User Manual GALILEO Communication Beckhoff
Contents
1. Inputs outputs and markers can however be addressed directly Fig 3 Image oriented addressing e The import of tag variables has not yet been implemented Bo MO02661 02 07 2009 Communication Beckhoff TCP IP Overview 2 3 M002661 02 07 2009 Data block size The smallest possible format m TWinCAT 1 bit single bit communication is possible m BC9000 1 byte The maximum size of a data block is 2048 bits or 256 bytes The structure or array size set in GALILEO is therefore limited to this maximum value All supported data block sizes are shown on the PLC Data tab of the Select PLC dialog Implementation in GALILEO Communication Beckhoff TCP IP 3 Implementation in GALILEO 3 1 Hardware requirements This communication requires a MICRO PANEL with an Ethernet interface or GALILEO OPEN Information on the communication cable is provided in the Operating Instructions of the relevant MICRO PANEL 3 2 Select PLC Select PLC Ea Firm Model Info PLC Data _Board Type Communication Model Beckhoff TwinCAT TCPAP ADSB Status Refresh s 10 Startup Delay s 0 IP Address or Hostname 132 168 0 39 AMS Net Id 5 0 138 27 1 1 Fig 4 Select PLC GALILEO supports multiple connections Multiple connections can be configured to the same Ethernet interface 1 Inthe Select PLC dialog select Beckhoff TwinCAT TCP IP or Be2. 2 SL RR O A O 6 2 1 MICRO PANEL in the network cccccccssccsessecssccesssecseecsesseecsescsesseessescaeseessessaeeeaeens 6 2 2 Address RR RR AC RR TE 7 2 2 1 Symbolic addressing zii 7 2 2 2 Image oriented addressing BC9000 i 8 2 3 Balz DIOCK SEE Lilia 9 3 Implementation INGALILEO JJ 10 3 1 Hardware TEQUITEMEN Scr In 10 3 2 Ocelot 10 4 Implementation in TwinCAT iii 12 4 1 Operating principle 0 0 eeecsccesccsccssecseccseessessescsesseecsesceusseecaeseaesseesaeseaesseseaeseatesesenes 12 4 2 Declaring the AmsNetld of the MICRO PANEL 13 4 2 1 IR INA 13 4 2 2 Directly on BGK 1000 isa ciecavestieesncenssniiencsssndenadtvetsucadintexest ontnunstuelanediveteusdsoeSanesicedinedteete 14 5 GALILEO OPEN and RI il 15 5 1 Operating principle ee eeectecesccscessecseccsesseecseccsessseceesceessseceescaesseesaessaessessaeseateseenes 15 5 2 TwinCAT PLC and GRS on the same PC ccccccccsccsecsssssecsseseesssesesssesesessessaeeeseens 16 5 2 1 Installation of the Microsoft Loopback adapter cccccccscsscssscsscssssessessesseeeeees 17 5 2 2 Configuration of the Microsoft Loopback Adapter c ccccccscsscsessscsscsesssesssssesseeeees 20 5 2 3 Declaring the AmsNetld of the GRS cccceseescssssesssecsessescsesessessessseseseeseeteeeaess 21 5 2 4 SeIELINO FECIA ALLEO rei 21 5 3 TwinCAT PLC Control and GRS on the same PC 22 5 3 1 Adding a second IP address to the netw
3. 4 EEE Rm FORI Client for Microzoft Networks File and Printer Sharing for Microsoft Networks TT Show icon in notification area when connected IV Notify me when this connection has limited or no connectivity Fig 15 Activating Internet Protocol TCP IP 2 Click Properties 3 Enter an IP address from the private IP address range which is immediately always available even if a network cable is not plugged into the target system Internet Protocol TCP IP Properties General You can get IP settings assigned automatically if pour network supports this capabdity Othervase you need to ask your network administrator for the appropriate IP settings atoll eae nlean 72 16 0 151 255 255 0 0 Obtain ONS server address automaticaly Use the following DNS server addresses Preferred DNS server Alternate DNS server Fig 16 Entering an IP address 4 Click OK 20 M002661 02 07 2009 Communication Beckhoff TCP IP GALILEO OPEN and TwinCAT 5 2 3 Declaring the AmsNetld of the GRS 1 Enter the AmsNetld and the IP address in TwinCAT as described in chapter 4 2 1 m The IP address must match the setting in the network properties of the Loopback Adapter In our example this is 172 16 0 151 m The AmsNetld of the GRS is the same as the respective IP address with the suffix 1 1 In our example this is 172 16 0 151 1 1 5 2 4 Selecting PLC in GALILEO In GALILEO you must also set th
4. AT PLC Control always use the first IP address of the network adapter In order for GRS to use the second IP address a String3 entry must be present in the registry at the start of GRS 7 Registry Editor Begary Edit View Favorites Help 1 Beckhoff 1 Type Data H Classes REG SZ value not set a QI Clients ab Stri REG_SZ 192 168 1 88 H Creative Tech amp Installshield I INTEL EH Micro Innovation 2 9 GRS H E Interface 20 SE ag nn il Fig 21 Setting the second IP address via String3 This entry can be carried out manually with the Registry Editor or via the registry file reg The registry file in our example must contain the following m Windows Registry Editor Version 5 00 m HKEY_LOCAL_MACHINE SOFTWARE Micro Innovation GRS Interface Generic 0 m String3 192 168 1 88 M002661 02 07 2009 Communication Beckhoff TCP IP GALILEO OPEN and TwinCAT 5 3 3 Configuring the AMS router of the target system 1 Start TcAmsRemoteMgr exe in the system directory of TwinCat 2 Double click the IP address of GRS 3 Enter the AmsNetld for GRS m GRS determines the AmsNetld by using the IP address and adding 1 1 to it 4 Click OK twice Remote Connection Properties Name 192 168 1 88 AMS Net Id 192 168 1 88 1 1 Address 192 168 1 88 Transport freee _ Slow Connection Fig 22 Entering AmsNetld MO02661 02 07 2009 6 GALILEO OPEN and TwinCAT Communication B
5. EO are from Version 5 3 5 The dialogs shown from TwinCAT are from Version 2 8 Overview 2 1 Communication Beckhoff TCP IP Overview This documentation describes the following communication option Beckhoff TwinCAT TCP IP for MICRO PANELSs using the Ethernet interface Beckhoff TwinCAT TCP IP for GALILEO OPEN using a Windows 2000 XP target system Beckhoff BC9000 TCP IP for MICRO PANELs using the Ethernet interface m The communication supports only the first runtime with AMS Port 801 E m Beckhoff BC9000 TCP IP or ModbusTCP can also be used for bus controllers such as BC9000 MICRO PANEL in the network The connection to the Beckhoff PLC is implemented directly on the Ethernet port of the CPU Communication is implemented via TCP IP Port 48898 0xBF02 The basic communication procedure is described in the Beckhoff documentation for TwinCAT ADS under Introduction ADS c The IP addresses and AmsNetld are shown as examples It is important that each device is assigned a unique IP address and AmsNetld The AmsNetlds of the MICRO PANELs are the same as the respective IP address with the suffix 1 1 The AmsNetld can be set with Beckhoff devices MICRO PANEL IP 192 168 0 31 AmsNetld 192 168 0 31 1 1 IP 192 168 0 30 AmsNetld 192 168 0 30 1 1 STE IP 192 168 0 39 N AmsNetld 5 0 138 27 1 1 elif Fig 1 MICRO PANELs Beckhoff PLC communication M002661 02 07 2009 Communicat
6. User Manual GALILEO Communication Beckhoff TCP IP Software Document M002661 02 Edition 07 2009 Innovation in Automation mM micro innovation Imprint Communication Beckhoff TCP IP Manufacturer Product Company Sales Company Service Repair Center Micro Innovation AG Micro Innovation GmbH Micro Innovation GmbH Spinnereistrasse 8 14 Nideggerstrasse 6 10 Byk Gulden Strasse 18 CH 9008 St Gallen 53115 Bonn 78224 Singen Switzerland Germany Germany Tel 41 0 71 243 24 24 Tel 49 0 228 602 2020 Tel 49 0 7731 7896 110 Fax 41 0 71 243 24 90 Fax 49 0 228 602 1713 Fax 49 0 7731 7896 101 info microinnovation com info microinnovation com info microinnovation com www microinnovation com www microinnovation com www microinnovation com Original language German Editor Manfred H ppi Brand and product names All brand and product names are trademarks or registered trademarks of the owner concerned Copyright Micro Innovation AG CH 9008 St Gallen All rights reserved also for the translation None of this document may be reproduced or processed duplicated or distributed by electronic systems in any form print photocopy microfilm or any other process without the written permission of Micro Innovation AG St Gallen Subject to modifications QD M002661 02 07 2009 Communication Beckhoff TCP IP Contents Contents 1 Re eke cee A E EN EAT 5 1 1 Aim and purpose of this document i 5
7. category you want click Show All Devices Common hardware types S IEEE 1394 Bus host controllers Imaging devices Al Infrared devices da Modems 30 Multi port serial adapters Network adapters TH NT Apm Legacy Support PCMCIA adapters BCMCIA and Flach maman deurer Fig 12 Selecting hardware type 9 Click Next 18 M002661 02 07 2009 Communication Beckhoff TCP IP GALILEO OPEN and TwinCAT 10 Under Manufacturer Microsoft and Network Adapter select Microsoft Loopback Adapter Add Hardware Wizard Select Network Adapter Da Which network adapter do you want to install I Click the Network Adapter that matches your hardware then click DK If you have an for this component click Have Disk Microsoft Lo 0 pback Adapter i Microsoft Tun Miniport Adapter Fig 13 Selecting network adapter 11 Click Next m The Microsoft Loopback Adapter can now be installed Add Hardware Wizard The wizard is ready to install your hardware Hardware to install FB Microsoft Loopback Adapter To start installing your new hardware click Next Fig 14 Installing Loopback Adapter 12 Click Next m The Microsoft Loopback Adapter is installed M002661 02 07 2009 a GALILEO OPEN and TwinCAT Communication Beckhoff TCP IP 5 2 2 Configuration of the Microsoft Loopback Adapter 1 Activate Internet Protocol TCP IP only Local Area Connection Properties General Advanced Ci
8. ckhoff BC9000 TCP IP m The dialog shown appears 2 Set here the parameters for this communication Parameter Setting Status Refresh s See GALILEO Help Startup Delayls See GALILEO Help IP Address or Hostname IP address or network name of the Beckhoff PLC Example 192 168 0 39 10 M002661 02 07 2009 Communication Beckhoff TCP IP Implementation in GALILEO Parameter Setting AMS Net ld AmsNetld of the Beckhoff PLC Only for TwinCAT TCP IP Example 5 0 138 27 1 1 The AmsNetld can be found in the TwinCAT System Manager under System Configuration on the CX1000 Settings tab see Fig 5 page 11 ADS_CX1000_Y00 tsm TwinCAT System Manager CR_008A18 Datel Bearbeiten Aktionen Ansicht Optionen D Ss ER BR2A FE FOO EL EA Le SYSTEM Konfiguration 43 Echtzeit Einstellungen Version Lokal Version Zielsystem Boot Einstellungen Zielsystem C1000 Settings ES Zus tzliche Tasks Y Route Settings AmsNetld 5 0 1 38 27 1 1 BB NC Konfiguration Host Name CX_00841B BM SPs Konfiguration E A Konfigurati l AR a VERO Display Resolution 8 Zuordnungen C DHCP Auto IP 640x480 Fixed IP address C 200x600 IP address i 1024 x 768 Subnet mask Display Frequency Default gateway 192 1658 1 16 fe 60 Hz LCD C DNS server automatically C 75 H2 CRT Fixed DNS server Prefered server 192 168 Altemate server E a E si Fi
9. e AMS router via an additional AMS router Depending on the configuration of the installation use the Microsoft Loopback Adapter or a second IP address on a real network adapter GALILEO OPEN and TwinCAT Communication Beckhoff TCP IP 5 2 TwinCAT PLC and GRS on the same PC The use of Microsoft Loopback Adapter is recommended if GRS and TwinCAT PLC are installed on the same PLC The Microsoft Loopback Adapter is a software that emulates a network card Using the Microsoft Loopback Adapter means that the communication between GRS and TwinCAT PLC does not depend on the availability and function of the real network adapter or network Be TwinCat PLC Control AMS 192 168 1 130 1 1 AMS Router IP 192 168 1 112 AMS 5 0 138 27 1 1 IP 192 168 1 130 Loopback adapter Physical network adapter IP 172 16 0 151 IP 192 168 1 112 AMS Router iri aly IP 192 168 1 130 AMS 192 168 1 130 1 1 Sy ee Sey AMS 172 16 0 151 1 1 IP 172 16 0 151 AMS 172 16 0 151 1 1 7 TwinCat PLC i AMS 5 0 138 27 1 1 Fig 8 Loopback adapter 16 M002661 02 07 2009 Communication Beckhoff TCP IP GALILEO OPEN and TwinCAT 5 2 1 Installation of the Microsoft Loopback adapter 1 Open the Add Hardware Wizard in the Control Panel 2 Check Yes have already connected the hardware Add Hardware Wizard ls the hardware connected 9 Have you already connected this hardware to pour computer Yes have already connected the hardware Mo l
10. e IP address of the Loopback Adapter for the Beckhoff PLC 1 Enter the AmsNetld according to the settings in TwinCAT m In our example this is 172 16 0 151 2 Inthe Select PLC dialog choose Beckhoff TwinCAT TCP IP m The dialog shown appears 3 Set here the parameters for this communication Select PLC Ea Firm Model info PLC Data Ethemet Beckhoff TwinCAT TCPAP ADS B Status Refresh s 10 Startup Delay s 0 IP Address or Hostname 172 16 0 151 AMS Net ld 5 0 138 27 1 1 Fig 17 Entering the AmsNetld ce The AmsNetld must only be used once GALILEO always uses the AmsNetld consisting of the IP address with the suffix 1 1 TwinCAT must not use this AmsNetld and must be reconfigured accordingly in all cases MO02661 02 07 2009 8 GALILEO OPEN and TwinCAT Communication Beckhoff TCP IP 5 3 TwinCAT PLC Control and GRS on the same PC If GRS and TwinCAT PLC Control are installed on the same PC GRS must use its own IP address on the network adapter TwinCat PLC control AMS 192 168 1 130 1 1 AMS Router IP 192 168 1 112 AMS 5 0 138 27 1 1 AMS 192 168 1 88 1 1 N IP 192 168 1 130 BMA IP 192 168 1 88 IP 192 168 1 112 AMS Router IP 192 168 1 130 AMS 192 168 1 130 1 1 IP 192 168 1 88 AMS 192 168 1 88 1 1 Fig 18 IP addresses 22 M002661 02 07 2009 Communication Beckhoff TCP IP GALILEO OPEN and TwinCAT 5 3 1 Adding a second IP address to the network adapter In t
11. eckhoff TCP IP 5 3 4 Selecting the PLC in GALILEO 1 You must enter the IP address and the AmsNetld of the PLC in GALILEO like with a MICRO PANEL Firm Model info PLC Data Beckhoff TwinCAT TCPAP ADS Beckhoff 192 168 1 112 0 138 27 1 1 Fig 23 Entering IP address and AmsNetld 26 M002661 02 07 2009 Communication Beckhoff TCP IP Communication Errors 6 1 6 2 M002661 02 07 2009 Communication Errors Error messages Different system error messages are generated in response to any communication errors that occur These system error messages provide different information m The Tag variable name indicates the tag variable in which a problem was found m The IP Address Protocol indicates the interface and protocol of the MICRO PANEL at which the problem was found m The Additional error information may indicate the possible cause of an error in plain text This information can however also be generated from lower software layers Its content cannot therefore always be interpreted without an in depth knowledge of the system The troubleshooting procedure is the same in all cases Refer to the relevant Beckhoff documentation for further information on ADS error messages Tag variable IP address protocol Additional error information Fig 24 Error message Error rectification 1 Check the following points m Cabling and the connections on the MICRO PANEL and the PLC Etherne
12. g 5 AmsNetld in TwinCAT System Manager M002661 02 07 2009 I Implementation in TwinCAT Communication Beckhoff TCP IP 4 Implementation in TwinCAT c gt Chapter 4 does not apply to BC9000 4 1 Operating principle The exchange of objects is handled via the AMS Message Router Automation Message Specification This manages and distributes all messages in the system via TCP IP connections TwinCAT Message Routers are provided on every TwinCAT PC The Message Router must know the AmsNetld of the GRS GALILEO Runtime System c gt The AmsNetld of the GRS is the same as the respective IP address with the suffix 1 1 12 M002661 02 07 2009 Communication Beckhoff TCP IP Implementation in TwinCAT 4 2 Declaring the AmsNetld of the MICRO PANEL 4 2 1 In TwinCAT 1 Enter the AmsNetld and IP address of the GRS GALILEO Runtime System in the TwinCAT System Manager m The Route Name can be assigned as required 2 Click Add Route m The entry is transferred to the PLC SYSTEM Konfiguration Echtzeit Einstellungen BP Zus tziche Tasks x Refresh Status Emadcast Search Route Mame Target Micro PANEL Route Mame Remote Cx 008418 fisz168 0301 1 Taste Remote Rode _ l f Static C Static HostMame IP Address Add Route Close Fig 6 Add Route dialog MO02661 02 07 2009 83 Implementation in TwinCAT 4 2 2 14 Directly on a CX1000 Communication Beckhoff TCP IP Instead of dec
13. have not added the hardware yet Fig 9 Add Hardware Wizard 3 Click Next 4 Select Add a new hardware device Add Hardware Wizard The following hardware is already installed on your computer Rae S From the list below select an installed hardware device then click Next to check properties or troubleshoot a problem you might be having To add hardware not shown in the list click Add a new hardware device Installed hardware 9 Printer Port LPT 1 I Communications Port COM I Communications Port COM2 S Intel R Xeon R CPU E5345 2 33GHz VMware SCSI Controller Add anew hardware device Fig 10 Add new hardware 5 Click Next MO02661 02 07 2009 A GALILEO OPEN and TwinCAT Communication Beckhoff TCP IP Check Install the hardware that manually select from a list Add Hardware Wizard The wizard can help you install other hardware The wizard can search for other hardware and automatically install it for you Dr if you know exactly which hardware model you want to install you can select it from a list What do you want the wizard to do Search for and install the hardware automatically Recommended Install the hardware that manually select from a list Advanced Fig 11 Installing hardware 7 Click Next 8 Check Network adapters Add Hardware Wizard From the list below select the type of hardware you are installing gt SI If you do not see the hardware
14. he Control Panel find your network adapter in Network Connections 1 Add the new IP address for GRS to the Internet Protocol TCP IP m In our example this address is 192 168 1 88 4 Local Area Connection Properties General Advanced Connect using E VMware Accelerated AMD PCNet Ad Internet Protocol TCP IP Properties General You can get P settings assigned automatically if your network supports Aa this capability Otherwise you need to ask your network administrator for Internet Protocol the appropriate IP settings Uninstall C Obtain an IP address automatically Description EEE F Use the following IP address Transmission Control Protocol Intem IP address 192 168 1 130 Advanced TCP IP Settings 21x 255 255 255 0 Inatically _Subnet mask 192 168 1 130 255 255 255 0 Hresses 192 168 1 88 259 255 255 0 2 Add Edit Hemove v Automatic metric Interface metic Fig 19 Adding a second IP address M002661 02 07 2009 883 GALILEO OPEN and TwinCAT Communication Beckhoff TCP IP 24 Assigning the second IP address to GRS The order of IP addresses can be checked with ipconfig Gix gt ipconf ig Windows IP Configuration Ethernet adapter LAN Connection specific Suffix IP Address an Subnet Mask 7 IP Address n Subnet Mask Default Gateway 192 168 1 138 n A 192 168 1 13 Fig 20 ipconfig GRS and TwinC
15. ion Beckhoff TCP IP Overview 2 2 Addressing 2 2 1 Symbolic addressing The addressing is implemented using the CoDeSys syntax The following typical addressing types are supported lt tag gt lt tag gt lt arrayindex gt lt struct gt lt tag gt lt struct gt lt tag gt lt arrayindex gt lt prog gt lt tag gt lt prog gt lt tag gt lt arrayindex gt lt prog gt lt struct gt lt tag gt lt prog gt lt struct gt lt tag gt lt arrayindex gt The tag variables are addressed in GALILEO and in the PLC via the symbolic names in accordance with IEC61131 3 la senpts amp pFnnter 5 Giaphe EE Tag Properties struct1 TestWordi Print Forme Format Address Limits Units a Butas Read PLC gt MMI F On Demand At Startup Facili vom Used Address Link Name Description yes _ TestWord __ Beckhof TwinCAT TCPAP ADS AMS Protocol MI Setting address B TestBytel 0 TestBti Sy system lt prog gt lt tag gt lt prog gt lt tag gt caray index gt lt prog gt lt struct gt lt tag gt lt prog gt lt struct gt lt tag gt lt array index gt Fig 2 Symbolic addressing c The import of tag variables from the symbol file is supported Further information is provided in the GALILEO documentation M002661 02 07 2009 7 Overview Communication Beckhoff TCP IP 2 2 2 Image oriented addressing BC9000 A bus coupler such as BC9000 does not support symbols
16. laring the panel in TwinCAT the Message Router can also be entered directly on the PLC This example uses CERHOST to access the panel CERHOST is available from Beckhoff 1 Start TcAmsRemoteMgr exe in the system directory 2 Setthe parameters for the MICRO PANEL Mica File Zoom Tools Help Hard Fr m a won DCOMCNF FlashRomc GrsServi MFCCE211 MFCCE400 notepac OutPort32 TcAdsDIIKC TcAdsTest a TcModbus TcModbus TcOpcSvrl Fig 7 Direct entry of the AMSNetld MemRegR MemRegW 192 168 0 30 ER Cancel M002661 02 07 2009 Communication Beckhoff TCP IP GALILEO OPEN and TwinCAT 9 1 M002661 02 07 2009 GALILEO OPEN and TwinCAT Operating principle Beckhoff uses an AMS router on each device This AMS router maintains a single connection with each AMS router of the other devices GRS uses AMS and therefore communicates directly with the AMS router of the target system On the MICRO PANEL this has the benefit that a router does not have to be installed and configured For a PC on which the AMS router is not required the configuration is the same as for a MICRO PANEL The AMS router runs on every PC that is running TwinCAT PLC or TwinCAT PLC Control Additional configuration settings are required if GRS is used on this kind of PC As the AMS router on the target system TwinCAT PLC only supports one AmsNetld per IP address GRS must communicate with th
17. ork adapter ccccsscecsssssesstessseesteseteess 23 5 3 2 Assigning the second IP address to GRS ii 24 5 3 3 Configuring the AMS router of the target system uunsesnensenenesnennennnnnennenneneennennenenn 25 5 3 4 Selecting the PLC in GALILEO ceesescssssssscssssescssssesseseesceeseeseesesssaeserserssaesansens 26 6 coi e neal eee eee eee eee 27 6 1 Error MESSAGES io 27 6 2 LE IGA NOM EEE E EE EE E E E EE E E 27 M002661 02 07 2009 3 Contents Communication Beckhoff TCP IP Bo M002661 02 07 2009 Communication Beckhoff TCP IP General 1 1 M002661 02 07 2009 General Aim and purpose of this document This documentation describes the connection of a MICRO PANEL with the ADS AMS protocol via TCP IP to a Beckhoff PLC Two communication drivers are available m Beckhoff TwinCAT TCP IP Beckhoff PLC for symbolic programming m Beckhoff BC9000 TCP IP Beckhoff bus coupler with Ethernet BC9000 ce Refer to the Operating Instructions of your MICRO PANEL for further information on connecting commissioning and operating the MICRO PANEL It is assumed that the following software is already installed and that you are familiar with its operation m PLC programming software TwinCAT m HMI visualization software GALILEO Refer to the GALILEO documentation or the Online Help for further information on GALILEO and GRS GALILEO Runtime System E m The dialogs shown from GALIL
18. t connection between the PLC and the MICRO PANEL by using PING Settings with the Beckhoff System Manager in the PLC All parameters in the GALILEO Select PLC dialog Whether the tag variable indicated in the system error message is present in the corresponding station m Whether the Ethernet is overloaded 2 Rectify the error If the problem continues contact our Customer Support at support microinnovation com 27
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