Home

EU5C-SWD-ETHERCAT UM 02 EN

1. eene 85 11 1 Overview M E 85 11 2 Prerequisites io esiti e Rn xe Cea gau My VERENA ANSA REGIE RN E XX MERVIRR FE RR UERAMR GEOY KEARNEY RIS 85 11 3 Step by stepiinstructions una 86 12 Firmware recovery via HTTP sssicascndeccessstascanscaiaeuatencatensadsdniscensatiaheneedacintsensdtnasendadinaenrensntousade 88 12 1 Overview e eee cece anie e cette eee eee teeta nennen nn ea ennt en nent enr eee AAA rrr nne Aaea aaea ssn ss 88 12 2 Erereduisites eire eren i rent eri ed nenn Te ona E eas reir en ae o vare nce Ae ie 88 12 3 Step by step instructions nnsnnennnennnennnennnennnennnennnnnnn essen 89 EET dort 93 13 1 Technical data EU5C SWD ETHERCAT gateway eese eren 93 15 2 Technical data EtherCAT save anna aa ea an 95 EASE OF TI QURES TE en ne ee T 96 TE ar a eelo 1 1 pM 97 COD acIs non E A E A 99 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Introduction 5 99 1 Introduction 1 1 About this document 1 1 1 Description of the contents This manual describes the Hilscher EU5C SWD ETHERCAT SmartWire DT Gateway Here you will find information on how to install configure and operate the gateway This manual is intended for automation technicians and engineers Detailed knowledge of the EtherCAT
2. C PS amp 1C13C 0 D Dn D 05 00 00 1A 01 1A 02 1A 0x2100 01 General EtherCAT Process Data Slots Startup CoE Online Online Transition Protocol Index Data Comment s C PS CoE dIC12C0 0300021603 160416 download pdo x1C12 index download pdo x1C13 index Coordinator Config SWD Baud rate 125 250 kBaud s 3 Coordinator Config Compatible devices permissible 0 No 1 Yes Coordinator Config All devices are optional 0 No 1 Yes Coordinator Config Replacement during operation permissible 0 No 1 Yes n OQUCI COO U CFG M22 SWD K11 ig Ps CoE Qx000000 grs CoE 800021 amp 02 2 Options M22 SWD K11 iB Ps CoE 0800022 x00 0 Parameters M22 SWD K11 ig Ps CoE amp 8010 06 0x814C0100 2125725440 Product code ID M22 SWD K22 ig rs CoE 0x8010 20 00000010 16 CFG M22 SWD K22 grs CoE x801021 0x02 2 Options M22 SWD K22 ig Ps CoE 801022 x00 0 Parameters M22 SWD K22 iB Ps CoE x8020 06 081900101 2121268991 Product code M22 SWD LEDC W ig Ps CoE 0x8020 20 0x00000030 48 CFG M22 SWD LEDC W X Move Up New Deee Edt Figure 18 Configuration data of the SWD Coordinator gateway in TwinCAT The EtherCAT master loads this configuration data into the gateway via SDOs when the gateway is in state Pre Operational SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 201
3. 75 Table 27 Example SDO Download Request for a read request sssssssssssss 76 Table 28 Example SDO Upload Request for a read request sssssssesseess 76 Table 29 Example SDO Upload Confirmation for an unfinished read request 76 Table 30 Example SDO Upload Confirmation for a finished read request 76 Table 31 Elements SDO Download of a write request ssssssseeeeee 77 Table 32 Elements of SDO Upload Request for a write request 22202220240nns seen 78 Table 33 Elements of SDO Upload Confirmation for a write request 78 Table 34 Example SDO Download Request for a write request 22202444440nr seen 79 Table 35 Example SDO Upload Request for a write request cccccccceeeceecceeeeeeeeeeeeeeeeees 79 Table 36 Example SDO Upload Confirmation for an unfinished write request 79 Table 37 Example SDO Upload Confirmation for a finished write request 79 Table 38 Structure of Emergency Delegates putt aite na un 80 Table 39 Diagnosis Code of gatev av un ue 81 Table 40 Examples of diagnostic codes of SWD slaves sssssssesseeeeeeeee 81 SmartWire DT Gateway EUSC SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public List of tables 98 99 Table 41 Emergency Tel
4. eeeeeeneeennennnes 20 Table 10 Signal words in safety messages on property damage seeesesssss 20 Table 11 Safety signs in safety messages on property damage ssueueussuuussse 20 Table 12 Front view EUSC SWD ETHERCAT galeway anna 26 Table 13 LEDs EU5C SWD ETHERCAT Gateway isssssssesseeeeeeereeen enne 27 Table 14 Dpescrption or the LEDS araen era E eee eae ented 28 Table 15 Ethernet interface channel 0 and channel 1 pin assignment RJ45 30 Table 16 Device type label EU5C SWD ETHERCAT Gateway se 30 Ic xreMEEC culo er eine 31 Table 18 Parameter settings of SWD Coordinator eceeseeeeeeee 53 Table 19 Bit assignment of parameters of options byte essssseseeeseeeeeeee 59 Table 20 Bit assignment of parameter byte of EUBE SWD 4AX ssssseeseeeneee 65 Table 21 Bit assignment of parameter byte of EU5E SWD 2A2A sse 66 Table 22 Bit assignment of parameter byte 1 of EU5SE SWD APT unnnnenn 66 Table 23 Bit assignment of parameter byte 2 of EU5E SWD 4PT sse 67 Table 24 Elements SDO Download of a read request ssssssssssesseeeeeee 74 Table 25 Elements of SDO Upload Request for a read request ssssssssssss 74 Table 26 Elements of SDO Upload Confirmation for a read request
5. 7 5 Connecting EtherCAT D Important Please note that data exchange between the gateway and the EtherCAT network can only take place after a SmartWire DT network has been connected and configured in the gateway gt Connect the RJ45 plug of the EtherCAT cable to the upper Ethernet socket labeled LAN1 IN on the gateway Figure 6 Connecting EtherCAT to gateway Important Please observe the following notes on EtherCAT cabling Use shielded Ethernet cables that meet the requirements of at least category 5 Cat 5 according to EN 50173 or ISO IEC 11801 gt Do not use hubs in an EtherCAT network gt Do not use switches in a productive system Use a switch for diagnostic purpose only and only between EtherCAT master and first EtherCAT slave device 100 MBit s Full Duplex A switch has influence to the real time characteristics of the EtherCAT network gt The cable length between two EtherCAT devices must not exceed 100 meter See also the user manual Wiring Instructions EtherCAT DOC121104UMxxEN stored on the product DVD in the Documentation english 5 Installation Instructions directory SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Installing gateway 40 99 7 6 EMC conformant wiring of the network Undesired faults can occur on the bus due to electromagnetic interference This can be minimized before
6. FALSE 0 O Dez 0x00 Hex Bit2 Cyclic input data with CRC8 FALSE 0 0 Dez 0x00 Hex Bit 3 Format of payload data words FALSE 0 O Dez 0x00 Hex Bit 4 Substitution by universal module TRUE 1 16 Dez 0x10 Hex Bit 5 reserved FALSE 0 0 Dez 0x00 Hex Bit 6 Support of data profiles TRUE 1 64 Dez 0x40 Hex Bit 7 Support of acyclic data requests TRUE 1 128 Dez 0x80 Hex Options Byte 208 Dez 0xD0 Hex 0xDO thus is the value you have to enter as options byte for the device in TwinCAT Hint The Windows calculator if configured accordingly can be used to display the corresponding bit values of a hexadecimal byte value Thus you can check which of the bits are being set to FALSE 0 and which of the bits are being set to TRUE 1 when you enter a certain byte value View Edit Help Hex Mod Dez m Bin RoL RoR Qword Or Xor Dword tsh Rsh Word Byte Not And Figure 26 Programmer view of Windows 7 calculator SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Parameterization 65 99 9 3 3 Configuring device parameters sensor parameters of I O modules 9 3 3 1 Overview For some SmartWire DT devices individual device parameters can be configured described in the manual SmartWire DT Modules Doc ID MNO05006001Z EN which is stored on the product DVD in the dire
7. Released Public Technical data 94 99 EN Supply voltage U Supply voltage Upow SmartWire DT supply voltage Connection supply voltages SmartWire DT network Rated operational voltage 24 V DC 15 20 96 max current Inax edt If contactors with a total power consumption gt 3 A are connected a power feeder module EUSC SWD PF 1 2 has to be used Short circuit strength No external fuse FAZ Z3 Heat dissipation nO 1W Potential isolation isolation Rated operating Potente Bon aa of 24 V DC u U ux 0 2 V slaves Supply voltage 24 V DC 15 20 96 15 V SmartWire DT supply voltage max current Inax 0 7 A Note If contactors with a total power consumption gt 0 7 A are connected a power feeder module EU5C SWD PF2 has to be used solid 0 2 1 5 mm AWG 24 16 NumberofSmamWreDTsws o OO SoS Status display SmartWire DT master SWD LED duo color red green Configuration Config LED duo color red green Plug connectors Blade terminal SWD4 8MF2 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Technical data 95 99 Address setting By project configuration Status display EtherCAT LEDs RUN und ERR duo color red green Connector socket 2x RJ45 Connector plug RJ45 Table 46 Technical data EU5C SWD ETHERCAT gateway 13 2 Technical data EtherCAT slave Maximum number of cyclic input data 800 by
8. To avoid damage to your gateway or your communication system you must read understand and follow the following safety instructions and all safety instructions and warnings in this manual concerning property damage before you install and operate the gateway 2 6 1 General safety instructions concerning supply voltage In safety relevant applications the power supply providing power to the SmartWire DT system must feature a PELV power feed module protective extra low voltage Switch off the power supply if you are reconnecting slaves in the SmartWire DT system or reconnecting the ribbon cable connection Otherwise the SmartWire DT slaves can be destroyed The gateway has protection against polarity reversal for the 24 V DC POW supply However if the gateway is connected via the serial interface to an earthed device for example to a PC the gateway can be destroyed if the polarity of the power supply is reversed The functional earth FE must be connected to the protective earth PE or to the potential equalization The system installer is responsible for implementing this connection Connecting cables and signal lines should be installed so that inductive or capacitive interference does not impair the automation functions Suitable safety hardware and software measures should be implemented for the I O interface so that a line or wire breakage on the signal side does not result in undefined states in the automation devices
9. When Free Run mode is active the Current State field in the State Machine area displays OP state operational The lower area of the main window shows the I O data of the SmartWire slaves gt Create output data at one of the SmartWire slaves In this example the Switch of a device connected to the DIL SWD 32 001 slave Module 1 is being toggled SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Configuring gateway 50 99 This event is indicated by a changed value in the Online field of the first IBO object in the lower area of the main window Name Online 91180 mmm 0x44 68 91180 0x48 72 QTIB1 Ox0F 15 9182 0x00 0 91183 0x00 0 QT wcstate 0 Type SINT SINT SINT SINT SINT BOOL Size pAddr 39 0 40 0 41 0 42 0 43 0 1522 1 Figure 16 EUSC SWD ETHERCAT Gateway process data 2 SmartWire DT Gateway EU5C SWD ETHERCAT DOC140901UMOZEN Revision 2 English 2015 06 Released Public In Out Input Input Input Input Input Input User Linked to 0 0 0 0 Hilscher 2015 Parameterization 9 Parameterization 9 1 Process data 51 99 Cyclic data in EtherCAT is exchanged via so called Process Data Objects PDOs e Output data of a SmartWire DT device is mapped to object RxPDO index 0x1600 sub index 0x00 and following e Input data of a SmartWire DT device is mapped to object
10. After having set the bit on TRUE in order to activate the corresponding parameter respectively the desired function you have to logically OR i e add up the new byte value of the changed bit with the byte values of the other TRUE bits Please note that each active bit i e each bit set TRUE has a different byte value The assignment of parameters to bits and their byte values are shown in table Bit assignment of parameters of options byte in section Overview gt page 58 Because all bits set to FALSE have the byte value 0 you can ignore all FALSE bits in the addition SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Parameterization Example 1 63 99 This example shows how to calculate the default value 0x02 of the options byte of the DIL SWD 32 001 SWD device The 02 value of the options byte results from the fact that all bits except Bit 1 have been set to FALSE thus all having the byte value 0 Bit 1 on the other hand has been set to TRUE thus having the byte value 02 which after logical ORing amounts to the value 0x02 for the whole options byte Bit 0 Extended parameters Bit 2 Cyclic input data with CRC8 Bit 3 Format of payload data words Bit 4 Substitution by universal module Bit 5 reserved Bit 6 Support of data profiles Bit 7 Unterst tzung azyklischer Dienste Options Byte Bit 1 Pr
11. 16 TRUE PASEO moms 7 TRUE averaging Table 21 Bit assignment of parameter byte of EU5E SWD 2A2A Di EU5E SWD 4PT Parameter Configuration Byte value gu Bri Bto Sensory FALSE FALSE O Not usea defaut o ES FALSE 0 FALSE 0 Not used defaut Jo p FALSE 0 TRUE PT100 a TRUE 1 FALSE 0 PT1000 TRUE 1 TRUE woo fe Input 3 FALSE TRUECI TRUE selection FALSEQ FALSECO TRUE FALSE Pro fias TRUE rum No0 i52 Table 22 Bit assignment of parameter byte 1 of EUSE SWD 4PT SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Parameterization 67 99 Byte 2 Parameter Configuration a Da function Measurement display et DIM yet Celsius 4 default FALSE O TRUE Degrees Fahrenheit 1 xor FALSE O FALSETO jo25s Wem jo ww raseo TRUEM fis one RUE rasen pss fe s a Resened nso joxno S Reserved fuso jo po e Reserved fuso jo po T Reeve rasen jo po Table 23 Bit assignment of parameter byte 2 of EU5E SWD 4PT The following exemplary step by step instructions show how to change the parameter Reading refresh rate of the EU5E SWD 4AX device from 100 ms default to 200 ms 9 3 3 2 Prerequisites e PC with installed TwinCAT System Manager V2 11 and Ethernet adapter e You have created a valid project config
12. 4 2011 Firmware Update Choose the new firmware file nxf you want to install Browse Submit your file by clicking on transfer The transfer will take a few seconds WARNING Do not interrupt power or disconnect cable from the system while the transfer is in progress Transfer Cancel Figure 37 Firmware recovery via HTTP as depicted in Internet Explorer 4 Select firmware file for download Click Browse button to open a dialog window for selecting the firmware file you want to download Navigate to the directory in which the firmware file is stored select the file then click Open 3 Note gt The name of the firmware file for the EU5C SWD ETHERCAT gateway is EO30FOUO nxf Path and name of the selected file are displayed in the field next to the Browse button 5 Download firmware file to gateway gt Click Transfer button to download the new firmware file to the gateway SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Firmware recovery via HTTP 92 99 After you have started the download by clicking the Transfer button the validity of the firmware file is being checked by the system If the file fails the validity check an error message will be displayed If the file passes the gateway requests you to perform a reset in order to start the new firmware amp http 10 11 5 24 am
13. 4 Requirements for operation uusuersnnennnnnnnnnnnnnnnnnn nen nn nn nn nn nnnnn nun nun nn nnn nnn nnn n nnn nnn nnn nnn nnns 24 4 1 Network systems rt ann 24 A2 PROWEFSUDDIY eee e E 24 4 2 1 POW power connection sessssssssesseesseeneeeee nere nennen nennen tenens nnns 25 4 2 2 AUX power connection sssssssssssssseneeneeneeenenne nenne eren nnne rens 25 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 Table of contents DOC140901UMOZEN Revision 2 English 2015 06 Released Public Table of contents 3 99 5 Device picture connectors and LEDS 4 244444444400000000nnnan nn nn nn nn nn nn 26 Deki DEVICE ICUS eme ER 26 2 2 Positions and meaning of the LEDS oo cscccccteicvscccctcnscinsatsntedeanccacieaasasoncteinetbineqemceaiedciezaets 27 5 2 1 Positions of the LEDS una ea nea YEAR VeL aE E RS E YR S VR ERM US 27 5 2 2 Description of the LED8S uuennn ee rennen 28 5 3 Pinning of the Real Time Ethernet interface 2 us442444420000HHHn nn nnanann anne 30 54 Device type label i p pr bb ni A EEEa 30 6 Getting Starte 31 f Installing gateway cese uie iino ea ici OE HOD REO Kc nonc b Dn 32 7 1 Safety Messages v een einen ET 32 72 kei NERO oem 33 7 2 1 Mounting gateway onto top hat Tell acie ceni een 33 1 22 Removing gateway from top hat Fell sante ae 35 7 3 Connecting gateway to power supply a aa 36 1 4 Connecting Smart
14. ETHERCAT below the master device in the navigation tree The SmartWire slaves connected to the gateway will also be found and added to the gateway entry as subordinate modules The System Manager asks you to activate the Free Run mode Untitled TwinCAT System Manager EX Dee ER 054985 59ssvs5 amp 9 s5e FQ A lcr e 0 71 OD E BB SYSTEM Configuration n B u I O Configuration General Adapter EtherCAT Online CoE Online SB 1 0 Devices S 54 Device 2 EtherCAT Name Device 2 EtherCAT af Device 2 Image Type EtherCAT af Device 2 Image Info i amp t Inputs Comment amp Outputs InfoData Box 1 EUSC SWD ETHERCAT 8 Mappings TwinCAT System Manager Create symbols U D Activate Free Run Local 10 11 4 13 1 1 Hut Figure 14 EU5C SWD ETHERCAT Gateway found as new box SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Configuring gateway 49 99 gt Activate the Free Run mode by clicking Yes In Free Run mode the TwinCAT configuration data is being transferred to the gateway Cyclic data between the EtherCAT master and the SmartWire slaves modules via the gateway are being exchanged 5 Testing cyclic data exchange with SmartWire slaves gt Inthe navigation tree of the TwinCAT System Manager click on the plus symbol in front of the gateway element B
15. Hex 0x00 Hex 0x00 Hex 0x10 Hex 0x00 Hex 0x00 Hex 0x00 Hex 0x12 Hex 0x12 thus is the value you have to enter as options byte for the device in TwinCAT in case you want to allow its replacement by universal module Example 2 This example shows how to calculate the default value 0xC2 of the options byte of the PKE SWD 32 Profile 2 SWD device Bit 0 Extended parameters Bit 1 Presence in SmartWire DT network Bit 2 Cyclic input data with CRC8 Bit 3 Format of payload data words Bit 4 Substitution by universal module Bit 5 reserved Bit 6 Support of data profiles Bit 7 Support of acyclic data requests Options Byte SmartWire DT Gateway EU5C SWD ETHERCAT DOC140901UMO2EN Revision 2 English 2015 06 Released Public FALSE 0 TRUE 1 FALSE 0 FALSE 0 FALSE 0 FALSE 0 TRUE 1 TRUE 1 64 Dez 128 Dez 194 Dez 0x00 Hex 0x02 Hex 0x00 Hex 0x00 Hex 0x00 Hex 0x00 Hex 0x40 Hex 0x80 Hex 0xC2 Hex Hilscher 2015 Parameterization 64 99 If you now want to allow the device to be missing within the SmartWire DT bus and also that it may be replaced by an universal module you have to set Bit 1 to FALSE and Bit 4 to TRUE The calculation for this looks as follows Bit 0 Extended parameters FALSE 0 O Dez 0x00 Hex Bit 1 Presence in SmartWire DT network
16. Real Time Ethernet protocol is presumed In addition readers should also be familiar with the TwinCAT System Manager and the SmartWire DT system Important gt To avoid personal injuries or damage of electrical devices please read this manual carefully before installing and using the EU5C SWD ETHERCAT Gateway gt Please first read the chapter Safety gt page 16 1 1 2 List of revisions Revision Date Revisionen 20160847 2015 06 22 Design of safety messages updated Section Error messages emergency telegrams revised and renamed as Emergency telegrams Error and status messages diagnosis page 80 Table 1 List of revisions SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Introduction 6 99 1 1 3 Conventions in this document Notes operation instructions and results of operation steps are marked as follows Notes Note lt important note gt Note lt simple note gt lt note where to find further information gt Operation instructions 1 lt operational step gt gt instruction 2 lt operational step gt gt lt instruction gt Results Hy intermediate result C final result For a description of the labeling of Safety Messages see section Labeling of safety messages page 20 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015
17. SDO Download 0x01 Amount of data of the SDO Download DENM 10 Bytes n I o o 7 a oalo ls gt NISI 2 ojojo 2 3 o o o x Data for SWD slave Slave Address Address of the SWD slave that you want to read uint8 1 according to project configuration SWD Index SWD specific index of the SWD slave Determines uint8 where to write the data to Type of request A write request must have the value Length of the data in bytes to be written Freely selectable value serves as job identification Five reserved bytes uint8 5 0x00 0x00 0x00 0x00 0x00 Data to be written payload data uint8 n 1 n amount of bytes to be written Table 31 Elements SDO Download of a write request Request Type Length Job ID Reserved Bytes Daa Bata tobe writen payload data The gateway acknowledges the reception of the task by sending back an SDO Download Confirmation to the EtherCAT master The gateway also forwards the write request to the SWD slave where the writing is performed in the specified SWD Index The SWD slave then sends back an acknowledgement to the gateway where it is stored in the index 0x2200 sub index 2 object The EtherCAT master can then fetch the acknowledgement from there by sending an SDO Upload Request SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Acyclical communication 78 99 10 3
18. found Hilscher devices and their IP addresses f a 7 Ethernet Device Configuration S Datei Optionen Devices Online Find next previous MAC Address IP Address 00 02 A2 2D 53 9B Backup FW Backup FW SN 00020001 ID 0x 10 11 5 24 Netldent i Search Devices Figure 36 Found gateway in Ethernet Device Configuration Tool Note or write down the IP address gt Note gt If the default IP address 0 0 0 0 is displayed the gateway has not yet received an IP address from a DHCP server Make sure that the gateway is connected to a subnet with an active DHCP server Then restart the gateway by briefly disconnecting the voltage supply while the Ethernet cable remains plugged in Wait a few seconds after reconnecting the voltage supply then click the Search Devices button in the Ethernet Device Configuration Tool again 3 Open web page for firmware download gt Start the web browser on your configuration PC gt Inthe address bar of your browser enter the IP address of the gateway http lt IP address gt SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Firmware recovery via HTTP 91 99 The Firmware Update page opens E nttpyn011 5 24 Backup FW Firmware Upd Firmware Firmware Identification Channel Name Version Date 0 Backup FW 1 0 1 0 18
19. have been installed with the housing closed Desktop or portable units must only be operated and controlled in enclosed housings 2 5 2 Danger of unintended starting up of machines e Install automation devices and related operating elements in a way that they are well protected against unintentional operation e Emergency stop devices complying with IEC EN 60204 1 must be effective in all operating modes of the automation devices Unlatching the emergency stop devices must not cause restart e You must take safety precautions emergency switching off in the external circuitry of the gateway and any power modules type EUSC SWD PF1 1 or EU5C SWDPF2 1 that are used To do so plan to switch off the power supply to the contactor coils AUX e Measures should be taken to ensure the proper restart of programs interrupted after a voltage dip or failure This should not cause dangerous operating states even for a short time If necessary emergency stop devices should be implemented e Wherever faults in the automation system may cause damage to persons or property external measures must be implemented to ensure a safe operating state in the event of a fault or malfunction for example by means of separate limit switches mechanical interlocks etc SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Safety 18 99 2 6 Safety instructions to avoid property damage
20. operation If the actual configuration complies with the target configuration the gateway gets ready for EtherCAT and waits for the EtherCAT configuration The gateway checks the project configuration which it receives from the EtherCAT master against the target configuration Discrepancies between target and project configuration are indicated by the Config LED of the gateway Eaton SWD Assist planning software Despite the fact that you can configure the SmartWire DT network in the gateway simply by using the configuration button it is nevertheless recommended to use the SWD Assist software to plan dimension and document the SmartWire DT network For further information please refer to the SWD Assist online help Note You will find the Eaton SWD Assist software on the product DVD which is included in the EU5C SWD SW software package order number 3233 920 available from Hilscher You can use the wizard on the product DVD to download updates of the Eaton SWD Assist software or you can download SWD Assist directly from the www moeller net website under Support gt Download Center Direct link http downloadcenter moeller net en software a487d8b7 da91 486f b3ba a7ca2035db99 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Description of the EU5C SWD ETHERCAT gateway 23 99 3 2 2 EtherCAT configuration The gateway is commissioned in Et
21. ox20 In SWD Comparison of project configuration with target configuration disabled C 7 LLL Table 43 Error Flags in case of messages generated by the gateway SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Acyclical communication 84 99 Example Emergency Telegram for new incoming error diagnosis of SWD bus If a mandatory SmartWire DT slave in this example slave device No 5 is missing the Emergency Telegram reporting this bus error looks as follows Error Register Additional Information Entry Type Address Error Type Diagnosis Code Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Bit 0 reserved Table 44 Emergency Telegram for incoming error on SWD bus Example Emergency Telegram for resolved SWD bus error Error Reset If the gateway reports that the mandatory SmartWire DT slave is not missing any longer i e device has returned on the bus and there are no further error diagnosis messages stored in the message buffer of the gateway the telegram looks as follows Error Code Error Register Additional Information Entry Type Address Error Type Diagnosis Code Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Bit O reserved ble 45 Emergency Telegram in case of resolved SWD bus error D gt Note If an error has been resolved but the message buffer of the gateway is still
22. qu M PR RAP dad 87 Figure 34 Edit firmware name nennen 87 Figure 35 Ethernet Device Configuration Tool au sea a a 89 Figure 36 Found gateway in Ethernet Device Configuration Tool ssessssss 90 Figure 37 Firmware recovery via HTTP as depicted in Internet Explorer 91 Figure 38 Reset after firmware download via HTTP as depicted in Internet Explorer 92 Figure 39 Successful device reset message as depicted in Internet Explorer 92 SmartWire DT Gateway EUSC SWD EHER CAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public List of tables 97 99 List of tables Table 1 List of revisions anna en 5 Table 2 Reference to hardware and firmware cccccccceccccececeeeceeceeeceeeceeeeeeeceeseeeeeeeeeess T Table 3 Reference to software tOols ccccccecccsceeecceeeeeeceeeeeaeceaeeeaeceaeceeeceeeeeeeeeeeeeeeeeeeeaes 7 Table 4 FRETCTEMES to dIiVers nn een 7 Table 5 Reference to device description fileS cccccccceeccceecceeeceeceeeeeeeeeeeeeeeeeeeeeeeeteeeees 7 Table 6 Directory or the product DVD nenne 9 Table 7 Documentation overview esssnesenneenneennnennennnennnonnnnnnnonnnnnnnonnnnnnnnnnnnnnnennennnnnnnne 12 Table 8 Signal words in safety messages on personal injury ssssseesssess 20 Table 9 Safety signs in messages on personal injury
23. slaves The maximum number of cyclic input data as EtherCAT slave is 800 bytes maximum number of cyclic output data is 641 bytes EtherCAT EtherCAT Slave Slave EtherCAT EtherCAT Master Ethernet Interface EtherCAT Slave EUSC SWD ETHERCAT Gateway Slave1 Slave 2 Figure 1 Data flow EU5C SWD ETHERCAT Gateway SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Description of the EU5C SWD ETHERCAT gateway 22 99 3 2 Configuration 3 2 1 SmartWire DT configuration The EU5C SWD ETHERCAT Gateway is easily commissioned by an automated configuration function On pushing the configuration button on the front of the gateway the gateway scans the current SmartWire DT network configuration the so called actual configuration It then stores the actual configuration as target configuration zero voltage safe in the device thus making the target configuration available for a comparison of actual and targeted SmartWire DT configuration which takes place each time the gateway is being switched on When the gateway is switched on after a target configuration has already been stored the gateway automatically rescans the connected actual configuration and checks it against the target configuration If the gateway recognizes that a required SmartWire DT slave cannot be reached or a wrong slave type is determined it will not go into
24. the boot strap loader running in the gateway carries a web server functionality for downloading a firmware file comfortably via its Ethernet interface For this you just have to connect the gateway via its Ethernet interface to an active DHCP server and a configuration PC The purpose of the DHCP server is to assign an IP address to the gateway This assigned IP address can then be used by the configuration PC to connect to the download function of the backup firmware running in the gateway in order to download the new firmware file via ordinary web browser If you do not know the exact IP address assigned to the gateway by the DHCP server you can use the Hilscher Ethernet Device Configuration Tool on your configuration PC included on the product DVD in order to read out the newly assigned IP address from the gateway The tool uses the netIDENT protocol to search for all Hilscher devices within the connected IP network and then lists all found devices and their IP addresses 3 Note gt This chapter describes only how to download the recovery firmware Instructions on how to configure and operate a DHCP server are not subject of this manual For information on using a DHCP server please consult your local network administrator 12 2 Prerequisites e The gateway is supplied with voltage and the backup firmware inside the device is running this is indicated by steady green light at the POW LED e The gateway is discon
25. unfinished read request If the gateway has not yet received the answer from the SWD slave the SDO Upload Confirmation sent by the gateway to the EtherCAT master looks as follows Syntax Header Address Object Sub Size Slave SWD Request Length Job ID State Error Code index index Address Index Type Table 29 Example SDO Upload Confirmation for an unfinished read request Answer of the gateway in case of a finished read request If the answer from the SWD slave has arrived the SDO Upload Confirmation sent by the gateway to the EtherCAT master looks as follows Syntax Header Address Object Sub Size Slave SWD Request Length Job ID State Error Data index index Address Index Type Code 0000 Table 30 Example SDO Upload Confirmation for a finished read request SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Acyclical communication 77 99 10 3 Write request writing data in an SWD Slave 10 3 1 Activating write request A writing task Write Request for a SmartWire DT slave is conveyed in an SDO Download Request from the EtherCAT master to the index 0x2200 sub index 1 object in the gateway The SDO Download Request contains the following elements Description Datatype Value value range Node ID of the gateway according to project uint16 0 65535 configuration Object index for acyclical communication 0x2200 Index for
26. used Potential conditions between the components The entire SmartWire DT system operates on a common supply voltage Provide a common star point for the earth wiring In this way the various slaves in the SmartWire DT system will not be electrically isolated from one another The EtherCAT network and the SmartWire DT system are electrically isolated from one another SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Installing gateway 38 99 7 4 Connecting SmartWire DT gt Connect the SmartWire DT network to the gateway To do so use the SmartWire DT cable SWD4 100LF8 24 and the SWD4 8MF2 relevant blade terminal or prefabricated cables of type SWD4 3 5 10 F8 24 2S Figure 5 Connecting SmartWire DT to gateway Device destruction Switch off the power supply before you are reconnecting slaves in the SmartWire DT system or reconnecting the ribbon cable connection Otherwise the SmartWire DT slaves can be destroyed Detailed instructions on adapting the SmartWire DT external device plug SWD4 8SF2 5 to the 8 pole Smart Wire DT cable are provided in chapter Fitting external device plugs SWD4 8SF2 5 of the manual SmartWire DT The System MN05006002Z EN previously AWB2723 1617en SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Installing gateway 39 99
27. 00 0 Parameters DIL 1 49 Module 19 EUSE SWD 4D Ox8180 08 0481010101 2117009151 Product code DIL SwD 32 002 Module 20 EUSE 5WD40 WeI M Otons DIL SWD 32 002 i ee 48180 s ptions DIL SWD 32 4 dpi ren 0x8180 22 0x00 0 Parameters DIL SWD 32002 0x8190 06 Ox81E30401 2115828735 Product code PKE SWD 32 Profile 2 Module 23 EUSE SWD 4PT MMA WNNNNINA 123391 CFR PKF SWN 3 Profile 2 v Module 24 DIL SWD 32 001 gt 5 49 Module 25 DIL SWD 32 002 8 49 Module 26 PKE SWD 32 Profile 2 New Delete Edi HQ wcstate HQ InfoData E Bt Box 2 NXIO SO REJECS S Sf 1 TxPDO 2 n amp 9 Fe i D E E ee Online gt Addr In Out User Linked to 2 Server Port Timestamp Meldung 14 10 2014 13 20 21 883 ms Box 1 EUSC SWD ETHERCAT 1001 CoE Emergency Hex Ff0O 81 00 00 04 00 00 14 10 2014 13 20 19 461 ms Box 1 EUSC SWD ETHERCAT 1001 abnormal state change from PREOP to INIT Try to go back to OP 14 10 2014 13 20 19 401 ms Box 1 EUSC SWD ETHERCAT 1001 state change to PREOP finished Local 127 255 255 1 1 1 ER Figure 23 Editing device options of SWD device 1 Search the list for the SmartWire DT device and the Options element that you want to edit An Options element can be recognized by the index 0x8XXX 21 and the Options device name entry in the Comment column
28. 002 20482 Parameters EUSE SWD 44 iB Ps CoE 0x8160 06 001070900 17238272 Product code EUSE SWD 4PT B Ps CoE 0x8160 20 O0x0000D 310 54032 CFG EUSE SWD 4PT IB Ps CoE 0x8160 21 0x83 131 Options EUSE SWD 4PT HPs CoE 0x8160 22 03 02 00 Parameters EU5E SWD 4PT Ers CoE 0x8170 06 0x81D00101 2117074687 Product code DIL SWD 32 001 Gps CoE 0x00000030 48 CFG DIL SWD 32 001 c 0x8170 2 Options DIL SWD 32 001 IB Ps CoE 0x8170 22 0x00 0 Parameters DIL S WD 32 001 W Ps CoE 0 8180 06 0x81D10101 2117009151 Product code DIL SWD 32 002 EPs CoE 0x8180 20 000000030 48 CFG DIL SwD 32 002 iB Ps CoE 0x8180 21 0x02 2 Options DIL SWD 32 002 IB Ps CoE 0x8180 22 0x00 0 Parameters DIL SWD 32 002 Ig Ps CoE D 8190 06 0x81E30401 2115828735 Product code PKE SWD 32 Profile 2 Wl pc Far nganan n nnnnonaa 833A CER PKF S1WN 37 Profile 2 v lt m Figure 25 Editing device options of SWD device 3 gt Inthe main menu of the TwinCAT System Manager choose Actions gt Activate Configuration to download the changed configuration data 9 3 2 4 Examples of calculating the options byte Individual parameters of the Options element i e the device options can only be configured by entering a single hexadecimal options byte The logically ORed byte values of the individual bits representing the configuration parameters amount to the value of the options byte To change an individual parameter you have to look at the bit representing this parameter
29. 06 Released Public Introduction 7 99 1 2 Versions of devices firmware software tools drivers and device description files The hardware revisions and software versions functionally belong together This means that certain revisions of the hardware of the gateway need certain versions of firmware software and drivers in order to function properly This section lists the hardware revisions and the versions of the firmware the configuration software and the drivers which functionally belong together and to which all instructions in this manual refer Device and firmware This manual refers to the following hardware revision and firmware version of the EU5C SWD ETHERCAT Gateway Device type name Protocol Part number Hardware Firmware revision version EU5C SWD ETHERCAT EtherCAT slave 9233 922 3 EO30FOUO nxf Table 2 Reference to hardware and firmware Software tools This manual refers to the following software versions Software Manufaturer version TwinCAT System Manager Beckhoff Automation GmbH Table 3 Reference to software tools Drivers This manual refers to the following driver versions Windows USB Driver usbser sys Depending on Windows version Table 4 Reference to drivers Device description files This manual refers to the following device description files ESI EtherCAT Slave Information files Device description file Filename ooo ESI for EU5C SWD ETHERCAT gateway Hilscher_E
30. 2 2 gt Options EU5E SWD 4DX Parameters EU5E SWD 4DX Product code EU5E SWD 2A2A CFG EU5E SWD 2A2A Options EU5E SWD 2A2A Parameters EU5E SWD 2A2A Product code EU5E SWD 4AX CFG EU5E SWD 4AX Options EU5E SWD 4AX Parameters EU5E SWD 4AX Product code EUBE SWD 4PT CFG EUSE SWD 4PT Options EUBE SWD 4PT Parameters EU5E SWD 4PT Product code DIL SWD 32 001 CFG DIL SWD 32 001 Options DIL SWD 32 001 Parameters DIL SWD 32 001 Product code DIL SWD 32 002 CFG DIL SWD 32 002 Options DIL SWD 32 002 gt ie Figure 29 Editing device parameters of SWD device 3 gt Inthe main menu of the TwinCAT System Manager choose Actions gt Activate Configuration to download the changed configuration data Example of calculating the parameters byte This example shows how to calculate the default value 0x50 of the parameter byte of the Bit O Sensor selector input 1 Bit 1 Sensor selector input 2 Bit 2 Sensor selector input 3 Bit 3 Sensor selector input 4 Bit 4 Reading refresh rate Bit 5 Reading refresh rate Bit 6 Mean value averaging Bit 7 Reserved Parameter Byte Ye YS YH SmartWire DT Gateway EU5C SWD ETHERCAT DOC140901UM02EN Revision 2 English 2015 06 Released Public FALSE 0 FALSE 0 FALSE 0 FALSE 0 TRUE 1 FALSE 0 TRUE 1 FALSE 0 EU5E SWD 4AX SWD device 0 Dez 0x00 Hex 0 Dez 0x00 Hex 0 Dez 0x00
31. 2 6 2 Device destruction by exceeding allowed supply voltage The gateway must only be operated with the specified supply voltage Make sure that the limits of the allowed range for the supply voltage are not exceeded A supply voltage above the upper limit can cause severe damage of the gateway A supply voltage below the lower limit can cause malfunction of the gateway Ensure a reliable electrical isolation of the low voltage for the 24 volt supply Only use power supply units complying with IEC 60364 4 41 VDE 0100 Part 410 or HD 384 4 41 S2 The allowed range for the supply voltage is indicated in section Technical data EU5C SWD ETHERCAT gateway page 93 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public 19 99 Safety 2 6 3 Electrostatic sensitive device The gateway is sensitive to electrostatic discharge which can cause internal damage and affect its normal operation Therefore adhere to the necessary safety precautions for components that are vulnerable to electrostatic discharge when you install or remove the gateway Follow the guidelines listed hereafter when you handle the gateway Touch a grounded object to discharge potential static before you handle the gateway Wear an approved grounding wrist strap If possible use a static safe workstation When not in use store the device in appropriate static safe packaging SmartWire DT Gate
32. 2 Querying the state of the write request Querying the state of the write request The SDO Upload Request sent by the EtherCAT master to the gateway contains the following elements Element Deseniption Tbatatype Value va range Address Node ID of the gateway according to project uint16 0 65535 configuration Table 32 Elements of SDO Upload Request for a write request Answer from the gateway The SDO Upload Confirmation sent by the gateway to the EtherCAT master contains the following elements Element Description Datatype_ Value valu range Header Address Node ID of the gateway according to project uint16 0 65535 configuration Sze AmountordataortnesDoupbad io Eyes Data of SWD slave Job ID Freely selectable value serves as job identification State State of the response uint8 Idle 0 In Progress 1 Finished 2 Error 3 Error Code Error detected by the gateway uint32 No error 0x00000000 JOBID_BUFFER_FULL 0xC0AD0002 JOB_DENIED 0xC0AD0003 NOT_AVAILABLE OxCOAD0004 Table 33 Elements of SDO Upload Confirmation for a write request gt Note gt If no acknowledgement from the SWD slave has yet arrived atthe gateway the State element state of the response has the value 1 in progress SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Acyclical communication 79 99 10 3 3 Example o
33. 5 06 Released Public Parameterization 53 99 In the configuration elements of the Coordinator you can set the following parameters index Parameter Description Dez Hex 0x2100 01 x2100 04 Compatible devices permissible x2100 05 All devices are SWD Baud rate 0 0 0x2100 08 Replacement during operation permissible Baud rate of the SmartWire DT network Allows replacement substitution of SmartWire DT devices by compatible devices Individual configuration whether a SmartWire DT device can be missing is allowed Online replacement of SmartWire DT devices during bus operation is allowed 125 kBit s Default FALSE 0 The devices in the project configuration must comply 100 with the devices in the target configuration If not no data interchange takes place with the EtherCAT master Default TRUE 1 Data exchange with the EtherCAT master takes place if the connected SmartWire DT devices are different but compatible with the devices in the project configuration This condition is indicated by the gateway Config LED blinking green Note If this parameter is set to TRUE the All devices are optional parameter must also be set to TRUE otherwise the whole SWD bus will be turned off after losing communication with one or several SWD devices Please note also that online replacement during bus operation is only possible if SWD4 FFR PF ST power supply module cable ada
34. 9svauS Su e sQlajlet e ec A en Genera EtherCAT Process Data Slots Startup CoE Onine Onine Box 1 EUSC SWD ETHERCAT Module 1 M22 SWD K11 Transition Protocol Index Data Comment Module 2 M22 5WD k22 EPs CoE Ox8130 21 0x02 2 Options EUSE SWD 4DX Module 3 M22 SWD LED W ers CoE 081 30 22 0x00 0 Parameters EUSE SWD 4Dx Module 4 V22 SWD LED B EPs Cc Ox8140 06 0x01060504 17171716 Product code EUSE SWD 2A2A ee EEE EEE T Eo LEUTEN ol 8140 xi ptions EUSE 2 dee en GPs CE 0x8140 22 Ox5002 20482 Parameters ELIBE SWD 2A2A ann pies PS Cc Ox8150 06 Ox01050900 17107200 Product cade EUSE SWD 4AX EPs Ce 048150 20 0x00000310 54032 CFG EUSE SWD 4AX Module 9 M22 SWD K11 LED G rS CoE Ox8150 21 0x83 131 Options EUSE SWD AAX Module 10 M22 SWD KL1 LED R ig Ps CoE 0x8150 22 045002 20482 Parameters EUSE SWD 4AX Module 11 M22 SWD K22 LED W ers CoE 0x8160 05 0 01070900 17238272 Product code EUSE SWD 4PT Module 12 M22 SWD K22 LED B EPs Coe Ox8160 20 0x0000D310 54032 CFG EUSE SWD 4PT Module 13 M22 5WD K22 LED G EPs Ce OxB160 21 0x83 131 Options EUSE SWD 4PT Module 14 M22 SWD K22 LED R CoE 0 816022 030200 Parameters EUSE SWD 4PT Module 15 EUSE SWD 8Dx CoE Ox8170 08 Ox81D00101 2117074687 Product code DIL SWD 32 001 Module 16 EUSE SWD 4D4D CoE 0x8170 20 0x00000030 48 Module 17 EUSE SWD 4D2R S 0x8170 21 0x02 2 49 Module 18 EUSE SWD X8D 0x8170 22 0x
35. Activating read request A reading task Read Request for a SmartWire DT slave is conveyed in an SDO Download Request from the EtherCAT master to the index 0x2200 sub index 1 object in the gateway The SDO Download Request contains the following elements Element Desenption Dsatpe Va val range Bue Amountordataofihe S00 Dommioad foses Data for SWD slave Slave Address Address of the SWD slave that you want to read according uint8 1 395 to project configuration SWD Index SWD specific index of the SWD slave Determines which uint8 0 255 kind of data you want to read e g error counter or firmware version Request Type Type of request A read request must have the value 1 Length Maximum length of the expected response in bytes Must be uint8 1 120 at least as long as the SWD object in bytes Job ID Freely selectable value serves as job identification Reserved Bytes Five reserved bytes uint8 5 0x00 0x00 0x00 0x00 0x00 Table 24 Elements SDO Download of a read request The gateway acknowledges the reception of the task by sending back an SDO Download Confirmation to the EtherCAT master The gateway also forwards the task to the SWD slave where the reading task is performed in the specified SWD Index The SWD slave then sends back the answer to the gateway where it is stored in the index 0x2200 sub index 2 object The EtherCAT master can then fetch the answer by sending an SDO Upload Reque
36. CAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Device picture connectors and LEDs 9 2 2 POW System status Number in picture 1 APL Application status Number in picture 2 Config Configuration status Number in picture 3 SWD SmartWire DT status Number in picture 4 SmartWire DT Gateway EU5C SWD ETHERCAT 28 99 Description of the LEDs Duo LED yellow green e yellow Operating system running firmware has been started E E d Blinking green Second Stage Bootloader is not able to load the firmware green The device needs to be sent in for servicing EM Backup firmware is active QM The gateway needs a firmware recovery as described in chapter Firmware Recovery per HTTP gt page 88 N Blinking green ROM loader is not able to find bootable image green The device needs to be sent in for servicing e off off o Power supply for device is missing or hardware is defect Duo LED red green On Communication on EtherCAT and SmartWire DT is in cyclic data exchange and the gateway function is executed Blinking Gateway is initialized but the communication on EtherCAT or 1 s off SmartWire DT is not in cyclic data exchange Blinking 1 s off 1son Gateway is initialized but the SmartWire DT configuration is missing or in error Gateway has detected an error during the initialization Missing configuration e
37. CoE 0x8010 20 000000010 16 CFG M22 SWD K22 iB PS CoE 801021 02 2 Options M22 SWD K22 iB Ps CoE 801022 0x00 0 Parameters M22 SWD K22 ig Ps CoE 0802006 081900101 2121268991 Product code M22 SWD LEDC W Y gt Figure 21 Editing parameters of SWD Coordinator 3 gt Inthe main menu of the TwinCAT System Manager choose Actions gt Activate Configuration to download the changed configuration data SmartWire DT Gateway EU5C SWD ETHERCAT DOC140901UMO2EN Revision 2 English 2015 06 Released Public Hilscher 2015 Parameterization 57 99 9 3 Configuration data of the SWD devices 9 3 1 Overview Besides information on process data the ESI files of the SmartWire DT device also contain device specific information like module ID Product code configuration data CFG device options Options and additional device parameters Parameters When a SmartWire DT device i e a module is added to the project configuration the EtherCAT engineering tool i e TwinCAT maps these data sets to the following elements all values in hex Device Module 1 index 0x8000 e Module ID Product code sub index 06 e Configuration data CFG sub index 20 e Device options Options sub index 21 e Device parameters Parameters sub index 22 Device Module 2 index 0x8010 e Module ID Product code sub index 06 e Configuration data CFG sub index 20 e Device options Options sub index 21 e Dev
38. D master or one of the 99 SWD slave devices The ID of the concerned SWD device is indicated in the Address field byte 1 of the Emergency Telegram The address value 0x00 represents the gateway itself values 0x01 to 0x63 represent the consecutively numbered SWD slaves from device 1 to device 99 The nature of the error is indicated in the Diagnosis Code field byte 3 of the Emergency Telegram the Error Flag fields bytes 4 to 7 are not used here Note that the diagnostic codes are defined by the manufacturers of the individual SWD devices and can therefore differ from device to device For the EU5C SWD ETHERCAT gateway there is currently only one code defined Diagnosis Code Meaning sedby OxF3 Project configuration does not EU5C SWD ETHERCAT gateway comply with target configuration Table 39 Diagnosis Code of gateway The diagnosis codes of individual SmartWire DT slaves can be looked up in the user manual of the corresponding device for devices manufactured by Eaton for example this would be the manual SmartWire DT modules MN05006001Z EN The subsequent table provides some examples of diagnostic codes of SmartWire DT slave devices Diagnosis Code Meaning Usedby 0x00 No diagnostic message active All devices that support the extended diagnosis Output overload I O module Table 40 Examples of diagnostic codes of SWD slaves SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Re
39. E ee Ht amp E 28200200028 B Timestamp Meldung 14 10 2014 13 20 21 883 ms Box 1 ELIBC SWD ETHERCAT 1001 CoE Emergency Hex FFO0 81 00 00 04 00 00 14 10 2014 13 20 19 461 ms Box 1 EUSC SWD ETHERCAT 1001 abnormal state change from PREOP to INIT Try to go back to OP 14 10 2014 13 20 19 401 ms Box 1 EUSC SWD ETHERCAT 1001 state change to PREOP finished Local 127 255 255 1 1 1 Figure 27 Editing device parameters of SWD device 1 gt Search the list for the SmartWire DT device and the Parameters element that you want to edit An Parameters element can be recognized by the index 0x8XXX 22 and the Parameters device name entry in the Comment column Select the Parameters element then click Edit button or double click the element SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Parameterization 69 99 The Edit CANopen Startup Entry dialog window opens The Data hexbin field displays the preset hexadecimal value of the parameter byte In case of the EUSE SWD 4Ax device this is the value 02 50 Edit CANopen Startup Entry Transition DII P Index hex 8150 P gt S FSSP Sub Index deck 34 L15 0 L 0 S C Complete Access Data hexbin 02 SS Comment Parameters EU5E SWD 44x 1 Index Name
40. E 0x8150 06 001050900 17107200 Product code EUSE SWD 4AX j 49 Module 10 M22 SWD K11 LED R 2 Ze in Free Ganaa Sis nee Module 11 M22 SWD K22 LED W i Options 1 Module 12 M22 SWO KZZ LED B EB CoE 0x8150 22 05002 20482 Parameters EUSE SWD 4AX Module 13 M22 5WD K22 LED G gs CoE x8160 06 01070900 17238272 Product code EUSE SWD 4PT Module 14 M22 SWD K22 LED R gg s CoE x8160 20 0000310 54032 CFG EUSE SWD 4PT Module 15 EUSE SWD 8D gg Ps CoE amp 8160 21 amp 83 131 Options EUSE SWD 4PT Module 16 EUSE SWD 4D4D gs CoE amp 8160 22 03 02 00 Parameters EUSE SWD 4PT 5 49 Module 17 EUSE SWD 4D2R gg Ps CoE 0x8170 06 x81D00101 2117074687 Product code DIL SWD 32 001 Module 18 EUSE SWD X8D gs CoE x8170 20 x00000030 48 CFG DIL SWD 32 001 j 49 Module 19 EUSE SWD 4D s CoE amp 8170 21 0x02 2 Options DIL SWD 32 001 Module 20 EUSE SWD 4DX gs CoE x8170 22 x00 0 Parameters DIL SWD 32 001 Module 21 EUSE SWD 2A2A gs CoE amp 8180 06 amp 81D10101 2117009151 Product code DIL SWD 32 002 Module 22 EUSE SWD 4AX grs CoE x8180 20 amp 00000030 48 CFG DIL SWD 32 002 Module 23 EUSE SWD 4PT Gps CoE 0818021 0x02 2 ee Module 24 DIL SWD 32 001 lt DB j 8 Module 25 DIL SWD 32 002 l E H Module 26 PKE SWD 32 Profile 2 New Delete Ed HQ wcstate HQ InfoData BR Box 2 NXIO 50 RE ECS t 1 TxPDO Online Size pAddr In Out User Linked to i
41. ERCAT gateway General Partnumber 9293822 Dimensions 35 x 90 x 127 mm WxHxD Weight 160 g Integrated memory 8 MB SDRAM 4 MB serial Flash EPROM Ambient mechanical Protection type IP20 conditions IEC EN 60529 EN50178 VBG 4 Vibrations Constant amplitude 3 5 mm 5 9 Hz IEC EN 61131 2 2008 Constant acceleration 1 g 9 150 Hz Mechanical shock resistance Semi sinusoidal 15 g 11 ms 9 Shocks IEC EN 60068 2 27 Drop to Drop height 50 mm IEC EN 60068 2 31 Free fall packaged Drop height 1 m IEC EN 60068 2 32 Ambient climatic conditions Operating ambient temperature 25 55 C IEC 60068 2 Swa AOC Relative humidity non condensing 5 95 IEC EN 60068 2 30 Electromagnetic Pollution degree sid Pollution degree sid compatibility EMC Electrostatic discharge Air D ee Level 3 8 kV IEC EN 61131 2 2008 Contact discharge Level 2 4 kV Electromagnetic fields 80 1000 MHz 10 V m IEC EN 61131 2 2008 1 4 2 GHz 3 V m 2 2 7 GHz 1 V m Radio interference suppression EN 55011 Class A SmartWire DT Burst Supply cables 2 kV IEC EN 61131 2 2008 Level 3 EtherCAT bus cable 1 kV SmartWire DT cables 1 kV Surge Supply cables 0 5 kV IEC EN 61131 2 2008 Level 1 EtherCAT bus cable 1 kV Radiated RFI 0 15 80 MHz 10 V 80 AM 1 KHz IEC EN 61131 2 2008 Level 3 SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06
42. Flags Value 1000 Device type M RO 1008 Device Name RO 1009 Hardware version RO 1004 Software Version RO 1018 0 Identity RO 1C00 0 Sync Manager Type RO 1C12 0 RxPDO Assign Aw 10130 TxPDO Assign Aw 2200 0 Acyclic Service Aw F000 0 Modular Device Profile RO F030 0 Configured Module Ident List RW F050 0 Detected Module Ident List RO Figure 28 Editing device parameters of SWD device 2 m Important Please note that the first byte in the Data hexbin field in this example 02 is the length byte denoting the total number of bytes contained in the Parameters element This first length byte must not be changed In case of the devices EUSE SWD 4AX and EU5SE SWD 2A2A the Parameters element consists of two bytes of which you are allowed to change only the second byte In case of the EU5E SWD 4PT device the Parameters element consists of three bytes of which you are allowed to change only the last two bytes gt Inthe Data hexbin field change the value of the second byte Omit the 0x prefix i e enter the value 0x60 simply as string 60 3 Note 3 The Parameters can only be configured by entering hexadecimal byte values For changing the parameters you therefore have to recalculate a new byte value The outcome of this calculation depends on the parameter bits you are changing and on the default settings of the device Entering the value 60 in this example changes the Reading refresh
43. Hex 0 Dez 0x00 Hex 16 Dez 0x10 Hex 0 Dez 0x00 Hex 64 Dez 0x40 Hex 0 Dez 0x00 Hex 80 Dez 0x50 Hex Hilscher 2015 Parameterization 71 99 If you want to change the Reading refresh rate of the device from 100 ms default to 200 ms you have to set Bit 4 to FALSE and Bit 5 to TRUE see table Bit assignment of parameter byte of EUSE SWD 4AX Bit O Sensor selector input 1 FALSE 0 0 Dez 0x00 Hex Bit 1 Sensor selector input 2 FALSE 0 0 Dez 0x00 Hex Bit 2 Sensor selector input 3 FALSE 0 0 Dez 0x00 Hex Bit 3 Sensor selector input 4 FALSE 0 0 Dez 0x00 Hex Bit 4 Reading refresh rate FALSE 0 0 Dez 0x00 Hex Bit 5 Reading refresh rate TRUE 1 32 Dez 0x20 Hex Bit 6 Mean value averaging TRUE 1 64 Dez 0x40 Hex Bit 7 Reserved FALSE 0 0 Dez 0x00 Hex Parameter Byte 96 Dez 0x60 Hex 0x60 thus is the value you have to enter as parameter byte for the device in TwinCAT SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Acyclical communication 72 99 10 Acyclical communication 10 1 Overview The EtherCAT master exchanges acyclic data with individual SmartWire DT slaves via gateway by using the index 0x2200 sub index 1 object and the index 0x2200 sub index 2 object The subsequent section
44. T devices 5 Installation EtherCAT Instructions Wiring Instructions EtherCAT UM 01 EN pdf Table 7 Documentation overview SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Introduction 13 99 1 5 Legal notes 1 5 1 Copyright Hilscher 2015 Hilscher Gesellschaft f r Systemautomation mbH All rights reserved The images photographs and texts in the accompanying material user manual accompanying texts documentation etc are protected by German and international copyright law as well as international trade and protection provisions You are not authorized to duplicate these in whole or in part using technical or mechanical methods printing photocopying or other methods to manipulate or transfer using electronic systems without prior written consent You are not permitted to make changes to copyright notices markings trademarks or ownership declarations The included diagrams do not take the patent situation into account The company names and product descriptions included in this document may be trademarks or brands of the respective owners and may be trademarked or patented Any form of further use requires the explicit consent of the respective rights owner 1 5 2 Important notes The user manual accompanying texts and the documentation were created for the use of the products by qualified experts however errors cannot be ruled
45. TxPDO index 0x1A00 Sub index 0x00 and following The EtherCAT master adds all configured PDOs to the RxPDO Assign Object index 0x1C12 and to the TxPDO Assign Object index 0x1C13 The EtherCAT master loads this configuration data into the gateway via SDOs when the gateway is in state Pre Operational Startup CoE Online Online 01 00 08 01 00 60 01 00 08 01 10 70 02 00 00 16 01 16 02 00 00 1A 01 1A 04 00 08 01 10 60 08 02 10 60 download pdo lAD entes d download pdo 1600 entries download pdo 1A01 entries download pdo 1601 entries download pdo 1C12 index download pdo 1C13 index download slot cfg ig rs CoE x2100 04 0x00 0 Coordinator Config Compatible devices permissible 0 No 1 Yes ig Ps CoE x2100 05 0x00 0 Coordinator Config All devices are optional 0 No 1 Yes ig Ps CoE x2100 08 0x00 0 Coordinator Config Replacement during operation permissible 0 No 1 Yes ig Ps CoE x8000 06 x81D00101 2117074687 Product code DIL SWD 32 001 ig Ps CoE x8000 20 x00000030 48 CFG DIL SWD 32 001 B Ps CoE x8000 21 x02 2 Options DIL SWD 32 001 iB Ps CoE 8000 22 x00 0 Parameters DIL SWD 32 001 iB Ps CoE x8010 06 x81E30401 2115828735 Product code PKE SWD 32 Profile 2 iB Ps CoE x8010 20 x00002093 8339 CFG PKE SWD 32 Profile 2 ig Ps CoE x8010 21 xC2 194 Options PKE SWD 32 Profile 2 iB Ps CoE x8010 22 0x00 0 Parameters PKE SWD 32 Pro
46. U5C SWD ETHERCAT_XXXXXXXX xml ESI for SWD participants Eaton_EU5C SWD ETHERCAT_Modules_XXXXXXXX xml ESI for SWD partner devices by Phoenix Phoenix_EU5C SWD ETHERCAT_Modules_XXXXXXXX xml ESI for SWD partner devices by W hner Woehner_EU5C SWD ETHERCAT_Modules_XXXXXXXX xml Table 5 Reference to device description files SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Introduction 8 99 1 3 Software package 1 3 1 Overview Hilscher offers the optional software package EU5C SWD SW part number 3233 920 for SmartWire DT Gateways The package features the SmartWire DT Gateway Solutions product DVD and a Mini USB cable The SmartWire DT Gateway Solutions product DVD contains the EtherCAT Slave Information files ESI necessary for configuring the EU5C SWD ETHERCAT gateway within the EtherCAT network If you do not need the whole package with the USB cable you can download the contents of the product DVD separately and free of charge as ZIP file from our website www hilscher com under Products gt Partner Products gt SmartWire DT gt EU5C SWD ETHERCAT gt Downloads gt Software gt Note gt The TwinCAT System Manager used in the commissioning example in this document is not included on the product DVD TwinCAT can be obtained from the Beckhoff Automation GmbH 1 3 2 Contents of the product DVD The SmartWire DT Gateway Solutions product DVD conta
47. Under Windows 7 and 8 choose Start menu gt Control Panel gt Uninstall a program then select Windows Driver Package Hilscher GmbH hilusbser Ports entry Click Uninstall Change button to uninstall the driver SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Introduction 12 99 1 4 Documentation overview Besides this user manual at hand path on product DVD Documentation english 2 Hardware EU5C SWD ETHERCAT UM xx EN pdf the following documents are also relevant for the user of the EU5C SWD ETHERCAT Gateway Title Contents Publisher Document ID Path on product DVD SmartWire DT Information on MN050060012 EN Documentation NenglishN Modules engineering installation 3 SmartWire DT SmartWire and programming of the DT Units individual SmartWire DT NO5006001Z EN pdf slaves B SmartWire DT Information on function MNO50060022 E Documentation english The System installation 3 SmartWire DT SmartWire commissioning and DT The System diagnostics of the N050060022 EN pdf SmartWire DT system SWD Assist Online help for SWD Eaton Included in SWD Assist software Online help Assist planning software TwinCAT Online help TwinCAT Beckhoff Included in TwinCAT software System Manager System Manager Online help Wiring Wiring instructions for Hilscher DOC121104UMxxEN Documentation english Instructions EtherCA
48. V DC for POW e Cable protection in accordance with DIN VDE 0641 Part 11 IEC EN 60898 Miniature circuit breaker 24 V DC rated operational current 3 A trip types C or Fuse 3A utilization class gL gG e Cable protection for cable AWG 24 in accordance with UL 508 und CSA 22 2 No 14 Miniature circuit breaker 24 V DC rated operational current 3 A Tripping characteristics C or Fuse 3A 4 2 2 AUX power connection If any switching devices are also to be connected for example via the DIL SWD 32 001 002 SmartWire DT slaves a 24 V DC supply will also be required at the AUX power connection This provides the supply for activating the contactor coils This supply must be protected by an automatic circuit breaker 3A gG gl or 3 A miniature circuit breaker with a Z characteristic If switching devices with an activation power greater than 3 A are connected an additional feeder module EU5C SWD PF1 or EU5C SWD PF2 must be used On the SmartWire DT gateway connect the POW and AUX supply voltages via separate miniature circuit breakers or fuses Miniature circuit breaker 24 V DC for AUX e Cable protection in accordance with DIN VDE 0641 Part 11 IEC EN 60898 Miniature circuit breaker 24 V DC rated operational current 3 A trip type Z or Fuse 3A utilization class gL gG e Cable protection for cable AWG 24 in accordance with UL 508 und CSA 22 2 No 14 Miniature circuit breaker 24 V DC rated operational current 2 A Tripping characteris
49. WD slave The Request State and the Error Code which are also contained in the SDO Upload Confirmation indicate to the master whether the task has been finished successfully or if an error occurred SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Acyclical communication 73 99 EU5C SWD ETHERCAT Gateway Index 0x2200 Download Request EE Susi Address Node ID Index 0x2200 Subindex 1 Data Size 10 bytes Data SDO Download Confirmation Subindex 2 EU5C SWD ETHERCAT 2 n Gateway Index 0x2200 Subindex 1 Sends task to SWD slave Subindex 2 EU5C SWD ETHERCAT Gateway Index 0x2200 Subindex 1 SDO Upload Request Address Node ID Index 0x2200 Subindex 2 Subindex 2 SDO Upload Confirmation Data State 1 4 EU5C SWD ETHERCAT Gateway Index 0x2200 Subindex 1 SWD slave responds EU5C SWD ETHERCAT Gateway Index 0x2200 Subindex 1 Upload Request Address Node ID Index 0x2200 Subindex 2 Subindex 2 amp SDO Upload Confirmation Data State 2 Error Code 0x00 Figure 30 Conducting acyclical communication SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Acyclical communication 74 99 10 2 Read request reading data of an SWD Slave 10 2 1
50. Wire D I ann aa al 38 19 COH I CUNO 101 1 972 m M 39 7 6 EMC contormant wiring of the network a EDEN DEKAE EEERE 40 8 Configuring Gateway snosiscnacasixnxku nigra Ex Cu UA GU EROR OCURRE MUERE ed 41 Bel OVERVIEW 41 8 2 Configuring SmartWire DT network in gateway creating target configuration 41 8 2 1 COVE VIEW ie ae Eee 41 8 2 2 Prereg isites n seen nern 42 8 2 3 Step by step instructions uuss04sssnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnn 42 8 3 Configuring gateway in Mer Tio seccecciccteiceseccctneccinsntunteleancsasiedaasvinctespeseiaequmcesiedaiendes 43 8 3 1 Device description files eessessssesseesseeeeeenennrnenennnnnnnnnnnns 43 8 3 2 Contig ring gateway in TWINCAT ans aa 44 9 Parameterization PRRRFESREBESERETSEPETEHRIETUEFTTEOFTERFEEPESREITEEREE HIELTEUSTIEGENELNUUEL ER eoa RE YEH MN FEIN R RETE Rave RATEN ER RELTSN 51 9 1 Process data REM 51 92 Configuring SmartWire DT Coordinator u a MEER un ARPREM VAL E uK KM ERE ANE 52 9 2 1 OVGIVICW 52 9 2 2 IMI I III 54 9 2 3 Step by step instructions gate nete snae eroe ao e ora 54 9 3 Configuration data of the SWD devices esses nnne nennen nint nk ntes 57 9 3 1 leu AU RR 57 9 3 2 Configuring device options of SmartWire DT devices in TwinCAT 58 9 3 3 Configuring device paramete
51. a registered trademark of Adobe Systems Incorporated EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany SmartWire DT is a registered trademark of Eaton Corporation TwinCAT is a registered trademark of Beckhoff Automation GmbH Germany Windows XP Windows 7 and Windows 8 are registered trademarks of the Microsoft Corporation All other mentioned trademarks are property of their respective legal owners SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Safety 16 99 2 Safety 2 1 General note The user manual all accompanying texts and the documentation are written for the use of the products by educated personnel When using the products all safety instructions property damage messages and all valid legal regulations have to be observed Technical knowledge is presumed The user has to assure that all legal regulations are obeyed 2 2 Intended use The purpose of the EU5C SWD ETHERCAT Gateway described in this user manual is to create a connection between SmartWire DT slaves and an EtherCAT master in an overriding EtherCAT network 2 3 Personnel qualification The gateway must be installed configured and removed by qualified personnel only Job specific technical skills for people professionally working with electricity must be present concerning the following issues e Safety a
52. arameterization Note 55 99 The Edit CANopen Startup Entry dialog window opens The Data hexbin field displays the preset hexadecimal value of the byte configuring this parameter In case of the baud rate this is the value 7D 00 the 00 byte is a reserved byte Edit CANopen Startup Entry Transition Ei P Index hex 2100 Bir ss MHs gt P Sub Index dec 1 S 0 Flos Validate Complete Access Data hexbin 7D 00 q4 Hex Edit Comment Coordinator Config SWD Baud rate 125 250 kBaud s Edit Entry Index Name Flags Value 1000 Device type M RO 1008 Device Name RO 1009 Hardware version RO 1004 Software Version RO 1018 0 Identity RO 1C00 0 Sync Manager Type RO 1012 0 RxPDO Assign Aw 1013 0 TxPDO Assign Fw 2200 0 Acyclic Service Aw F000 0 Modular Device Profile RO F030 0 Configured Module Ident List Aw FO50 0 Detected Module Ident List RO Figure 20 Editing parameters of SWD Coordinator 2 gt Inthe Data hexbin field enter the new hexadecimal value of the parameter Omit the 0x prefix i e enter the value 0xFA simply as string FA You can delete the reserved second byte i e the 00 byte Entering the value FA decimal 250 in this example causes the Coordinator i e the gateway to run the SmartWire DT network with a 250 kBaud s rate What value has to be entered for other parameters is shown in table Parameter settings of SWD Coordina
53. ation and stores it as target configuration Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Device picture connectors and LEDs 29 99 RUN Duo LED red green EtherCAT e Off INIT The device is in state INIT Bus status off Number in EU E NE picture E Blinking PRE OPERATIONAL The device is in state PRE OPERATIONAL 5 ech Single flash SAFE OPERATIONAL The device is in state SAFE OPERATIONAL OPERATIONAL The device is in state OPERATIONAL en ERR Duo LED EtherCAT No error EtherCAT communication of the device is in working Bus error en condition Number in picture Blinking Invalid Configuration General Configuration Error 6 Example State change commanded by master is impossible due to register or object settings Single flash Unsolicited State Change Slave device application has changed the EtherCAT state autonomously Parameter Change in the AL status register is set to 0x01 change error Example Synchronization Error device enters Safe Operational automatically EG Double flash Application Watchdog Timeout An application watchdog timeout ve has occurred Example Sync Manager Watchdog timeout PDI Watchdog Timeout A PDI Watchdog timeout has occurred Er Example Application controller is not responding any more LIA RJ45 ChO LED green amp Ch1 Link Gateway has connection to EtherCAT Numbers in green pictures 7 and 9 Blinking Ac
54. automation mbH does not guarantee its suitability for any purpose not confirmed in writing It cannot be guaranteed that the hardware and software will meet your requirements that the use of the software operates without interruption and that the software is free of errors No guarantee is made regarding infringements violations of patents rights of ownership or the freedom from interference by third parties No additional guarantees or assurances are made regarding marketability freedom of defect of title integration or usability for certain purposes unless they are required in accordance with the law and cannot be limited Warranty claims are limited to the right to claim rectification SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Introduction 15 99 1 5 5 Export regulations The delivered product including the technical data is subject to export or import laws as well as the associated regulations of different counters in particular those of Germany and the USA The software may not be exported to countries where this is prohibited by the United States Export Administration Act and its additional provisions You are obligated to comply with the regulations at your personal responsibility We wish to inform you that you may require permission from state authorities to export re export or import the product 1 5 6 Registered Trademarks Adobe Reader is
55. ay process data 1 suuuss 49 Figure 16 EU5C SWD ETHERCAT Gateway process data 2 seseesss 50 Figure 17 Process data mapping in TwinCAT een 51 Figure 18 Configuration data of the SWD Coordinator gateway in TwinCAT 52 Figure 19 Editing parameters of SWD Coordinator 1 esee 54 Figure 20 Editing parameters or SWD Coordinator Ra ana 55 Figure 21 Editing parameters of SWD Coordinator 3 eese 56 Figure 22 Configuration data elements of SWD devices in TwinCAT 9f Figure 23 Editing device options of SWD device 1 eeeeeeeeeeeeessesseu 60 Figure 24 Editing device options of SWD device 2 une 61 Figure 25 Editing device options of SWD device 3 aa 62 Figure 26 Programmer view of Windows 7 calculator eeseeee 64 Figure 27 Editing device parameters of SWD device 1 eeeeeeeeseesssss 68 Figure 28 Editing device parameters of SWD device 2 eese 69 Figure 29 Editing device parameters of SWD device 3 sese 70 Figure 30 Conducting acyclical CODDPDIDI TOUT ss aeasudqn ra 13 Figure 31 PRM Vel eT P 86 Figure 32 i i ee a m 86 Figure 33 Edit firmware name 1 ae de tu Ea iuuat en dele me pte aa
56. connect the gateway to the voltage supply gt Note gt The L A LINK Activity LEDs of the Ethernet RJ45 sockets remain dark when an Ethernet cable is plugged in while the backup firmware is running even if a successful IP communication with an local Ethernet network has been established The backup firmware running in the device now sends a so called DHCPDISCOVER message broadcast into the Ethernet network requesting an IP address from a DHCP server If a DHCP service is available in the network the gateway should be receiving a valid IP address from the server within a few seconds 2 Check IP address gt Inthe Windows Start menu of your configuration PC select All Programs gt Hilscher GmbH gt Ethernet Device Configuration to start the Ethernet Device Configuration Tool The Ethernet Device Configuration tool opens a Ethernet Device Configuration j File Options Devices Online Find next previous MAC Address Device Type Device Name IP Address Protocol Device ID Vendor ID Device role Search Devices Figure 35 Ethernet Device Configuration Tool gt Click Search Devices button to start searching for the gateway within the local Ethernet network SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Firmware recovery via HTTP 90 99 gt The tool starts scanning for devices and lists all
57. ct configuration for the EU5C SWD ETHERCAT gateway by using the TwinCAT System Manager V2 11 on a standard PC In this example TwinCAT in combination with the standard Ethernet network adapter of the PC serve also as Soft PLC and EtherCAT master device simultaneously Please note that commissioning the gateway in an EtherCAT network controlled by a real hardware PLC is not subject of this document 8 3 2 1 Prerequisites EU5C SWD ETHERCAT gateway The gateway is connected to a SmartWire DT network The gateway contains a valid SmartWire DT configuration the SWD LED shows steady green light PC with instal led TwinCAT System Manager and Ethernet adapter The Ethernet adapter of the PC is connected to the gateway via EtherCAT network Device description files of the EU5C SWD ETHERCAT gateway 8 3 2 2 Step by step instructions 1 Copy device description files into TwinCAT directory gt Inthe Windows Explorer open the directory where the device description files are stored On the product DVD this is the EDS EUSC SWD ETHERCATNVx x x x directory gt Copy the device description files Note You need the Phoenix EUSC SWD ETHERCAT Modules XXXXXXXX xml and the Woehner EUSC SWD ETH ERCAT Modules XXXXXXXX xml files only if the Smart Wire DT network includes partner devices by Phoenix or W hner gt Copy the files to the TwinCATNIoNEtherCAT directory
58. ctory Documentation english 3 SmartWire DT SmartWire DT Units MN050060012 EN pdf Configurable parameters of the SmartWire DT devices are This section describes how to configure sensor type refresh rate and averaging of the inputs outputs modules EU5E SWD 4AX EU5E SWD 2A2A and EU5E SWD 4PT by editing their Parameters element sub index 22 in TWinCAT Please note that this section is of exemplary nature You always have to look up the definite bit assignment of the parameter byte of individual devices in the latest documentation of the device s manufacturer The subsequent tables show the bit assignments of the Parameters bytes of the SmartWire DT devices EUSE SWD 4AX EUSE SWD 2A2A and EU5E SWD 4PT EUSE SWD 4AX Parameter Byte value function Weit an Ei ame DE E 5 Reading refresh rate Milli seconds FALSE 0 FALSE 0 FALSE 0 TRUE 1 DNE default z averaging Table 20 Bit assignment of parameter byte of EUSE SWD 4AX B 0x0 0x0 0x0 0x0 0x0 0x0 x0 0 0x08 gt 0x0 0x1 0x2 ala AZ Cc mim ZIG UN SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Parameterization 66 99 EUSE SWD 2A2A function Mex Actuator selector FALSE 0 Voltage default Output 2 TRUE 1 Current 5 Reading refresh rate Milli seconds FALSE 0 FALSE 0 default A
59. describes a typical acyclic communication process see also diagram on the following page 1 The EtherCAT master sends a task read or write request for a SmartWire DT slave to the index 0x2200 sub index 1 object by using an SDO Download Request The gateway acknowledges the reception of the task by sending back an SDO Download Confirmation The gateway forwards the task to the SWD slave The SWD slave executes the requested read or write task in the specified SWD Index While the gateway is waiting for an answer from the SWD slave the EtherCAT master regularily queries the state of the task by sending SDO Upload Requests to the index 0x2200 sub index 2 object As long as the gateway has not yet received the answer from the SWD slave SmartWire DT communication is slower than EtherCAT communication the SDO Upload Confirmation conveys the Request State 1 in progress The EtherCAT master thus has to keep on sending SDO Upload Requests to the gateway The answer from the SWD slave arrives in the gateway where it is stored in the index 0x2200 sub index 2 object In case the task has been successfully executed the Request State is set to 2 finished On the next SDO Upload Request the newly arrived answering data from the SWD slave is being sent from the gateway to the EtherCAT master in the SDO Upload Confirmation In case of a read request it contains the data which was read from the SWD Index of the S
60. dp hilsc 7 COMPETENCE IN COMMUNICATION User Manual SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher Gesellschaft fur Systemautomation mbH www hilscher com DOC140901UMO2EN Revision 2 English 2015 06 Released Public Table of contents 2 99 1 rere me aaa i aa a aa a ia a M M H BHBR 5 1 1 About this document issn aaa anae aaar e Ea aa aea a aa Aaaa Aaaa TEER E AERA 5 1 1 1 Description of the contents 44444444444044000000RRRnnnnnnnn nennen nennen 5 1 1 2 List OF revisions iansnen nenne 5 1 1 3 Conventions in this document 440s40404nsenneennnennennnennnennnnnnnennnennnennnnnnn 6 1 2 Versions of devices firmware software tools drivers and device description files 7 D EE 067 doce co c E EEE Eat 8 1 3 1 err 8 1 3 2 Contents of the product DVD eeseeessessssssssssssseeeeen eren nnne nnns 8 1 3 3 How to use the product DVD sssssssssseeeneemeemeemennn nns 10 1 3 4 Notes on installing the USB Diver aan ae nanc Eu 11 1 4 Documentation overview nsnsssnnennnennnennnnnnnennnennnennennnennnn nn 12 1 9 LCegalnoteS men onra anne 13 1 5 1 CODY CINE iscissi eiae naea a E E nA NE NTE SEa 13 1 5 2 Important notes sssssssssses meme emere nnne EEEE Eent 13 1 5 3 EREIUSIOH OT NABIY PNE RC T cr 14 1 5 4 War
61. e SmartWire DT network i e the line up of the participants devices connected to the SWD bus and store it as target configuration Reading and storing the SmartWire DT network configuration takes place by pressing the configuration button on the gateway for the position of the configuration button see figure Frontansicht EU5C SWD ETHERCAT Gateway page 26 All SmartWire DT slaves are re addressed in ascending order by this process This process should only take place in the case of e initial commissioning e replacement of a defective slave or e deliberate change to the configuration Hazard of device damage by disruption of voltage supply while creating target configuration Do not interrupt the voltage supply while creating the target configuration of the gateway Power failure during a writing process within the file system can cause severe malfunctioning of the device amp Important If there is a faulty configuration and the configuration button is pressed only the slaves up to the failed device are addressed and stored Use of the remaining slaves is not possible until the defective slave has been replaced and the configuration has been read in again by pressing the configuration button SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Configuring gateway 42 99 The remanently stored target configuration is compared with the current con
62. e file Just follow the instructions of the installation routine afterwards gt Note gt Under Windows XP the installation process is not yet finished by the setup The installation process has to be completed in the Found new Hardware Wizard which automatically opens when you connect the gateway to a PC via USB cable for the first time see below Windows XP When you connect the gateway via USB for the first time to a PC running under Windows XP the Found New Hardware Wizard opens gt Answer the question Can Windows connect to Windows Update with No not this time Then click Next button gt If you have already carried out the setup of the USB driver as recommended you can ignore the wizard s request to insert a CD or floppy disk Answer the What do you want the wizard to do question by selecting the Install the software automatically option then click Next button gt After the installation is complete click Finish button Windows 7 and 8 The USB connection is instantly operative under Windows 7 and 8 if you have carried out the setup of the USB driver before first connecting the USB cable as recommended Uninstall USB Driver If you want to remove the USB driver from a PC running under Windows XP choose Start menu gt Control Panel gt Add or Remove Programs then select Windows Driver Package Hilscher GmbH hilusbser Ports entry Click Change Remove button to uninstall the driver
63. e selected network adapter will be displayed as TwinCAT Ethernet Adapter under Installed and ready to use devices Installation of TwinCAT RT Ethernet Adapters Ethernet Adapters B Installed and ready to use devices Bg Local Area Connection 3 TwinCAT Intel PCI Ethernet Adapter Gigabit 2 BB Compatible devices Bg Local Area Connection 4 Intel R 82566DM 2 Gigabit Network Connection 2 Bg Incompatible devices Bg Disabled devices Enable Disable Show Bindings Figure 9 Installing TwinCAT Ethernet adapter 2 gt Close the dialog window by clicking on the red button in the upper right corner of the dialog window SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Configuring gateway 47 99 4 Scan for EtherCAT devices gt Inthe navigation tree of the TwinCAT System Manager select I O Devices element then choose Scan Devices entry from the context menu Untitled TwinCAT System Manager File Edit Actions View Options Help Dd ORS MD 93 ss 5 ORAS amp BQ Meee Oo i a SYSTEM Configuration Number Device B m IO Configuration p dio Devices B Mappings wk Append Device Ei Import Device Bq Scan Devices amp paste Ctrl SB Paste with Links Alt Ctri V Local 10 11 4 13 1 1 EMA Figure 10 Scan devices A message appears telling you that not all types of devices can be f
64. ed in TwinCAT gt page 58 3 3 Configure Device Parameters Section Configuring device parameters sensor parameters of if other than default settings are used I O modules gt page 65 Table 17 Getting started SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Installing gateway 32 99 7 Installing gateway 7 1 Safety messages era Electrical shock Please observe the following safety messages when you install and handle the gateway First disconnect the power plug of the device Make sure that the power supply is off at the device gt Cover or enclose neighboring units that are live A ma Electrostatic Sensitive Device The gateway is sensitive to electrostatic discharge which can cause internal damage and affect its normal operation Therefore adhere to the necessary safety precautions for components that are vulnerable to electrostatic discharge when you install or handle the gateway Do not touch the metal pins of the connectors of the gateway Touch a grounded object to discharge potential static Wear an approved grounding wrist strap If available use a static safe workstation When not in use store the device in an appropriate static safe packaging VVVVV SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Installing gateway 33 99 7 2 Mo
65. egram for new incoming error diagnosis of SWD device 82 Table 42 Emergency Telegram in case of a resolved error ccccccccececececeeeeeeeeeeeeeeeeeeeeees 82 Table 43 Error Flags in case of messages generated by the gateway 83 Table 44 Emergency Telegram for incoming error on SWD bus 2 24244444424 er 84 Table 45 Emergency Telegram in case of resolved SWD bus error r 84 Table 46 Technical data EU5C SWD ETHERCAT gateway esee 93 Table 47 Technical data EtherCAT slave protocol nnennnnnnnnnnnn nennen 95 SmartWire DT Gateway EUSC SWD ETHERCAT OHilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Contacts Contacts HEADQUARTERS Germany Hilscher Gesellschaft f r Systemautomation mbH Rheinstrasse 15 D 65795 Hattersheim Phone 49 0 6190 9907 0 Fax 49 0 6190 9907 50 E Mail info hilscher com Support Phone 49 0 6190 9907 99 E Mail de support hilscher com SUBSIDIARIES China Hilscher Systemautomation Shanghai Co Ltd 200010 Shanghai Phone 86 0 21 6355 5161 E Mail info hilscher cn Support Phone 86 0 21 6355 5161 E Mail cn support hilscher com France Hilscher France S a r l 69500 Bron Phone 33 0 4 72 37 98 40 E Mail info hilscher fr Support Phone 33 0 4 72 37 98 40 E Mail fr support hilsch
66. er com India Hilscher India Pvt Ltd Pune Delhi Mumbai Phone 91 8888 750 777 E Mail info hilscher in Italy Hilscher Italia S r l 20090 Vimodrone MI Phone 39 02 25007068 E Mail info hilscher it Support Phone 39 02 25007068 E Mail it support hilscher com SmartWire DT Gateway EU5C SWD ETHERCAT DOC140901UMOZEN Revision 2 English 2015 06 Released Public 99 99 Japan Hilscher Japan KK Tokyo 160 0022 Phone 81 0 3 5362 0521 E Mail info hilscher jp Support Phone 81 0 3 5362 0521 E Mail jp support hilscher com Korea Hilscher Korea Inc Seongnam Gyeonggi 463 400 Phone 82 0 31 789 3715 E Mail info hilscher kr Switzerland Hilscher Swiss GmbH 4500 Solothurn Phone 41 0 32 623 6633 E Mail info hilscher ch Support Phone 49 0 6190 9907 99 E Mail ch support hilscher com USA Hilscher North America Inc Lisle IL 60532 Phone 1 630 505 5301 E Mail info hilscher us Support Phone 1 630 505 5301 E Mail us support hilscher com Hilscher 2015
67. erating ambient temperature EUSC SWD ETHERCAT Eai 6 Device type name www hilscher com 9253922 3 7 Part number UN 8 Hardware revision number 9 Serial number Table 16 Device type label EU5C SWD ETHERCAT Gateway SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Getting started 31 99 6 Getting started The following table provides an overview of the steps necessary for installing and commissioning the EU5C SWD ETHERCAT Gateway se o o 77 77 1 instat gateway Chapter Installing gateway l page Sz Connect gateway to SmartWire DT network 2 Configure gateway Cnapter Configuring gateway page 41 ZA Configure SmartWire DT network in gateway Section Configuring SmartWire DT network in gateway creating target configuration page 41 2 2 Import device description files in EtherCAT Section Configuring gateway in TwinCAT gt page 44 engineering tool TwinCAT System Manager 2 3 Configure gateway in EtherCAT engineering tool Configure SmartWire DT devices in Section Configuration data of the SWD devices gt page 57 engineering tool 3 1 Configure SmartWire DT network coordinator Section Configuring SmartWire DT Coordinator page 52 parameters if other than default settings are used 3 2 Configure Device Options Section Configuring device options of SmartWire DT devices if other than default settings are us
68. esence in SmartWire DT network FALSE 0 TRUE 1 FALSE 0 FALSE 0 FALSE 0 FALSE 0 FALSE 0 FALSE 0 0 Dez 2 Dez 0 Dez 0 De 0 De 0 Dez 0 Dez 0 Dez 2 Dez N N 0x00 Hex 0x02 Hex 0x00 Hex 0x00 Hex 0x00 Hex 0x00 Hex 0x00 Hex 0x00 Hex 0x02 Hex This options byte means for the DIL SWD 32 001 device that it must be present in the current bus configuration Bit 1 TRUE but that is has no extended parameters Bit 0 FALSE and does not use CRC8 with its cyclic input data Bit 2 FALSE etc If you now want to allow the substitution of the device within the SmartWire DT bus by an universal module you have to set Bit 4 to TRUE and then add the newly created byte value in this case 16 0x10 Hex to the other byte values in order to calculate options byte Bit 0 Extended parameters Bit 1 Presence in SmartWire DT network Bit 2 Cyclic input data with CRC8 Bit 3 Format of payload data words Bit 4 Substitution by universal module Bit 5 reserved Bit 6 Support of data profiles Bit 7 Support of acyclic data requests Options Byte FALSE 0 TRUE 1 FALSE 0 FALSE 0 TRUE 1 FALSE 0 FALSE 0 FALSE 0 Dez respectively 0 Dez 2 Dez 0 Dez 0 Dez 16 Dez 0 Dez 0 Dez 0 Dez 18 Dez 0x00 Hex 0x02
69. f the options byte To change an individual parameter you have to look at the bit representing this parameter After having set the bit on TRUE in order to activate the corresponding parameter respectively the desired function you have to logically OR the new byte value of the changed bit with the byte values of the other TRUE bits For examples of how to perform such a calculation see section Examples of calculating the options byte page 62 The following exemplary step by step instructions show how to change the default options of the DIL SWD 32 001 device in order to allow the replacement of the device by a universal module SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Parameterization 60 99 9 3 2 2 Prerequisites e PC with installed TwinCAT System Manager V2 11 and Ethernet adapter e You have created a valid project configuration see Configuring gateway in TWinCAT gt page 44 and have opened the project configuration in the TwinCAT System Manager e The project features the DIL SWD 32 001 SmartWire DT contactor module 9 3 2 3 Step by step instructions gt Inthe navigation tree of the TwinCAT System Manager select the gateway then open the Startup tab in the main window The configuration elements are listed in the Startup tab SmartWire Testpanel tsm TwinCAT System Manager Eile Edit Actions Yiew Options Help Ose SR BP 638 s
70. f a write request 10 3 3 1 Activating read request In case the EtherCAT master wants to reset the error counter SWD Index 127 of the 5 SmartWire DT slave slave address 5 to zero i e Data 0 the SDO Download Request sent to the gateway looks as follows gateway has Node ID 3 in this example Syntax Header Address Object Sub Size Slave SWD Request Length Job ID Reserved Bytes Data index index Address Index Type 0x03 0x2200 0x01 OxB 0x05 Ox7F 0x02 0x01 0x01 0x00 0x00 0x00 0x00 0x00 0x00 Table 34 Example SDO Download Request for a write request 10 332 Querying the state of the write request Querying the state of the write request The SDO Upload Request sent by the EtherCAT master to the gateway looks as follows Table 35 Example SDO Upload Request for a write request Answer of the gateway in case of an unfinished write request If the gateway has not yet received the acknowledgement from the SWD slave the SDO Upload Confirmation sent by the gateway to the EtherCAT master looks as follows Syntax Header Address Object Sub Size Slave SWD Request Length Job ID State Error Code index index Address Index Type Table 36 Example SDO Upload Confirmation for an unfinished write request Answer of the gateway in case of a finished write request If the acknowledgement from the SWD slave has arrived the SDO Upload Confirmation sent by the gateway to the EtherCAT master looks as
71. figuration actual configuration each time the gateway is restarted and during bus operation If the gateway recognizes that a required SmartWire DT slave cannot be reached or a wrong slave type is determined the gateway will not go into operation or stops operating This depends in each case on the setup of the network which has been defined in the planned project configuration In case of error the SmartWire DT status LED SWD LED starts to blink in red for the position of the SWD LED see section Positionen der LEDs page 27 If a SmartWire DT slave has failed the SmartWire DT network can still be operated with the remaining slaves depending on the settings in the planned project configuration even after a repeated power up of the gateway The failure is reported to the application 8 2 2 Prerequisites Prerequisites for reading in the SmartWire DT configuration are e All SmartWire DT slaves are connected to the SmartWire DT line e The SmartWire DT status LEDs of the individual SmartWire DT slaves are on or are flashing e The SmartWire DT network is connected to the gateway e The voltage POW is applied to the gateway and the power POW LED is on e The EtherCAT network is connected to the gateway and the gateway is either in INIT or PRE OP state the RUN LED is off or is blinking see also section Positions and meaning of the LEDs page 27 e The voltage AUX is applied if necessary 8 2 3 Step by step instruc
72. file 2 Move Up Move Down Delete Edit Figure 17 Process data mapping in TwinCAT SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Parameterization 52 99 9 2 Configuring SmartWire DT Coordinator 9 2 1 Overview Being the master device in the SmartWire DT network the EU5C SWD ETHERCAT gateway serves as a so called Coordinator controlling the data transfer procedure within the SmartWire DT network in accordance with the SmartWire DT protocol Via the Coordinator you can configure the following properties e the Baud rate of the SmartWire DT network SWD Baud rate e allowing the use of compatible SmartWire DT devices Compatible devices permissible e the handling of failing SmartWire DT devices All devices are optional e the handling of the replacement of SmartWire DT devices during bus operation Replacement during operation permissible In the EtherCAT engineering tool i e TwinCAT these Coordinator parameters are mapped to the following configuration elements and indices all values in hex Coordinator Config index 0x2100 e SWD Baud rate sub index 01 e Compatible devices permissible sub index 04 e All devices are optional sub index 05 e Replacement during operation permissible sub index 08 In the TwinCAT System Manager the configuration elements of the Coordinator look as follows
73. follows Syntax Header Auftragsdaten Address Object Sub Size Slave SWD Request Length Job ID State Error Code index index Address Index Type Table 37 Example SDO Upload Confirmation for a finished write request SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Acyclical communication 80 99 10 4 Emergency telegrams Error and status messages diagnosis 10 4 1 Overview The gateway reports changes concerning the state ofthe gateway or the state of the SmartWire DT network by means of an Emergency Telegram Errors occurring in individual SWD slaves are also reported to the EtherCAT master by the gateway by means of an Emergency Telegram In cases of messages concerning the state of the gateway or the SWD network the Emergency Telegram generated by the gateway begins with the Entry Type byte 0 OxFF In cases of error messages concerning individual SWD slaves the Emergency Telegram begins with the Entry Type byte 0 0x70 Resolved errors are also reported by the gateway to the EtherCAT master by means of an Emergency Telegram For these error reset messages the telegram starts with the Entry Type byte 0 0x00 The gateway stores each error message in its message buffer from where itis deleted only after the corresponding error has been resolved Error Reset Whether further error messages still exist in the error buffer or not
74. gt Select the Options element then click Edit button or double click the element SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Parameterization 61 99 The Edit CANopen Startup Entry dialog window opens The Data hexbin field displays the preset hexadecimal value of the options byte In case of the DIL SWD 32 001 device this is the value 02 Edit CANopen Startup Entry Transition iP Index hex 8170 IEEE Came P gt S Sub Index dec 33 1550 Data hexbin 02 em C Complete Access Comment Options DIL SWD 32 001 1 Index Name Flags Value 1000 Device type MRO 1008 Device Name RO 1009 Hardware version RO 1004 Software Version RO 1018 0 Identity RO 1C00 0 Sync Manager Type RO 1C12 0 RxPDO Assign Rw 10130 TxPDO Assign Aw 2200 0 Acyclic Service Aw F000 0 Modular Device Profile RO F030 0 Configured Module Ident List Aw FO50 0 Detected Module Ident List RO Figure 24 Editing device options of SWD device 2 gt Enter the new hexadecimal value of the options byte into the Data hexbin field Omit the 0x prefix i e enter the value 0x12 simply as string 12 3 Note gt Individual parameters of the Options element i e the device options can only be configured by entering a single hexadecimal options byte For changing one or several parameters you therefore have to recalcu
75. hand by the implementation of suitable EMC measures These include e EMC conformant system configuration e EMC compliant cable routing e Measures that do not allow the occurrence of large differences in potential and e correct installation of the EtherCAT system cables connection of the bus connectors etc The effects of electromagnetic interference can be significantly reduced by fitting a shield Industrial Ethernet Planning and Installation Guide by IAONA e V For more detailed information on this please refer to the IAONA Magdeburg Germany SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Configuring gateway 41 99 8 Configuring gateway 8 1 Overview For data exchange between the gateway and the EtherCAT master the gateway needs a valid target configuration and a valid project configuration The target configuration of the SmartWire DT network can be created and stored in the gateway by using the configuration button on the gateway device The project configuration must be created and transferred to the gateway by means of the EtherCAT engineering tool i e TwinCAT This chapter describes how to create and store these configurations in the gateway 8 2 Configuring SmartWire DT network in gateway creating target configuration 8 2 1 Overview When you commission the gateway you have to read in the actual configuration of th
76. he gateway at the time of delivery can be inferred from the device type label see section Device type label page 30 EtherCAT allows you to update the firmware via Ethernet connection by using the TwinCAT System Manager For more details on this please refer to chapter Updating firmware with TwinCAT System Manager page 85 In case of a missing or defective firmware a firmware recovery process is possible via HTTP Please refer to chapter Firmware recovery via HTTP page 88 Device description files ESI for the gateway and the SWD participants SWD devices are included on the product DVD in the EDS EU5C SWD ETHERCATNVx x x x folder As an alternative you can download latest versions of the ESI files from our website www hilscher com under Products gt Partner Products gt SmartWire DT gt EU5C SWD ETHERCAT gt Downloads SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Requirements for operation 24 99 4 Requirements for operation The following prerequisites must be fulfilled to operate the gateway 4 1 Network systems e SmartWire DT network with maximum number of up to 99 participants stations slaves and maximum extension of up to 600 meters e EtherCAT network with EtherCAT PLC master device Maximum cable length for one segment i e cable between two devices or hubs is 100 meters 4 2 Power supp
77. he gateway from the top hat rail proceed as follows AA WARNING Electrical shock Make sure that the gateway is disconnected from any power supply Cover or enclose neighboring units that are live Push down the gateway with slight force to overcome the resistance of the spring in the bolt then unhook the gateway first from the lower railing and then from the upper railing Unhook gateway SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Installing gateway 36 99 7 3 Connecting gateway to power supply ADANGER Danger of lethal injuries by unexpected starting up of motors or machinery If you have already integrated devices into a system secure the operating range of any connected parts of the system against access so that nobody is endangered by motors or machinery starting up unexpectedly Danger of unsafe operation of the system In safety relevant applications the power supply providing power for the SmartWire DT system must feature a PELV power feed module protective extra low voltage Danger of unsafe operation of the system You must take safety precautions emergency switching off in the external circuitry of the gateway and any power modules type EU5C SWD PF 1 1 or EU5C SWDPF2 1 that are used To do so plan to switch off the power supply to the contactor coils AUX D Important Please take into consideration the total p
78. herCAT by using an EtherCAT engineering tool e g TwinCAT System Manager and device description files in XML format the so called EtherCAT Slave Information or ESI files These files are to be imported into the engineering tool The device description files of the gateway are stored in the EDS EU5C SWD ETHERCAT Vx x x x directory of the product DVD The files contain all configuration data and all possible SmartWire DT slaves as I O modules gt Note gt The device description files contain only I O information for SmartWire DT slaves which were listed as sales products at the time of the creation of the file 3 3 Interfaces The gateway features a SmartWire DT interface plug 8 pole a 2 port switch Ethernet interface RJ45 for connecting EtherCAT and a Mini USB interface Via the Mini USB interface the gateway can be accessed configured and diagnosed with the SWD Assist software 3 4 Diagnosis The gateway can be diagnosed by connecting the SWD Assist software to the Mini USB interface For further information please refer to the SWD Assist online help The EtherCAT protocol also provides diagnostic functions For further information see section Emergency telegrams Error and status messages diagnosis gt page 80 3 5 Firmware and device description files The EU5C SWD ETHERCAT Gateway is shipped with its most recent firmware already loaded Which firmware version is loaded in t
79. holding at least one other unresolved error diagnosis issue the gateway indicates this in the telegram by setting Bit 0 of the Error Type field byte 2 1 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Updating firmware with TwinCAT System Manager 85 99 11 Updating firmware with TwinCAT System Manager 11 1 Overview The EU5C SWD ETHERCAT Gateway is shipped with its most recent firmware already loaded The version of the loaded firmware is stated on the device type label When you perform a firmware update the old firmware file in the gateway will automatically be overwritten The project configuration and the target configuration in the gateway remain untouched by the firmware update This section describes how to update the firmware of the EU5C SWD ETHERCAT gateways by using the TwinCAT System Manager V2 11 Hazard of device damage by disruption of voltage supply during firmware update Do not interrupt the voltage supply while updating the firmware of the gateway Power failure during a writing process within the file system can cause severe malfunctioning of the device Note gt In case of a missing or defective firmware which is indicated by a green POW LED the regular firmware update process described in this chapter is not working In this case proceed as described in chapter Firmware recovery via HTTP gt page 88 11 2 Prerequ
80. ice parameters Parameters sub index 22 etc In the TwinCAT System Manager the configuration elements of the SWD devices DIL SWD 32 001 and PKE SWD 32 Profile 2 for instance look as follows General EtherCAT Process Data Slots Startup CoE Online Online Transition C PS C PS C PS ig Ps ig Ps ig Ps Protocol Index Data Comment CoE 1C12C0 020000 1601 16 download pdo 0k1C12 index CoE amp 1C13C0 020000 1A01 1A download pdo x1C13 index CoE amp F030C0O 02000101 D081 0104 download slot cfg Es CoE x2100 01 x007D 125 Coordinator Config SWD Baud rate 125 250 kBaud s CoE x2100 04 x00 0 Coordinator Config Compatible devices permissible 0 No 1 Yes CoE x2100 05 x00 0 Coordinator Config All devices are optional 0 No 1 Yes a I ocdi Q ig Ei 2 ant dinma anaration nemniesihis Product code DIL SWD 32 001 x00000030 48 CFG DIL SWD 32 001 x02 2 Options DIL SWD 32 001 x00 0 Parameters DIL SWD 32 001 0x81E30401 2115828735 Product code PKE SWD 32 Profile 2 m 00002093 8339 CFG PKE SWD 32 Profile 2 xC2 194 Options PKE SWD 32 Profile 2 x00 0 Parameters PKE SWD 32 Profile 2 m I Move Up Move Down Figure 22 Configuration data elements of SWD devices in TwinCAT SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Parameter
81. ins software for all types of SmartWire DT gateways Depending on the gateway type you are using you will need only certain features of the DVD The product DVD includes e Device description files e Firmware e Eaton SWD Assist software e Wizard for installing the software available on the DVD and for downloading the latest version of the SWD Assist software from the internet e Installation program for USB driver USB driver is needed for connecting the gateway to a PC in order to use the Eaton SWD Assist software e Installation program for the Hilscher Ethernet Device Configuration Tool e Documentation in PDF format e Installation program for Adobe Reader SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Introduction 9 99 The product DVD has the following directories PDF manuals in German and English and installation program for Adobe Reader EDS Electronic device description files and bitmaps to be imported directly into Master Controller configuration software Firmware Loadable gateway firmware Files for start screen of product DVD Setups amp Drivers SWD Assist software Folder SWD Assist Wizard for installing the software available on the DVD and for downloading the latest version of the SWD Assist software from the internet Folder Setup Installation program for Ethernet Device Configuration Tool Folder EnDeviceCfg Installatio
82. installs USB driver for Windows on your PC e Download Center SWD Assist manual update connects your browser to a web page where you can download the latest version of the SWD Assist software e SWD Planning Software SWD Assist Vx xx installs the SWD Assist software version provided on the DVD e Ethernet Device Scanner Configuration Tool installs the Hilscher Ethernet Device Configuration Tool e GSDML EDS ESI files HTML page opens a web page containing links to the device description files In the main menu of the start screen of the DVD you can furthermore open a web page which provides an overview of all available documents menu Documentation You can also directly open the folder containing the device description files menu Open Electronic Device Description Files Directory SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Introduction 11 99 1 3 4 Notes on installing the USB Driver If you intend to use the SWD Assist software you should first install the USB driver on your PC before you connect the gateway via USB To install the USB driver from the DVD choose Install Planning and Configuration Tools in the DVD menu to open the installation wizard and then select the USB driver option As an alternative you can use the Windows Explorer to open the Setups amp Drivers USB Driver folder on the DVD and then double click the setup ex
83. is signaled to the EtherCAT master in each Emergency Telegram by a flag in Bit O of the Error Type Byte 2 field An Emergency Telegram consists of eight bytes and has the following structure Error Register Additional Information Entry Type Address Error Type Diagnosis Code EvorFlags Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 7 May contain one ID of the of the following concerned three message device types 0x00 Gateway SWD master 0x01 0x63 SWD slave OxFF message generated by the gateway about SWD errors or status changes 0x70 error of an individual SWD slave 0x00 resolved error error reset The first bit bit 0 indicates whether the message buffer still contains error or status messages Bit 0 0 no further messages Bit0 1 buffer contains at least one more message Note Bit 1 to 7 are reserved In case of Entry Type Byte 0 0x70 error of individual SWD slave this byte features a diagnostic code specifying the nature of the error For details see section Error messages diagnosis of individual SWD slaves Entry Type 0x70 gt page 81 In case of Entry Type Byte 0 0xFF SWD network error status change message issued by the gateway this byte is not used 0x00 The nature of the SWD network error status message is then specified in the Error Flags bytes 4 to 7 not in the diagnosis code In case of an Entry Type byte 0 0x00 resolved err
84. isites e The gateway is connected to a SmartWire DT network e The gateway contains a SmartWire DT configuration e PC with installed TwinCAT System Manager V2 11 and Ethernet adapter e The Ethernet adapter of the PC is connected to the gateway via EtherCAT network e You have access to the new firmware file which you want to download to the EU5C SWD ETHERCAT gateway SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Updating firmware with TwinCAT System Manager 86 99 11 3 Step by step instructions gt Open your EUSC SWD ETHERCAT project in the TwinCAT System Manager or create a new project as described in section Configuring gateway in TwinCAT gt page 44 Select the gateway in the navigation tree of the TwinCAT System Manager then open the Online tab in the main window Untitled TwinCAT System Manager File Edit Actions View Options Help Oe aed ol 5 Bai 0 d DB 5 sav x9 EN A Me Oo amp El SYSTEM Configuration G3 5 1 0 Configuration General EtherCAT Process Data Slots Startup CoE Online Online amp Bl 1 0 Devices State Machine Device 2 EtherCAT Device 2 Image r Device 2 Image Info Current State ERR PREOP j QT Inputs Requested State PREOP H Outputs InfoData o i BOX 1 EUSC SWD ETHERCAT ae Mappings E DLL Status Carrier Open No Carrier Clo
85. ization 58 99 The EtherCAT master loads this configuration data into the gateway via SDOs when the gateway is in state Pre Operational Also the device parameters Parameters of sub index 22 are loaded into the corresponding SmartWire DT device if the device is an I O module the purpose of the device parameters is to configure the sensors of I O modules The module ID Product code of sub index 06 and the configuration data CFG of sub index 20 are needed by the gateway for identification and configuration purposes and must not be changed The device options Options of sub index 21 and the device parameters Parameters of sub index 22 on the other hand can be edited if necessary This is described in the following sections 9 3 2 Configuring device options of SmartWire DT devices in TwinCAT 9 3 2 1 Overview Each SWD device carries an element for configuring certain device options in TwinCAT With this Options element sub index 21 you can determine for each device individually whether its presence in the SmartWire DT network is mandatory or whether it may be substituted by an M22 SWD NOP universal module The preset defaults for all devices are e Presence in SmartWire DT network device must be present e Replacement substitution by universal module not allowed p Note gt If you reconfigure the presence option of an individual device in order to allow it to be missing in the SmartWire DT network this op
86. late the whole options byte of the device The outcome of this calculation depends on the parameter bits you have changed and on the default settings of the device Entering the value 12 in this example means that the device may in future be replaced by a universal module in the SmartWire DT network For examples of how to calculate the options byte see section Examples of calculating the options byte page 62 Take over the new value by clicking the OK button SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Parameterization 62 99 The Data column of the Startup tab displays the changed hexadecimal value of the options byte the corresponding decimal value is displayed in brackets General EtherCAT Process Data Slots Startup CoE Online Online Transition Protocol Index Data Comment IB Ps CoE 0 8130 21 0x02 2 Options EUSE SWD 4DX B Ps CoE 0 8130 22 0x00 0 Parameters EUSE SWD 4DX B Ps CoE 0x8140 06 0401060504 17171716 Product code EUSE SWD 2424 B Ps CoE 0 8140 20 0s00E1D110 14799120 CFG EUSE SWD 2424 iB Ps CoE 0 8140 21 0x83 131 Options EUBE SWD 2A24 B Ps CoE 0x8140 22 0x5002 20482 Parameters EUSE SWD 2424 B Ps CoE 0x8150 06 001050900 17107200 Product code EUSE SWD 443 lt iB Ps CoE 0x8150 20 000000310 54032 CFG EUSE SWD 44 B Ps CoE 0 8150 21 0x83 131 Options EUSE SWD 44 Gps CoE 0 8150 22 05
87. le Disconnect the power plug Table 9 Safety signs in messages on personal injury Signal words and safety signs in safety messages on property damage Signalword Meaning Tel 63 0 Indicates a property damage message Table 10 Signal words in safety messages on property damage Safety sign Sort of warning or principle Warning of property damage by electrostatic discharge Table 11 Safety signs in safety messages on property damage SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Description of the EU5C SWD ETHERCAT gateway 21 99 3 Description of the EU5C SWD ETHERCAT gateway 3 1 Function The EU5C SWD ETHERCAT gateway integrates a SmartWire DT network into an EtherCAT network The gateway creates a data connection between the participants the slave devices of the subordinate SmartWire DT network and the master device or PLC of the super ordinate EtherCAT network The gateway acts as master a k a Coordinator in the SmartWire DT network on the one hand and on the other hand as modular slave in the EtherCAT network It thereby presents each connected SmartWire DT participant as individual module to the EtherCAT master The cyclic process data is exchanged transparently between both networks 1000 Bytes of process input output data can in sum be exchanged with up to 99 SmartWire DT participants
88. ly AA WARNING Danger of unsafe operation of the system In safety relevant applications the power supply providing power for the SmartWire DT system must feature a PELV power feed module protective extra low voltage Danger of unsafe operation of the system You must take safety precautions emergency switching off in the external circuitry of the gateway and any power modules type EUBC SWD PF 1 1 or EU5C SWDPF2 1 that are used To do so plan to switch off the power supply to the contactor coils AUX Device destruction Ensure a reliable electrical isolation of the low voltage for the 24 volt supply Only use power supply units complying with IEC 60364 4 41 VDE 0100 Part 410 or HD 384 4 41 S2 cD Important Please take into consideration the total power consumption of your SmartWire DT network and if necessary plan for an additional feeder module EU5C SWD PF2 You can find information on the power consumption in the operating manuals of the SmartWire DT devices SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Requirements for operation 25 99 4 2 1 POW power connection A Power supply of 24 V DC for the coupling unit and for the Smart Wire DT slave electronics is needed at the connection POW On the SmartWire DT gateway connect the POW and AUX supply voltages via separate miniature circuit breakers or fuses Miniature circuit breaker 24
89. mpatible Devices The Installation of TwinCAT RT Ethernet Adapters dialog window opens Installation of TwinCAT RT Ethernet Adapters Ethemet Adapters Bg Installed and ready to use devices BB Compatible devices E9 Local Area Connection 4 Intel R 82566DM 2 Gigabit Network Connection 2 Bi Local Area Connection 3 Intel R Gigabit CT Desktop Adapter 2 Big Incompatible devices Bg Disabled devices Figure 8 Installing TwinCAT Ethernet adapter 1 Enable Disable Show Bindings SmartWire DT Gateway EU5C SWD ETHERCAT DOC140901UM02EN Revision 2 English 2015 06 Released Public Hilscher 2015 Configuring gateway 46 99 3 Note 3 TwinCAT features two different drivers for Ethernet network adapters The TwinCAT Driver for Real Time Ethernet provides hard RTE support for EtherCAT applications but can only be used with Intel based network adapters Adapters on your PC recognized by TwinCAT and supported by this driver are listed under Compatible devices see picture above The TwinCAT Real Time Ethernet Intermediate Driver can be used for network adapters without an Intel chip set but lacks hard RTE support for EtherCAT Adapters on your PC recognized by TwinCAT and supported by this driver are listed under Incompatible devices Select the network adapter which you want to use as TwinCAT master device then click Install Button After successful installation th
90. n current SWD 0x00 Coordinator DT network bus configuration TRUE 1 Device must be present in current SWD 2 0x02 bus configuration default CRC8 Cyclic input data with FALSE 0 Device sends its cyclic input data without 0x00 Coordinator CRC8 CRC8 Important Do not TRUE 1 Device sends its cyclic input data followed 0x04 change this parameter by CRC8 3 Motorola Format of payload data FALSE 0 Device codes decodes payload data 0x00 Coordinator words words in its own little endian format Important Do not TRUE 1 Device codes decodes payload data words 0x08 change this parameter in big endian format Replacement Substitution by FALSE 0 Replacement of device by universal 0x00 universal module module is not allowed default TRUE 1 Device can be replaced by universal module Bit is not used 0 Profile Support of data profiles FALSE 0 Device does not have different data Important Do not profiles P change this parameter TRUE 1 Device supports different data profiles and requires the Coordinator to set the profile accordingly AcycService Support of acyclic data FALSE 0 Device does not have acyclic data Device requests objects Important Do not TRUE 1 Device supports acyclic read write change this parameter requests from Coordinator Table 19 Bit assignment of parameters of options byte The logically ORed byte values of the individual bits amount to the value o
91. n program setup exe and INF and CAT files for Windows USB driver Folder USB Driver Table 6 Directory of the product DVD gt Note gt You can use the wizard on the product DVD to download updates of the Eaton SWD Assist software or you can download SWD Assist directly from the www moeller net website under Support gt Download Center Direct link http downloadcenter moeller net en software a487d8b7 da91 486f b3ba a7ca2035db99 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Introduction 10 99 1 3 3 How to use the product DVD Insert the SmartWire DT Gateway Solutions product DVD into the DVD drive of your configuration PC If the auto start function of your DVD drive is enabled the start screen of the DVD automatically opens You can also start the DVD by double clicking the SmartWire exe file in the root directory of the DVD In the menu of the start screen of the DVD click Install Planning and Configuration Tools to open a wizard for installing the software programs stored on the DVD The wizard also helps you to download the latest version of the Eaton planning software SWD Assist from the internet It automatically checks for already installed software components which e g might have been installed for an earlier project and lists the missing components accordingly The following options might be offered e USB Driver
92. nCAT System Manager V2 11 and Ethernet adapter e You have created a valid project configuration see Configuring gateway in TwinCAT gt page 44 and have opened the project configuration in the TwinCAT System Manager 9 2 3 Step by step instructions gt Inthe navigation tree of the TwinCAT System Manager select the gateway then open the Startup tab in the main window The configuration elements are listed in the Startup tab File Edit Actions View Options Help Ose FIDEL IE RZ sO OB G safe ca SYSTEM Configuration cm BR NC Configuration General EtherCAT Process Data Slots P CoE Online Online BB IE Coe Transition Protocol Index Data Comment S E VO Configuration ER VO Devices C PS CoE kICI2CO 0300021603160416 download pdo Ox1C12 index E Gerat 1 EtherCAT C PS CoE QkICI3CO 0500001A011A021A download pdo Ox1C13 index sae Ger t 1 Prozessabbild C PS CoE xF030CO 05000001448100014 download slot cfg e s S 2100 01 0x007D 125 Coordinator Config SWD Baud rate 125 250 kBaud s pe RAE MD HPS CoE 210004 OO Coordinator Config Compatible devices permissible 0 No 1 Yes a f rinde PS CoE 0210005 0x00 Coordinator Config All devices are optional 0 No 1 Yes i L Ausg nge WPs CoE amp 2100 08 UDO 0 Coordinator Config Replacement during operation permissible 0 No 1 Yes H InfoData HPS CoE X800006 81440100 2126249728 Produc
93. nd health at work e Mounting and connecting of electrical equipment e Measurement and analysis of electrical functions and systems e Evaluation of the safety of electrical systems and equipment e Installing and configuring IT systems 2 4 References safety S1 ANSI Z535 6 2006 American National Standard for Product Safety Information in Product Manuals Instructions and Other Collateral Materials S2 IEC 60950 1 Information technology equipment Safety Part 1 General requirements IEC 60950 1 2005 modified German Edition EN 60950 1 2006 S3 EN 61340 5 1 and EN 61340 5 2 as well as IEC 61340 5 1 and IEC 61340 5 2 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Safety 17 99 2 5 Safety instructions to avoid personal injury To ensure your own personal safety and to avoid personal injury you must read understand and follow the following safety instructions in this manual and all warning messages before you install and operate the gateway 2 5 1 Electrical shock hazard Take care of the following safety measures before installing or uninstalling the gateway e First disconnect the power plug of the device e Make sure that the device is disconnected from the power supply e Cover or enclose neighboring units that are live Devices that are designed for mounting in housings or control cabinets must only be operated and controlled after they
94. nected from the EtherCAT network e The gateway is connected to an active DHCP server via local Ethernet network e The gateway is connected via local Ethernet network to a configuration PC with installed standard web browser e You have access to the firmware file which you want to download to the gateway the firmware file is stored on the SmartWire DT Gateway Solutions product DVD in the Firmware EU5C SWD ETHERCAT Vx x x x folder SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Firmware recovery via HTTP 89 99 e You know the IP address which the DHCP server has assigned to the gateway If not install the Hilscher Ethernet Device Configuration Tool on your configuration PC This tool allows you to check the current IP address of the gateway if the configuration PC and the gateway are connected to the same local Ethernet network An installer for this program can be found on the product DVD in the Software EnDeviceCfg folder the program can also be installed by using the menu of the product DVD 12 3 Step by step instructions 1 Use DHCP server to assign IP address to gateway Disconnect the gateway from the voltage supply gt Plug a cable connected to the local Ethernet network in which a DHCP server is active into one of the Ethernet RJ45 sockets labeled LAN1 IN or LAN2 OUT on the front side of the gateway gt Re
95. ngth 12 Password hex 00000000 Figure 34 Edit firmware name 2 gt Click OK button The download of the firmware is started The download process can take several minutes The progress of the download is indicated by a progress bar in the footer of the TwinCAT System Manager Hazard of device damage by disruption of voltage supply during firmware update Do not interrupt the voltage supply while downloading the firmware of the gateway Power failure during a writing process within the file system can cause severe malfunctioning of the device gt Wait until the download has been completed then reset the gateway i e briefly disconnect the gateway from the voltage supply in order to start the new firmware SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Firmware recovery via HTTP 88 99 12 Firmware recovery via HTTP 12 1 Overview If the POW system status LED of the gateway shows steady green light the regular firmware of the gateway is defective or missing for the position of the POW LED see section Positions of the LEDs page 27 In this case only the so called backup firmware is running and the device is not able to perform its normal gateway functions This state can be resolved by downloading a fresh i e uncorrupted firmware file into the gateway via HTTP protocol The backup firmware which is part of
96. of the TwinCAT installation on your configuration PC The device description files of the gateway and the SmartWire devices are now available in the TwinCAT System Manager 2 Start TwinCAT gt Inthe Windows start menu select All Programs gt TwinCAT System gt TwinCAT System Manager SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public 45 99 Configuring gateway a The TwinCAT System Manager opens Untitled TwinCAT System Manager File Edit Actions View Options Help Duk SR 570554 B sss5ao OB EQ E El SYSTEM Configuration n amp Bl 1 0 Configuration eneral Boot Settings oem e t E 1 0 Devices 4B Mappings 3 E TwinCAT System Manager J v2 11 Build 2257 TwinCAT UO v2 11 Build 2241 time limited to 9 18 2014 Copyright BECKHOFF 1996 2011 http www beckhoff com Registration Name Hilscher Company Hilscher GmbH Reg Key 47FE 4813 37CE SBFC Choose Target Figure 7 TwinCAT start screen If you already dispose of a project into which you want to gateway open the corresponding project file Local 10 11 4 13 1 1 integrate the If you haven t created a project yet you first have to configure the Ethernet adapter of your PC as EtherCAT master device 3 Configure Ethernet adapter as EtherCAT master device gt Inthe Menu choose Options gt Show Real Time Ethernet Co
97. or error reset this byte specifies the error of the individual slave that has been resolved Table 38 Structure of Emergency Telegram In case of Entry Type Byte 0 OxFF SWD network error status change message issued by the gateway these bytes feature error flags specifying the nature of the error status change For details see section Messages generated by the gateway Entry Type OxFF page 83 In case of Entry Type Byte 0 0x70 error of individual SWD slave these bytes are not used 7 0x00 In case of Entry Type byte 0 0x00 resolved error error reset these bytes specify the nature of the SWD network error that has been resolved SmartWire DT Gateway EU5C SWD ETHERCAT DOC140901UMO2EN Revision 2 English 2015 06 Released Public Hilscher 2015 Acyclical communication 81 99 10 4 2 Error messages diagnosis of individual SWD slaves Entry Type 0x70 In case of error diagnosis messages issued by individual SmartWire DT devices the Emergency Telegram which the gateway sends to the EtherCAT master always begins with Entry Type byte 0 0x70 thus signaling to the EtherCAT master the occurrence a newly detected incoming error diagnosis from an individual SmartWire DT device In cases of messages about resolved errors error reset the Emergency Telegram begins with Entry Type byte 0 0x00 The SWD device reporting the error can be the gateway itself in its role as SW
98. ording to SWD uint8 n 1 Index e g error counter or firmware version n amount of read bytes Table 26 Elements of SDO Upload Confirmation for a read request Job ID Note gt If no answer from the SWD slave has yet arrived at the gateway the State element state of the response has the value 1 in progress and the Data element payload data is omitted SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Acyclical communication 76 99 10 2 3 Example of a read request 10 2 3 1 Activating read request In case the EtherCAT master wants to read the error counter SWD Index 127 of the 5 SmartWire DT slave slave address 5 and the expected response should be no longer than 120 Bytes the SDO Download Request sent to the gateway looks as follows gateway has Node ID 3 in this example Syntax Header Address Object Sub index Size Slave SWD Request Length Job ID Reserved Bytes index Address Index Type 0x2200 0x01 OxA 0x05 Ox7F 0x01 0x78 0x01 0x00 0x00 0x00 0x00 0x00 Table 27 Example SDO Download Request for a read request 10 2 3 2 Querying the state of the read request Querying the state of the read request The SDO Upload Request sent by the EtherCAT master to the gateway looks as follows Table 28 Example SDO Upload Request for a read request Answer of the gateway in case of an
99. ound automatically TwinCAT System Manager A HINT Not all types of devices can be Found automatically Cancel Figure 11 Message prior to device scan gt Acknowledge with OK The New devices found dialog window opens 1 new I O devices found Select All Unselect All Figure 12 New devices found dialog window SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Configuring gateway 48 99 gt Activate the check box in front of the device which you want to use as EtherCAT master device then click OK The New devices found dialog window closes and the selected master device is inserted in the navigation tree below the I O Devices element Also the System Manager asks you to Scan for boxes i e EtherCAT slave devices Untitled TwinCAT System Manager see Of SRR AG So Y FA ARRE EA e ce Il SYSTEM Configuration Number Device uo Configuration c B 1 0 Devices SR Device 2 EtherCAT umm ag Mappings TwinCAT System Manager 2 Scan for boxes Local 10 11 4 13 1 1 Sm ENSE Figure 13 Scan for boxes v Start the scanning for boxes process by clicking Yes gt If a ready for operation EU5C SWD ETHERCAT gateway has been properly connected to the EtherCAT master device i e the corresponding Ethernet adapter of your PC the gateway will be found and displayed as Box x EU5C SWD
100. out For this reason no guarantee can be made and neither juristic responsibility for erroneous information nor any liability can be assumed Descriptions accompanying texts and documentation included in the user manual do not present a guarantee nor any information about proper use as stipulated in the contract or a warranted feature It cannot be ruled out that the user manual the accompanying texts and the documentation do not correspond exactly to the described features standards or other data of the delivered product No warranty or guarantee regarding the correctness or accuracy of the information is assumed We reserve the right to change our products and their specification as well as related user manuals accompanying texts and documentation at all times and without advance notice without obligation to report the change Changes will be included in future manuals and do not constitute any obligations There is no entitlement to revisions of delivered documents The manual delivered with the product applies Hilscher Gesellschaft f r Systemautomation mbH is not liable under any circumstances for direct indirect incidental or follow on damage or loss of earnings resulting from the use of the information contained in this publication SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Introduction 14 99 1 5 3 Exclusion of liability The software was prod
101. ower consumption of your SmartWire DT network and if necessary plan for an additional feeder module EU5C SWD PF2 You can find information on the power consumption in the operating manuals of the SmartWire DT devices gt Connect the 24 V DC voltage to the POW terminals on the front side of the gateway The POW connection provides the voltage for the gateway itself and for the SmartWire DT slave electronics 3 Note gt For the 15 V supply of the SmartWire DT slaves the gateway contains an additional power feed module with an amperage of 0 7 A SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Installing gateway 37 99 gt Ifinecessary connect the 24 V DC voltage for the contactor coils to the AUX terminals on the front side of the gateway 24V DC OV ai 0000 O H a i Figure 4 Gateway power supply gt Note gt The AUX supply is required if any switching devices are also to be connected for example via the DIL SWD 32 001 002 SmartWire DT slaves The AUX connection provides the supply for activating the contactor coils This supply must be protected by an automatic circuit breaker 3A gG gl or 3 A miniature circuit breaker with a Z characteristic If switching devices with an activation power greater than 3 A are connected an additional feeder module EU5C SWD PF1 or EUSC SWD PF2 must be
102. ox x EU5C SWD ETHERCAT to expand the tree structure The SmartWire slaves connected to the gateway are being displayed in the navigation tree below the gateway as Module 1 Module 2 etc Unbenannt TwinCAT System Manager File Edit Actions View Options Help SI 2 S PAR HS FV He 599 saseee e m EM SYSTEM Configuration en a 1 0 Configuration General EtherCAT Process Data Slots Startup CoE Online Online c BB 1 0 Devices 7 Device 2 EtherCAT State Machine Ta Device 2 Image Bootstrap f Device 2 Image Info P Current State oP re Op Safe Op f Inputs Requested State op J Outputs Op Clear Error InfoData D E D H m o x es m pu pl t 2 m d EE m D e P A d Module 1 DIL SWD 32 001 DLL Status Module 2 PKE SWD 32 Profile 2 Port A No Carrier Closed westate Port B Carrier pen HQ InfoData a Mappings D H HH File Access over EtherCAT Download Upload Name Online i pAddr In Out User Linked to Tia 0x40 64 7 39 0 Input 91180 0x48 72 j 40 0 Input Qf IB1 OxOF 15 i 41 0 Input 91182 0x00 0 42 0 Input 91183 0x00 0 f 43 0 Input OT wcstate 0 1522 1 Input Qf InputToggle 0 i 1524 1 Input lt gt Local 10 11 4 13 1 1 Figure 15 EUSC SWD ETHERCAT Gateway process data 1 Select the gateway in the navigation tree then open the Online tab in the main window
103. p Backup FW Firmware Upd X Firmware Transfer succeeded You should reset the device to apply the changes Firmware is being restarted and connections may be interrupted or time out Ethernet connection may be lost if IP parameters are not stored permanently Please confirm you want to reset the device submit cancel Figure 38 Reset after firmware download via HTTP as depicted in Internet Explorer 6 Perform reset gt Activate the checkbox in front of Please confirm to acknowledge that you want to reset the gateway Note 3 You can use the Cancel button to uncheck the checkbox in front of Please confirm gt Click Submit button to start the reset After successful reset the following message is displayed B http 10 11 5 24 reset 2 Be in i9 B Backup FW Device Reset Device Reset The device was reset successfully All connections are closed You should be able to reconnect in a few seconds Figure 39 Successful device reset message as depicted in Internet Explorer c The POW system status LED at the gateway shows steady yellow light The new firmware has been loaded and the gateway is ready for operation SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Technical data 93 99 13 Technical data 13 1 Technical data EU5C SWD ETH
104. pters are being used Otherwise replacement must take place while power is switched off at the gateway After return of voltage supply the network will automatically be reconfigured without having to push the configuration button FALSE 0 You can configure for each SmartWire DT device individually whether it is allowed to be missing Default See section Configuring device options of SmartWire DT devices in TwinCAT page 58 TRUE 1 Data exchange with the EtherCAT master takes place even if there is a random number of missing devices in the SmartWire DT network The corresponding settings in the device options of the individual SmartWire DTdevice slaves thus have no effect and are overruled FALSE 0 Not allowed new SmartWire DT devices must always be read into the SWD configuration by pushing the configuration button Default TRUE 1 Allows online replacement of 1 SmartWire DT devices during bus operation without having to push the configuration button afterwards in order to read them into the SWD configuration Table 18 Parameter settings of SWD Coordinator The following exemplary step by step instructions show how to change the baud rate of the SmartWire DT network from 125 kBit s to 250 kBit s SmartWire DT Gateway EU5C SWD ETHERCAT DOC140901UMO2EN Revision 2 English 2015 06 Released Public Hilscher 2015 Parameterization 54 99 9 2 2 Prerequisites e PC with installed Twi
105. ranlya snan een 14 1 5 5 FEY POU FS Tiii rane cate ee eevee aes 15 1 5 6 Registered Trademarks 15 4 0 ea ae 16 2 1 General Nolte 16 22 Intended USE e 16 2 9 Personnel qualification iiie rn ei I 16 2A MERLO 6 2 MN 16 2 5 Safety instructions to avoid personal InjUl y einn eit e tta ana 17 2 5 1 Electrical shock hazard cr namen 17 2 5 2 Danger of unintended starting up of machines sssseessesesss 17 2 6 Safety instructions to avoid property damage eeeeeenenee nnne 18 2 6 1 General safety instructions concerning supply voltage 18 2 6 2 Device destruction by exceeding allowed supply voltage 18 2 6 3 Electrostatic sensitive device sssssssssss me 19 2 f Labeling of safety messages aa ee U Vd uNEFH TUNE ANE UNUS RUM KI SNO E AME a 20 3 Description of the EU5C SWD ETHERCAT gateway eene nnn 21 els Une E EE eier sehe 21 Do 2511 1810 SUODEa ne ette er LUE ELA dE EE LAE Eaa 22 3 2 1 SmartWire D I Gong blOD seissanta aiia 22 3 22 EtherCA configurato ernten een 23 3 3 Interfaces ena aea naa aaa a aaa Aea eaa ar Ea A AE aa Ama EAE a a nnne ness ness sess anaE REAR 23 E uc mms 23 3 5 Firmware and device description files eeesessessssessseseeeneeeneenrnrnn 23
106. rate of the device from 100 ms default to 200 ms For an example of how to calculate the parameters byte see section Example of calculating the parameters byte page 70 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO02EN Revision 2 English 2015 06 Released Public Parameterization 9 3 3 4 70 99 gt Take over the new value by clicking the OK button The Data column of the Startup tab displays the changed hexadecimal value of the parameters byte the corresponding decimal value is displayed in brackets General EtherCAT Process Data Slots A Startup CoE Online Online Transition Protocol Index ig Ps CoE x8130 21 iB Ps CoE x8130 22 ig Ps CoE x8140 06 iB Ps CoE x8140 20 ig Ps CoE x8140 21 ig Ps CoE x8140 22 ig Ps CoE x8150 06 grs CoE x8150 20 ig Ps CoE x8150 21 0x8150 22 ig Ps CoE x8160 06 ig Ps CoE x8160 20 iB Ps CoE x8160 21 ig Ps CoE x8160 22 ig Ps CoE x8170 06 ig Ps CoE x8170 20 ig Ps CoE x8170 21 ig Ps CoE x8170 22 grs CoE x8180 06 iB Ps CoE x8180 20 iB Ps CoE x8180 21 Data Comment x02 2 0x00 0 x01060504 17171716 x00E1D110 14799120 0x83 131 5002 20482 x01050900 17107200 x0000D310 54032 0x83 131 0x6002 24578 x01070900 17238272 x0000D310 54032 x83 131 03 02 00 x81D00101 2117074687 00000030 48 x02 2 x00 0 x81D10101 2117009151 00000030 48 x0
107. rror in configuration or internal error Duo LED red green The project configuration complies with the target configuration Data exchange between gateway and PLC via EtherCAT is possible The project configuration does not comply with the target configuration but is compatible with it Data exchange between gateway and PLC via EtherCAT is possible Blinking The project configuration and the target configuration are not compatible Data exchange between gateway and PLC via EtherCAT is not possible No communication with the EtherCAT PLC or the gateway does not have a project configuration Duo LED CU eere orange red green at the same time The actual configuration complies with the target configuration Data ee exchange between gateway and SmartWire DT slaves takes place Blinking The gateway misses its target configuration or a necessary SmartWire DT slave is missing or the target configuration does not comply with the actual configuration No data exchange between gateway and SmartWire DT slaves Slave addressing is active after power on or download of a project configuration containing empty modules No data exchange between gateway and SmartWire DT slaves Blinking Short circuit on the 15 V power supply or no SmartWire DT slave is connected No data exchange between gateway and SmartWire DT slaves Blinking After having pressed the configuration button The gateway reads orange the actual configur
108. rs sensor parameters of I O modules 65 10 Acyelical eomm nieati n ensure 72 10 1 Overview eee eee eee rer eter eter ere terre rere eee rere een n hne hn nen ere eer rear ce errr reer 72 10 2 Read request reading data of an SWD Slave eeseeeeeeeenes 74 10 2 1 Activating read request ccccccccccecececceecceeeeeeeeeeeeeeeeeceeeeeeeceeeeeeeseeeeeeeeeteneess 74 10 2 2 Querying the state of the read request usmmmsrennnnnnnnnnnnnennnnnanannnnnnen 74 1023 Exampleofa read treue here 76 10 3 Write request writing data in an SWD Slave esee eene 77 10 3 1 Activating Write request 2201er eier seiten deaararenrehe 77 10 3 2 Querying the state of the write request summmnnesannsnnnnnnnnnnnnnnnnannnnnen 78 10 3 3 Example of a write request A 79 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Table of contents 4 99 10 4 Emergency telegrams Error and status messages diagnosis 80 10 4 1 Overview uusesssnesnnsnnnnnnnennnennnnnnnnnnnnnnnnnnnnnnennnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 80 10 4 2 Error messages diagnosis of individual SWD slaves Entry Type 0x70 81 10 4 3 Messages generated by the gateway Entry Type OxFF 83 11 Updating firmware with TwinCAT System Managger
109. sed File amp ccess over EtherCAT gt Local 10 11 4 13 1 1 iu Figure 31 Online tab gt Inthe File Access over EtherCAT area of the Online tab click Download button gt The Windows file the selection dialog window opens Look in EUSC SWD ETHERCAT 3 5 My Recent Documents My Documents My Computer File name EO30FDUD v open My Network Files of type Al Fies 9 vium cancel Figure 32 Select Firmware gt Inthe Files of type drop down list select All Files then navigate to the directory where the firmware intended for download is stored SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Updating firmware with TwinCAT System Manager 87 99 gt Select E030F0UO0 nxf file then click Open button The Edit FoE Name dialog window opens Edit FoE Name String EO30FOLIO Hex 45 30 33 30 46 30 55 30 Cancel Length 8 Password hex 00000000 Figure 33 Edit firmware name 1 gt Inthe String field add the file name extension nxf m Important You must enter the file name extension nxf here otherwise the gateway will not accept the file nxf stands for netX firmware Take care to also enter the dot between name and extension Edit FoE Name String EO3OFOUOETT umm Hex 145 30 33 30 46 30 55 30 2E BE 7866 Cancel Le
110. ssist online help 8 3 Configuring gateway in EtherCAT 8 3 1 Device description files The EU5C SWD ETHERCAT Gateway is integrated as slave in the EtherCAT network Configuring the gateway in the EtherCAT engineering tool requires two device description files in XML format containing standardized descriptions of the gateway and the SmartWire devices You will find the device description files on the product DVD in the EDS EU5C SWD ETHERCAT Vx x x x directory You can also download the latest versions of the files from our website www hilscher com under Products gt Partner Products gt SmartWire DT gt EU5C SWD ETHERCAT gt Downloads Copy the device description files to the relevant directory of your EtherCAT engineering tool or use the corresponding import function of the tool For further information on this please refer to the documentation of your engineering tool e Important Please note that data exchange between the gateway and the EtherCAT network can only take place after a SmartWire DT network has been connected and configured in the gateway see section Configuring SmartWire DT network in gateway creating target configuration page 41 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Configuring gateway 44 99 8 3 2 Configuring gateway in TwinCAT This section describes how to create the proje
111. st 10 2 2 Querying the state of the read request Querying the state of the read request The SDO Upload Request sent by the EtherCAT master to the gateway contains the following elements Element Descriptor Datatpe Value value range Address Node ID of the gateway according to project uint16 0 65535 configuration Table 25 Elements of SDO Upload Request for a read request SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Acyclical communication 75 99 Answer from the gateway The SDO Upload Confirmation sent by the gateway to the EtherCAT master contains the following elements Element Description Datmtype Value value range Header configuration Data of SWD slave Slave Address Address of the SWD slave of which data has been read uint8 SWD Index SWD index of the data which has been read e g error uint8 0 255 counter or firmware version Request Type Type of request uint8 0x01 A read request has the value 1 Length Length of the received response payload data in bytes uint8 Freely selectable value serves as job identification uint8 State State of the response uint8 Idle 0 In Progress 1 Finished 2 Error 3 Error Code Error detected by the gateway No error 0x00000000 JOBID_BUFFER_FULL 0xC0OAD0002 JOB_DENIED 0xCOAD0003 NOT_AVAILABLE 0xCOAD0004 Payload data which has been read acc
112. t code M22 SWD K11 EI Box1 EUSC SWD ETHERCA MPS CoE 800020 00000010 16 CFG M22 SWD K11 H Module 1 M22 SWD K1 EPs CoE amp 8000 21 amp 02 2 Options M22 SWD K11 E 5 49 Module 2 M22 SWD K2 MPS CoE x800022 x00 0 Parameters M22 SWD K11 6 49 Module 3 M22 SWD LE HPS CoE x801006 0x814C0100 2125725440 Product code ID M22 SWD K22 5 49 Module 4 DIL SWD 32 t MPS CoE X801020 x00000010 16 CFG M22 SWD K22 6 49 Module 5 PKE SWD 32 PS CE 801021 020 Options M22 SWD K22 H WeState MPS CoE 801022 0x00 0 Parameters M22 SWD K22 a InfoData Ps CoE 802006 0x81900101 2121268991 Product code M22 SWD LEDC W amp B Mappings w m j Move Up Gi Geen Geen Name Type Size gt Addr In Out UserID Linked to E 1180 SINT 10 390 Input 0 ul Qi m eno SINT 10 40 0 Inout 0 x Ready Figure 19 Editing parameters of SWD Coordinator 1 Search the list for the configuration element of the Coordinator parameter that you want to edit A Coordinator parameter can be recognized by the index 0x2100 Xx and the Coordinator Config Parameter entry in the Comment column Forthis example select the element marked with the index 0x2100 01 and the Comment entry Coordinator Config SWD Baud rate 125 250 kBaud s then click Edit button or double click the element SmartWire DT Gateway EU5C SWD ETHERCAT DOC140901UMO2EN Revision 2 English 2015 06 Released Public Hilscher 2015 P
113. tes restricted by SWD Maximum number of cyclic output data 641 bytes restricted by SWD Maximum number of cyclic input output data 1000 bytes restricted by SWD in sum Acyclic communication SDO Master Slave SDO Slave Slave depending on master capability TE FE swewe 4 Table 47 Technical data EtherCAT slave protocol SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public List of figures 96 99 List of figures Figure 1 Data flow EU5C SWD ETHERCAT Gateway 21 Figure 2 Pinning of the Ethernet interface RJ45 eese 30 Figure 3 Mounting principle of the gateway sccceeeeeessesneneeeeeeeeeeseeeeeeeeeeeeneeeees 33 Figure 4 Gateway DOW Suppe 37 Figure 5 Connecting SmartWire DT to gateway m aaa 38 Figure 6 Connecting EtherCAT to gateway aaa 39 Figure 7 TWIACAT Slant SCEE EN UU T 45 Figure 8 Installing TwinCAT Ethernet adapter 1 eeeeeeeseeeeeeeeessesss s 45 Figure 9 Installing Twin CAT Ethernet adapter 2 scorre crust aa 46 Figure 10 iecore c TT m 47 Figure 11 Message prior to device scan sanken 47 Figure 12 New devices found dialog window pro Sept bnu Qu BPs S Rete E ax tup qaae 47 Figure 13 Scan Tor DOKE ee erlitt 48 Figure 14 EUSC SWD ETHERCAT Gateway found as new box sees 48 Figure 15 EU5C SWD ETHERCAT Gatew
114. tics Z or Fuse 2A SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Device picture connectors and LEDs 26 99 5 Device picture connectors and LEDs 5 1 Device picture 1 2 3 4 5 6 7 8 24 V power supply POW EtherCAT interface RJ45 LEDs EtherCAT communication status see subsequent section for details Mini USB interface Configuration button LEDs gateway functions see subsequent section for details 24 V power supply AUX SmartWire DT connection plug 8 pole Table 12 Front view EU5C SWD ETHERCAT gateway SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Device picture connectors and LEDs 27 99 5 2 Positions and meaning of the LEDs 5 2 1 Positions of the LEDs 1 POW System status 2 APL Application status 3 Config Configuration status APL Config Config 4 SWD SmartWire DT status hilscher 5 RUN EtherCAT bus status CFG DIAG 6 ERR EtherCAT bus error 7 L A LINK Activity for channel 0 8 Receive Transmit RX TX for channel 0 9 L A LINK Activity for channel 1 10 Receive Transmit RX TX for channel 1 EUSC SWD ETHERCAT Table 13 LEDs EUSC SWD ETHERCAT Gateway SmartWire DT Gateway EU5C SWD ETHER
115. tion will only be effective ifthe All Modules Optional index 0x2100 08 parameter of the Coordinator is being kept at its default 0x00 setting This allows you to configure the presence option for each device individually in its device options element See also section Configuring SmartWire DT Coordinator gt page 52 i The parameters of the Options element i e the device options are configured by entering a single hexadecimal options byte Please note that this byte does not only define the two options mentioned above i e presence in the SWD network and replacement by universal module but also defines other parameters like e g payload formats The presets of these other parameters may vary from device to device and must not be changed by the user Each parameter is represented by a single bit in the options byte each bit set TRUE has an individual byte value The assignment of parameters to bits and their byte values are shown in the subsequent table SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Parameterization 59 99 Parameter Description Configuration Byte value net Dez Hex Parameter Extended parameters FALSE 0 Device has no extended parameters o 0x00 Device Important Do not TRUE 1 Device has extended parameters 1 0x01 change this parameter Presence Presence in SmartWire FALSE 0 Device may be absent i
116. tions To read in the SmartWire DT configuration proceed as follows gt Press the configuration button on the gateway for at least two seconds for the position of the configuration button see figure in section Device picture page 26 3 Note 3 Take care to push in the button properly You have to feel and overcome a slight resistance at the end when pushing the button into the gateway otherwise the button will not trigger The SmartWire DT status LED SWD LED on the gateway begins to flash orange The SmartWire DT status LEDs on the SmartWire DT slaves also flash All slaves are addressed in sequence the complete configuration is stored retentively as gateway target configuration SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Configuring gateway 43 99 Hazard of device damage by disruption of voltage supply while creating target configuration Do not interrupt the voltage supply while creating the target configuration of the gateway Power failure during a writing process within the file system can cause severe malfunctioning of the device The SmartWire DT status LED SWD LED on the gateway shows steady green gt Note gt As an alternative you can generate and store the target configuration by using the SWD Assist software For this the gateway must be connected to SWD Assist via USB For details please refer to the SWD A
117. tivity Gateway sends receives EtherCAT frames Gateway has no connection to EtherCAT n RJ45 LED yellow ChO amp Ch1 e Not used Numbers in yellow pictures 8 and 10 Table 14 Description of the LEDs SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMO2EN Revision 2 English 2015 06 Released Public Device picture connectors and LEDs 30 99 5 3 Pinning of the Real Time Ethernet interface The following picture shows the pinning of the EtherCAT interface of the gateway PIN 1 TX PIN 2 TX TERM Ethernet TERM Channel 0 6 RX 7 TERM B TERM TX 2 TX 3 RX Ethernet M Channel 1 5 TERM 7 TERM TERM Figure 2 Pinning of the Ethernet interface RJ45 Signa Description TERM Bob Smith Termination TERM TERM Bob Smith Termination TERM Table 15 Ethernet interface channel 0 and channel 1 pin assignment RJ45 Note The Ethernet interface supports auto crossover 5 4 Device type label The EU5C SWD ETHERCAT Gateway is equipped with a device type label which provides the following information D versionX XXX 1 Version of firmware at time of delivery U C ec 2 Information on power supply for switching devices AUX 3 Information on power supply for Gateway and Smart oc 25V AUX max 3A Wire DT slaves POW DC 24V POW max 0 6A AWG 24 16 4 Information on wire gauge of power supplies 9 Operating amb temp 25 55 C Kira 9O 5 Op
118. tor in section Overview page 52 gt Take over the new value by clicking the OK button SmartWire DT Gateway EU5C SWD ETHERCAT DOC140901UMO2EN Revision 2 English 2015 06 Released Public Hilscher 2015 Parameterization 56 99 gt The Data column of the Startup tab displays the changed value the corresponding decimal value is displayed in brackets behind the hexadecimal value General EtherCAT Process Data Slots Startup CoE Online Online Transition Protocol Index Data Comment gt PS CoE x1C12C0 030002 16 03 16 04 16 download pdo 1C12 index C PS CoE amp 1C13C 0 0500001A011A02 1A download pdo x1C13 index C PS CoE OxF030C O0 050000014481 0001 4 download slot cfg Bis 0x2100 01 OxFA 250 Coordinator Config SWD Baud rate 125 250 kBaud s 7 iB PS CoE x2100 04 0x00 0 Coordinator Config Compatible devices permissible 0 No 1 Yes iB Ps CoE 0x2100 05 0x00 0 Coordinator Config All devices are optional 0 No 1 Yes iB Ps CoE x2100 08 0x00 0 Coordinator Config Replacement during operation permissible 0 No 1 Yes IB Ps CoE x8000 06 081440100 2126249728 Product code M22 SWD K11 IB Ps CoE 800020 000000010 16 CFG M22 SWD K11 IB Ps CoE 800021 02 2 Options M22 SWD K11 iB Ps CoE 0x8000 22 0x00 0 Parameters M22 SWD K11 iB Ps CoE x8010 06 0x814C0100 2125725440 Product code ID M22 SWD K22 B Ps
119. uced and tested with utmost care by Hilscher Gesellschaft f r Systemautomation mbH and is made available as is No warranty can be assumed for the performance and flawlessness of the software for all usage conditions and cases and for the results produced when utilized by the user Liability for any damages that may result from the use of the hardware or software or related documents is limited to cases of intent or grossly negligent violation of significant contractual obligations Indemnity claims for the violation of significant contractual obligations are limited to damages that are foreseeable and typical for this type of contract It is strictly prohibited to use the software in the following areas e for military purposes or in weapon systems e for the design construction maintenance or operation of nuclear facilities ein air traffic control systems air traffic or air traffic communication systems e in life support systems e in systems in which failures in the software could lead to personal injury or injuries leading to death We inform you that the software was not developed for use in dangerous environments requiring fail proof control mechanisms Use of the software in such an environment occurs at your own risk No liability is assumed for damages or losses due to unauthorized use 1 5 4 Warranty Although the hardware and software was developed with utmost care and tested intensively Hilscher Gesellschaft fur System
120. ues by setting bit 0 of the Error Type field byte 2 1 SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Acyclical communication 83 99 10 4 3 Messages generated by the gateway Entry Type OxFF In case of messages issued by the gateway concerning errors or status changes of the SmartWire DT network the Emergency Telegram begins with Entry Type byte 0 OxFF In case of messages about resolved errors Error Reset the Emergency Telegram begins with Entry Type byte 0 0x00 If the error on the SWD bus is related to an individual SWD slave e g a mandatory SWD device is missing the Address field byte 1 of the Emergency Telegram indicates the ID of the concerned slave device The nature of the error status change is specified in the Error Flags bytes 4 to 7 of the Emergency Telegram the Diagnosis Code field byte 3 is not used here The following Error Flags are currently defined Byte Hex Relevance Meaning gt dl mn s ojo IC foo E ama sjop LL e jo p CC Y y joe LL 0 oxor Eror SWo MandsonSmarWreDTdevceis missing 2 Joos beo O 3 Joos f e O a foto bo O e oo Jm p joe Pp LL 7 o 001 Error SWo Shortcrcutinine 18V voltage supply ofthe SmanWireDTbus SWD All devices are registered as optional 16
121. unting gateway No tools are required for mounting the EU5C SWD ETHERCAT Gateway onto a top hat rail The back of the gateway 1 carries a spring fitted bolt 2 by which the gateway can be clamped to the rail 3 Figure 3 Mounting principle of the gateway 7 2 1 Mounting gateway onto top hat rail To mount the gateway onto the top hat rail proceed as follows AA WARNING Electrical shock Make sure that the gateway is disconnected from any power supply Cover or enclose neighboring units that are live Tilt the gateway slightly and hook it into the upper railing from above thereby pushing down the gateway with slight force in order to overcome the resistance of the spring in the bolt Hook gateway to upper railing SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Installing gateway 34 99 gt Keep on pushing the gateway downwards and tilt it back into vertical position thereby hooking the gateway into the lower railing gt Let go of the gateway The spring inside the bolt automatically pushes the gateway upwards into the railings thereby fixing the gateway to the top 3 hat rail Gateway is clamped to top hat rail SmartWire DT Gateway EU5C SWD ETHERCAT Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Installing gateway 35 99 1 2 2 Removing gateway from top hat rail To remove t
122. uration see section Configuring gateway in TwinCAT gt page 44 and have opened the project configuration in the TwinCAT System Manager e The project features the EU5E SWD 4AX SmartWire DT I O module SmartWire DT Gateway EU5C SWD ETHERCAT O Hilscher 2015 DOC140901UMOZEN Revision 2 English 2015 06 Released Public Parameterization 68 99 9 3 3 3 Step by step instructions gt Inthe navigation tree of the TwinCAT System Manager select the gateway then open the Startup tab in the main window The configuration elements are listed in the Startup tab SmartWire Testpanel tsm TwinCAT System Manager Eile Edit Actions Yiew Options Help DEBSsU SR Se AS sav OX Xs DB AQ Aller e eot J Ausg nge H P General EtherCAT Process Data Slots Startup CoE Online Online Box 1 EUSC SWD ETHERCAT Module 1 M22 SWD K11 Transition Protocol Index Data Comment Module 2 M22 SWD K22 e s CoE amp 8130 21 x02 2 Options EUSE SWD 4DX Module 3 M22 SWD LED W gs CoE x8130 22 x00 0 Parameters EUSE SWD 4DX 49 Module 4 M22 5WD LED B Ers CoE amp 8140 06 amp 01060504 17171716 Product code EUSE SWD 2A2A 8 Module 5 M22 SWD LED G grs CoE x8140 20 x00E1D110 14799120 CFG EUSE SWD 2A2A 7 Module 6 M22 SWD LED R ps CoE amp 8140 21 x83 131 Options EUSE SWD 2A2A 8 Module 7 M22 SWD K11 LED W GPs CoE 0x8140 22 35002 20482 Parameters EUSE SWD 2A2A z un ENDE a GPs C
123. vision 2 English 2015 06 Released Public Acyclical communication 82 99 Example Emergency Telegram for new incoming error diagnosis of SWD device If an I O module placed on position 5 within the SmartWire DT network i e Address 0x05 detects an output overload i e Diagnosis Code 0x13 the telegram looks as follows Error Register Additional Information Entry Type Address Error Type Diagnosis Code Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Bit 0 reserved Table 41 Emergency Telegram for new incoming error diagnosis of SWD device Example Emergency Telegram for resolved error diagnosis of an SWD device Error Reset If the same I O module reports that the output is not overloaded any longer output overload error has been reset and there are no further error diagnosis messages stored in the message buffer of the gateway the telegram looks as follows Error Code Code Error Register Additional rrr 00 Er M Type Address Error Type El El Byte 0 Byte 1 Byte 2 Byte 3 d NN 4 Byte 5 Byte 6 Byte 7 Bit O rmeevd O s eas 9 ors jn fora Jors fora or Joa sas ono oen seo oso Table 42 Emergency Telegram in case of a resolved error gt Note gt If an error has been resolved but the message buffer of the gateway is still holding at least one further unresolved error diagnosis issue the gateway indicates the fact that there still are pending error iss
124. way EU5C SWD ETHERCAT Hilscher 2015 DOC140901UM02EN Revision 2 English 2015 06 Released Public Safety 20 99 2 7 Labeling of safety messages In this document the safety instructions and property damage messages are designed according both to the internationally used safety conventions as well as to the ANSI Z535 standard e The Section Safety Messages at the beginning of a chapter are pinpointed particularly and highlighted by a signal word according to the degree of endangerment The kind of danger is specified exactly by the safety message text and optionally by a specific safety sign e The Integrated Safety Messages embedded in operating instructions are highlighted by a signal word according to the degree of endangerment In the safety message the nature of the hazard is indicated Signal words and safety signs in safety messages on personal injury Signalword Meaning P1 Ys v c 2 4 Indicates a direct hazard with high risk which will have as consequence death or grievous bodily harm if it is not avoided Indicates a possible hazard with medium risk which will have as WARNUNG consequence death or grievous bodily harm if it is not avoided Indicates a minor hazard with medium risk which could have as consequence personal injury if it is not avoided Table 8 Signal words in safety messages on personal injury Safety sign Sort of warning or principle A Warning of lethal electrical shock Princip

EU5C-SWD-ETHERCAT UM 02 EN

Contents

Download Pdf Manuals

Related Search

Related Contents