where bit 0 is 3 ProducerSynchronized 0 The PLL of the producer is not synchronized with the clock of the ring 1 The PLL of the producer is synchronized with the clock of the ring 6 Realtime bit 1 7 Realtime bit 2 Attributes Length 2 bytes Format Binary Function Parameter Changeability No 8 3 54 8 5 0 1050 10 Producer cycle time Function The parameter indicates the cycle time in which the producer updates the data in the cyclic connection In addition the NewData toggle bit in the connection control word C Con is toggled The consumer of the connection takes this time to monitor a possible failure The number of permitted failure is set with S 0 1050 x 11 Allowed data losses the number of the current failures is displayed in S 0 1050 x 12 Error counter data losses
91. e bus and a classic fieldbus for the coupling of remote peripheral devices will thus no longer exist in the future and will be replaced by a universal communication network This network will have to combine the features of a high performance motion bus with the features of the classic fieldbus and support peripheral devices as well as central system structures This development will be made possible by the continuously increasing performance capabilities of computer platforms and the increased power of communication technology between the devices 1 2 PHOENIX CONTACT 8336_en_00 Overview and Architecture 2 Overview and Architecture 2 1 Topology sercos works with the producer consumer model whereby the typical master slave principle and the slave slave principle can be used In addition to the ring structure which was used by sercos and ll a linear structure can also be used Furthermore hierarchical cascaded network structures are also possible Special switches can be used to integrate standard Ethernet devices either individually or in a star topology The network structure can thus be perfectly adapted to meet the requirements of the respective system 2 1 1 The Ring Structure In connection with the Ethernet physics the ring structure offers the advantages of a double ring structure with the ability to transmit data redundantly ring redundancy The master sends data to the ring in opposite directions from the two ports
92. e shielding contacts Localize and replace damaged components Mechanical strain of cables and con nectors Install a strain relief Condensation between electrical contacts Clean plug in connections Replace damaged components Diagnostic message of the cable tester Reflection loss too high Cable with incorrect impedance used Use the correct components Diagnostic message of the cable tester cable too long attenuation resistance or resistance too high Cables wire cross section too small cable or wire too long or damaged Use proper cables with the correct length Replace the cable Diagnostic message of the cable tester NEXT PSNEXT ACR PSACR ELFEXT PSELFEXT Connectors cables wires of insuffi cient quality used or they are dam aged Use proper cables with the correct length Replace the cable 7 10 PHOENIX CONTACT 8336_en_00 Parameters 8 Parameters 8 1 General The most important parameters S Parameter are listed in the following in the ascending order of their identification number IDN Please refer to the device specific data sheet for information about which parameters are available in a particular device Each parameter has a data block that consists of the following elements and subelements A range of 216 or 232 characters is used for the numbering of the IDNs that is split up as follows Table 8 1 Numbering of
93. e specific Format IDN Function Parameter Changeability Communication phase CP2 8 5 1 8 S 0 1500 0 12 Rearrangement of I O resource The master uses this command to make the slave do the following Check the contents of S 0 1500 0 04 List of inserted function groups and S 0 1500 0 11 List of replaced function groups Generate or delete the structure elements of the new I O function groups and to set the following structure elements to zero FG x 03 Channel size PDOUT FG x 04 Channel width PDOUT FG x 07 Channel size PDIN 8336 en 00 PHOENIX CONTACT 8 55 UM EN SERCOS SYS Error handling Attributes Function Attributes O_FG x 08 Channel width PDIN FG x 11 Channel size DIAGOUT FG x 12 Channel width DIAGOUT VO FG x 15 Channel size DIAGIN VO FG x 16 Channel width DIAGIN Enable write protection in communication phases and CP4 or in the operating phase for the new structure elements channel width and channel values Setbit7 to 1 virtual for function groups with S 0 1500 0 04 List of inserted function groups in S 0 15xx y 02 Configuration of I O function group Update the corresponding IDNs such as S 0 0017 IDN list of all operation data 8 0 1302 0 02 Function groups 58 0 0187 IDN list of configurable data as producer 8 0 0188 IDN list of configurable data as consumer 58 0 1300 Electronic label The confirmation is negati
94. edback processing time t5 8 16 8 3 26 5 0 1006 ATO transmission starting time t1 8 17 8 3 27 5 0 1007 Feedback acquisition capture point 14 8 18 8 3 28 5 0 1008 Command value valid time t3 8 18 8 3 29 S 0 1009 Device control C Dev offset in MDT 8 19 8 3 80 S 0 1010 Length of MDTS 8 19 8 3 31 S 0 1011 Device status S Dev offset in 8 20 8 3 32 S 0 1012 Length of ATS sssssssssseeeeeeenneen nennen 8 20 8 3 83 S 0 1013 SVC offset in 8 21 8 3 34 S 0 1014 SVC offset in AT 8 21 8 3 35 8 0 1015 Ring delay eite rtc idee eene 8 22 8 3 36 3 S 0 1016 Slave delay P S 8 22 8 3 37 S 0 1017 NRT transmission time esseeee 8 23 8 3 38 S 0 1019 MAC address sssssssseeeeeeeen mee 8 24 8 3 89 S 0 1020 IP address sss 8 24 8 3 40 S 0 1021 Subnet mask sse 8 25 8 3 41 58 0 1022 Gateway address see 8 26 8 3 42 58 0 1023 SYNC jitter 8 26 8 3 43 S 0 1024 SYNC delay measuring procedure command 8 27 8 3 44 S 0 1026 Version of communication hardware
95. egrated controller technology and drive controller which communicates with an intelligent power level The most suitable system structure depends on the topology of the machine system This has resulted in the emergence of hybrid devices which are suitable not only for individual applications but combine several different applications in one device sercos also supports hierarchical cascaded network structures Here the individual network segments are networked via defined mechanisms This offers the following advantages individual network segments can be operated with different cycle times For example 250 us for the networking of various drives and fast I Os and 2 ms for the networking of the individual controllers Theinterconnection of the individual network segments forms a realtime coupled and fully synchronized structure synchronization of all devices in the entire network is guaranteed Devices throughout the network can communicate with one another in realtime 8336 en 00 PHOENIX CONTACT 2 3 UM EN SERCOS SYS 2 2 Installation The installation of a sercos network is simple and requires no special network configuration All devices are connected to one another by means of patch or crossover cables whereby the Ethernet ports P1 and P2 of the devices can be freely exchanged and can also be used to connect standard Ethernet devices e g notebooks to a sercos realtime domain This means th
96. el All parameters are assigned identification numbers IDNs Each parameter consists of various elements which are used to transport additional information This information is required in order to be able to detect and control any devices slaves in the system The IDN range was extended to 32 bits in sercos for this purpose EIDN This ensures that an independent parameter range is available to each device regardless of whether it is a function group for a slave a device a sub device or a resource The symbolic structure of EIDNs in sercos is defined as follows lt IDN gt Sl SE 31 24 23 161514 1211 0 BERR 11 tT 11111 Bit 11 0 Data block number Bit 14 12 Parameter set PS Bit15 S P parameter S P Bit 23 16 Structure element SE Bit 31 24 Structure instance Sl Figure 2 6 sercos parameter model S 0 0014 0 0 r Bit Bit Bit Bit Bit 15 14 12 11 0 31 24 23 16 Figure 2 7 IDN structure Data block number Bits 11 0 E IDN number Data block number SI SE 0 Function group SI or SE unequal 0 Parameter set Bits 14 12 Parameter record S P parameter Bit 15 Indicates whether it is standard data S or product specific data P Structure instance SI Bits 31 24 The structure instance is used to address the same type of structure within a device As a result 255 instances of the same structure are possible in a device In a modular I O station the structure instance
97. ength 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8 5 2 10 S 0 15xx y 12 Channel width DIAGOUT This parameter contains the bandwidth of a channel for DIAGnostic Data OUTput DIAGOUT Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8 5 2 11 S 0 15xx y 13 DIAGOUT This parameter can be used to configure the function group specific behavior e g control word or to confirm diagnostic messages S 0 1050 x 01 Connection setup bits 5 4 can be used to configure whether DIAGOUT is contained in S 0 1500 0 05 Container output data or directly in a connection S 15xx y 02 bit 3 can be used to configure whether DIAGOUT is contained in 5 0 1500 0 05 Container output data Length Device specific Format Hexadecimal Function Parameter Changeability Operating phase 8 62 PHOENIX CONTACT 8336 en 00 Parameters Function Attributes Function Attributes Function Attributes Function Attributes Function 8 5 2 12 S 0 15xx y 15 Channel quantity DIAGIN This parameter contains the number of channels for DIAGnostic Data INput DIAGIN Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8 5 2 13 S 0 15xx y 16 Channel width DIAGIN This parameter contains the bandwidth of a channel for DIAGnostic Data INput DIAGIN Length 2 bytes Format Decimal without sign bit Function Parameter C
98. er of the sercos master is 10 ns Synchronization of several motion controls Faulttolerance for cable breaks when a ring topology is used Safety functions can be implemented in accordance with IEC 61508 to SIL3 2 4 PHOENIX CONTACT 8336_en_00 Overview and Architecture 2 4 Overview of Transmission Performance sercos s transmission performance meets a wide range of requirements The following table shows examples of possible performance values Table 2 1 Cycle time realtime data and device ratios Cycle time in us Cyclic data per device in bytes Max devices 31 25 116 928 bits 2 31 25 6 8 62 5 12 16 125 12 30 250 12 66 250 32 34 500 12 130 1000 50 100 1000 32 140 1000 12 254 You can also consider the update time 424 bytes are required to transmit 1000 digital I Os 8 us are required to transmit 100 bytes with 100 Mbps that means 34 ys for 424 bytes With ring cabling the transfer time through 8 devices is 8 x 0 6 us 4 8 us This leads to an update time of 38 4 us for 1000 digital I Os For example 12750 digital I Os can be transmitted with a sercos cycle time of 250 us 8336_en_00 PHOENIX CONTACT 2 5 UM EN SERCOS SYS Communication layer 2 5 Communication Model All communication relevant relationships between sercos devices can be divided into three layers Communication layer Data link layer Application layer
99. ercos LED indicates the following error states Table 7 5 sercos LED Color 1 Color2 Status Description Comment Green Green ON CP4 Communication phase CP4 active Green Dark Flashing Loopback Status change of the sercos ports from fast forward to loopback 4 Hz Red Green Flashing Communication Depends on S 0 1003 Flashes red green 4Hz error Red Red ON SIII C1D Diagnostic class 1 Orange Orange ON Device is in one of the communication phases Orange Dark Flashing Identification Bit 15 in the device control used for address allocation Configuration 4Hz error or other identification purposes Dark Dark OFF _ NRT phase No sercos communication device is in the NRT phase 7 4 PHOENIX CONTACT 8336_en_00 Diagnostics Diagnostic classes Status codes 7 3 The I O Diagnosis Function Group With the IDNs of this function group error and status messages of the I O devices can be displayed The Diagnosis function group contains the following IDNs S 0 1500 0 02 I O status Indicates the current status of the inputs and outputs of the entire device 8 0 1500 0 32 I O diagnosis message Indicates the I O diagnostic message with the highest priority 8 0 1500 0 33 Current I O diagnosis message Indicates the current I O diagnostic message S 0 15xx y 17 DIAGIN Indicates the function group specific behavior e g status 7 3 1 Diagnostic Messages o
100. ess for correctness 0 sercos address 512 not supported addresses or addresses occurring several times In CP1 the slave devices are configured for acyclic communication over the service channel The topology addresses defined in communication phase CPO are used here in CP1 to address the service channels The master initializes the service channels of all of the slaves used The NRT channel may be activated Once the master has identified the slaves in the sercos network it initiates a switch to CP2 If the identification time is exceeded the initialization is interrupted Depending on the configuration the master responds with an error message and switches to CPO If a slave does not receive an MDTO in CP1 within 130 ms it switches to NRT mode All slaves used behave as described here even those with sercos address O 6 2 PHOENIX CONTACT 8336 en 00 Startup 6 2 4 Communication Phase CP2 Parameterization Phase Phase CP2 is used to configure devices for cyclic communication and to parameterize the devices via acyclic communication of the service channel In CP2 and the higher phases the slaves support the full functionality of the service channel The master transmits the following as a minimum to all available slaves communication parameters required for and CP4 length of all MDTs and ATs offsets of their service channel and realtime data For synchroni
101. essa a iie 8 31 sercos communication profile 2 14 sercos configuration eese 5 6 Sercos connections cccoocococcccconononcnncononononcconcnnoncnnnns 8 35 sercos device ieee duode ede eite 2d 5 4 sercos I O master sse 5 1 sercos I O mod le a a a ai 5 6 sercos module configuration 5 7 sercos module I O 5 7 SerGoS SIaVO snnt m ebat it ne 5 4 dee eg edi ELS 8 48 Service channel sse 3 5 Slave delay P S 8 22 Source type ie quc i 7 2 STPS O imitar 6 2 Sa main ra 6 1 Structure element sess 2 12 Structure instance esses 2 11 Subnet mask essere 8 25 SVG oflseblAT uero DUO IMS 8 21 SVC offset in 8 21 SYNC delay measuring procedure command 8 27 SYNCGIGL eene euet 8 26 Synchronization end Atene test dece eect 3 7 T Telegram assignment sees 8 37 Telegram configuration 3 3 Telegram Seana tete eats 3 1 Test pin assignment port 1 and port 2 8 30 Topology aa SH eee 2 1 V Version of communication hardware 8 27 W WINO c teo ee ie Enero ees Lo eres EAE e ES 4 1
102. evice produces valid input data 1 15 Outputs are ready for oper ation The outputs are reset the last values are frozen or substitute values are output 0 Outputs are not active depending on bit 6 of IDN S 0 15xx y 02 and IDN S 0 15xx y 22 This bit is set when the corresponding bit 15 in S 0 1500 0 01 I O control is set and the device has successfully activated its outputs 1 Outputs are active Attributes Length 2 bytes Format Binary Function Parameter Changeability No 8 5 1 3 S 0 1500 0 03 List of module type codes Function This lists contains the manufacturer specific module type code of the connected modules Passive modules which cannot be detected via the local bus are excluded Each module should have a unique module type key which may either be a unique hexadecimal number or the order number The list is sorted in ascending order from left to right starting with zero and according to the location of the module Passive modules do not have a module type code 8 52 PHOENIX CONTACT 8336_en_00 Parameters Attributes Function Attributes The module type code is used to generate the required sercos IDNs when a modular I O setup is used whereas the modules connected during the start phase are assigned to the corresponding I O function groups The manufacturer specific module type codes for the configuration check in communication phase CP2 are also used The module type codes OxFFFFFFFF FFFFO0000 to OXFFFFFFFF FFFFF
103. f actual values as well as the validation of desired values takes place a defined times related to the bus timing The communicative dead time between the generation of actual values and the provision of these values on the bus or the reception of desired values and their validation in the device is exactly defined Thus a cycle time can be defined for a connection which involves only clock synchronous devices New data is produced and consumed in exactly this time slot New data is transmitted on the bus in the slot defined by the cycle time Synchronization can be used for both ring and linear topology The function can be activated from CP2 in the slave The following actions are necessary for this The master determines the runtime of the topology and transmits this runtime to the slaves requiring synchronization Using the Synchronize command the master activates the determination of the synchronization time in the slaves slaves have one synchronization counter per port and use this to determine their internal synchronization time the slave has been synchronized it positively acknowledges the command In CPO the master determines the runtime of the topology across several communication cycles gt 50 The master calculates the average value of the measured runtimes and determines a safety margin as the ring runtime In CP2 the master transmits the ring runtime to the slaves requiring synchronization Th
104. f S 0 1500 The diagnostic messages of the IDNs S 0 1500 0 32 and S 0 1500 0 33 are structured as follows Table 7 6 Structure of S 0 1500 0 32 and S 0 1500 033 Diagnostic Status code Function Slot number Sub bus Channel class group slave number The value ranges of the individual contents are shown in the tables below A distinction is made between the following diagnostic classes Ox9Reserved OxAOperating state lowest priority 4 OxBReserved OxCProcess command specific status priority 3 OxDReserved OxEWarning priority 2 OxFError C1D highest priority 1 The diagnostic classes 0x9 and OxE information warning are removed when they are no longer relevant Diagnostic class OxF error however can only be cleared with the S 0 0099 Reset class 1 diagnostic process command Sending this process command clears all active errors diagnostic class OxF of a device The following status codes specified according to sercos are shown in the IDNs S 0 1500 0 32 and S 0 1500 0 33 8336 en 00 PHOENIX CONTACT 7 5 UM EN SERCOS SYS Table 7 7 Status codes of FSP_I O Status Meaning Status Meaning code code 0000 No error 1000 General error 1800 General error manufacturer specific 1FFF 2000 Current 3000 Voltage 2100 Current on the device input side 3
105. h the letter T Character string is completed with Z UTC time zone All parameters are write protected can be read only 8336_en_00 PHOENIX CONTACT 8 43 UM EN SERCOS SYS Function Structure Attributes Function 8 3 57 S 0 1301 List of GDP classes amp version This parameter indicates the implemented classes of the generic device functions of the device It is used to identify which sercos defined functions exist in the areas of diagnostics identification initialization and parameter management Bits 15 8 identify the GDP classes contained in the device All possibilities must be indicated in this IDN Bits 7 O identify the version Table 8 22 Structure of S 0 1301 Bit Designation Function Comment 7 0 Version 0x00 Reserved 0x01 First version 0x02 OxFF Reserved 0x01 Value GDP Basic 15 8 Profile ID Length List with IDNs of 2 bytes each Maximum number of elements is device specific Format Hexadecimal Function Parameter Changeability No 8 3 58 58 0 1302 Resource structures of sub device This IDN contains a structure for the resource dependent properties of a sub device and comprises the following information Table 8 23 Resource dependent structure of the sub device Parameter See S 0 1302 x 01 FSP type amp version page 8 44 S 0 1302 0 02 Function groups page 8 45 S 0 1302 x 03 Application type page 8 45 8 3
106. hangeability No 8 5 2 14 S 0 15xx y 17 DIAGIN This parameter can be used to configure the function group specific behavior e g status S 0 1050 x 01 Connection setup bits 5 4 can be used to configure whether DIAGIN is contained in S 0 1500 0 09 Container input data or directly in a connection S 0 15xx y 02 Configuration of I O function group bit 4 can be used to configure whether DIAGIN is contained in S 0 1500 0 09 Container input data Length Device specific Format Hexadecimal Function Parameter Changeability No 8 5 2 15 S 0 15xx y 19 Parameter channel receive This parameter channel is an asynchronous communication mechanism for the manufacturer specific configuration and parameterization of the bus coupler or the bus header for compact devices or the I O modules The parameter channel is a simple mechanism that handles the data transparently in the form of a list 1 byte hex Length Device specific Format Hexadecimal Function Parameter Changeability No 8 5 2 16 S 0 15xx y 20 Parameter channel transmit This parameter channel is an asynchronous communication mechanism for the manufacturer specific configuration and parameterization of the bus coupler or the bus header for compact devices or the I O modules The parameter channel handles the data 8336 en 00 PHOENIX CONTACT 8 63 UM EN SERCOS SYS Attributes Function Attributes Function Attributes Function Attributes tr
107. he project via the Configuration of sercos devices dialog box This dialog box can be opened by right clicking on the sercos master node If several devices with the same sercos address are connected a distinction can be made viathe topology address and further information can be displayed Thus you can change the sercos addresses specifically so that there are no more duplicate addresses In CPO the topology address is determined on the basis of the cabling It represents the physical order or the slaves in the topology A device can also be replaced and the sercos address set automatically by comparing the old and new values of the topology address and the electronic rating plate In this way you can replace a device via the controller without engineering tool 8336 en 00 PHOENIX CONTACT 5 5 UM EN SERCOS SYS sercos Configuration This area is used for the display and modification of device specific parameters Status The Status area displays status information e g Running Stopped and specific diagnostic messages from the device Information The Information area displays the following general information about the device where this information is present in the device description file Name module designation e g ILB S3 24 DI16 DIO16 Manufacturer e g Phoenix Contact Category e g slave Version e g Revision 16 4 Order No e g 2897570 Description name of the device desc
108. he slaves can only read the contents of these MDTs sercos specifies four MDTs MDTO to MDT3 The MDTs contain all of the information e g synchronization command values etc that is sent from the master to the slaves via the realtime channel MDTO is always transmitted MDT1 to MDT3 are only transmitted when necessary depending on the total quantity of data to be transmitted from the master to all slaves The master always sends the same number of MDTs in each communication cycle The end of the MST sercos header of MDTO in MDTO is used for synchronization and starts the communication cycle of the slaves MDTO IP telegrams NRT channel RT channel Communication cycle Synchronization trigger once per cycle Figure 3 3 Synchronization via MDTO Acknowledge Telegram ATs are used primarily to transfer the realtime data of the slaves to the master and in rare AT cases from the master to the slaves e g to transfer the same information from the master to multiple slaves Cross communication CC in realtime is channeled exclusively via ATs and can take place between various controllers also known as C2C Controller to Controller or as cross communication between peripherals e g I O devices or drives ATs can be read and written by all sercos nodes sercos specifies four ATs ATO to AT3 The number of ATs is dependent on the total quantity of data to be transmitted
109. ic class F error has occurred the IDN S 0 1500 0 32 I O diagnosis message contains the same message 0E234405DE040000hex 7 3 2 Diagnostics Messages of S 0 15xx y 17 DIAGIN The current status of a lower level module on a device is shown in IDN S 0 15xx y 17 DIAGIN 8336_en_00 PHOENIX CONTACT 7 9 UM EN SERCOS SYS 7 4 General errors General errors in the cabling can be detected with cable testers Ethernet analysis programs such as Wireshark protocol interpreters and TAPs Test Access Ports Table 7 9 Errors and their removal Error Cause Removal Communication failed and or high error rates Poor connector or terminal point con tacts Localize and rectify connection EMI by other devices poor ground ing unsufficient distance from de vices or cables emitting EMI Localize and rectify grounding Check cabling and shielding Use fiber optics Corrosion of the shielding contacts Localize and replace damaged components Mechanical strain of cables and con nectors Install a strain relief Communication briefly inter rupted and or exploding error rates EMI from other devices Relate communication problem with physical or environmental incidents Localize and rectify them e g increase dis tances Poor connector or terminal point con tacts due to vibrations or tempera ture influence Localize and replace damaged components Corrosion of th
110. ication 0x0B Ox1 SIG V1 1 1 Word of real time bits as producer and consumer OxOC 0x1 SCP_ListSeg V1 3 Segmented list transfer via the SVC 0x0D 0 1 SCP_SIP V1 3 Support of S IP Protocol in the NRT channel OxOE Ox1 SCP TFTP V1 3 Support of TFTP in the NRT channel OxOF 0x1 SCP_Cap V1 3 Connection capabilities 0x10 Ox1 SCP_ExtMux V1 1 2 Extended Multiplex channel extended data con tainer 0x11 0x1 SCP_RTBListProd V1 3 List of real time bits as producer status 0x12 0x1 SCP_RTBListCons V1 3 List of real time bits as consumer control 0x13 0x1 SCP_SysTime V1 3 Set sercos time using MDT Extended field 0x14 Ox1 SCP RTBWordProd V1 3 Word of real time bits as producer 0x15 Ox1 SCP RTBWordCons V1 3 Word of real time bits as consumer 0x16 0 1 SCP_Safety V1 3 CIP safety on sercos connection 0x17 0 1 SCP_OvS_Basic V1 3 Oversampling functionality Attributes Length List with IDNs of 2 bytes each Maximum number of elements is device specific Format Hexadecimal Function Parameter Changeability No 8336_en_00 PHOENIX CONTACT 8 15 UM EN SERCOS SYS Function Use Attributes Function Attributes Function Use Attributes 8 3 23 5 0 1002 Communication cycle time tS cyc The communication cycle time of the sercos interface indicates at which intervals the cyclic data i e the process data MDT and AT is to be transmitted The following points should be observed during parameterization entries are defined fro
111. ication in the NRT channel Changes of the parameter only come into effect after the following Restart of the 24 volt supply of the device Pressing of the reset button Being a list parameter the network mask is structured as follows 0x0004 0x0004 fixed length 4 for tlen IPv4 subnet mask ie 255 255 255 128 Figure 8 5 Structure of the subnet mask S 0 1021 The network mask must be set specifically for the application Length 4 x 1 byte Format Decimal without sign bit Function Parameter Changeability Communication phases CP2 CP3 CP4 8336 en 00 PHOENIX CONTACT 8 25 UM EN SERCOS SYS Function Use Attributes Function Attributes 8 3 44 59 0 1022 Gateway address This parameter contains the gateway address of the IP device for the engineering via IP Internet Protocol that is required for IP communication The master can change this address for communication in the NRT channel If the master wants to send an IP packet the network parts of the source IP address and the destination IP address are compared with each other If they are not the same the IP packet is sent to the gateway IP address Changes of the parameter only come into effect after the following Restart of the 24 volt supply of the device Pressing of the reset button The gateway address must be set specifically for the application Length 4 x 1 byte Format Deci
112. ific Format Hexadecimal Function Parameter Changeability No 8 5 1 7 S 0 1500 0 11 List of replaced function groups This IDN contains a list of the function groups it can be assigned manually or via a configuration tool which replace existing function groups that a read out via the bus coupler orthe bus header for compact devices Each function group must have been described as an I O function group in FSP I O The entry contains the type of the function group as well asthe desired structure instance SI of the new module The structure element SE always has the value O The entries of the list replace the entries in S 0 1302 0 02 Function groups To do this the bus coupler or the bus header for compact devices must acquire the corresponding IN parameter again Since channel width and values of the new function groups are unknown the following structure elements are set to zero FG x 03 Channel size PDOUT FG x 04 Channel width PDOUT FG x 07 Channel size PDIN FG x 08 Channel width PDIN FG x 11 Channel size DIAGOUT FG x 12 Channel width DIAGOUT FG x 15 Channel size DIAGIN FG x 16 Channel width DIAGIN During the configuration in communication phase CP2 I O power on sequence write protection is temporary disabled so that the master can configure the structure elements When parameterization is started write protection is enabled again Length 4 bytes devic
113. ing the sercos master with a defined connection for administrative tasks These include Language settings in the sub devices Assignment of passwords required to change data The Identification function group has the task of providing the sercos master with a defined connection for identification tasks These include A Access to all electronic identifications for all available components of the device Here each component is represented by a structure instance SI of the electronic identification parameter S 0 1300 Specifications for the function related view of the sub device As an extension to the communication state machine each sub device must feature a state machine sub device which indicates the operation status of the application The Time function group describes transmission and activation of the sercos time in the slave in relation to the current time of the master Please refer to Section Function Groups of the GDP Generic Device Profile on page 9 3 for a detailed list of the associated IDNs 8336 en 00 PHOENIX CONTACT 2 17 UM EN SERCOS SYS 2 9 3 FSP IO Function Specific Profile for I O Devices The FSP Function specific profile contains device and application specific parameters FG bus coupler S 0 1500 I O Bus coupler Device specific function The following device specific function groups are included in this application description groups 5 0 1502 I
114. ings in this dialog can be edited Name Name of the channel not editable Number of channels Number of supported channels for the module Width of the channel bits size of the individual channels not editable Type Number of structure elements SE of the I O function groups Depends on the I O functions IDN SI SE IDN Identification number e g 15xx 81 structure The SI number is identical to the slot number of the modules instance Module 1 has SI number 1 In the case of fixed modules module 1 has SI number 0 SE structure Number of structure elements SE of the I O function element groups depending on the I O functions User Defined Parameters Symbolic values If symbolic names for the parameters are also specified in the device description file SDDML file this option can be activated here to have these symbolic values displayed in the Value column instead of the real values Defaults This button is used to restore the values displayed in the table to the default setting Name Parameter name not editable Value The default value of the parameter is displayed here first ei ther directly or as a value of the corresponding symbol name If the parameter can be edited the user can double click or use the space bar to open a selection list in the table field in which the value can be modified Type Parameter data not editable Default value Default value defined by the device description not editable
115. initiate cyclic communication to incorporate cyclic communication with the slave devices into a sercos network Table 3 2 Initiate cyclic communication ICC Parameter Query Response confirmation Argument Cycle time Mandatory Listof sercos addresses Mandatory Listof connections for each device Mandatory Topology Mandatory Result Listof sercos addresses Listof offset of all connections for all devices Error code Mandatory Mandatory Mandatory 3 6 PHOENIX CONTACT 8336 en 00 sercos Communication Asynchronous Synchronous 3 3 Synchronization with sercos sercos is a clock synchronous bus that also supports asynchronous devices The information on what is supported by a device is given in the S 0 1050 x 01 Connection setup parameters or implicitly in S 0 1000 List of SCP types amp versions This results in various transmission methods Asynchronous means that a device freezes the input data and sets the output data independently of the bus The input output data is not synchronized with the bus that means it has a defined maximum processing time in the desired point direction as well as in the direction of the actual value The processing cannot be set but the device indicates the times required Thus the master can calculate turnaround times Synchronous means that the device operates synchronously with the bus The detection o
116. ion no valid consumer connection Changing phase to CP1 started i No Sub Dev addressed act Changing phase to CP2 started Changing phase to started Changing phase to CP4 started Change to comm phase 3 Finished CP4 sub device in real time mode lnitialization finished slave started error t6 gt t7 New E W diagnose message received Shortcircuit overload of bus coupler outputs voltage is missing US voltage is missing Diag test over S 0 1399 0 1 Code 0x IB PF Error TN Dev state Ox Length 60 bytes Format Text Function Parameter Changeability No 8 6 PHOENIX CONTACT 8336 en 00 Parameters 8 3 7 S 0 0099 Reset class 1 diagnostic Function The command for resetting error messages can be started with this parameter If the error causes have been removed all pending error messages are reset and the device changes to the error free state If the error cause has not been eliminated the error cannot be cleared The command does not provide a command error The error bits in S 0 1045 Device status S Dev are not cleared S 0 1045 Device status S Dev bit 1 shows whether the current error can be cleared Attributes Length 2 bytes Format Binary Function Command Executability Parameterization phase operating phase 8 3 8 S 0 0127 C
117. ir own needs by entering IDNs Please note that the S 0 0279 IDN list of password protected data IDN must be in this list so that the entire list is protected Length List with IDNs of 4 bytes each Maximum number of elements is device specific Current length is variable Format IDN Function Parameter Executability Parameterization phase operating phase 8 3 18 S 0 0390 Diagnostic number A status code which corresponds to the respective error or the warning is stored in this parameter In this way the controller can generate its own diagnostic messages with these number for example in languages for which diagnostic text is not stored in the device Table 8 5 Structure of S 0 0390 Bit Designation Function 15 0 Status code 19 16 Class 0x0 0x9 Reserved OxA Operating state lowest priority 4 OxB Reserved OxC Process command specific status priority 3 OxD Reserved OxE Warning priority 2 OxF Error C1D highest priority 1 23 20 Reserved 27 24 Source type 0 1 FSP_I O 0x2 GDP 0x3 SCP 31 28 Interpretation of bits 29 0 0 0 Manufacturer specific status code OxC Status code according to sercos standard Length 4 bytes Format Hexadecimal Function Parameter Changeability No 8 12 PHOENIX CONTACT 8336 en 00 Parameters Function Attributes Function 8 3 19 S 0 0420 Activate parameterization level procedure command PL When this command is ac
118. ists Loading of parameters may be required in the following cases Initial startup loading of the basic parameter values and the application specific parameter values Series startup of machines loading of the parameter values saved after the initial startup Restoring of a defined output state loading the parameter values again that have been saved after the initial startup Replacing the control device for servicing loading the current parameter values saved prior to servicing By comparing the checksums the controller master can determine whether the values of the application specific parameter values currently active in the drive correspond to the values saved on the master side 8336 en 00 PHOENIX CONTACT 6 5 UM EN SERCOS SYS 6 6 PHOENIX CONTACT 8336_en_00 Diagnostics 7 Diagnostics In sercos the various diagnostic options are divided into three function groups FG Bus diagnosis FG Diagnosis FGI O diagnosis 7 1 The Bus Diagnosis Function Group With the IDNs of this function group error and status messages regarding sercos communication can be displayed The Bus Diagnosis function group contains the following IDNs S 0 0014 Interface status 58 0 1003 Allowed MST losses in CP3 CP4 S 0 1026 Version of communication hardware 58 0 1028 Error counter MST P S 58 0 1031 Test pin assignment port 1 and port 2 8S 0 1035 Error counter port 1 and port
119. it 0 can be used to configure whether the OUT process data is contained in this IDN container output data Attributes Length Device specific Format Hexadecimal Function Parameter Changeability Operating phase 8 5 2 6 S 0 15xx y 07 Channel quantity PDIN Function This parameter contains the number of channels for Process Data INput PDIN Attributes Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8 5 2 7 S 0 15xx y 08 Channel width PDIN Function This parameter contains the bandwidth of a channel for Process Data INput PDIN Attributes Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8336 en 00 PHOENIX CONTACT 8 61 UM EN SERCOS SYS Function Attributes Function Attributes Function Attributes Function Attributes 8 5 2 8 S 0 15xx y 09 PDIN This parameter contains the IN process data S 0 1050 x 01 Connection setup bits 5 4 can be used to configure whether the IN process data is contained in this parameter container input data or directly ina connection S 0 15xx y 02 Configuration of I O function group bit 1 can be used to configure whether the IN process data is contained in this parameter container input data Length Device specific Format Hexadecimal Function Parameter Changeability No 8 5 2 9 S 0 15xx y 11 Channel quantity DIAGOUT This parameter contains the number of channels for DIAGnostic Data OUTput DIAGOUT L
120. ity to interference of the sercos cable depending on the shield Design of the power cables Amount and type of electrical current through the power cables Installation of isolators between the sercos cables and the power cables The minimum isolation to be kept between sercos cable and power cable must be kept at all points between the connecting points The minimum distance A is calculated as follows Minimum distance A Minimum isolation S x power cable factor P 8336 en 00 PHOENIX CONTACT 4 5 UM EN SERCOS SYS Table 4 4 Minimum isolation S for isolation class d Encapsulation provided between sercos cable and power cable Isolation through clearance Open metal Perforated metal Fixed metal e g without electromagnetic encapsulation 1 encapsulation 2 3 encapsulation shielding 10 mm 8mm 5mm 1 Shielding quality DC 100 MHz equivalent to welded metal cage braid with a mesh size of 50 mm x 100 mm This shielding is also achieved with a steel duct cable channel with cover that is less than 1 mm thick and more than 20 of evenly distributed perforated area 2 Shielding quality equivalent to a steel duct cable channel with cover that is less than 1 mm thick and not more than 20 of evenly distributed perforated area This shielding quality is also achieved with shielded power cables that do not reach the performance defined in
121. m 250 us 65 ms in steps of 250 us sercos cycle time TScyc must be transmitted from the master to the slave in CP2 and activated in both from CP3 onwards Length 4 bytes Format Decimal without sign bit Function Parameter Changeability Communication phase CP2 Unit ns 8 3 24 S 0 1003 Allowed MST losses in CP3 CP4 This parameter defines the number of permitted MST Master Synchronization Telegram failures which may occur directly after one another in the communication phases CP3 and CP4 before the device triggers an F4001 error Length 4 bytes Format Decimal without sign bit Function Parameter Changeability Communication phase CP2 8 3 25 S 0 1005 Minimum feedback processing time t5 Time required in the device between the start of actual value acquisition and the start of ATO see also Figure 2 4 Telegram structure of the communication layer on page 6 4 In communication phase 2 the master reads this value to set the Time of measurement for actual values T4 S 0 1007 Feedback acquisition capture point t4 for all devices accordingly The device must specify this value in such a way that the current actual values are transmitted to the controller in the next device telegram AT Length 4 bytes Format Decimal without sign bit Function Parameter Changeability No Unit ns 8 16 PHOENIX CONTACT 8336 en 00 Parameters 8 3 26 S 0 1006 ATO transmission starting time t1
122. m 576 8336 en 00 PHOENIX CONTACT 8 27 UM EN SERCOS SYS Calculation of the Effective MTU value tunr tz tg gt 6 72 us see S 0 1017 NRT transmission time t MTU tnr min 1500 A x 12 498 750 38 Figure 8 6 Calculation of the Effective MTU value Table 8 12 Minimum and maximum packet sizes of the different communication phases Phase Upper limit of MTU Lower limit of MTU NRT 1500 576 CPO 1500 576 CP1 1500 576 CP2 1500 576 CP3 MTU tnrt 46 CP4 MTU tnrt 46 HPO 1500 576 HP1 MTU tuar 46 HP2 MTU tuar 46 MT Uinterim MIN upper limit CP MTUettective lower limit CP MTUinterim 8 3 45 1 S 0 1027 x 01 Requested MTU Function This parameter contains the maximum number of bytes setpoint that can be sent from a higher layer via the NRT channel Attributes Length 2 bytes Format Decimal without sign bit Function Parameter Changeability Communication phases CPO CP1 CP2 8 28 PHOENIX CONTACT 8336 en 00 Parameters Function Attributes Function Attributes 8 3 46 5 0 1027 02 Effective MTU This IDN contains the MTU actual value and is calculated with the help of S 0 1017 NRT transmission time and S 0 1027 x 01 Requested MTU Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8 3 47 S 0 1028 Error counter MST P S The Error counter MST P S increases as soo
123. mal without sign bit Function Parameter Changeability Communication phases CP2 CP3 CP4 8 3 42 S 0 1023 SYNC jitter This parameter is used to setthe maximum possible jitter of the synchronization clock of the controller The jitter is used to define the time slot for reception of the MST in the slave This slot is twice as large as the synchronization jitter It can be used to adapt the monitoring in the sercos slaves to the options of the sercos master Length 4 bytes Format Decimal without sign bit Function Parameter Changeability Communication phase CP2 Unit ns 8 26 PHOENIX CONTACT 8336 en 00 Parameters Function Attributes Function Attributes Function 8 3 43 S 0 1024 SYNC delay measuring procedure command The command is used to measure the delays between the two ports After this process command has been activated the slave determines the slave signal delay with the help of the ring signal delay S 0 1015 Ring delay In a ring topology both values are defined while in the ring topology only one parameter is defined and other one is set to 0 There is a positive confirmation in communication phase CP2 when the slaves generates a valid value In this case the slaves synchronizes itself automatically in CP3 There is a positive confirmation in communication phases CP3 and CP4 when the slave generates a valid value and resynchronizes itself A negative confirmation is stored
124. ms must contain as many SVCs as possible before the next MDT or AT is used Allrealtime data RTD of aslave device must be transmitted in an MDT and an AT The telegrams must contain as much realtime data as possible before the next MDT or AT is used A further component of sercos communication is a non realtime channel NRT in which the NRT exchange of random standard Ethernet frames between sercos devices and other connected Ethernet network nodes is possible The time slot reserved for this purpose is determined by the following time parameters t6 S 0 1017 List element 0 and 17 S 0 1017 List element 1 2 MDT3 2 ETH telegrams MDTO H M HM H M DIS DIS DIS DIS DIS DIS R T RIT RIT R T R T RIT RT channel NRT channel gt t6 gt MTU 7 gt Figure 3 5 Time parameters of the NRT channel 3 4 PHOENIX CONTACT 8336_en_00 sercos Communication 3 2 The Data Link Layer The data link layer specifies various sercos services for reading and writing the data within the sercos network Use of these services depends on the identification number IDN used by sercos There are three types of services Service channel acknowledged not cyclic Hot plug service acknowledged and not acknowledged not cyclic Realtime channel not acknowledged cyclic 3 2 1 The Service Channel Communica
125. n as no valid MST arrives at port 1 or at port 2 in the communication phases CP3 and CP4 The counter stops counting when it has reached the value 65 535 That means a value of 65 535 can indicate that more errors than indicates have occurred for example if there is data transmission with errors over a long period of time The error counter is reset with S 0 0127 CP3 transition check Length 2 bytes Format Decimal without sign bit Function Parameter Changeability No 8336 en 00 PHOENIX CONTACT 8 29 UM EN SERCOS SYS 8 3 48 S 0 1031 Test pin assignment port 1 and port 2 Function This parameter is used to assign communication relevant hardware signals to test pins TS1 and TS2 Structure Table 8 13 Structure of S 0 1031 Bit Value Designation Function Comment 3 0 Seenext Signal is assigned to test pin TS1 Refer to the next table for table possible values 7 4 Reserved 11 8 Signal is assigned to test pin TS2 Refer to the next table for possible values 15 12 Reserved Table 8 14 Values of S 0 1031 Value Signal slave Description 0000 Port 1 MST MST pulse from Rx MAC port 1 duration 40 ns 0001 Port 2 MST MST pulse from Rx MAC port 2 duration 40 ns 0010 TMST TMST signal after MST generator TSref 0011 CON_CLK CON time of TCNT timer 0100 DIV_CLK DIV time of DIV timer if present 0101 TCNT Reload TCNT timer overfl
126. n functions from a device This can be called Application Profiling Application Profiling uses classes to group functionalities and technical specifications Each of the various profiles SCP GDP FSP has an IDN which indicates the classes implemented in a device SCP IDN S 0 1000 List of SCP types amp versions GDP IDN S 0 1301 List of GDP classes amp version FSP IDN S 0 1302 Resource structures of sub device The structure diagram of a sercos device illustrates the segmentation and structure of the various sub areas The sercos interfaces and the sercos slaves belong to the sercos communication profile SCP and are defined for all sercos slave devices Device and sub device belong to the GDP Generic device profile The individual resource is described by different function groups FG sercos device Figure 2 10 Structure diagram of a sercos slave device 2 14 PHOENIX CONTACT 8336 en 00 Overview and Architecture FG SCP identification FG Timing FG Telegram setup FG Control FG Bus diagnosis FG Connection FG NRT 2 9 1 SCP sercos Communication Profile All sercos devices that is also drives cameras scales in addition to I Os use these function groups and parameters The SDP sercos communication profile is divided into the following function groups FGSCP identification FG Timing Telegram setup Control FG Bus diagnosis Connection FGNRT The SCP i
127. ndicates after which time the device may access the new setpoints after the end of the Master Synchronization Telegram MST see also Figure 6 2 Timing of the communication layer on page 6 4 Thus the master can specify the same time for Setpoint valid for all devices operating in a coordinated way with each other Length 4 bytes Format Decimal without sign bit Function Parameter Changeability No Unit ns 8 18 PHOENIX CONTACT 8336_en_00 Parameters 8 3 29 S 0 1009 Device control C Dev offset in MDT Function The telegram assignment specifies at which point telegram offset and in which MDT telegram telegram number the device control word C Dev is located see also Figure 2 4 Telegram structure of the communication layer on page 2 7 Structure Table 8 8 Structure of S 0 1009 Bit Designation Function Comment 11 0 Offset in MDT In bytes 13 12 MDT number 00 MDTO 01 MDT1 02 MDT2 03 MDT3 15 14 Reserved Attributes Length 2 bytes Format Hexadecimal Function Parameter Changeability Communication phase CP2 8 3 30 S 0 1010 Length of MDTs Function The list parameter contains the length of all four possible Master Data Telegrams MDT see also Figure 2 4 Telegram structure of the communication layer on page 2 7 Use The following must be observed during parameterization All four lengths must always be specified Non existing MDT telegrams are marked with the length 0
128. nel is supported if it has not been deactivated in CP2 Cyclic data communication is activated but not used Parameterization takes place via the acyclic service channel The function specific profiles e g I O drive are activated After the user has completed parameterization the master starts a check of the parameters in the slaves with the S 0 0128 CP4 transition check command The slaves check whether all parameters required for CP4 are available and correct Invalid parameters are entered in the S 0 0021 IDN list of invalid operation data for CP2 IDN list The system remains in phase CP3 and the missing or incorrect parameters must be changed If no errors have occurred the slave concludes processing of the parameters required for device operation The slave then activates synchronization The master switches to phase CP4 afterwards 8336 en 00 PHOENIX CONTACT 6 3 UM EN SERCOS SYS 6 2 6 Communication Phase CP4 Operating Phase With the switching to CP4 the initialization is complete The complete service channel functions are supported The NRT channel is supported if it has not been deactivated in CP2 Cyclic data communication is activated Parameterization takes place via the parameter level The function specific profiles e g I O drive are activated The only way to leave CP4 is to switch back to CPO The reason for this is possible communication errors or user interventions T3 T4 TI T9 MST MDT
129. ng rules Diagnostic data is mapped prior to the process data of all function groups Bits bytes words and double words are mapped in bytes starting with bit O little endian Length Device specific Format Hexadecimal Function Parameter Changeability No 8 5 1 6 S 0 1500 0 09 Container input data This parameter comprises a configured container for process input data PDIN and diagnostic input data DIAGIN S 0 1050 x 05 Current length of connection that is read by the master and the mapping rules determine the length of the container input data The data is mapped in the order of the entries in S 0 1302 0 02 Function groups Configuration of the connection AsSPCP FixCFG the container input data is a defined part of the Producer connection As SPCP VarCFG the container input data can be configured in one or several Producer connection s For this purpose the container input data is mapped to the connection data of S 0 1050 x 06 Configuration list If the length is configured S 0 1050 x 01 Connection setup bits 5 4 01 the container input data is a defined part of the Producer connection 8 54 PHOENIX CONTACT 8336_en_00 Parameters Attributes Function Attributes Function Mapping rules Diagnostic data is mapped prior to the process data of the function groups Bits bytes words and double words are mapped in bytes starting with bit O little endian Length Device spec
130. nsmission starting time t1 58 0 1007 Feedback acquisition capture point t4 8 0 1008 Command value valid time t3 58 0 1015 Ring delay 58 0 1016 Slave delay P S S 0 1023 SYNC jitter 58 0 1024 SYNC delay measuring procedure command 58 0 1041 AT Command value valid time t9 9 1 3 FG Telegram Setup The Telegram setup function group contains the following IDNs S 0 1009 Device control C Dev offset in MDT 58 0 1010 Length of MDTs 58 0 1011 Device status S Dev offset in AT 8336 en 00 PHOENIX CONTACT 9 1 UM EN SERCOS SYS S 0 1012 Length of ATs 38 0 1013 SVC offset in MDT S 0 1014 SVC offset in AT 9 1 4 FG Control The Control function group contains the following IDNs S 0 0021 IDN list of invalid operation data for CP2 S 0 0022 IDN list of invalid operation data for S 0 0127 transition check 58 0 0128 CP4 transition check 9 1 5 FG Bus Diagnosis The Bus diagnosis function group contains the following IDNs S 0 0014 Interface status 58 0 1003 Allowed MST losses in CP3 CP4 8 0 1026 Version of communication hardware S 0 1028 Error counter MST P S 8 0 1031 Test pin assignment port 1 and port 2 S 0 1035 Error counter port 1 and port 2 S 0 1040 sercos address 58 0 1044 Device control C Dev 0 1045 Device status S Dev 9 1 6 FG Connection The Connection function group co
131. nsofar as this is reasonable for the user The same applies to any technical changes that serve the purpose of technical progress The receipt of technical documentation in particular user documentation does not consti tute any further duty on the part of Phoenix Contact to furnish information on modifications to products and or technical documentation You are responsible to verify the suitability and intended use of the products in your specific application in particular with regard to observ ing the applicable standards and regulations All information made available in the technical data is supplied without any accompanying guarantee whether expressly mentioned im plied or tacitly assumed In general the provisions of the current standard Terms and Conditions of Phoenix Contact apply exclusively in particular as concerns any warranty liability This manual including all illustrations contained herein is copyright protected Any changes to the contents or the publication of extracts of this document is prohibited Phoenix Contact reserves the right to register its own intellectual property rights for the product identifications of Phoenix Contact products that are used here Registration of such intellectual property rights by third parties is prohibited Other product identifications may be afforded legal protection even where they may not be indicated as such PHOENIX CONTACT Table of contents UN Loreto eio
132. nstallation on moving Everywhere the cable is installed on or between moving parts e g doors in industrial parts housings switch cabinets it should be protected by suitable connecting pieces This is to avoid negative effects on the bending radius Figure 4 9 Spiral tube 4 10 PHOENIX CONTACT 8336_en_00 Planning Broken cable Installation of permanently moving cable General Parallel RC Cables must be protected against breakage The cables must be placed properly or protected mechanically If the cables are installed on moving C tracks they must be installed straight and in parallel to the movement In addition separation from other circuits must be observed Suitable highly flexible cable must be used in moving C tracks applications 4 1 2 Plug Connector Please refer to the following table for the pin assignment Table 4 6 Connector pin assignment Signal Function Color Assignment RJ45 M12 TD Transmission data Yellow 1 1 TD Transmission data Orange 2 3 RD Receiver data White 3 2 RD Receiver data Blue 6 4 sercos uses 1 1 cable only Since sercos devices also support autocrossing crossover cables may also be used for example for servicing 4 1 3 Grounding If shielded cables are used the housing of the device and the switch cabinet in which the device is installed must have the same ground potential There must be a large area metallic gro
133. ntains the following IDNs 58 0 0187 IDN list of configurable data as producer 8 0 0188 IDN list of configurable data as consumer 8S 0 1050 sercos connections 8 0 1050 x 01 Connection setup S 0 1050 x 02 Connection number 8 0 1050 x 03 Telegram assignment S 0 1050 x 04 Max length of connection 8 0 1050 x 05 Current length of connection S 0 1050 x 06 Configuration list 8 0 1050 x 08 Connection control C Con 8 0 1050 x 10 Producer cycle time 8 0 1050 x 11 Allowed data losses 8 0 1050 x 12 Error counter data losses S 0 1050 x 20 IDN allocation of real time bit S 0 1050 x 21 Bit allocation of real time bit 8 0 1051 Image of connection setups 9 2 PHOENIX CONTACT 8336 en 00 Function Groups 9 1 7 FG NRT The NRT function group contains the following IDNs 8 0 1017 NRT transmission time 8 0 1019 MAC address 8 0 1020 IP address 58 0 1021 Subnet mask 58 0 1022 Gateway address 8 0 1027 x 02 Effective MTU 8 0 1027 x 02 Effective MTU 9 2 Function Groups of the GDP Generic Device Profile The GDP includes the class GDP Basic which contains the following IDNs that are contained in every sercos device 58 0 0017 IDN list of all operation data 58 0 0099 Reset class 1 diagnostic S 0 1300 x 03 Vendor code S 0 1300 x 05 Vendor device ID 58 0 1301 List of GDP classes amp
134. nufacturer Transfer resistance lt 25 mQ m at 10 MHz Installation Stationary no movement after the installation Flexible occasional move ment or vibration Special application e g per manent movement Outer cable diameter 5 5mm 8mm 5 5mm 8mm Depending on the application Wire cross section AWG22 1 AWG22 7 AWG22 x x 7 or x 19 Wire diameter 1 5 mm 0 1 mm Delay lt 20 ns 100 m Deviation of link length The link length can be limited to meet mechanical require ments For cables other than AWG22 7 conformance with the insulation displacement connection of the connector is mandatory Fiber optic or glass fiber cables are more suitable than copper cables for some requirements such as long distances high EMC safety and lightning protection see Table 4 2 Notes for cable selection For this purpose there are media converters that can be used to change from copper to fiber optic or glass fiber 8336 en 00 PHOENIX CONTACT 4 3 UM EN SERCOS SYS Table 4 2 Notes for cable selection Copper cable Fiber optic cable Glass fiber cable Channel length lt 100m POF lt 50m MM lt 2000 m lt 100m SM lt 14000 Equipotential bonding Interdependencies Independent Independent Field installation Mating cycles Network availability Safety aspects
135. odulation S 0 1515 I O function group positioning In the following description S 0 15xx stands for the I O function group and y for the structure instance 8 5 2 1 S 0 15xx y 01 Name of I O function group This parameter contains the name of the sercos function group e g Digital output for FG S 0 1502 Length Device specific Format Text Function Parameter Changeability No 8 5 2 2 S 0 15xx y 02 Configuration of I O function group The master controls the function group with this parameter 8336_en_00 PHOENIX CONTACT 8 59 UM EN SERCOS SYS Structure Table 8 34 Structure of S 0 15xx y 02 Bit Value Designation Comment 0 PDOUT 0 Configured PDOUT is configured in S 0 1500 0 05 Container output data and no lon ger available for further connections 1 Not configured PDOUT is not configured in S 0 1500 0 05 Container output data 1 PDIN 0 Configured PDIN is configured in S 0 1500 0 09 Container input data Not configured PDIN is not configured in S 0 1500 0 09 Container input data Reserved DIAGOUT 0 Configured DIAGOUT is configured in S 0 1500 0 05 Container output data and no longer available for further connections 1 Not configured DIAGOUT is not configured in S 0 1500 0 05 Container output data 4 DIAGIN 0 Configured DIAGIN is configured in S 0 1500 0 09 Container input data Not configured DIAGIN is not
136. on phase CP2 8 3 542 S 0 1050 x 02 Connection number This number is used to identify a number uniquely producer and all consumers of the connection have the same connection number 8 36 PHOENIX CONTACT 8336_en_00 Parameters Attributes Function Structure Attributes The master slave connection consists of two single connection one via the MDT and one via the AT Length 2 bytes Format Decimal without sign bit Function Parameter Changeability Communication phase CP2 8 3 54 3 5 0 1050 03 Telegram assignment The telegram specification defines the following Telegram type MDT or AT Telegram number Position offset in the telegram for the existing connection The offset points to the Connection Control C Con of this connection The offset starts with 14 bytes in MDTO or ATO and 8 bytes in MDT1 to MDT3 or AT1 to AT3 and is located after the sercos header for both MDTs and ATs Table 8 19 Structure of S 0 1050 x 03 Bit Designation Function Comment 10 0 Telegram offset in bytes 11 Telegram type 0 AT 1 MDT 15 12 Telegram number 0 MDTO ATO 1 MDT1 AT1 2 MDT2 2 3 MDT3 AT3 Length 2 bytes Format Hexadecimal Function Parameter Changeability Communication phase CP2 8336 en 00 PHOENIX CONTACT 8 37 UM EN SERCOS SYS Function Attributes Function Attributes Function Attributes Function 8 3 544 S 0 105
137. on signals S 0 1515 I O function group positioning for devices used for detection of positions length or angles via connected incremental encoders page 9 5 for a detailed list of the associated IDNs Please refer to Section Function Groups of the FSP_IO Function Specific Profile on 2 18 PHOENIX CONTACT 8336 en 00 sercos Communication 3 sercos Communication 3 1 Telegrams and Their Basic Structure Sercos uses Ethernet as a physical and transport layer for a cyclic communication cycle in a range between 31 25 us and 65 ms In each communication cycle and for each sercos related exchange of data two to eight sercos Ethernet frames are available Media Layer MAC Layer Realtime channel Target Source MST IDLE SSD Preamble SFD ee Baars S IlI Header Data field FCS ESD 21141 byte 741 byte 6 bytes 6 bytes 2 bytes 6 bytes 40 1494 bytes 4 bytes 1 byte S Ill data length Check via FCS Telegram length 72 1526 Overhead 26 6 32 bytes Telegram time 5 8 us 122 1 us Telegram length 84 1538 Overhead 38 6 44 bytes Telegram time 6 8 us 123 1 us E Figure 3 1 General telegram structure for sercos MDT and AT telegrams The telegrams defined by sercos Ethertype 0x88CD are transmitted in a collision free realtime channel sercos enables the exchange both of realtime data with a fixed length and of mess
138. on volatile memory see S 0 0192 IDN list of all backup operation data All previously stored data will be overwritten Length 2 bytes Format Binary Function Command Executability Always 8 3 14 S 0 0265 Language selection The languages available on the device can be selected with this parameter Device text will be displayed in the selected language for example Unit All parameters with format text e g S 0 0095 Diagnostic message The language encoding is as described in S 0 0266 List of available languages Length 2 bytes Format Binary Function Parameter Changeability Yes 8 3 15 S 0 0266 List of available languages This list contains the codes of all device languages currently available for language selection see S 0 0265 Language selection Only English is currently implemented in the devices The available languages are encoded as follows Table 8 4 Language selection Bit Value Designation Function 15 5 Reserved 8336 en 00 PHOENIX CONTACT 8 9 UM EN SERCOS SYS Attributes Table 8 4 Language selection Bit Value Designation Function 4 0 Language selection 00000 German 00001 English 00010 French 00011 Spanish 00100 Italian 00101 Portuguese 00111 Hungarian 01000 Russian 01001 Swedish 01010 Danish 01011 Norwegian 01100 01111 Reserved Length List with numbers of 2
139. onannnnc non 7 1 7 2 The Diagnosis Function Group cocoocccconcnnoconoccnonnnonoconnnnn ana nanc nro nennen nennen 7 1 7 2 1 Diagnostic Messages of S 0 0390 7 2 7 2 2 sercos BED ias ERR p e a ee 7 4 7 8 The I O Diagnosis Function Group eeeeeeneneenen 7 5 7 3 1 Diagnostic Messages of S 0 1500 7 5 7 3 2 Diagnostics Messages of S 0 15xx y 17 DIAGIN 7 9 7 4 General errors a i ito diee E 7 10 SP 8 1 8 1 T 8 1 8 2 Overview of GDP and SCP 8 2 8 3 Description of GDP and SCP Parameters 8 4 8 3 1 S 0 0014 Interface Status teet nte 8 4 8 3 2 S 0 0017 IDN list of all operation data 8 5 8 3 3 S 0 0021 IDN list of invalid operation data for CP2 8 5 8 3 4 5 0 0022 IDN list of invalid operation data for 8 5 8 3 5 5 0 0025 IDN list of all procedure Commands 8 6 ii PHOENIX CONTACT 8336 en 00 Table of contents 8 3 6 S 0 0095 Diagnostic message sese 8 6 8 83 7 58 0 0099 Reset class 1 diagnostic
140. ow 0110 Port 1 TCNT Reload Port 1 timer overflow 0111 Port 2 TCNT Reload Port 2 timer overflow 1000 Port 1 IP Open IP window of port 1 1001 Port 1 IP Open Write IP transmission window of port 1 1010 Port 2 IP Open IP window of port 2 1011 Port 2 IP Open Write IP transmission window of port 2 1100 Port 1 MST Window Open MST window of port 1 1101 Port 2 MST Window Open MST window of port 2 1110 Port 1 Rx Frame Receiving at port 1 1111 Port 2 Rx Frame Receiving at port 2 Attributes Length 2 bytes Format Binary Function Parameter Changeability Yes 8 30 PHOENIX CONTACT 8336 en 00 Parameters 8 3 49 S 0 1035 Error counter port 1 and port 2 Function This error counter counts the following errors in the Ethernet transmission Ethernet frames received with control error or the display RXER Ethernet frames received with control error due to a wrong order of frames The least significant word represents port 1 and the most significant word port 2 The counter is started in communication phase CPO andis increased by one maximum per cycle time The counter state can be edited so it can be reset via an HMI The maximum value is OXFFFF The counter states are not stored so they start with 0x0000 when is Switched on Attributes Length 4 bytes Format Hexadecimal Function Parameter Changeability Communication phases CP2 CP3 CP4 8 3 50 S 0 1040 sercos address Function This parameter contains the sercos address that is assigned to
141. parameters The IDN S 0 1301 List of GDP classes amp version contains a list of the functions of the sub device S 0 1301 List of GDP classes amp version bit assignment Table 2 3 S 0 1301 bit assignement Bit Designation Function 3 0 Version of the GDP class 7 4 Reserved 15 8 GDP class The GDP is part of the application layer of a sercos device It represents the part of the application layer which is not used for a pre specified function such as FSP Drive or FSP IO The GDP is divided into function groups FG Diagnosis Archiving Administration FG Identification StateMachine FGTime The Diagnosis function group has the task of providing the sercos master with a defined connection for diagnostic tasks These include Access to diagnostic numbers and messages and the corresponding time stamps Theresetting of this information sercos LED The Archiving function group has the task of providing the sercos master with a defined connection for archiving tasks These include A Access to data lists which must be saved in order to create a backup Access to the checksums of this data and process commands in order to create a backup and restore these 2 16 PHOENIX CONTACT 8336 en 00 Overview and Architecture FG Administration FG Identification FG State machine FG Time i The Administration function group has the task of provid
142. rameter tee ege tete teer qe 5 7 8 1 Parameter channel receive 8 56 8 63 Parameter channel transmit 8 57 8 63 Parameter record 2 11 8 1 1 5 1 Parameterization phase 6 3 Pass Woo al wie do Phe rt 8 11 P Channel Me harap anit 2 1 PIN i ttc idit 8 62 A 2 PHOENIX CONTACT 8336_en_00 PDBOUT a ttr lichens ht et entes 8 61 dire 4 1 Primary channel isisisi 2 1 Producer cycle time eee 8 39 H Realtime 3 1 3 6 Rearrangement of I O 8 55 Reset class 1 diagnostic 8 7 Resource structures of sub device 8 44 Ring delay rte Re PER Ra 8 22 Ring structure 2 1 deett i eu i bodie 3 6 S S Charinel i c eec wees eee 2 1 Scope Of fu nctiotis eines eet te tie 5 1 SCP PES 2 15 SCP 2 15 9 1 S n a C A E 2 8 SCP VarGFEQus e D IHE 2 8 Secondary channel sse 2 1 SOerCOS uo A np is 1 1 5 1 sercos Addr
143. rection of 5 telegrams Px E Py 11 Reserved 14 HS topology The original value is 0 in every CP Toggle The master toggles the bit every time the topology changes 15 Identification This function is used for decentral address assign ment or configuration errors between master and slave UNOSI ques The slave indicates the status of this bit with the ser 1 Identification request cos LED or on the display Attributes Length 2 bytes Format Hexadecimal Function Parameter Changeability No 8 32 PHOENIX CONTACT 8336 en 00 Parameters 8 3 53 S 0 1045 Device status S Dev Function This parameter provides information on the current device status It is an image of the device status word S Dev It can be read only and used for diagnostic purposes Structure Table 8 16 Structure of S 0 1045 Bit Designation Function Comment 1 Reserved 2 Reserved for RT plug 3 Reserved for sercos time 4 Parameterization level PL 0 PL is not active Is set to O with the S 0 0422 process command 1 PLis active Is set to 1 with the S 0 0420 process command 5 Process command change 0 No change in the process command acknowledgment 1 Change in the process command The process command is acknowl knowledgment edged positively or negatively 6 Warning C2D Including resource warnings 0 No warning 1 Warning 7 Error C1D Including resource errors 0 No error 1 Error 8 Slave
144. ription file e g ILB S3 24 DI16 DIO16 xml Image image of the module 5 5 3 sercos I O Module sercos Module This area informs you about the configuration of the module and you can modify it if necessary The settings in all subareas are specified in the SDDML device description file of the module It is defined in this file with which values the setting is pre assigned and whether it is editable For some devices and controllers these settings can be carried out in the operating phase CP4 The parameterization level in the device to be processed is activated for a short time the data is modified and afterwards the operating level is activated again see S 0 0420 Activate parameterization level procedure command PL or S 0 0422 Exit parameterization level procedure command PL Depending on the controller used the changes will become effective immediately in the PLC or only after a new login of the data into the PLC Module type code Each module has a unique module type code assigned by the manufacturer Depending on the manufacturer this number can be a hexadecimal number or a job number Input length bytes Specifies the input length of the module in bytes Output length bytes Specifies the output length of the module in bytes 5 6 PHOENIX CONTACT 8336 en 00 Parameterization Function Group The Function groups area provides information about the inputs and outputs of the function group None of the sett
145. s are set to inactive or they receive a release value as it has been defined in bit 6 by S 0 15xx y 02 Configuration of I O function group 8 50 PHOENIX CONTACT 8336_en_00 Parameters Structure Table 8 31 Structure of S 0 1500 x 01 Bit Designation Function Comment 14 0 Reserved 0 15 Status of the outputs 0 Outputs are inactive The outputs are deactivated the last status is frozen or the substitute value is output depend ing on bit 6 of IDN S 0 15xx y 02 and the con tents of IDN S 015xx y 22 1 Outputs are activated Attributes Length 2 bytes Format Binary Function Parameter Changeability Operating phase 8336_en_00 PHOENIX CONTACT 8 51 UM EN SERCOS SYS 8 5 1 2 S 0 1500 0 02 I O status Function I O status indicates the current status of the inputs and outputs The status of inputs and outputs is configured as Producer connection Structure Table 8 32 Structure S 0 1500 0 02 Bit Designation Function Comment 11 0 Reserved 12 I O warning C2D 0 No warning 1 Warning The bit disappears automatically as soon as the reason no longer exists 13 I O error C1D 0 Error 1 Error Is deleted with S 0 0099 14 Inputs are valid This bit does not provide information about the producer mechanism synchro nous or asynchronous 0 This bit is reset when the device does not produce value input data e g through a local communication error This bit is set when the d
146. s interface is used by one or more sercos slaves which contain the logical realtime channels and also the specific conditions and communication related administrative mechanisms As a result of this fragmentation and as is the case during the introduction of several sub devices into one device independent communication units can be managed Each sub device is assigned to exactly one sercos slave The sercos slave contains communication related function groups such as the configuration of realtime communication The physical structure of a sercos device consists of one or more components Each component can usually be set up independently In a system such as a modular I O device these components are usually organized into separate modules which correspond to its slots The physical structure can be fully independent of the logical sequence of a device This means that the complete device model for sercos devices consists of the two independent logical and physical dimensions see Figure 2 5 8336 en 00 PHOENIXCONTACT 2 9 UM EN SERCOS SYS consists gt 1 sercos network resource owns gt 1 sercos interface includes gt M 5 e M M M M a sercos slave device Figure 2 5 Structure diagram of a sercos slave with physical sequence 2 10 PHOENIX CONTACT 8336_en_00 Overview and Architecture 2 8 sercos Parameter Mod
147. s recognized as the international standard IEC 61491 in 1995 and as the European standard EN 61491 in 1998 The third and current generation was developed on the basis of standard Ethernet whereby tried and tested mechanisms such as Motion Control Profile the telegram structure and hardware synchronization were retained In order to meet realtime requirements a collision free realitime RT channel was created which runs parallel to an optional non realtime NRT channel in which random Ethernet telegrams can be transmitted 1 3 Ethernet in Industrial Communications with sercos The increasing amount of control components actuators and sensors in industrial automation is resulting in increasingly complex control networks sercos can provide a cost effective networking of these automation components with the Ethernet standard adapted to the requirements of industrial automation sercos increases both the profitability and efficiency of machines and systems With highly synchronized and high performance realtime Ethernet communication and a wide range of profiles sercos can increase productivity while lowering development and startup costs Ethernet which is well known in office environments and its mechanisms such as TCP IP and UDP are used directly in a sercos network enabling vertical integration from the office to the field 8336_en_00 PHOENIX CONTACT 1 1 UM EN SERCOS SYS The distinction between a high performance driv
148. sion 0 1302 Resource structures of sub device 8 0 1802 x 01 FSP type 8 version 8 0 1302 0 02 Function groups S 0 1302 x 03 Application type 9 2 5 FG State Machine The State machine function group contains the following IDNs 58 0 0420 Activate parameterization level procedure command PL S 0 0422 Exit parameterization level procedure command PL 58 0 0423 IDN list of invalid data for parameterization level 9 2 6 FG Time The Time function group contains the following IDNs S 0 1305 0 01 sercos current time 9 4 PHOENIX CONTACT 8336 en 00 Function Groups 9 3 Function Groups of the FSP IO Function Specific Profile The FSP_I O contains the following I O function groups S 0 1500 I O Bus coupler 5 0 1502 I O function group digital output S 0 1503 I O function groupdigital input S 0 1504 I O function group analog output S 0 1505 I O function group analog input S 0 1506 I O function group counter 5 0 1507 I O function group complex protocol S 0 1508 I O function group sub bus master S 0 1509 I O function group sub bus slave S 0 1513 I O function group motor starter S 0 1514 I O function group PWM pulse width modulation S 0 1515 I O function group positioning 9 3 1 S 0 1500 I O Bus coupler The I O function group bus coupler contains the following structure elements S 0 1500 0 01 I O control S 0 1500 0 02 I O status S 0 1500 0 03 List of module type codes S 0 15
149. so be inserted between already existing modules in the project explorer 5 4 PHOENIX CONTACT 8336 en 00 Parameterization Identification Changing the sercos address in the project 5 5 2 sercos I O Settings With online configuration the device is physically connected to the controller and processed via the configuration tool The configuration tool accesses the device SDDML device description file and the system information There are controllers that must have an SDDML file Other controllers use only the device information that is available online For some settings it depends on the device description whether any of them can be edited and which values are preset and which are possible The Identification area contains specific information on the sercos slave which clearly identifies the slave sercos address Bus specific address of the sercos slave Device number Logical address of the sercos slave Topological sercos ad Topological address of the sercos slave dress Manufacturer ID Manufacturer ID of the sercos slave Manufacturer Manufacturer name of the sercos slave e g Phoenix Contact Manufacturer device ID Identification number assigned to the sercos slave by the manufacturer Device name Name given to the sercos slave by the manufacturer FSP type This number defines device specific functions of the sercos slave e g properties of the device The sercos address of a device can be changed in t
150. specific software for automation devices In some devices it is stored in a read only memory that cannot be changed and in some devices it is delivered on removable media such as Compact Flash cards Field programmable gate array Function specific profile Application specific part of the application layer Generic device profile Part of the Application Layer Network devices can be connected or disconnected under power Identification number Parameters are identified by IDNs Engineering software Input Output Signal fluctuations Minor signal fluctuations promote the realtime capability of communications Low Smoke Zero Halogen Cable with a fire proof sheath Media Access Control This address also called Ethernet ID is the unique hardware address of each device connected to Ethernet This address is stored retentively in the device and can usually not be changed With Ethernet the Media Access Control Layer connects the Physical Layer with the higher level protocols 10 2 PHOENIX CONTACT 8336 en 00 Glossary Master MDT MM MST NRT PCF PDIN PDOUT POF P Channel P Telegram Realtime RT SCP SDDML SE sercos The master is a central device which controls the bus access All other devices operate as slaves Master Data Telegram Telegram for requirements from the master device Multimode Master Synchronization Telegram Telegram for synchronization of master and slave
151. t gt sercos cycle time tScyc C30 C 0170 Configured IDNs for the connection not configurable C30 C 0171 Maximum connection length exceeded C30 C 0172 S 0 1024 SYNC delay measuring procedure command not executed C30 C 0173 Connections not configurable C30 C 0174 Configuration of the connection not possible C30 C 0175 Producer cycle time tPcyc of a connection not correct C30 C 5200 S 0 0128 CP4 transition check C30 C 5300 S 0 1024 SYNC delay measuring procedure command C30 C 5301 S 0 1024 SYNC delay measuring procedure command failed C30 C 5302 Error S 0 1024 SYNC delay measuring procedure command C30 E 4002 RTD failure shutdown C30 E 4007 Consumer connection failed C30 E 4008 Invalid addressing command value data container A C30 E 4009 Invalid addressing current value data container A C30 E 4020 Topology status changes from fast forward FF to loopback with forward L amp F C30 F 4001 Error in SYNC telegram C30 F 4002 Connection losses C30 F 4003 Invalid communication phase C30 F 4004 Incorrect phase upshift e g from CP2 directly to CP4 C30 F 4005 Incorrect phase downshift e g from CP4 directly to CP2 C30 E 4006 Phase shift and ready signal CPS C30 F 4017 Timeout during phase shift C30 F 4020 Topology status changes from loopback with forward to NRT e g open circuit at active ports C30 F 4021 Slave does not support the announced communication version for CP1 and CP2 8336_en_00 PHOE
152. t container S 0 1500 0 05 Container output data Length Format Function Changeability List with IDNs of 4 bytes each Maximum number of elements is device specific IDN Parameter No 8 3 58 3 S 0 1302 x 03 Application type The user can use this IDN freely It may contain information for the user the maintenance personnel or for the end customer For example the designation of the inputs outputs in plain text Length Format Function Changeability 80 bytes maximum Text Parameter Communication phases CP2 CP3 CP4 8336 en 00 PHOENIX CONTACT 8 45 UM EN SERCOS SYS 8 3 59 S 0 1303 Diagnosis trace Diagnosis trace logs error and warning messages It contains the following structure elements Table 8 25 Diagnosis trace structure elements Parameter See S 0 1303 0 01 Diagnosis trace configuration page 8 46 S 0 1303 0 02 Diagnosis trace control page 8 46 S 0 1303 0 03 Diagnosis trace state page 8 47 S 0 1303 0 10 Diagnosis trace buffer no 1 page 8 47 S 0 1303 0 11 Diagnosis trace buffer no 2 page 8 47 S 0 1303 0 12 Diagnosis trace buffer no 3 page 8 47 These IDNs monitor every change of S 0 0390 Diagnostic number and can be used for troubleshooting The buffers can only be read consistently if the logging is stopped or all lists are copied into shadow buffers with a read access in the slave The read access is served from these buffers However itis necessary
153. t errors monitoring system is switched on again Device status S Dev bit parameterization level active 0 Or device is already in the operating phase The command is confirmed negatively if an error was detected during the check The IDNs that caused the error will be stored in the S 0 0423 IDN list of invalid data for parameterization level parameter The sub device remains on the parameterization level 8336 en 00 PHOENIX CONTACT 8 13 UM EN SERCOS SYS Attributes Function Attributes Function Structure Length 2 bytes Format Binary Function Command Executability Communication phases CP2 CP3 CP4 8 3 21 S 0 0423 IDN list of invalid data for parameterization level IDNs which have been detected invalid by the device will be stored in this list as long as S 0 0422 Exit parameterization level procedure command PL has not been executed Scenario 1 S 0 0422 Exit parameterization level procedure command PL executed correctly No IDNs in this list Scenario 2 S 0 0422 Exit parameterization level procedure command PL with errors All invalid parameters are stored in this list Length List with IDNs of 4 bytes each Maximum number of elements is device specific Current length is variable Format IDN Function Parameter Changeability No 8 3 22 S 0 1000 List of SCP types amp versions A bus slave is identified with this parameter The parameter consists of a
154. the IDNs Bit no Value Description 31 24 0 255 Structure instance SI 23 16 Structure element SE 0 127 Bit 23 0 Standard SE normative 128 255 Product specific SE Bit 23 1 determined by the manufacturer 15 Standard or product specific data S P 1 Standard data S normative 0 Product specific data P determined by the manufacturer 14 12 0 7 Parameter record 11 0 0 4095 Data block number if SI SE 0 Function group if Sl or SE unequal 0 S 0 0014 0 0 Bit Bit Bit Bit Bit 15 14 12 11 0 31 24 23 16 Figure 8 1 IDN structure For example an IDN can have the following attributes Length Format Function Unit Changeability The parameter list in Chapter 8 2 is divided as follows Basic parameters see Chapter 8 3 Parameters of the FSP_I O see Chapter 8 5 8336 en 00 PHOENIX CONTACT 8 1 UM EN SERCOS SYS 8 2 Overview of GDP and SCP Parameters Table 8 2 Overview of GDP and SCP parameters IDN See S 0 0014 Interface status page 8 4 S 0 0017 IDN list of all operation data page 8 5 S 0 0021 IDN list of invalid operation data for CP2 page 8 5 S 0 0022 IDN list of invalid operation data for CP3 page 8 5 S 0 0025 IDN list of all procedure commands page 8 6 S 0 0095 Diagnostic message page 8 6 S 0 0099 Reset class 1 diagnostic page 8 7 S 0 0127 CP3
155. the data which is traveling in each direction can be analyzed primary and secondary channel P Channel and S Channel This ensures full connectivity in the event of a cable break or interruption in any part of the ring Here the high performance controllers of the slaves immediately switch to two separate lines at the point of interruption The system thus continues to run without errors while the integrated diagnostics signal the defective cable connection The reconfiguration time in the event of such an error is a maximum of 25 us ensuring that only the data from one cycle can be lost The point of interruption can be located accurately and if necessary the defective cables can be replaced during operation This redundancy also allows devices to be coupled in or decoupled during servicing or when connecting additional devices First the ring is split into two lines and afterwards it is combined into one ring There is also redundancy when there is parallel communication between two devices If the two devices are on the same line the data is transmitted in the same sercos cycle If the two devices are on different lines the controller copies the data from the controller to the other line this causes a sercos cycle offset This is marked in the Data field delay field of S 0 1050 x 08 Connection control C Con In the event of redundancy the synchronization remains at the relative quality level 8336_en_00 PHOENIX CONTACT 2 1 U
156. tion settings as well as parameter and diagnostic data can be exchanged between the controller master and the individual slaves via the sercos service channel With this service the master reads or writes the IDN elements of a slave 3 2 2 The Hot Plug Service The sercos hot plug service enables devices that have not been involved in a scheduled phase startup communication phases CPO CP4 to be subsequently incorporated into Phase CP4 The remaining devices are retained in CP4 Hot plug only works in a linear or double line topology The mechanism is based on the changes to the topology during the hot plug phases which are detected on the last slave in the line This means that each sercos slave must fully support the topology bits A hot plug slave must be recognized by the master in terms of its sercos address and parameterization The service channel as well as the connections produced by the hot plug slave must already be configured in the telegrams during a scheduled phase startup There are thus two different options for incorporating a sercos slave into the cyclic communication in CP4 Via communication phases CP4 or Via hot plug phases HP2 8336_en_00 PHOENIX CONTACT 3 5 UM EN SERCOS SYS 3 2 3 The Realtime Channel RTC The services of the realtime channel RTC activate cyclic communication allowing master and slave devices to read or write cyclic data The master uses the ICC service
157. tion which if not avoided could result in minor or moderate injury This symbol together with the signal word NOTE and the accompanying text D alert the reader to a situation which may cause damage or malfunction to the device hardware software or surrounding property This symbol and the accompanying text provide the reader with additional in A formation or refer to detailed sources of information How to contact us Up to date information on Phoenix Contact products and our Terms and Conditions can be found on the Internet at www phoenixcontact com Make sure you always use the latest documentation It can be downloaded at www phoenixcontact net catalog If there are any problems that cannot be solved using the documentation please contact your Phoenix Contact subsidiary Subsidiary contact information is available at www phoenixcontact com PHOENIX CONTACT GmbH amp Co KG FlachsmarktstraBe 8 32825 Blomberg GERMANY Should you have any suggestions or recommendations for improvement of the contents and layout of our manuals please send your comments to tecdoc phoenixcontact com PHOENIX CONTACT Please observe the following notes General terms and conditions of use for technical documentation Phoenix Contact reserves the right to alter correct and or improve the technical documen tation and the products described in the technical documentation at its own discretion and without giving prior notice i
158. tions and the slave uses the AT telegrams for its status The communication layer is a 1 1 relationship between master and slave This relationship exists in all sercos phases and always with this telegram assignment even if the position and telegram number in the phases may change 2 6 PHOENIX CONTACT 8336 en 00 Overview and Architecture Data link layer Application layer MDT 6 Octets 2 Octets SVC offset in MDT S 0 1013 Device control offset in MDT S 0 1009 e m MDT lengths S 0 1010 6 Octets 2 Octets SVC offset in AT S 0 1014 Device status offset in MDT S 0 1011 Figure 2 4 Telegram structure of the communication layer MDT Master data telegram SVC Service channel C Dev Device control word AT Acknowledge telegram S Dev Device status The properties and tasks of the data link layer in sercos are Control and monitoring of the connections A Configuration of realtime data Error handling for the connection Forthis purpose there exists a single and multicast relationship between the data link layers of a producer and a consumer All slaves and the master can be both producers and consumers The function specific data of the devices master and slaves is produced or consumed in the application layer Data is exchanged via the communication and data link layers 8336 en 00 PHOENIX CONTACT 2 7 UM E
159. tivated all monitoring systems with the associated hardware components are switched off As long as the command is active the sub device does not report the error C1D The sub device resets the associated status bits While the command is active the device can change all parameters except for the communication and time parameters Deactivation of the command Automatically by the device CPO Via S 0 0422 Exit parameterization level procedure command PL Confirmation of the command The command is confirmed positively in CP2 CP3 or CP4 when the following is true device is deactivated status word bit 14 0 or bit 15 0 monitoring system is deactivated Device Status S Dev bit parameterization level active 1 Otherwise the sub device generated a negative confirmation or an error message error code 0x7012 via the service channel Length 2 bytes Format Binary Function Command Executability Communication phases CP2 CP3 CP4 8 3 20 S 0 0422 Exit parameterization level procedure command PL When this command is activated all parameters are checked and all monitoring systems are booted with the associated hardware components The device should reestablish required references When this command is activated the parameterization level is exited Confirmation of the command The command is confirmed positively if the following is true parameters concerned are checked and withou
160. transition check page 8 7 S 0 0128 CP4 transition check page 8 7 S 0 0187 IDN list of configurable data as producer page 8 8 S 0 0188 IDN list of configurable data as consumer page 8 8 S 0 0192 IDN list of all backup operation data page 8 8 S 0 0264 Backup working memory procedure command page 8 9 S 0 0265 Language selection page 8 9 S 0 0266 List of available languages page 8 9 S 0 0267 Password page 8 11 S 0 0279 IDN list of password protected data page 8 12 S 0 0390 Diagnostic number page 8 12 S 0 0420 Activate parameterization level procedure command PL page 8 13 S 0 0422 Exit parameterization level procedure command PL page 8 13 S 0 0423 IDN list of invalid data for parameterization level page 8 14 S 0 1000 List of SCP types amp versions page 8 14 S 0 1002 Communication cycle time tS cyc page 8 16 S 0 1003 Allowed MST losses in CP3 CP4 page 8 16 S 0 1005 Minimum feedback processing time t5 page 8 16 S 0 1006 ATO transmission starting time t1 page 8 17 S 0 1007 Feedback acquisition capture point t4 page 8 18 S 0 1008 Command value valid time t3 page 8 18 S 0 1009 Device control C Dev offset in MDT page 8 19 S 0 1010 Length of MDTs page 8 19 S 0 1011 Device status S Dev offset in AT page 8 20 S 0 1012 Length of ATs page 8 20 S 0 1013 SVC offset MDT page 8 21 S 0 1014 SVC offset in AT page 8 21 S 0 1015 Ring delay page 8 22 8 2 PHOENIX CONTACT 8336_en_00 Parameters Table 8 2 Overview of GDP and SC
161. und contact for this use copper for example to ensure good contact It is important that the shielding of the sercos cable does not create compensating current caused by a ground offset or incorrect grounding of the devices and housings The following subsections show grounding techniques They help to reduce communication errors due to grounding offsets when shield terminations are to be used Parallel RC grounding of the shield according to Figure 4 10 8336_en_00 PHOENIX CONTACT 4 11 UM EN SERCOS SYS sercos device sercos device Figure 4 10 Parallel RC shield grounding The following graphics show some examples of how the shield grounding is used together with switch cabinets Switch cabinet Figure 4 11 First example of a parallel RC shield grounding version 4 12 PHOENIX CONTACT 8336_en_00 Planning Switch cabinet Figure 4 12 Second example of a parallel RC shield grounding version I sercos devic Figure 4 13 Third example of a parallel RC shield grounding version 8336_en_00 PHOENIX CONTACT 4 13 UM EN SERCOS SYS Switch cabinet Figure 4 14 Fourth example of a parallel RC shield grounding version Direct grounding Direct grounding should only be used together with RC grounding see next section Direct and parallel RC Examples of direct and parallel RC grounding versions are shown in the following figures grounding versions Le sercos device
162. unication phase 000 CPO 001 CP1 010 CP2 011 100 4 2 times MST failure 2 times MDT failure Invalid phase Phase gt 4 Error during the phase upshift order QO oO AJO Error during the phase downshift not to phase 0 8 Phase shift without ready indication 9 10 Reserved 12 Incorrect phase shift sequence timeout during phase shift 13 Incorrect phase shift sequence phase default without phase shift 15 14 Reserved Current communication phase The current communication phase binary encoded can be read with the lower three bits 0 1 2 000b Slave is in phase 0 start phase 001b Slave is in phase 1 configuration phase 010b Slave is in phase 2 parameterization phase 011b Slave is in phase 3 extended parameterization phase 100b Slave is in phase 4 operating phase Communication error bits according to sercos If an interface error occurs one of bits 3 13 in S 0 0014 Interface status os set The communication error bits are only cleared by the device when the corresponding interface error is no longer present and the S 0 0099 Reset class 1 diagnostic command was started Length 2 bytes Format Binary Function Parameter Changeability No 8 4 PHOENIX CONTACT 8336 en 00 Parameters Function Attributes Function Use Attributes Function Use Attributes 8 3
163. untime of the sercos telegrams is approximately 0 6 us 100 m The runtime through a device is approx 0 6 us device Ring cabling may be of advantage for long runtimes since the runtime has to be taken into consideration only once The controller sends data simultaneously to the ring and in opposite directions from the two ports However with line cabling the sercos telegram must be sent twice in succession through all devices Distances of several kilometers can be covered with copper fiber optic converters 4 1 1 3 Using Fiber Optics with Copper Fiber Optic Converters Optical channels can be used for applications for which copper cable is not suitable The 1 mm polymer POF polymer cladded silica PCS also referred to as HCS glass fiber multimode GOF MM as well as glass fiber singlemode GOF SM fiber types used in industrial applications are all suitable for sercos networks Possible channel lengths range from 50 m POF 100 m PCF 2000 m GOF MM up to 14 000 m GOF SM The transition from copper to optical fiber and from optical fiber to copper is counted as one plug in point each whereby up to four per channel are permitted In the case of the POF channel a reduction in length of 7 5 m per connection in the channel must be considered due to attenuation 4 1 1 4 Distance Between sercos Cable and Power Cable The requirements for separation of the sercos cable and the power cable depend on the following Electromagnetic immun
164. ure command PL S 0 0423 IDN list of invalid data for parameterization level It also contains the following control and status bits S Dev Parameterization level Parameterization level PL 8336_en_00 PHOENIX CONTACT 5 3 UM EN SERCOS SYS 1 Compact 2 Modular 5 5 Creating sercos I Os 5 5 1 Creating a sercos Slave The project must be adapted to the real system The devices are located in the library of your engineering system If the device required is not available in the library by default it can be integrated into the library by importing its SDDML file sercos distinguishes between two types of devices for the connection of I O modules The module structure is defined for compact devices After a device has been inserted into the project explorer the modules under the device object node are already available for the compact design The modules are not visible in the library The module design of the device is variable Further modules can be added in addition to a fixed part e g 8 digital inputs and 4 digital outputs The modules can be arranged individually but must follow the equipment rules of the device The modules that fit for the respective device can be found in the Periphery library in the sercos folder under the respective device I O modules can be inserted in modular devices only Drag and drop the required module from the library to the device object New modules can al
165. valid 0 Slave invalid Is set to 0 when a is received or if CPS 1 1 Slave valid Is set to 1 when a new CP is in prep aration and CPS 2 0 9 Connection error 0 Error free connection 1 Connection error occurred The consumer detected a connec tion error 8336 en 00 PHOENIX CONTACT 8 33 UM EN SERCOS SYS Attributes Table 8 16 Structure of S 0 1045 Bit Designation Function Comment 11 10 Status of the inactive port These bits can be ignored when the 00 No connection at the inactive port a 01 Connection at the inactive port 10 P Telegram at the inactive port 11 S Telegram at the inactive port 13 12 Topology status Shows the current topology Px or Py may be either P1 or P2 00 Fast forward direction on both ports Px Py 01 Loopback with forward direction of telegrams 10 Loopback with forward direction of S telegrams 11 NRT phase storing and forward di rection 14 HS topology The original value is 0 in every CP Toggle The slave toggles when the request of the master was processed 15 Communication warning 0 No warning 1 Communication warning occurred For example the number of permit ted MST losses exceeded the half value of 5 0 1003 Length 2 bytes Format Hexadecimal Function Parameter Changeability No 8 34 PHOENIX CONTACT 8336 en 00 Parameters 8 3 54 S 0 1050 sercos connections Configuration of the individu
166. ve The relationship exists in all communication phases A part of a sercos device that can be ordered and supplied separately and which is listed in IDN S 0 1300 Electronic label e g bus coupler I O module firmware Realtime communication is split into time cycles during which complete data exchange may take place The shorter the cycle time the more cycles can be clocked for each time unit and the more exactly can the network be controlled The Data Link Layer is used for Control and monitoring of the connections Configuration of realtime data Error handling for the connection 8336 en 00 PHOENIX CONTACT 10 1 UM EN SERCOS SYS Device profile DIAGIN DIAGOUT EIDN FCS Fieldbus FG Firmware FPGA FSP GDP Hot plugging IDN IndraWorks 1 0 Jitter LSOH MAC address Group of parameters for the non proprietary standardized integration of devices even without drivers and configuration data Input diagnostic data Output diagnostic data Extended ID number Frame check sequence Check of MDTs and ATs Wired communications system that connects control devices as well as sensors and actuators and is used for a fast data exchange between these components There are fieldbusses with different physical designs and transmission protocols Fieldbusses are usually standardized in international standards cf IEC 61508 Function group Group of parameters that cover certain functions Device
167. ve if an attempt is made to insert a passive or virtual module at structure instance 0 The confirmation is also negative if the attempt is made to replace the bus coupler or the bus header for compact devices As a result S 0 0127 transition check will also be confirmed negatively Length 2 bytes Format Binary Function Command Executability Communication phase CP2 8 5 1 9 S 0 1500 0 19 Parameter channel receive This parameter channel is an asynchronous communication mechanism for the manufacturer specific configuration and parameterization of the bus coupler or the bus header for compact devices or the I O modules The parameter channel is a simple mechanism that handles the data transparently in the form of a list 1 byte hex Length Device specific Format Hexadecimal Function Parameter Changeability No 8 56 PHOENIX CONTACT 8336 en 00 Parameters Function Attributes Function Attributes Function 8 5 1 10 S 0 1500 0 20 Parameter channel transmit This parameter channel is an asynchronous communication mechanism for the manufacturer specific configuration and parameterization of the bus coupler or the bus header for compact devices or the I O modules The parameter channel handles the data transparently in the form of a list 1 byte hex Data from 1 byte up to the maximum data length is transmitted via the service channel to the parameter channel Parameter Channel Transmit The servi
168. witching on the master and all slave immediately activate the NRT phase In this phase they respond like a store and forward switch Standard Ethernet communication is active if it is supported by the device If the slave receives a request to switch to phase CPO transmission of a standard Ethernet telegram is aborted immediately 6 2 2 Communication Phase Start Phase The master initiates communication and checks which slaves are available in which order When a ring is to be set up the master also checks whether the ring is closed The devices are assigned topology addresses in accordance with the order of installation at the master The master receives the currently set sercos addresses of the slaves There may be several devices with the same sercos address since communication takes place on the basis of the topology address The NRT channel is active Standard Ethernet communication is active if this is supported by the device The physical telegram runtimes and delays in the network are measured In communication phases CPO CP1 and CP2 the NRT channel works with the following preset values Starting point t6 650 us Endpoint t7 2 950 us 6 2 3 Communication Phase CP1 Configuration Phase Depending on the configuration and when changing from CPO to CP1 the master can compare the found sercos addresses with the configured sercos addresses and output a warning for example Also the master can check the sercos addr
169. with the communication phase which is initiated at the request of the ICC initiate cyclic communication service If in NRT mode aslave receives an MDTO with CPO the sending of standard Ethernet telegrams is aborted immediately and the MDTO is sent instead The slave then activates CPO and loopback with forward at the port at which it received the MDTO Fast forward Loopback on primary Loopback on secondary channel with forward channel with forward Figure 6 1 Possible slave settings The following main tasks are linked to the individual communication phases n CPO the participating slaves are detected n CP1 the slave devices are configured for acyclic communication n CP2 the slave devices are configured for cyclic communication and for parameterization via acyclic communication service channel n CP3 the slave devices are configured extendedly cyclic communication is already running but is not used n CP4 the initialization process is completed and the sercos network is put into operation The DL user can switch down phases by means of the DCC disable cyclic communication request 8336 en 00 PHOENIX CONTACT 6 1 UM EN SERCOS SYS i i 6 2 Phase Startup With Check of the Configured Data Depending on the implemented master the phases can be different or sometimes even invisible for the user 6 2 1 Communication Phase NRT Non Realtime Phase Directly after the s
170. zation purposes the master transmits the ring delays to all slaves These are synchronized by the slaves which adapt the synchronization time to match the ring delays The master identifies the devices The NRT channel can be deactivated and configured After the user has completed parameterization the master starts checking the parameters in the slave using the S 0 0127 CP3 transition check command The slaves check whether all parameters required for CP3 are available and correct Invalid parameters are entered in the S 0 0021 IDN list of invalid operation data for CP2 IDN list The system remains in phase CP2 and missing or invalid parameters must be changed If there are no errors the master switches to phase CP3 During the slave s validity check of the parameters only general criteria e g minimum and maximum values are checked The slave does not check whether all of the parameters transmitted by the master are correct in relation to the master data and the overall installation S 0 0127 CP3 transition checkThis means that even if a slave positively acknowledges transition check there may still be communication parameters that are incorrect in terms of the overall installation which can lead to a communication error 6 2 5 Communication Phase CP3 Extended Parameterization Phase Further parameterizations of the devices are possible in CP3 The complete service channel functions are supported The NRT chan

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