Home

User Manual, Anybus Communicator for EtherCAT

1. Note The gateway will only create the number of objects needed to hold the subnetwork configuration See also e Data Representation on page 22 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI 168 95 CANopen Object Dictionary Implementation 25 3 2 2 Output Buffer Index Object Name Sub Index Description Type Access Notes 2100h Outputs 00h No of entries U8 RO 01h Output byte 0000 U8 R W 02h Output byte 0001 80h Output byte 0127 2101h Outputs 00h No of entries U8 RO 01h Output byte 0128 U8 R W 02h Output byte 0129 80h Output byte 0255 2102h Outputs 00h No of entries U8 RO 01h Output byte 0256 U8 R W 02h Output byte 0257 80h Output byte 0383 2103h Outputs 00h No of entries U8 RO 01h Output byte 0384 U8 R W 02h Output byte 0385 80h Output byte 0511 Note 1 For consistency reasons data declared as I O data will be read only Note 2 The gateway will only create the number of objects needed to hold the subnetwork configura tion See also e Data Representation on page 22 p pag Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI 168 95 Chapter 4 4 Navigating the Anybus Configuration Manager 4 1 Main Window The main window in the Anybus Configuration Manager can be divided into 4 sections as follows ums ABC Config Tool Untitled File Fieldbus Tools View Help
2. Y ew Mode Doc Id HMSI 168 95 Chapter 7 7 Transactions 7 1 General As mentioned previously transactions are representations of the actual serial telegrams exchanged on the serial subnetwork While the gateway doesn t feature a scanlist in the traditional sense all nodes and their transactions will be processed in the order they have been defined in the Anybus Configuration Manager Transactions are handled slightly differently in the three protocol modes e Master Mode For regular nodes transactions always come in pairs a query and a response The query is issued by the gateway while responses are issued by the slaves on the subnetwork The Broadcaster can only send transactions e Generic Data Mode Transactions can be added as desired for both directions Transactions sent to the subnetwork are called Transaction Produce and transactions issued by other nodes are called Transaction Consume e DEI Master Mode Please refer to DF 1 Protocol Mode on page 55 Theoretically the gateway supports up to 150 transactions The actual number may however be less de pending on the memory requirements of the defined transactions Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 7 2 Adding amp Managing Transactions Transactions 37 Right click on a node in the Navigation Section to gain access to these functions Function Description Cut Cut a node to the
3. User Manual Anybus Communicator for EtherCAT Doc Id HMSI 168 95 Rev 3 02 44 AmS 7 Y Connecting Devices HALMSTAD CHICAGO KARLSRUHE TOKYO BEIJING MILANO MULHOUSE COVENTRY PUNE COPENHAGEN HMS Industrial Networks Mailing address Box 4126 300 04 Halmstad Sweden E mail info hms networks com Visiting address Stationsgatan 37 Halmstad Sweden Web www anybus com Important User Information This document contains a general introduction as well as a description of the technical features provided by the Anybus Communicator including the PC based configuration software The reader of this document is expected to be familiar with PLC and software design as well as communication systems in general The reader is also expected to be familiar with the Microsoft Windows operating system Liability Every care has been taken in the preparation of this manual Please inform HMS Industrial Networks AB of any inaccuracies or omissions The data and illustrations found in this document are not binding We HMS Industrial Networks AB reserve the right to modify our products in line with our policy of continuous product development The information in this document is subject to change without notice and should not be considered as a commit ment by HMS Industrial Networks AB HMS Industrial Networks AB assumes no responsibility for any errors that may appear in this document There are many applications of this p
4. Blue Data allocated by a Query or Produce transaction Red Collision area has been allocated more than once Grey Reserved illustrates memory consumption area can be allocated if necessary Green Data allocated by Trigger byte Transmit Receive Counter or Control Status Registers Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 Chapter 12 12 Node Monitor 12 1 General The Node Monitor can provide valuable information when setting up the communication with the sub network by allowing individual commands to be issued manually and monitoring the response if ap plicable It also provides an overview of the memoty used by a particular node Note The node monitor has a negative influence on the overall performance of the gateway 1 e it should be used only when necessary The Node Monitor behaves somewhat differently in the three protocol modes e Master Mode and DEI Master Mode The selected Command Query Transaction or Service is sent to the subnetwork The response to the Query can be monitored in the Response Section Monitor New Node File Node Command Columns View Sec mo Command Section Query Subnetwork Response Section In Area 1 bytes 512 Out Area 1 bytes 512 General Area 0 bytes 1022 e Generic Data Mode The selected command Transaction Produce is sent to the subnetwork It is not possible to monitor any responses etc generated by other nodes Monitor
5. Response DisplayName Slave Address constant will be set using the Command ID field Function of the data associated with this object is determined by the user Data etc can be selected by the user By default this is set to match the Modbus RTU stan dard Checksum Object Type Byte Object Byte Object Data Object Checksum Object Value SlaveAddress ID User Depend This value is linked to the SlaveAddress parameter in the parameter window The value of this byte constant will be set using the Command ID field The size and location of the data associated with this object is determined by the user This object will retrieve its settings from the correspond ing object in the Query By default the Modbus RTU specific frame objects are already in place and a data object is inserted between the function code and the CRC These objects cannot be moved or deleted however it is pos sible to add additional objects between the function code and the CRC as desired Name the new command by entering its name in the Command Name field and enter a suitable func tion code in the Command ID field If the command is allowed to be broadcasted check the Allow Broadcasting checkbox Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 10 DF1 Protocol Mode Chapter 10 This mode makes it possible
6. a This led turns green when all transactions have been active at least once This includes any transactions using change of state or change of state on trigger If a timeout occurs on a transaction this led will turn red b The gateway is in bootloader mode and firmware must be restored in order for it to work properly Start up the Anybus Configuration Manager and connect to the Anybus Commu nicator Choose Tools Options ABC Click Factory Restore to restore firmware See Tools on page 28 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 About the Anybus Communicator for EtherCAT 13 1 3 Hardware Installation Perform the following steps when physically installing the gateway 1 Snap the gateway on to the DIN rail See DIN rail Connector on page 11 The DIN rail mechanism works as follows To snap the gateway on first press 1t downwards 1 to compress the spring in the DIN rail mechanism then push it against the DIN rail as to make it snap on 2 To snap the gateway off push it downwards 1 and pull it out from the DIN rail 2 as to make it snap off from the DIN rail Connect the gateway to the EtherCAT network Connect the gateway to the serial subnetwork Connect the gateway to the PC via the Configuration Cable Connect the power cable and apply power SS Start the Anybus Configuration Manager on the PC The Anybus Configuration Manager software attempts
7. Item Description Select a Name for the A name for the configuration Configuration may be entered here Download Password 6 These fields can be used to Upload Password 6 password protect the configu ration in the gateway CAUTION Always keep a copy of the password in a safe place A lost password cannot be re trieved e Exit Close the Anybus Configuration Manager Anybus Communicator for EtherCAT Doc Rev 3 02 Download Password 6 ms Name the Configuration selecta Name forthe Configuration My configuration Upload Password 6 See em Doc jd HMSI 168 95 Navigating the Anybus Configuration Manager 28 Tools This menu features the following entries This entry selects the COM port used Port d for the configuration of the gateway Upload configuration from ABC a id Download configuration to ABC Upload the configuration from the Start Logging gateway to the Anybus Configuration Manager Options e Download configuration to ABC Download the current configuration into the gateway e Start Logging Start the Data Logger see Data Logger on page 67 Note that when the Data Logger is active this menu entry is changed to Stop Logging e Options This will bring out the following window Item Description Warning on Delete A confirmation dialog is displayed each ee time something is deleted eee Warning on unsaved A confirmation dialog is
8. NUL SOH STX ETX EOT ENQ ACK BEL BS HT LF VT FF CRIS Si 0 1 2 3 4 5 6 T 8 9 10 11 12 13 14 15 DLE DC1 DC2 DC3 DC4 NAK SYN ETB CAN EM SUB ESC FS GS RS US 16 17 18 19 20 21 22 23 24 235 26 27 28 29 30 31 sp i amp R 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 0 1 2 3 4 5 6 7 8 9 lt gt 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 A B C D E F G H J K L M N O 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 P Q R S T U V W A Y Z _ 80 81 82 8 84 85 86 87 88 89 90 91 92 93 94 95 a b C d e f g h j k m n 0 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 p q r S t u V W X y Z DEL 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI 168 95
9. OxNNN Please note that the trigger byte address must be unique to each transaction It can not be shared by two or more transactions Doc Id HMSI 168 95 7 5 Transaction Editor Transactions 42 The Transaction Editor can be used to edit the individual frame objects of a transaction The same set tings are also available in the parameter section of the main window however the Transaction Editor presents the frame objects in a more visual manner ES Transz on Editor File Byte constant Ward constant Data Value Value Data location Data length 0x00 0x0000 0x0200 0x0010 Transaction P Byte constant SS GE constant Fame d E Checksum Objects A Byte constant LOX A Checksum Byte constant Error check type Error check start byte Value CRC 0x0000 0x00 To edit the value of a parameter click on 1t and enter a new value using the keyboard When editing transactions which are based on predefined commands certain parts of the transaction may not be ed itable The File menu features the following entries Apply Changes Exit Ctr Q Example Transaction Editor File Byte constant Word constant Data Value Value Data location Data length 0x02 0x0008 0x0202 0x0008 Apply Changes This will save any changes and exit to the main window Exit Exit without saving Checksum Byte constant Error check type Error check start byte Value CRC 0x0001 0x03 The transaction created in this
10. This row specifies where the frame object shall retrieve its value settings Value Description Depend This setting is only relevant for Responses in Master Mode The value will be retrieved from the corresponding part of the Query transaction Id The value will be retrieved from the Command ID setting see Basic Navigation on page 51 User The settings associated with the object can be edited by the user SlaveAddress The value will be retrieved from the SlaveAddress parameter see Node Parameters on page 35 other settings Other settings are no longer supported Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI 168 95 Commands 54 9 3 5 Example Specifying a Modbus RTU Command in Master Mode In the following example a Modbus RTU command is created in Master Mode In Modbus RTU a transaction always feature the following parts e Slave Address 1 byte e Function Code 1 bytes e A data field e CRC CRC 16 Furthermore each command always consists of a query and a response e Example Query DisplayName Slave Address Function Data Checksum Object Type Byte Object Byte Object Data Object Checksum Object Value SlaveAddress ID User User The value of this byte The value of this byte The size and location The checksum type constant will be set using the SlaveAd dress parameter see Node Parameters on page 35 e Example Response
11. To set the value of the object select it in the Navigation Section and enter the desired value in the Pa rameter section Parameter Description Value Constant value Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Frame Objects 45 8 4 Limit Objects Byte Word Dword Limit Objects have a fixed range and come in three sizes Byte 8 bits Word 16 bits Dword 32 bits Limit Objects are handled differently depending on the direction of the transaction Produce Query Transactions This object shall not be used for such transactions value will be undefined Consume Response Transactions The gateway will check if the received byte word dword fits inside the specified boundaries If not the message will be discarded There are 3 types of interval objects Byte 8 bit interval Word 16 bit interval Dword 32 bit interval To set the range of the object select it in the Navigation Section and enter the desired range in the Pa rameter section as follows Parameter Description Maximum Value This is the largest allowed value for the range Range 0x00 OxFFh byte 0x0000 OXFFFFh word 0x00000000 OxFFFFFFFFh dword Note Value must be larger than the Minimum Value below Minimum Value This is the smallest allowed value for the range Range 0x00 OxFEh byte 0x0000 OXFFFEh word 0x00000000 OxFFFFFFFEh dword Note Value must be less than the Maximum
12. D SHS Configuration Alphabetic Categorized E Ethernet TCP IP configuration Communicator IP address 192 168 0 1 Default Gateway 0 0 0 0 255 255 255 0 Enabled we Sub Network Y New Node C Read Holding Registers E3 Query E Response Preset Multiple Regs El Query El Response Subnet Mask TCP IP Settings 3 Fieldbus Fieldbus Type A 10 Sizes IO Sizes Automatic Profinet IO IO Sizes Sets whether the sizes of the IO areas are user defined or automaticly configured 2005 10 24 A Pull down Menus amp Tool Bar The second drop down menu from the left will change de pending on the current context The Tool Bar provides quick access to the most frequently used functions B Navigation Section This section is the main tool for selecting and altering dif ferent levels of the subnetwork configuration Entries preceded by a holds further configuration pa rameters or sub menus To gain access to these parame ters the entry must be expanded by clicking There are three main levels in the navigation window namely Fieldbus ABC and subnetwork Right clicking on entries in this section brings out addi tional selections related to that particular entry C Parameter Section This section holds a list of parameters or options related to the currently selected entry in the Navigation Section The parameter value may be specified eithe
13. Eet 25 Chapter 4 Navigating the Anybus Configuration Manager AE E ETC e a acd ee e esa ga erect dal oats EE 26 VS EE 2d ER 30 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Chapter 5 Chapter 6 Chapter 7 Chapter 8 Chapter 9 Chapter 10 Basic Settings EE 31 a ee Eenheet 32 Subnetwork Parine TS ame Te ar a te nc T TSS 34 Nodes CT EE 35 PaO EE 35 ee dee a lio 35 Marrano iaa 35 Transactions So EE 36 Ee EE a AA AAA 5 Transaction Parameters EE 38 VS RO e A A pauls estas EN OE A 38 EE 40 Transaction Parameters Generne Dati Moo 40 Te EE 40 CONSE A LIS TONE o leed E OET 41 BEER et ereere li 42 Frame Objects Kee 43 adas and E E EOS ioaea aE OEE T T hulu dla mir ichwecela ails 43 Constant Objects Byte Word DWord uvas dana 44 iro Objects Byte Word vota li 45 RE 46 Narable Dar On e a 46 EE e E 48 Commands A Ee 49 Addie WManasmo Commands nella clan citada 49 SSB E 50 A EEEIEE EAEE ak ce aunt A ease aad S 50 EE EENEG Sei Eeer EE 51 D IN A A O AE TEOTEO sl PAU AONE e AO 52 RO EE 53 Example Specifying a Modbus RTU Command in Master Mode ue 54 DF1 Protocol Mode Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 EE ARO ete dcah ella vet S vaca 6S wes each tates 55 EE ee Ee 56 Subneclwork Parane ac aaa 57 Node Parner A a 58 SE 58 AVALES E 59 larenn ica ee 60 RRL DSU ROSE A ER 60 E E uss ohicleia oidousaaeauce stigmas dgiaveneyuasanseeeunenes 61 Witt 61 C
14. While the gateway doesn t feature a scanlist in the traditional sense all nodes and their transactions will be processed in the order they have been defined in the Anybus Configuration Manager The maximum number of nodes that can be created in the Anybus Configuration Manager is 31 6 2 Adding amp Managing Nodes Right click on Sub Network in the Navigation Section to gain access to these functions Function Paste Description Paste a node from the clipboard e Subnetwork Monitor Launch the subnet monitor Subnetwork Monitor on page 62 Subnetwork Status Add Node Add a node to the configuration Add Broadcaster Add a broadcaster node to the configuration Load Node Add a previously saved node View diagnostic information about the subnetwork a This function is only available in Master Mode 6 3 Node Parameters 6 3 1 Master Mode and Generic Data Mode To gain access to the parameters described in this section select a node in the Navigation Section Parameter Slave Address Description The value entered here may be used to set the node address in certain commands For more information see The Command Editor on page 51 Anybus Communicator for EtherCAT Doc Rev 3 02 SY Fieldbus d ABC e Sub Network Sub Network Monitor Add Node Add Broadcaster Load Node Sub Network Status SN Fieldbus di ABC g Sub Network Y Broadcaster
15. consumed by a node 2 3 5 DF1 Master Mode Please refer to DF 1 Protocol Mode on page 55 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Basic Operation 21 2 4 EtherCAT Communication Properties 2 4 1 General The EtherCAT interface acts as a full EtherCAT slave device with the following properties General Properties Full EtherCAT slave device 4 FMMU channels can be used freely by the EtherCAT master for any purpose 4 SM channels 4kByte RAM Bit oriented FMMU operation Position addressing node addressing and logical addressing PDI Watchdog Output I O Sync Manager Watchdog Supported Features CANopen over EtherCAT DS301 v4 02 compliant Supports segmented SDO access Up to 512 bytes of cyclic data in each direction 2 4 2 Sync Managers The gateway features four Sync Managers Sync Manager 0 Used for mailbox write transfers Master to Slave The gateway supports mailbox sizes of 50 256 bytes default 192 Sync Manager 1 Used for mailbox read transfers Slave to Master The gateway supports mailbox sizes of 50 256 bytes default 192 Sync Manager 2 Contains the RxPDOs specified by the PDO assignment In practice Sync Manager 2 holds the unmodified Output I O data Sync Manager 3 Contains the TxPDOs specified by the PDO assignment In practice Sync Manager 3 holds the unmodified Input I O data Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HM
16. user refers to the person or persons responsible for installing the Anybus Communi cator in a network e The term gateway refers to the Anybus Communicator e Hexadecimal values are written in the format OxNNNN where NNNN is the hexadecimal value e Decimal values are represented as NNNN where NNNN is the decimal value e As in all communication systems the terms input and output can be ambiguous because their meaning depend on which end of the link is being referenced The convention in this doc ument is that input and output are always being referenced to the master scanner end of the link Glossary Term Meaning ABC Anybus Communicator Broadcaster A protocol specific node in the configuration that handles transactions destined to all nodes ECT EtherCAT Command A predefined transaction Configuration List of configured nodes with transactions on the subnetwork Fieldbus The higher level network to which the communicator is connected Control System Device which controls the communication on the higher level network i e a fieldbus master Frame Object Low level entities which are used to describe the different parts of a transaction Monitor A tool for debugging the gateway and the network connections Node A device in the configuration which defines the communication with a node on the subnetwork The network that is logically located on a subsi
17. 168 95 Control and Status Registers 72 15 1 2 Data Consistency The Data Valid bits in the Control and Status Registers are used to ensure data consistency during start up and fieldbus offline online transitions If the Status Control Word parameter in Anybus Configuration Manager is set to Enabled the gate way will wait for the fieldbus control system to set the Data Valid bit in the Control Register before it starts exchanging data on the subnetwork If the same parameter is set to Disabled or Enabled but no startup lock communication will start as soon as the fieldbus goes online State Machine The fieldbus network participation can be described using a state machine as described below A Offline No data exchange 1 Clear the Data Valid bit in the Con trol Register A Offline no data exchange 2 Write initial data to the Output Area according to the subnetwork configu ration 3 Wait until the fieldbus control system and the gateway are online on the field bus network and shift to state B B Online not yet exchanging data B Online Not yet exchanging data 4 Wait until the Data Valid bit in the Status Register is cleared by the gate C way Online F Le exchanging data 5 Set the Data Valid bit in the Control Register 6 When the Data Valid bit in the Status Register is set by the gateway shift to state C 7 I
18. Fieldbus connected to the Communicator Profinet 10 AK Wizard Modbus RTU Master Version 1 14 Revision 1 Next gt Cancel type The purpose of this wizard is to help you through the process of creating a project with a Modbus RTU sub network When the Wizard is finished it is possible to continue editing the project in the Configuration Tool The fieldbus is the higher layer network that communicates with the serial device s on the sub network via the Communicator ieldbus Master be PLC HMI Etc Wizard Modbus RTU Master Version 2 Enabled e Extension cycle 1 Occupied station 4 gt Step 1a of 6 Select settings for the chosen fieldbus Fieldbus Master The fieldbus used might offer special features that can be configured Click the list below to see available settings and their meaning Only fieldbuses with specific settings are listed here lt Back J ee 1 can yen COP mms Wizard Modbus RTU Master Physical standard RS232 y Step 20f6 Bitrate bits s asno Si Select ri properties Parity None KA Data bits g X Stop bits y y GG D ryBus 8 ES I Lo network This is where the properties for the sub network are selected Please see the sub network device s manual to determine the appropriate settings for a particular serial device lt Back gt o Cancel Please s
19. Value above Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 Frame Objects 46 8 5 Data Object Data Objects are used to represent raw data as follows e Produce Query Transactions The specified data block is forwarded from the higher level network to the subnetwork e Consume Response Transactions The specified data block is forwarded from the subnetwork to the higher level network To specify the properties of the object select it in the Navigation Section and enter the desired settings in the Parameter section as follows Parameter Description Byte Swapping e No Swapping No swapping is performed on the data e Swap 2 bytes A B C D becomes B A D C e Swap 4 bytes A B C D becomes D C B A Data Length The length of the data block in bytes In case of a Response or Consume transaction incom ing messages where the data size differs from the value specified here will be discarded Max imum data length allowed for one frame is 300 bytes Data Location The location of the data block in the internal memory buffer 8 6 Variable Data Object Note Only one Variable Data Object is permitted for each transaction This object is similar to the Data Object except that it has no predefined length Instead an End or Length character specifies the size of the data block as follows Variable Data Object Variable Data Object Data of arbitrary length End Character Length
20. are allowed The Anybus Communicator supports a selection of DF1 commands When the gateway is going to ex ecute a service it automatically chooses the appropriate DF1 command s that are used to perform the service on the selected DF1 node type Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 DF1 Protocol Mode 59 10 5 1 Available Services Right click on the node and choose Add Command E A pop up window will show the four different servic Y Select Command es that are available File Command e Integrity check 7 gt e Read diagnostics el ee ere e Read data e Write data Integrity Check 002 Read Diagnostics O03 Read Data Ox04 Write Data EE Ei amp A maximum of 50 services in total for all nodes can be selected The predefined services can be configured to suit the application Select a service to show the parameters General Configuration Parameters These parameters are common to all services but the settings Is are individual to each instance of a service Configuration Alphabetic Categorized General E General Offline options for fieldbus Clear Offline options for sub network Clear Parameter Description Valid settings a SES A A A A AAA E E Timing Offline options for The action to take for this service Clear E E Timeout time Oms 100 fieldbus if the fieldbus goes offline This Freeze Update time Dee 100 i i i E Trigger option affects the data that is
21. displayed when EET She eee egw atin Nears elec data closing the Anybus Configuration Man oO eee ager with unsaved data Show Wizard when The Wizard is displayed each time a new New menu is selected configuration is created Language next time the Selects which language to use The new program is launched setting will be active the next time the pro gram is launched Selecting the ABC tab will reveal additional properties Item Description Size of logbuffer By default the Data Logger can log up to 512 entries in each direction If necessary Apply it is possible to specify a different number of entries valid settings range from 1 512 Click Apply to validate the new O ere settings See also Data Logger on page 67 Firmware Download Download firmware to the embedded field bus interface Warning Use with caution Factory Restore Restores the gateway firmware to it s orig inal state does not affect the embedded fieldbus interface Block Configuration When selected the downloaded configu ration will not be executed by the gateway Warning Use with caution Create Error log Creates an error log file Firmware Download Block Configuration Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Navigating the Anybus Configuration Manager 29 View This menu features the following entries View M e Toolbar This entry enables disable
22. example are built up as follows The first byte holds the STX 0x02 followed by two bytes specifying the length of the data field in this case 8 The next 8 bytes are data and since this is a query transaction the data is to be fetched from the Output Area which starts at address location 0x202 No swapping will be per formed on the data This is followed by a two byte checksum The checksum calculation starts with the second byte in the transaction The transaction ends with a byte constant the ETX 0x03 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 Chapter 8 8 Frame Objects 8 1 General Each transaction consists of Frame Objects which makes up the serial telegram frame Each Frame Ob ject specifies how the gateway shall interpret or generate a particular part of the telegram There are 5 types of frame objects which are described in detail later in this chapter e Constant Objects e Limit Objects e Data Objects e Variable Data Objects e Checksum Objects Example The following Transaction consists of several frame objects three constants a data object and a checksum object Transaction 8 2 Adding and Editing Frame Objects 7 e Sub Network Y New Node Transactions 1 To add a frame object to a Transaction right click on the Transac aop ER Edt Transaction tion in the Navigation Section and select one of the entries in the Add Data Add
23. for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 DF1 Protocol Mode 60 10 6 Integrity Check This service checks that a node is up and running correctly A telegram is sent to the node The node mirrors and returns the telegram No configuration is needed apart from the general parameters com mon to all services 10 7 Read Diagnostics This service reads diagnostic information from the module ABC DF 1 Master Untitled Devices Configuration Alphabetic Categorized E Command Params Size 0x02 EY Integrity Check El Data Options Co A ead Diagnostics Byte swap No byte swap T Node 2 Data Length 0x02 Offset 0x0000 E General Offline options for fieldbus Clear Offline options for sub network Clear Update mode Cyclically E Timing Retries Timeout time 10ms Update time 10ms BE Trigger Request Trigger byte address OxD5FF Response Trigger byte Disabled Response Trigger byte address OxD5FF Read Diagnostics 2010 05 07 10 53 Config Line Command parameters The command parameter Size decides the amount of data that can be read The size is given in bytes which means that it always has to be an even number as only whole elements can be read from the slave One bit integer element is 2 bytes and one float element is 4 bytes The range of the size differs de pending on node type PLC 5 SLC500 Size range in bytes 1 28 Data options Parameter Description Valid settings Byte swap Determines if the data
24. given as 10 in the parameter window Each change of 10 ms either increases or decreases this value by 1 i e 9 represents a poll time of 90 ms and 11 represents a poll time of 110 ms b The default value is given as 100 in the parameter window Each change of 10 ms either increases or decreases this value by 1 i e 99 represents a poll time of 990 ms and 101 represents a poll time of 1010 ms Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 10 4 Node Parameters To gain access to the parameters described in this section select a node in the navigation section For more information about nodes see Nodes on page 35 amp ABC Config Tool Untitled File Node 1 Tools View Help ABC DF 1 Master Untitled Configuration Fieldbus Alphabetic Categorized ABC el Subnetwork D GE D Node 1 ecksum Node 2 Slave address 2 Type PLC 5 Slave address The address of the slave 2010 05 07 10 38 Config Line DF1 Protocol Mode 58 2 Fieldbus di asc I A Sub Netwark A Broadcaster Parameter Description Valid Settings Checksum Selects the type of checksum on the network BCC CRC default Slave Address The value entered here sets the node address 0 254 Type The PLC type of the slave PLC 5 SLC500 MicroLogix 10 5 Services Services are commands that can be stored and reused The user configures each slave with services that can be issued from the master A total of 50 services
25. to detect the serial port automatically If not successful select the correct port manually in the Port menu 7 Configure the gateway using the Anybus Configuration Manager and download the configuration Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 About the Anybus Communicator for EtherCAT 14 1 4 Software Installation 1 4 1 Anybus Configuration Manager System requirements Pentium 133 MHz or higher 650 MB of free space on the hard drive 32 MB RAM Screen resolution of 800x600 16 bit color or higher Microsoft Windows 2000 XP Vista 7 32 bit Internet Explorer 4 01 SP1 or newer Installation Anybus Communicator resource CD Insert the CD and follow the on screen instructions If the installation does not start automati cally right click on the CD drive icon and select Explore Execute setup exe and follow the on screen instructions From website Download and execute the self extracting exe file from the HMS website www anybus com Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Chapter 2 2 Basic Operation 2 1 General The Anybus Communicator gateway is designed to exchange data between a serial subnetwork and a higher level network Unlike most other gateway devices of similar kind it does not have a fixed protocol for the subnetwork and can be configured to handle almost any form of serial communication The gateway can issue serial t
26. 0180 Resulting memory layout Input Data Output Data 0x000 0x200 Object Index 2000h 2001h lO Size In TxPDO 1A00h 1A01h CT 256 bytes Object Index 2100h 2102h IO Size Out RxPDO 1600h 1602h 384 bytes Ox0FF 0x100 0x37F Object Index 2002h 2003h 0x380 Object Index 2100h 2103h Ox1FF Ox3FF Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Chapter 3 3 CANopen Object Dictionary Implementation 3 1 Standard Objects 3 1 1 General The standard object dictionary is implemented in accordance with the DS301 specification v4 02 3 1 2 Object Entries Index Object Name Sub Index Description Type Access Notes 1000h Device Type 00h Device Type U32 RO 0000 0000h No profile 1008h Manufacturer 00h Manufacturer device Visible RO device name name string 1018h Identity object 00h Number of entries U8 RO 04h 01h Vendor ID U32 RO 02h Product Code U32 RO 03h Revision Number U32 RO 04h Serial Number U32 RO 1600h Receive PDO 00h Number of entries U8 R See 2 22 Data Representation z mapping 01h n Mapped object n U32 R 1603h 1A00h Transmit PDO 00h Number of entries U8 R See 2 22 Data Representation z mapping 01h Nn Mapped object n U32 R 1A03h 1C00h Sync Manager 00h Number of entries U8 R 04h Communica 01h Mailbox wr U8 R 01h tion Type 02h Mailbox rd U8 IR 02h 03h Process Da
27. 0x01 0x02 Instruction Disable Node Enable Node Enable Nodes Data Actual node address Description Disables the specified node Actual node address Enables a previously disabled node Enables the specified number of nodes start ing from the first node in the configuration Remaining nodes will be disabled Actual number of nodes to enable 15 3 3 Control Codes in Generic Data Mode No Control Codes are currently supported in this mode Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 Chapter 16 16 Advanced Fieldbus Configuration 16 1 General The fieldbus interface of the gateway consists of an embedded Anybus S communication interface Nor mally the Anybus S configuration settings are set up automatically by the gateway However advanced users can configure the Anybus S card for specific features This chapter assumes that the reader is fa miliar with the Anybus S and it s application interface For more information about the Anybus S plat form consult the Anybus S Parallel Design Guide The standard initialization parameters are determined by the subnetwork configuration Information about the amount of input and output data used for subnetwork communication is used by Anybus Con figuration Manager to create the configuration message that sets the sizes of the input and output data areas in the Dual Port RAM of the embedded Anybus S interface It is possible to add fieldbus sp
28. 11201 Phone 91 0 20 40111201 Fax 91 0 20 40111105 Fax 91 0 20 40111105 Online www anybus com Online www anybus com Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 Chapter 1 1 About the Anybus Communicator for EtherCAT The Anybus Communicator for EtherCAT acts as a gateway between virtually any serial application pro tocol and an EtherCAT based network Integration of industrial devices is enabled without loss of func tionality control and reliability both when retro fitting to existing equipment as well as when setting up new installations dl EtherCAT Master e g a PLC Zo EtherCAT Master e g a PLC PC web SCADA INVERTER EtherCAT EtherCAT INVERTER PC configuration PC configuration and monitoring and monitoring d IN IN Multi drop up to 31 nodes eed Serial communication device LLLLLLILLLI 3 Serial communication device Single Node Serial Sub Network Multi Node Serial Sub Network Subnetwork The gateway can address up to 31 nodes and supports the following physical standards e RS 232 e RS 422 e RS 485 EtherCAT Interface EtherCAT connectivity is provided through patented Anybus technology a proven industrial commu nication solution used all over the world by leading manufacturers of industrial automation products e CANopen over EtherCAT e DS301 v4 02 compliant e Galvanical
29. Character bytes of data e Produce Quety Transactions The specified data block will be forwarded from the higher level network to the subnetwork The control system must supply an End or Length character in order for the gateway to know the size of the data block The End or Length character itself may either be forwarded to the subnetwork or discarded e Consume Response Transactions The specified data block is forwarded from the subnetwork to the higher level network The End or Length character will be generated by the gateway automatically if applicable The End or Length character itself may either be forwarded to the higher level network or dis carded Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Frame Objects 47 To specify the properties of the object select it in the Navigation Section enter the desired settings in the Parameter section as follows Parameter Description Byte Swapping e No Swapping No swapping will be performed on the data e Swap 2 bytes A B C D becomes B A D C e Swap 4 bytes A B C D becomes D C B A Fill unused bytes e Enabled Fill unused data with the value specified in Filler byte e Disabled Don t fill Filler byte Filler byte value Only used if Fill unused bytes has been enabled Data Location The offset in the internal memory buffer where the data shall be read from written to Object Delimiter e Length Character Length
30. New Node File Node Command Columns View Sec SO Command Section Produce Subnetwork Not used In Area 1 bytes 512 Out Area 1 bytes 512 General Area 0 bytes 1022 000 oo Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI 168 95 Node Monitor 64 12 2 Navigating the Node Monitor Monitor New Node File Node mmand Columns View Ze Ae Read Coil Status Query Slave Address Function Starting Address Hi Lo Number of points Hi Lo Checksum Value Value Value Error check type Error check start byte 0x0000 0x0000 CRC 0x0000 Read Coil Status Response Slave Address Function Byte count Checksum In Area 4 bytes 512 Out Area 16 bytes 512 General Area 0 bytes 1004 0 00 00 00 00 DD DD DO DO DO DD 0D DO DO DO DD DD DO DO DO DO D A Pull down Menu amp Toolbar Icons See Pull Down Menu on page 65 and Toolbar Icons on page 66 B Command Section This section holds the currently selected command The individual frame objects in the com mand can be edited in a similar way as in the Transaction and Command Editors C Response Section Master Mode and DF1 Master Mode only This section holds the response to the selected Command z Monitor Section This section displays the data associated with the node Areas in dark grey are reserved for the Status amp Control Registers and areas displayed in light grey represent the data that
31. SI 168 95 Basic Operation 22 2 4 3 Data Representation As mentioned previously the gateway implements CANopen over EtherCAT The object implementa tion is based on the DS301 communication profile Input and output data is mapped to dedicated objects in the manufacturer specific range Data declared as I O data is exchanged by means of Process Data Objects PDOs while the remainder is exchanged through Service Data Objects SDOs The PDO mapping is static and looks as follows PDO Corresponding Object Internal Memory TxPDO 1A00h Index 2000h sub index 1 128 Input Data bytes 0 127 TxPDO 1A01h Index 2001h sub index 1 128 Input Data bytes 128 255 TxPDO 1A02h Index 2002h sub index 1 128 Input Data bytes 256 383 TxPDO 1A03h_ Index 2003h sub index 1 128 Input Data bytes 384 511 RxPDO 1600h Index 2100h sub index 1 128 Output Data bytes 0 127 RxPDO 1601h Index 2101h sub index 1 128 Output Data bytes 128 255 RxPDO 1602h Index 2102h sub index 1 128 Output Data bytes 256 383 RxPDO 1603h Index 2103h sub index 1 128 Output Data bytes 384 511 Note The gateway will only map as many PDOs as required to hold the specified amount of I O data Example The following example illustrates how the internal memory buffers are represented on the Ether CAT network The I O Sizes are set as follows IO Size In 256 bytes 0x0100 IO Size Out 384 bytes 0x
32. Variable Data menu that appears atic ee Add Byte Constant The entry called Transaction Editor will launch the Transaction Add Word Constant Editor which is used to edit transactions and frame objects in a pe gege Gemeen e A yte Limits mote visual manner For more information see Transaction Edi Add Word Limits tor on page 42 Add DWord Limits Rename Configuration Alphabetic Categorized 3 General Data length 0x0001 Data location 0x0200 R o To edit parameters associated with a particular frame object select the frame object in the Navigation Section The settings for that frame object will be displayed in the Parameter Section It is also possible to edit the frame objects in a transaction in a more visual manner using the Transaction Editor see Transac tion Editor on page 42 Data Object Parameters Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 Frame Objects 44 8 3 Constant Objects Byte Word Dword Constant Objects have a fixed value and come in three sizes e Byte 8 bits e Word 16 bits e Dword 32 bits Constants are handled differently depending on the direction of the transaction e Produce Quetry Transactions The gateway will send the value as it is without processing it e Consume Response Transactions The gateway will check if the received byte word dword matches the specified value If not the message will be discarded
33. Write EtherCAT Read Only Subnetwork Read Write EtherCAT Subnetwork Read Only EtherCAT Read Write Ox1FF 0x3FF 0x72 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Basic Operation 17 2 2 2 Data Exchange Example In the following example a temperature regulator on the subnetwork exchanges information with a PLC on the higher level network via the internal memory buffers in the gateway PLC EtherCAT Master PLC Memory Inputs Actual Temperature PLC Memory Outputs Temperature Setpoint The PLC memory associated with the gateway is exchanged Data from the Input Data area is copied to PLC Input Memory and PLC Output Memory is copied to the Output Data area The PLC exchanges data between the internal PLC memory and the EtherCAT slaves in this case the Anybus Communicator gateway EtherCAT Anybus Communicator Gateway Input Data Output Data General Data not used in this example The gateway copies the Output Register of the Temperature Regulator to the Input Data area The gateway copies the Temperature Setpoint from the Output Data area to the Input Register in the Temperature Regulator Subnetwork Serial Device Temperature Regulator Output Register Input Register The Temperature Regulator has two Actual Temperature Temperature Setpoint registers holding the Setpoint Temperature and the Actual Temperature
34. ailable but it is not possible The serial port may be in use by another application to connect to the gateway Exit the Anybus Configuration Manager and close all other applications including the ones in the system tray Try again e Select another serial port Try again Poor performance e Right click subnetwork in the Navigation window and select subnetwork Status to see status diagnostic information about the subnetwork If the gateway reports very many retransmissions check your cabling and or try a lower baud rate setting for the subnetwork if possible e Is the Subnet Monitor in the Anybus Configuration Manager active The subnetwork monitor has a negative influence on the overall performance of the gateway and should only be used when necessary e Is the Node Monitor in the Anybus Configuration Man ager active The node monitor has a negative influence on the overall performance of the gateway and should only be used when necessary No subnetwork functionality e Use the Data logger functionality to record the serial data communication on the subnetwork e If no data is being transmitted check the configuration in Anybus Configuration Manager e fno data is received check the subnetwork cables Also verify that the transmitted data is correct Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI 168 95 Appendix D D ASCII Table
35. ailable if you intend to configure an ABC module for DF1 See also Protocol Modes on page 18 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 33 Statistics The Transmit and Receive Counters indicate how many transactions that have successfully been ex changed on the subnetwork This feature is primarily intended for debugging purposes e Receive Counter Location Specifies the location of the Receive Counter in the internal memory buffer e Transmit Counter Location Specifies the location of the Transmit Counter in the internal memory buffer Both counters are enabled by setting Statistics to Enabled Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI 168 95 34 5 3 Subnetwork Parameters Fieldbus A ABC Seg al Sub Metwaork To gain access to the parameters described in this section select Subnet work in the Navigation Section Communication These parameters specify the actual communication settings used for the subnetwork Parameter Description Master Mode and Generic Mode Bit rate baud rate Selects the bit rate 1200 2400 4800 9600 19200 35700 38400 57600 Data bits Selects the number of data bits 7 8 Parity Selects the parity mode None Odd Even Physical standard Selects the physical interface type RS232 RS422 RS485 Start bits Number of start bits 1 Stop bits Number of stop bits 1 2 Start and End Charac
36. ateway which features a dedicated broadcaster node Control System Gateway Subnetwork Devices J Node 1 Node 2 In Master Mode Anybus Configuration Manager comes preloaded with most commonly used Modbus RTU commands which can conveniently be reached by right clicking on a node in the Anybus Config uration Manager and selecting Insert New Command Note however that this does not in any way pre vent other protocols based on the same query response message scheme to be implemented Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Basic Operation 20 2 3 4 Generic Data Mode In this mode there is no master slave relationship between the nodes on the subnetwork and the gate way Any node including the gateway itself may spontaneously produce or consume a message Nodes do not have to respond to messages nor do they have to wait for a query in order to send one Control System Gateway Subnetwork Devices Consume d Produce Node 1 Produce p Consume Produce p Consume Node 2 Consume d Produce In the figure above the gateway consumes data that is produced by a node on the subnetwork This consumed data can then be accessed from the higher level network This also works the other way around the data received from the higher level network is used to produce a message on the subnet work to be
37. bed later in this doc ument Node A node represents a single device on the subnetwork Each node can be associated with a number of transactions see below Transaction A transaction represents a complete serial telegram and consists of a number of frame objects see below Each transaction is associated with a set of parameters controlling how and when to use it on the subnetwork Commands A command is simply a predefined transaction stored in a list in the Anybus Configuration Man ager This simplifies common operations by allowing transactions to be stored and reused Frame Object Frame objects are low level entities used to compose a transaction see above A frame object can represent a fixed value a constant a range of values limit objects a block of data or a cal culated checksum Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Basic Operation 19 2 3 3 Master Mode In this mode the communication is based on a query response scheme when the gateway issues a query on the subnetwork the addressed node is expected to issue a response to that query Nodes are not per mitted issue responses spontaneously i e without first receiving a query There is one exception to this rule the broadcaster Most protocols offer some way of broadcasting mes sages to all nodes on the network without expecting them to respond to the broadcasted message This is also reflected in the g
38. c Rev 3 02 Doc jd HMSI 168 95 9 2 1 Pull Down Menu File This menu features the following entries Select Add the currently selected Command to the node Exit Exit without adding a command to the node Command This menu is used to manage the commands in the list Add Command Add a custom command to the list and open the new command in the Command Editor See also The Command Editor on page 51 Edit Command Edit the currently selected command using the Command Editor See also The Command Editor on page 51 Delete Command Commands 50 K Select Exit Ctrl Q Add Command Edit Command Delete Command Delete the currently selected command from the list Note that some commands are fixed and cannot be deleted 9 2 2 Toolbar Icons The toolbar features icons for the most commonly used functions Add Command Same as Add Command in the Command menu Edit Command Same as Edit Command in the Command menu Delete Command Same as Delete Command in the Command menu Anybus Communicator for EtherCAT Doc Rev 3 02 Add Command WC Edit Command Delete Command Doc Id HMSI 168 95 Commands 51 9 3 The Command Editor 9 3 1 General The Command Editor is used to define new commands and edit existing ones This makes it possible to build a library of commands which can be stored and reused at a later stage Note that th
39. character is visible in the internal memory buffer but not on the subnetwork Length Character Visible The length character is visible both in the internal memory buffer and on the subnetwork e End Character The end character is visible in the internal memory buffer but not on the subnetwork e End Character Visible The end character is visible both in the internal memory buffer and on the subnetwork e No Character No End or Length character is generated in the internal memory buffer End Character Value End Character value Maximum Data Length The maximum allowed length in bytes of the variable data object If the actual length of the data exceeds this value the message will be discarded The value must not exceed 300 bytes which is the maximum data length allowed for one frame a Only relevant for Consume Response transactions b Only used if Object Delimiter is set to End Character or End Character Visible Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Frame Objects 48 8 7 Checksum Object Most serial protocols features some way of verifying that the data has not been corrupted during trans fer The Checksum Object calculates and includes a checksum in a transaction Parameter Description Error Check Start byte This parameter specifies the byte offset in the transaction to start checksum calculations on Error Check Type This parameter specifies which type of al
40. ched The entered value is multiplied by 10 For instance an entered value of 5 results in 50 ms Note This setting is not relevant for the Broadcaster node This parameter specifies how many times a timeout may occur in sequence before the node is disconnected Timeout time 10 ms This parameter specifies how long the gateway will wait for a response from a node If this time is exceeded the gateway will retransmit the Query until the maximum number of retries see above has been reached The entered value is multiplied by 10 For instance an entered value of 5 results in 50 ms Trigger byte address This parameter specifies the location of the trigger byte in internal memory only relevant when Update mode is set to Change of state on trigger Valid settings range from 0x200 Ox3FF and 0x400 OxNNN Update mode This parameter is used to specify when the transaction shall be sent to the slave e Cyclically The transaction is issued cyclically at the interval specified in the Update time parameter e On data change The data area is polled for changes at the time interval defined by Update time A transac tion is issued when a change in data is detected e Single shot The Query is issued once at start up e Change of state on trigger The Query is issued when the trigger byte value has changed This feature enables the control system to notify the gateway when to issue a particular Query To use thi
41. chnical Specification E led 81 En Tee EE 81 EnyironmentalChartaoteristos adi 81 Be Orel ALO COMPASS eh 82 Appendix C Troubleshooting Appendix D ASCII Table Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Preface About This Document For more information documentation etc please visit the HMS website www anybus com Related Documents Document name Author ABC ECT Installation Leaflet HMS DF1 Protocol and Command Set Reference Manual 1770 6 5 16 October 1996 Allen Bradley Document History Summary of Recent Changes 3 01 3 02 Change Page s Added information on EtherCAT trademark Revision List Revision Date Author Chapter Description 2 00 2007 05 07 PeP All 1st official release 2 01 2007 08 13 PeP Minor update 2 03 2009 04 24 kel All Misc minor corrections and updates 3 00 2011 02 09 KaD All Misc minor updates new template and DF1 functionality 3 01 2011 09 30 KaD All Misc corrections and updates new Anybus Configuration Manager name 3 02 2012 11 20 KeL Added information on EtherCAT trademark Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 About This Document P 8 Conventions amp Terminology The following conventions are used throughout this document e Numbered lists provide sequential steps e Bulleted lists provide information not procedural steps e The term
42. clipboard Copy Copy a node to the clipboard Insert Insert a node from the clipboard Delete Delete a node Node Monitor Launch the node monitor Node Monitor on page 63 Add Transaction s On regular nodes this adds a Query and a Response The two transactions will be grouped in order to increase readability On the Broadcaster a single transaction will be added Add Transaction Consume Add transaction Produce Add a Consume transaction Add a Produce transaction Add Command Insert New Node save Node Insert from File Add predefined transactions to the node Insert a new node above the currently selected one Save the selected node Insert a previously saved node above the currently selected node Rename To increase readability each node can be given a unique name using this function a Only available in Master Mode b Only available in Generic Data Mode Anybus Communicator for EtherCAT Doc Rev 3 02 38 Fieldbus d ABC W Sub Network 2 eee E N Cut Copy Insert Delete Node Monitor Add Transaction Consume Add Transaction Produce Add Command Insert New Node Save Node Insert from File Rename Doc Id HMSI 168 95 Transactions 38 7 3 Transaction Parameters Master Mode 7 3 1 Parameters Query 8 Broadcast To gain access to these parameters select a Query or Broadcast transaction in the Navigation Section Parameter Minim
43. diary level with respect to the fieldbus and to SURE WON which this product acts as a gateway Transaction A generic building block that is used in the subnetwork configuration and defines the data that is sent and received on the subnetwork User Person or persons responsible for installing the Anybus Communicator Higher Level Network In this case EtherCAT Network Fieldbus Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 Sales and Support About This Document P 9 Sales Support HMS Sweden Head Office E mail sales hms networks com E mail support hms networks com Phone 46 0 35 17 29 56 Phone 46 0 35 17 29 20 Fax 46 0 35 17 29 09 Fax 46 0 35 17 29 09 Online www anybus com Online www anybus com HMS North America E mail us Sales hms networks com E mail us support hms networks com Phone 1 312 829 0601 Phone 1 312 829 0601 Toll Free 1 888 8 Anybus Toll Free 1 888 8 Anybus Fax 1 312 629 2869 Fax 1 312 629 2869 Online www anybus com Online www anybus com HMS Germany E mail ge sales hms networks com E mail ge support hms networks com Phone 49 0 721 989777 000 Phone 49 0 721 989777 000 Fax 49 0 721 989777 010 Fax 49 0 721 989777 010 Online www anybus de Online www anybus de HMS Japan E mail jp sales hms netw
44. e Command Editor is somewhat protocol dependent in the sense that certain frame objects may not be deleted or altered The examples in this section use Master Mode The procedures involved are similar in Generic Data Mode but without the limitations imposed by the Modbus RTU protocol 9 3 2 Basic Navigation Open the Command Editor by selecting Edit Command or Add Command from the Command menu Command Editor Fil lumn Command Name New com Command ID 0x3 Allow O Query 1 2 3 4 DisplayName Slave Address Function Data Checksum ObjectType Byte Byte Data Checksum Value SlaveAddress ID User User Response 1 2 4 DisplayName Slave Address Function Checksum ObjectType Byte Byte Checksum Value SlaveAddress ID Depend A Pull down Menu See Pull down Menu on page 52 B Name of Command Actual name of the command in text form C Command Transactions This section holds the actual transactions associated with the command This can either be a que ry response pair or a single transaction depending on the protocol mode etc D Command ID This can be used as desired when building the command e g to specify the function code E Other Settings Setting Description Allow Broadcasting Specifies if it is allowed to broadcast the command only relevant in Master Mode Produce The command is producing data Generic Data Mode only Consume The command is consumin
45. e of grounding loops etc cause damage to the on board serial transceivers It is therefore generally recommended to connect it only to Signal Ground if available of other nodes Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Connector Pin Assignments 80 A 4 5 Typical Connection RS485 5V RS485 RS485 RS485 RS485 Signal Signal Ground Ground Cable Shield Anybus Communicator Node Node Node Node End Node A 4 6 Typical Connection RS422 4 Wire RS485 5V RS422 Rx RS422 Tx 11 I 1 I RS422 Rx LG RS422 Tx I I 470R 1 1 RS422 Tx e RS422 Rx 120R RS422 Tx l RS422 Rx I l 470R 1 1 I Signal a Signal Ground Ground Cable o Shield Anybus Communicator Device Note Bias resistors are normally not needed on RS422 but may be required when using 4 wire R5485 A 4 7 Typical Connection RS232 RS232 Tx RS232 Rx D no H 1 I a RS232 Rx RS232 Tx I a i I Signal J Signal Ground Ground Cable Shield Anybus Communicator Device Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Appendix B B Technical Specification B 1 Mechanical Properties Housing Plastic housing with snap on connection to DIN rail protection class P20 Dimensions 120 mm x 75 mm x 27 mm Lx W x H inches 4 72 x 2 95 x 1 06 Lx W x H B 2 Electrical Characteristics Power Supply Power 24V 10 Power Consumption Maximum power consumptio
46. ecific mailbox messages to customize the initialization This is done in the Mailbox Editor see below A mailbox message is a HMS specific command structure used for low level communication with an Anybus S interface Consult the Anybus S Parallel Design Guide and the fieldbus appendix for the de sired fieldbus for further information 16 2 Mailbox Editor 88 Fieldbus To add a mailbox message to the configuration right click on D atartinit c we c gt d Field ifi EndInit and select Insert New Mailbox e Fieldbus specific e ZZ Bessa o d Sub Network A mailbox message consists of a Header sec ses BER tion and a data section where the Header con sists of 16 words 32 bytes and the data section consists of up to 128 words 256 bytes All fields ate editable except the Mes sage information field that 1s fixed to 0x4002 which means that only fieldbus specific mail box messages can be entered here z S The mailbox message is presented as two col umns one contains header information A Allow user to enable disable the other one contains the message data B To add message data simply change the Data size parameter in the header column A and the corresponding number of bytes will ap pear in the message data column B For more information about fieldbus specific mailbox messages consult the separate Anybus S Fieldbus Appendix for the fieldbus you are using For general i
47. ee the manual for the sub network device to determine Y Doc Id HMSI 168 95 Chapter I5 15 Control and Status Registers 15 1 General The Control and Status Registers are disabled by default but can be enabled using the Anybus Config uration Manager see Status Control Word on page 32 These registers form an interface for ex changing status information between the subnetwork and the fieldbus control system The main purpose of these registers is to e Report subnetwork related problems to the fieldbus control system e Ensure that only valid data is exchanged in both directions e Enable the fieldbus control system to start stop data exchange with selected nodes on the sub network If enabled these registers occupy the first two bytes in the input and output data areas 0x000 0x001 and 0x200 0x201 respectively which means they can be accessed from the fieldbus just like any other data in these areas Note Internally these registers are stored in Motorola format 1 e MSB first If the higher level net work uses a different byte order the upper and lower bytes will appear swapped 15 1 1 Handshaking Procedure A special handshaking procedure which is illustrated in the two flowcharts below must be followed when accessing these registers to ensure that both parts receive proper information Read Status Register Write to Control Register Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI
48. elegrams cyclically on change of state or based on trigger events issued by the control system of the higher level network i e the fieldbus master or PLC It can also monitor cer tain aspects of the subnetwork communication and notify the higher level network when data has changed An essential part of the Anybus Communicator package is the Anybus Configuration Manager a Win dows application which is used to supply the gateway with a description of the subnetwork protocol No programming skills are required instead a visual protocol description system is used to specify the different parts of the serial communication ME ABC Config Tool Untitled DEAK i File Transactions 1 Tools View Help DG RM A x Devices Configuration g Fieldbus Alphabetic Categorized d ABC d Sub Network Y Node1 Read Coil Status E Query OX E Response E 1 Diagnostics E Query Response Node Sensor D Barcodereader SelectAll DeselectAll Y Sensor Transactions 1 Hms Frame Editor TOX Ele Slave Address Function Starting Address Hi Lo Number of points HiLo Checksum Value Value Value Value Error check type Error check start byte 0x0000 0x0000 CRC 0x0000 Transactions 1 2005 10 27 09 39 Config Line YA E Collision Trigger or Statusbytes Response Reserved Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 Basic Operation 16 2 2 Da
49. ess pa rameter see Node Parameters on page 35 In such case the parameters in the parameter section will be greyed out and cannot be edited directly In Master Mode Anybus Configuration Manager comes preloaded with commands for most common Modbus RTU functions Additional commands can easily be added using the Command Editor see The Command Editor on page 51 For DF1 Master Mode see Services on page 58 In Generic Data Mode no predefined commands exist but custom ones may be implemented as desired 9 2 Adding amp Managing Commands To add a command to a node right click on the node in the Navigation Section and select Add Com mand A list of commands will appear amp Select Command X File Command DG Command Name Select the desired command in the list and select Add Command Command Name in the Command menu The specified command will be added Read Input Status Read Holing Registers to the node eset Sing i i ere Just like other transactions the frame objects of added command x0B Fetch Comm Event Ctr Fetch Comm Event Log may be edited in the Navigation Parameter Section or using the Force Multiple Coils See Transaction Editor Note however that certain frame objects may rite 4X Register be locked for editing ead Write 4x Registers ad FIFO Queue 0x99 My Custom Command 1 0 My Custom Command 2 Anybus Communicator for EtherCAT Do
50. f the gateway goes offline on the fieldbus shift to state A C Online Exchanging data Exchanging valid data in both directions If the gateway goes offline on the fieldbus shift to state A Note The gateway cannot spontaneously clear the Data Valid bit in the Status Register Latency The Data Valid bit in the Status Register may in some cases be delayed This latency can be caused by a missing node or a bad connection to a node with a long timeout value assigned to it Therefore the fieldbus control system should not wait for this bit to be set before communicating with the subnetwork devices it should be considered as an aid for the fieldbus control system to know when all data has been updated Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 Control and Status Registers 73 15 2 Status Register Contents Gateway to Control Sys tem 15 2 1 General Information The Status Register is if enabled located at 0x000 0x001 and constitutes a bit field as follows bit s Name 15 Send SR_HS_SEND 14 Confirm SR_HS_CONFIRM Description These bits control the handshaking towards the fieldbus control system See also Handshaking Procedure on page 71 Control Register Contents Control System to Gateway on page 75 13 Data Valid This bit is set when all transactions have been executed successfully at least once Master Mode and DF1 Once set it will not c
51. g data Generic Data Mode only Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Commands 52 9 3 3 Pull down Menu File This menu features the following entries e Apply Changes E Save changes and exit to the main window Apply Changes e Exit Exit Ctr Q Exit without saving Column The functions in this menu alters the structure of the command e Append Column Column h Add another column to the command Append Column Insert Column Shift Ins Delete Column Shift Del e Insert Column Insert a column at the selected position e Delete Command Delete the column at the selected posi tion Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 Commands 53 9 3 4 Editing a Command As mentioned previously the transaction section in the Command Editor represents the actual transac tions associated with the command Each column represents a frame object within the transaction Each column features four rows with the following parameters s Query Response Produce Consume The upper right cell indicates the direction of the transaction e DisplayName Each column can be named so that the different parts of the command appears in a more user friendly manner when editing its settings in the Transaction Editor or in the Parameter Section of the Main Window e ObjectType This row specifies the type of frame object that shall be used for the column e Value
52. g purposes e Receive Counter Location Specifies the location of the Receive Counter in the internal memory buffer e Transmit Counter Location Specifies the location of the Transmit Counter in the internal memory buffer Both counters are enabled by setting Statistics to Enabled Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 10 3 Subnetwork Parameters To gain access to the parameters described in this section select Subnet work in the Navigation Section Communication DF1 Protocol Mode 57 8 Fieldbus di ABC O al Sub Network These parameters specify the actual communication settings used for the subnetwork Parameter Description Valid Settings Bit rate baud rate Selects the bit rate 2400 4800 9600 19200 38400 Default Data bits Selects the number of data bits 8 Parity Selects the parity mode None Odd Even Physical standard Selects the physical interface type RS232 RS422 RS485 Start bits Number of start bits Stop bits Number of stop bits 1 DF1 Settings Parameter Description Master Node Address Node address of the master valid values 0 254 default 1 Poll time active slaves 10 ms Determines how often the slave shall be polled in steps of 10 ms default 100 ms Poll time inactive slaves 10 ms Determines how often the slave shall be polled in steps of 10 ms default 1000 ms a The default value is
53. gorithm to use Anybus Communicator for EtherCAT Doc Rev 3 02 e CRC 2 bytes CRC 16 with 0xA001 polynome Modbus RTU standard e LRC 1 byte All bytes are added together as unsigned 8 bit values The 2 s complement of the result will be used as a checksum e XOR 1 byte All bytes are logically XOR ed together The resulting byte will be used as a checksum e ADD 1 byte All bytes are added together as unsigned 16 bit values The lowest 8 bits in the result will be used as a checksum e AddinvASCll 2 bytes All bytes are added together as unsigned 8 bit values The lowest 8 bits in the result are inversed and used as a checksum represented as hexadecimal ASCII 2 bytes Doc Id HMSI 168 95 Chapter 9 9 Commands 9 1 This information is only valid for master mode and generic mode For DF1 master mode please refer to Services on page 58 General As mentioned previously commands ate actually predefined transactions that can be stored and reused Just like regular transactions commands consist of frame objects and are representations of the actual serial telegrams exchanged on the serial subnetwork Adding a command to a node actually results in a transaction s being added according to the directions specified in the command The frame objects in such a transaction may retrieve their values not only from parameters in the parameter section but also from other sources such as the SlaveAddr
54. hange Master Mode Only 1 Data Valid 0 Data not Valid Note This bit is not used in Generic Data Mode 12 8 Status Code This field holds the last status report from the gateway 7 0 Dat See also Status Codes in Master Mode and DF1 Master Mode on page 73 Status Code in Generic Data Mode on page 74 Note Internally this is treated as a Motorola format word i e MSB first If the higher level network uses a different byte order the upper and lower bytes will appear swapped 15 2 2 Status Codes in Master Mode and DF1 Master Mode This table is valid only in Master Mode and DF1 Master Mode Condition Description 0x00 Retransmission Warning Counter The number of retransmissions on the subnet Counter Updated work has increased If this problem persists this may eventually trigger a Single or Multi ple Node s Missing condition 0x01 Single Node Missing Error Slave address A single node is missing 0x02 Multiple Nodes Missing Error Number of nodes Multiple nodes are missing 0x03 Buffer Overrun Warning Slave address A node returned more data than expected 0x04 Other Error Error Slave address Undefined error Ox1F No Error Warning No errors Note Conditions of type Error will eventually be followed by a No Error condition when the cause has been resolved Conditions of type Warning are however considered informational and may not nec essaril
55. hapter 11 Subnetwork Monitor Chapter 12 Node Monitor Ee a I ses A eae areata id an tates 63 Navisatiothe Node Monto aiii aio 64 To TOEN e A e a dla lis Le 65 Too rar A O A CUA 66 Chapter13 Data Logger Eeer 67 Opero sea st an aaah alados 67 EE SS 68 Chapter 14 Configuration Wizards SR NO 69 Selective a Wizard E 69 Wizard Modbus RTU MASE miei sbaucunin eased asunanpiusens muediaapitaetecionidedateane 70 Chapter 15 Control and Status Registers Eeer ee Eege 71 Ee dl A A EE T aah ete ee A PA tal at alas DABS Neal tala E EEE hee tetas T2 Status Register Contents Gateway to Control System sessesssssessesrsesesessrssereseseseseseseseseeresrerseseees 73 Ee 73 Status Codes in Master Mode and DF1 Master Mode iicccccccccccccccsccccccssscsccsesscssccessssssessssssesenseeeess 73 SAS ODE IAS EEE Ae ODE taa 74 Control Resister Contents Control System to Gateway E 75 Eeer 75 Control Codes in Master Mode and DF1 Master Adode EE 75 Control Codes in Generi Data IN OO AA id ibi fies Chapter 16 Advanced Fieldbus Configuration Ss a ct tl ia 76 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI 168 95 Vi bedeelege 76 Appendix A Connector Pin Assignments Pitt EE 77 POWE COMIC CLO PA EA 77 PE OG Icono 78 Subnet work EE GN EE datada a DIAS II OASIS EE 79 TOMAR IRIS CP RSG 2 A A A OTA 79 FONCTION IOUT DDT ld 19 EPIA CONTENTS ta E E I AA A T 80 Tipar Conmeen RSEL2 C4 TE 80 EPIA OREA TS LIL acia 80 Appendix B Te
56. has occurred All configured nodes and their transactions are listed in the middle of the screen B Selecting and de selecting single transactions makes 1t possible to view any combination of allocated data Note The subnetwork monitor has a negative influence on the overall performance of the gateway Therefore the monitor functionality should be used with care Operation DS Sub network Monitor File Columns Nodel Node Barcodereader Sensor SelectAll Deselect All SelectAll DeselectAll SelectAll Deselect All SelectAll Deselect All Read Coil Status Read Coil Status Transactions 1 M trans actions 1 R atus a 32 atus Lead Coil Status Out Area 0 bytes 512 General Area 0 bytes 989 ooo0oo0oo0ooooooooooooooooo e Response Collision Trigger or Statusbytes Reserved A Start Network amp Stop Network Icons These icons controls the subnetwork activity To stop all subnetwork D activity click on the red light To start the subnetwork again click on the green light Start B Nodes Transactions To view data blocks associated with a transaction select the transaction in the list The corre sponding data will then appear in the Monitor Section C C Monitor Section This section visualizes how data is allocated in the Input Output and General Data areas Color Meaning White Not allocated Yellow Data allocated by a Response or Consume transaction
57. ies the action to take for this transaction if the subnetwork goes offline This affects the data that is sent to the higher level network e Clear Data is cleared 0 on the higher level network if the subnetwork goes offline e Freeze Data is frozen on the higher level network if the subnetwork goes offline Offline timeout time 10 ms This parameter specifies the maximum allowed time between two incoming messages in steps of 10ms If this time is exceeded the subnetwork is considered to be offline A value of 0 disables this feature i e the subnetwork can never go offline The entered value is multiplied by 10 For instance an entered value of 5 results in 50 ms Trigger byte e Enable Enables the trigger byte The location of the trigger byte must be specified in the Trig ger byte address below The trigger byte value will be increased each time a valid transaction has been con sumed by the gateway The trigger byte will also be increased if the offline option is set to Clear and the offline timeout time value is reached This feature enables the control system to be notified each time new data has been consumed on the subnetwork Disable Disables the trigger byte functionality Trigger byte address Anybus Communicator for EtherCAT Doc Rev 3 02 This parameter specifies the location of the trigger byte in the internal memory buffer Valid settings range from 0x000 Ox1FF and 0x400
58. is used by the node The data displayed in this section will be refreshed based on the refresh icons in the toolbar For more information see Toolbar Icons on page 66 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Node Monitor 65 12 2 1 Pull Down Menu File There is only one entry in this menu Exi Fe This will close the Node Monitor Note however that if the node has Exit been disabled using Stop Node see below it will not resume data exchange until enabled again using Start node Node This menu controls the data exchange for the node This feature can kal help isolate problems associated with a particular node Start Node Stop Node e Start Node Enable the transactions associated with the node e Stop Node Disable the transactions associated with the node Command This menu is used to specify and issue a command manually e Select Command Select a command to be sent to the subnetwork Command Send Command Select Command Send the specified command to the subnetwork send Command Columns This menu specifies the number of columns in the Monitor Section Columns E Free e Free w 8 Multiple The number of columns depends on the width of the window e 8 Multiple The number of columns will be fixed to 8 View This menu specifies the data representation in the Monitor Section Kam en H Display the data in hexadecimal fo
59. l and Status Registers 75 15 3 Control Register Contents Control System to Gate way 15 3 1 General Information The Control Register is if enabled located at 0x200 0x201 and constitutes a bit field as follows bit s Name 15 Confirm CR_HS_CONFIRM 14 Send CH He SEND Data Valid Description These bits control the handshaking towards the gateway See also Handshaking Procedure on page 71 Status Register Contents Gateway to Control System on page 73 This bit controls data consistency see Data Consistency on page 72 1 Output Area valid exchange data on the subnetwork 0 Output Area not valid do not exchange data on the subnetwork Note This bit is only relevant if the Control Status Registers are set as Enabled Execute Command If set the specified command will be executed by the gateway see below Control Code Data This field holds commands which can be executed by the gateway see below See also Control Codes in Master Mode and DF1 Master Mode on page 75 Control Codes in Generic Data Mode on page 75 Note Internally this 1s treated as a Motorola format word 1 e MSB first If the higher level network uses a different byte order the upper and lower bytes will appear to be swapped 15 3 2 Control Codes in Master Mode and DF1 Master Mode This table is valid only in Master Mode and DF1 Master Mode Code 0x00
60. l appear Select the ABC Peele Firmware to the Anybus tab and enter the desired number of buffer entries under Size of logbuffer valid settings range from 1 512 Restores Communicator firmware Factory Restore Block the current configuration in the Gaerne Block Configuration Click Apply to validate the new settings Creates an error log file Create Error Log Click OK to exit Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 14 Configuration Wizards 14 1 General Chapter 14 When creating a new subnetwork configuration the Anybus Configuration Manager provides a choice between starting out with a blank configuration or using a predefined template a k a a wizard The wizard automatically creates a subnetwork configuration based on information supplied by the user i e the user simply has to fill in the blanks Note however that this will only work when the subnetwork fits the wizard profile in all other cases the Blank Configuration option must be used 14 2 Selecting a Wizard Profile The following window appears each time the Anybus Configuration Manager is started or upon select ing the New entry in the File menu unless it has been disabled in the Options menu see Tools on page 28 Currently the following wizards are available e ABCC ExtLink Wizard This wizard is intended for use with the Anybus Com pactCom Modb
61. lly comply with the Modbus standard For example they may im plement a variation of this standard or be limited to the use of specific Modbus commands other than the ones used by this wizard In all cases the user should consult the documentation of the devices that shall be used on the subnetwork for information about their serial communication requirements and if necessary contact the manufacturer of the device to obtain further informa tion about the serial communication protocol In the event that the wizard doesn t handle a particular Modbus command required by a device it is possible to specify this command manually as a transaction in the Anybus Configuration Manager Using this wizard involves the following steps Step 1 Communicator Type Wizard Modbus RTU Master Select EtherCAT Aa Step 1 of 6 Select the fieldbus Click Next to continue Tip It is possible to return to a previous menu at any time without losing any set tings by clicking Previous Step 1a I O Sizes Specify the sizes of the input and output data areas For more information see IO Sizes on page 31 Click Next to continue Step 2 Physical Settings Select the physical properties of the sub network Click Next to continue Steps 3 6 Consult the online help system for fur ther information Anybus Communicator for EtherCAT Doc Rev 3 02 Fieldbus Type The type of the
62. loat element is 4 bytes The parameter must have an even value as only whole elements can be read from the slave Data Options Parameter Byte swap Description Determines if the data shall be swapped PLC 5 2 240 SLC500 2 236 MicroLogix 2 242 Valid settings No byte swap Swap words Swap double words Data length The number of bytes read from the DF1 network to write to the area determined lt Size by the Offset parameter Offset The offset in the internal memory buffer in the module where the data shall be read See Memory Map on page 16 Note H the control and status registers are enabled default first available data location will be Input area 0x002 Output area 0x202 10 9 Write Data This service is used to write data to the nodes in the subnetwork The parameters to be configured are the same as for the service Read Data The only difference is that data is read from the internal memory buffer in the Anybus Communicator and written to the subnetwork bus instead of being written to the internal memory buffer Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 Chapter 11 11 Subnetwork Monitor General The Subnetwork Monitor is intended to simplify configuration and troubleshooting of the subnetwork Its main function is to display the data allocated for subnetwork communication and detect if any area has been allocated twice 1 e if a collision
63. ly isolated network electronics e Supports segmented SDO access e Exchanges up to 512 bytes of data in each direction Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 1 1 About the Anybus Communicator for EtherCAT 11 External View D m l e e For wiring and pin assignments see Connector Pin Assignments on page 77 A EtherCAT Port 1 In See also EtherCAT Connectors on page 77 B EtherCAT Port 2 Out See also EtherCAT Connectors on page 77 C Status LEDs See also Status LEDs on page 12 D PC connector This connector is used to connect the gateway to a PC for configuration and monitoring purposes See also PC Connector on page 78 E Subnetwork Connector This connector is used to connect the gateway to the serial subnetwork See also Subnetwork Interface on page 79 F Power Connector This connector is used to apply power to the gateway See also Power Connector on page 77 Troubleshooting on page 83 G DIN rail Connector The DIN rail mechanism connects the gateway to PE Protective Earth See also Hardware Installation on page 13 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 1 2 Status LEDs EtherCAT Interface Indications About the Anybus Communicator for EtherCAT 12 A State Status 1 RUN Off EtherCAT interface in INIT state Green EtherCAT in
64. mark and patented technology licensed by Beckhoff Automation GMbH Germany Warning This is a class A product in a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures ESD Note This product contains ESD Electrostatic Discharge sensitive parts that may be damaged if ESD control procedures are not followed Static control precautions are required when handling the prod uct Failure to observe this may cause damage to the product Anybus Communicator for EtherCAT for Anybus Communicator Rev 3 02 Copyright HMS Industrial Networks AB Nov 2012 Doc Id HMSI 168 95 Table of Contents Table of Contents Preface About This Document Related DOCM A A A AAA 7 Document TES COTY A A A A A A R Y Conventions cc EE 8 COS ay ic ace ec o td 8 Sales and SU OLE ves ar aces sneha di ias 9 Chapter 1 About the Anybus Communicator for EtherCAT Da E er eee 11 SEAS LE O SE ES 12 Hardware asta do EU 13 SOLE Wate Las tadas 14 ES EII UTA ON A UOT EEEE EEE OEE ATRAN 14 Chapter 2 Basic Operation E E E E A E A E TE EE E E E E 15 Dita EE 16 W E a EE E da E E E E A A E E E 16 Eege E er Subnetwork E tee idas 18 TA A AAA o 18 Eeer 18 Ee 19 Eege 20 Eet 20 Ee Communication opere 21 EE Zs EE EE 2l deelen 22 Chapter 3 CANopen Object Dictionary Implementation Std OD ECS reaa AAA AA Roads 23 E EE EENI D E E A T RN 23 O AE A ET 20 Maniac EE ee 24 TOUT NSU A RN 24
65. n A a W Sub Network Interface Currently only serial communication is supported Status Control Word See Control and Status Registers on page 71 VENTE Description Enabled Enable the Control and Status Registers The Data Valid bit in the Control Register must be set to start the subnetwork communication Enabled but no startup lock This setting is similar to Enabled except that the control system is not required to set the Data Valid bit to start the subnetwork communication Disabled This setting completely disables the Control and Status Registers Module Reset This parameter specifies how the gateway will behave in the event of a fatal error VENTE Description Enabled The gateway will be restarted and no error will be indicated to the user Disabled The gateway will halt and indicate an error Protocol Mode This parameter specifies which protocol mode to use for the subnetwork VENTE Description DF1 This mode is intended for the DF1 protocol The Anybus Communicator can only be con figured as a Master with half duplex communication Note This is the only mode available if you intend to configure an ABC module for DF1 See also Protocol Modes on page 18 Statistics The Transmit and Receive Counters indicate how many transactions that have successfully been ex changed on the subnetwork This feature is primarily intended for debuggin
66. n is 280mA on 24V Typically around 100mA B 3 Environmental Characteristics Relative Humidity The product is designed for a relative humidity of 0 to 95 non condensing Temperature Operating 0 C to 55 C Non Operating 25 C to 85 C Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Technical Specification 82 B 4 Regulatory Compliance EMC Compliance CE This product is in accordance with the EMC directive 89 336 EEC with amendments 92 31 EEC and 93 68 EEC through conformance with the following standards EN 50082 2 1993 EN 55011 1990 Class A e EN 61000 6 2 1999 EN 61000 4 3 1996 10V m EN 61000 4 6 1996 10V m all ports EN 61000 4 2 1995 8kV Air Discharge 4kV Contact discharge EN 61000 4 4 1995 2kVPower port 1kVOther ports EN 61000 4 5 1995 0 5kVPower ports DM CM 1kVSignal ports UL c UL compliance The certification has been documented by UL in file E214107 Galvanic isolation on subnetwork interface e EN 60950 1 2001 Pollution Degree 2 Material Group IIIb 250 Vrms or 250 VDCWorking voltage 500 VSecondaty circuit transient rating Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Appendix C C Troubleshooting Problem Solution Problem during configuration Upload Download e Serial communication failed Try again The Config Line LED turns red in the Anybus Configura tion Manager The serial port seems to be av
67. n the sub network connector A 4 2 Bias Resistors RS485 Only When idle RS485 enters an indeterminate state which may cause the serial receivers to pick up noise from the serial lines and interpret this as data To prevent this the serial lines should be forced into a known state using pull up and pull down resistors commonly known as bias resistors The bias resistors form a voltage divider forcing the voltage between the differential pair to be higher than the threshold for the serial receivers typically gt 200mV Note that bias resistors shall only be installed on one node installing bias resistors on several nodes may compromise the signal quality on the network and cause transmission problems A 4 3 Termination RS485 8 RS422 Only To avoid reflections on the serial lines it is important to properly terminate the subnetwork by placing termination resistors between the serial receivers near the end nodes The resistor value should ideally match the characteristic impedance of the cable typically 100 120R A 4 4 Connector Pinout DB9F Pin Description RS232 RS422 RS485 1 5V Output 100mA max Y Y Y 2 RS232 Rx V 3 RS232 Tx Y 4 reserved 5 female 1 5 Signal Ground Y Y Y 6 RS422 Rx Y 7 RS422 Rx Y 8 RS485 RS422 Tx Y Y 9 RS485 RS422 Tx Y Y housing Cable Shield Y Y Y a Connecting this signal directly to Protective Earth PE of other nodes may in cas
68. neric Data Mode 7 4 1 Produce Transactions To gain access to these parameters select a Produce Transaction in the Navigation Section Parameter Offline options for fieldbus Description This parameter specifies the action to take for this transaction if the higher level network goes offline This affects the data that is sent to the subnetwork e Clear Data is cleared 0 on the subnetwork if the higher level network goes offline e Freeze Data is frozen on the subnetwork if the higher level network goes offline NoScanning Stop subnet scanning for this transaction if the higher level network goes offline Update mode Update time 10 ms Anybus Communicator for EtherCAT Doc Rev 3 02 The update mode for the transaction e Cyclically The transaction is sent cyclically at the interval specified in the Update Time param eter e On data change The data area is polled for changes at the time interval defined by Update time A transaction is issued when a change in data is detected e Single shot The transaction is sent once at startup e Change of state on trigger The transaction is sent when the trigger byte has changed This feature enables the control system to notify the gateway when to issue a particular transaction To use this feature correctly the control system must first update the data area associated with the transaction then increase the trigger byte by one The location of the trigge
69. nformation about the Anybus S platform consult the Anybus S Design Guide Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI 168 95 A Connector Pin Assignments A 1 EtherCAT Connectors CEI Housing Cable Shield TD TD RD Termination Termination RD Termination CO NI OO On Si N A 2 Power Connector Termination Pin Description 1 24V DC 2 GND Notes e Use 60 75 or 75XC copper CU wire only e The terminal tightening torque must be between 5 7 lbs in 0 5 Anybus Communicator for EtherCAT Doc Rev 3 02 Appendix A 0 8 Nm Doc Id HMSI 168 95 Connector Pin Assignments 78 A 3 PC Connector Configuration Cable Wiring DP9F PC RJ11 ABC RJ11 4P4C modular ABC Pin Description 1 Signal ground 2 3 RS232 Rx Input 4 RS232 Tx Output DB9F PC Pin Description q 2 RS232 Rx Input 5 female 1 3 RS232 Tx Output 4 5 Signal Ground 6 9 1 The RJ11 4P4C modular is sometimes referred to as an RJ9 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 Connector Pin Assignments 79 A 4 Subnetwork Interface A 4 1 General Information The subnetwork interface provides for RS232 RS422 and RS485 communications Depending on the configuration specified in the Anybus Configuration Manager different signals are activated i
70. orks com E mail jp support hms networks com Phone 81 0 45 478 5340 Phone 81 0 45 478 5340 Fax 81 0 45 476 0315 Fax 81 0 45 476 0315 Online www anybus jp Online www anybus jp HMS China E mail cn sales hms networks com E mail cn support hms networks com Phone 86 0 10 8532 3183 Phone 86 0 10 8532 3023 Fax 86 0 10 8532 3209 Fax 86 0 10 8532 3209 Online www anybus cn Online www anybus cn HMS Italy E mail it sales hms networks com E mail it support hms networks com Phone 39 039 59662 27 Phone 39 039 59662 27 Fax 39 039 59662 31 Fax 39 039 59662 31 Online www anybus it Online www anybus it HMS France E mail fr sales hms networks com E mail fr support hms networks com Phone 33 0 3 68 368 034 Phone 33 0 3 68 368 033 Fax 33 0 3 68 368 031 Fax 33 0 3 68 368 031 Online www anybus fr Online www anybus fr HMS UK 8 Eire E mail uk sales hms networks com E mail support hms networks com Phone 44 0 1926 405599 Phone 46 0 35 17 29 20 Fax 44 0 1926 405522 Fax 46 0 35 17 29 09 Online www anybus co uk Online www anybus com HMS Denmark E mail dk sales hms networks com E mail support hms networks com Phone 45 0 35 38 29 00 Phone 46 0 35 17 29 20 Fax 46 0 35 17 29 09 Fax 46 0 35 17 29 09 Online www anybus com Online www anybus com HMS India E mail in sales hms networks com E mail in support hms networks com Phone 91 0 20 401
71. r byte is specified by the Trigger byte address parameter This parameter specifies how often the transaction will be issued in steps of 10ms only relevant when Update mode is set to Cyclically The entered value is multiplied by 10 For instance an entered value of 5 results in 50 ms Doc Id HMSI 168 95 Parameter Trigger byte address Transactions 41 Description This parameter specifies location of the trigger byte in the internal memory buffer If Update mode is set to Change of state on trigger the memory location specified by this parameter is monitored by the gateway Whenever the trigger byte is updated the gateway will produce the transaction on the subnetwork This way the control system can instruct the gateway to produce a specific transaction on the subnetwork by updating the corresponding trigger byte The trigger byte should be incremented by one for each activation Please note that the trigger byte address must be unique to each transaction It can not be shared by two or more transactions Note This parameter has no effect unless the Update mode parameter is set to Change of state on trigger Valid settings range from 0x200 Ox3FF and 0x400 OXNNN 7 4 2 Consume Transactions To gain access to these parameters select a Consume Transaction in the Navigation Section Parameter Offline options for subnet work Description This parameter specif
72. r using a selec tion box or manually depending on the parameter itself Values can be specified in decimal form e g 42 or in hexadecimal format e g Ox2A D Information Section This section holds information related to the currently se lected parameter Anybus Communicator for EtherCAT Doc Rev 3 02 Config Line QA This menu entry is expanded Eg Fieldbus lt A Starthnit l aan hs Fieldbus specific Sub entries _ A Endinit A ABC This menu entry holds additional sub entries parameters Configuration Alphabetic Categorized E Communication Bitrate bits s Data bits Parity Physical standard Start bits Stop bits E Timing Message delimiter 10rms Parameter Section Message delimiter 10ms The time between transaction Information Section Doc Id HMSI 168 95 4 1 1 Pull down Menu File This menu features the following entries e New Create a new configuration See also Configuration Wizards on page 67 e Open Open a previously created configuration e Save Save the current configuration e Save As Save the current configuration under a new name e Print Navigating the Anybus Configuration Manager 27 Mew Open Save Save ds Print Properties Exit Ctrl N Ctrleo Ctrl s Ctr P Send details about the current configuration to a printer e Properties This brings out the following window
73. respectively Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Basic Operation 18 2 3 Subnetwork Protocol 2 3 1 Protocol Modes The gateway features three distinct modes of operation regarding the subnetwork communication called Master Mode DF1 Master Mode and Generic Data Mode Note that the protocol mode only spec ifies the basic communication model not the actual subnetwork protocol Master Mode In this mode the gateway acts as a master on the subnetwork and the serial communication takes place in a query response fashion The nodes on the network are not permitted to issue messages unless they have been addressed by the gateway first See also Master Mode on page 19 DF1 Master Mode In this mode the gateway acts as a master on the subnetwork using the DF1 protocol The serial communication takes place in a query response fashion For more information about this mode see DF1 Protocol Mode on page 55 Generic Data Mode In this mode there is no master slave relationship between the subnetwork nodes and the gate way any node on the subnetwork including the gateway may spontaneously produce or con sume messages See also Generic Data Mode on page 20 2 3 2 Protocol Building Blocks The following building blocks ate used in Anybus Configuration Manager to describe the subnetwork communication How these blocks apply to the two protocol modes will be descri
74. rmat we Hex Decimal e Decimal Display the data in decimal format Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 Node Monitor 66 12 2 2 Toolbar Icons The toolbar features icons for the most commonly used functions e Start Node Stop Node SE O These icons corresponds to the functions in the Node menu O See also Node on page 65 Start Stop e Select Command amp Send Command These icons corresponds to the functions in the Command menu Z r a See also Command on page 65 Select Send Resume Refresh amp Stop Refresh When enabled the data displayed in the Monitor Section will be re freshed cyclically When disabled 1 e stopped the data will have to be refreshed manually using the Refresh icon see below E pe Stop Resume e Refresh When clicking on this icon the data displayed in the Monitor Section will be re MH freshed Refresh Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 Chapter 13 13 Data Logger 13 1 General This feature allows the subnetwork traffic to be logged into a buffer for examination This may provide valuable information when debugging the lowest levels of the subnetwork communication Note that the logger function is part of the gateway itself and is separate from the Anybus Configuration Manager This means that logging can be performed even if the gateway is physically disconnected from
75. roduct Those responsible for the use of this device must ensure that all the necessary steps have been taken to verify that the applications meet all performance and safety requirements in cluding any applicable laws regulations codes and standards HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that may arise as a result from the use of undocumented features timing or functional side effects found outside the documented scope of this product The effects caused by any direct or indirect use of such aspects of the product are undefined and may include e g compatibility issues and stability issues The examples and illustrations in this document are included solely for illustrative purposes Because of the many variables and requirements associated with any particular implementation HMS Industrial Networks AB cannot assume responsibility for actual use based on these examples and illustrations Intellectual Property Rights HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product de scribed in this document These intellectual property rights may include patents and pending patent applications in the US and other countries Trademark Acknowledgements Anybus is a registered trademark of HMS Industrial Networks AB All other trademarks are the property of their respective holders EtherCAT EtherCAT is a registered trade
76. rrently only serial communication is supported Status Control Word See Control and Status Registers on page 71 Value Description Enabled Enable the Control and Status Registers The Data Valid bit in the Control Register must be set to start the subnetwork communication Enabled but no startup lock This setting is similar to Enabled except that the control system is not required to set the Data Valid bit to start the subnetwork communication Disabled This setting completely disables the Control and Status Registers Module Reset This parameter specifies how the gateway will behave in the event of a fatal error Value Description Enabled The gateway will be restarted and no error will be indicated to the user Disabled The gateway will halt and indicate an error Protocol Mode This parameter specifies which protocol mode to use for the subnetwork Value Description Generic Data Mode This mode is primarily intended for Produce amp Consume based protocols where there are no Master Slave relationship between the gateway and the nodes on the subnetwork Master Mode This mode is intended for Query amp Response based protocols where a single Master exchanges data with a number of Slaves DF1 This mode is intended for the DF1 protocol The Anybus Communicator can only be con figured as a Master with half duplex communication Note This is the only mode av
77. s feature correctly the control system must first update the data area associated with the Query transaction then increase the trigger byte by one The location of the trigger byte is spec ified by the Trigger byte address parameter Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 Transactions 39 Parameter Description Update time 10 ms This parameter specifies how often the transaction will be issued in steps of 10 ms only rele vant when Update mode is set to Cyclically The entered value is multiplied by 10 For instance an entered value of 5 results in 50 ms Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Transactions 40 7 3 2 Parameters Response To gain access to these parameters select a Response transaction in the Navigation Section Parameter Trigger byte Description This parameter is used to enable disable the trigger functionality for the response If enabled the gateway will increase the trigger byte by one when the gateway receives new data from the subnetwork This can be used to notify the control system of the updated data The location of the trigger byte is specified by the Trigger byte address parameter below Trigger byte address This parameter specifies the location of the trigger byte in the internal memory buffer Valid settings range from 0x000 Ox1FF and 0x400 OXNNN 7 4 Transaction Parameters Ge
78. s the toolbar icons at the top of the Toolbar main window we Status Bar e Status Bar This entry enables disables the status bar at the bottom of the main window Help This menu features the following entries EA Contents search For Help On e Contents Display the table of contents of the online help system Note At the time of writing no online help sys About tem exists e Search For Help On Search for a particular topic in the online help sys tem Note At the time of writing no online help system exists e About Display general information about the gateway and the current build of Anybus Configuration Manager Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 Navigating the Anybus Configuration Manager 30 4 1 2 Toolbar Icons The toolbar features icons for the most commonly used functions e New Open amp Save b W See File on page 27 New Open Save e Upload from ABC amp Download to ABC See Tools on page 28 Io e Upload Download e Up one Level ly Clicking on this icon will move the selection in the navigation section Up one Level e Cut Copy Paste Delete Insert M Ka These icons are used for common editing func D Cut Copy Paste Delete Insert tions in the navigation section e Connect Ss Clicking on this icon will cause the Anybus Configuration Manager to attempt to connect to the gatewa
79. sent Noscanning Request Trigger byte address Ox0SFF Response Trigger byte Disabled out to the subnetwork Response Trigger byte address Ox05FF Offline options for The action to take for this service Clear subnetwork if the subnetwork goes offline Freeze This option affects the data that is reported to the fieldbus master Update mode The update mode for this service Cyclically On data change Single shot Change of state on trigger Timing Parameter Description Default Retries The number of times to resend this service before the node is disconnected 3 Timeout time 10 ms The time to wait before resending this service in steps of 10 ms 1000 ms Update time 10 ms The minimum time between two services of this kind in steps of 10 ms 1000 ms a The default value is given as 100 in the parameter window Each change of 10 ms either increases or decreases this value by 1 e 99 represents a poll time of 990 ms and 101 represents a poll time of 1010 ms Trigger Parameter Description Default Request Trigger byte The memory location of the trigger byte this service uses for updates on trigger Ox05FF address byte changes Response Trigger byte Enables disables the trigger byte Disabled Response Trigger byte The memory location of the trigger byte this service uses for updates on trigger Ox05FF address byte changes Valid settings range from 0x200 Ox3FF and 0x400 OxNNN Anybus Communicator
80. shall be swapped No byte swap Swap words Swap double words Data length The number of bytes read from the DF1 network to write to the area determined lt Size by the Offset parameter Offset The offset in the internal memory buffer in the module where the data shall be read See Memory Map on page 16 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 10 8 Read Data This service is used to read data from the nodes in the subnetwork ABC DF 1 Master Untitled Configuration Alphabetic Categorized E Comman d Params File Type Siz e E Data Options ine options for fieldbus Clear ine options for sub network Clear Update mode Cyclically 3 100 Update time 10ms 100 E Trigger Request Trigger byte address OUx05FF Renante Trinner hute Misahled Type The file type of the data file to be accessed 2010 05 07 Command Parameters Parameter Element Number Description The element number of the data file to be accessed within the slave DF1 Protocol Mode 61 10 55 Config Line HQ Valid settings PLC 5 0 999 SLC500 0 255 MicroLogix 0 255 File number The file number of the data file to be accessed PLC 5 3 7 8 10 999 SLC500 3 7 8 10 255 MicroLogix 3 7 8 10 255 File type The file type of the data to be accessed Integer Bit Float Size The number of bytes to read from the slave One bit integer element is 2 bytes and one f
81. ta Exchange Model Internally the data exchanged on the subnetwork and the data exchanged on the higher level network Ge EtherCAT resides in the same memory Internal Memory This means that in order to exchange data with the sub network the higher level network simply reads and writes data to memory locations specified using the Anybus Configuration Manager The very same mem oty locations can then be exchanged on the subnet work Output Data mm e 512 bytes The internal memory buffer is divided into three areas based on their function Subnetwork e Input Data Up to 512 bytes Higher Level Network This area can be read from the higher level net work i e by the EtherCAT master General Data e Output Data Up to 512 bytes This area can be written to by the higher level network i e by the EtherCAT master e General Data Up to 1024 bytes This area cannot be accessed from the higher level network but can be used for transfers be tween individual nodes on the subnetwork or as a general scratch pad for data The actual size of this area depends on the amount of data that is exchanged on the subnetwork 2 2 1 Memory Map When building the subnetwork configuration using the Anybus Configuration Manager the different ar eas described above ate mapped to the memory locations addresses specified below Input Data Output Data General Data 0x000 0x200 0x400 Subnetwork Read
82. ta out U8 R 03h 04h Process Data in U8 R 04h 1C12h Sync Manager 00h Number of entries 2 U8 R No of assigned RxPDOs 0 4 AS oT Assigned RxPDO US IR Assigned to RXPDO 1600h 02h Assigned RxPDO U8 R Assigned to RxPDO 1601h 03h Assigned RxPDO U8 R Assigned to RXxPDO 1602h 04h Assigned RxPDO U8 R Assigned to RXPDO 1603h 1C13h Sync Manager 00h Number of entries U8 R No of assigned TxPDOs 0 4 Tx PDO Assign om Assigned TxPDO US R Assigned to TxPDO 1A00h 02h Assigned TxPDO U8 R Assigned to TxPDO 1A01h 03h Assigned TxPDO U8 R Assigned to TxPDO 1A02h 04h Assigned TxPDO U8 R Assigned to TxPDO 1A03h a The number of entries equals the number of mapped PDOs see Data Representation on page 22 Anybus Communicator for EtherCAT Doc Rev 3 02 Doc ld HMSI 168 95 CANopen Object Dictionary Implementation 24 3 2 Manufacturer Specific Objects 3 2 1 Input Buffer Index Object Name Sub Index Description Type Access Notes 2000h Inputs 00h No of entries U8 RO 01h Input byte 0000 U8 RO 02h Input byte 0001 80h Input byte 0127 2001h Inputs 00h No of entries U8 RO 01h Input byte 0128 U8 RO 02h Input byte 0129 80h Input byte 0255 2002h Inputs 00h No of entries U8 RO 01h Input byte 0256 U8 RO 02h Input byte 0257 80h Input byte 0383 2003h Inputs 00h No of entries U8 RO 01h Input byte 0384 U8 RO 02h Input byte 0385 80h Input byte 0511
83. ter Note These parameters are only available in Generic Data Mode Start and end characters are used to indicate the beginning and end of a serial message For example a message may be initiated with lt ESC gt and terminated with lt LF gt In this case the Start character would be 0x1B ASCII code for lt ESC gt and the End character 0xOA ASCII code for lt LF gt Parameter Description Valid settings End Character Value End character for the message ASCII 0x00 OxFF Use End Character Determines if the End character shall be used or not Enable Disable Start Character Value Start character for the message ASCII 0x00 OxFF Use Start Character Determines if the Start character shall be used or not Enable Disable Timing Message Delimiter The parameters in this category differs slightly between the different protocol modes e Master Mode The Message Delimiter specifies the time that separates two messages in steps of 10ms If set to 0 zero the gateway will use the standard Modbus delimiter of 3 5 characters the actual number of ms will be calculated automatically based on the currently used communication settings e Generic Data Mode The Message Delimiter specifies the time that separates two messages in steps of 10us Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 6 Nodes 6 1 General Chapter 6 In Anybus Configuration Manager a node represents a single device on the network
84. ter is set to Ether Sunet Mask ae CAT H EE D 10 Sizes IO Sizes IO Sizes Profinet lO These parameters specify how data from the internal memory buffer shall be exchanged on EtherCAT This can either be han dled automatically by the gateway or specified manually Fieldbus Type e Automatic All data will be treated as cyclical I O i e it will be ex changed through Process Data Objects PDO Coniguraton Alphabetic Categorized see also Data Representation on page 22 a Ethemet TCP IP configuration __ Default Gateway 0 0 0 0 Subnet Mask 255 255 255 0 e User defined To Getinge Enabled Fieldbus Type Profinet IO et i 7 D 10 Sizes Additional parameter properties appear IO Size In and lO Sizes Automatic z User defined TO Size Out The specified amount starting at address 0x0000 of the respective memory buffers will be ex changed as cyclical I O 1 e through Process Data Objects PDO The memory area can be read but not written by Service Data Objects SDO The remainder will be exchanged as acyclical I O through Service Data Objects SDO see also Data Representation on page 22 IO Sizes Anybus Communicator for EtherCAT Doc Rev 3 02 Doc jd HMSI 168 95 32 5 2 ABC Parameters a i Select ABC in the Navigation Section to gain access to the parameters e SE described in this section A a W Sub Network Interface Cu
85. terface in OPERATIONAL state Green blinking EtherCAT interface in PREOPERATIONAL state Green single flash EtherCAT interface in SAFE OPERATIONAL state 2 ERR Off EtherCAT communication in working condition Red Syncmanager watchdog timeout Red blinking General configuration error Red single flash Slave device application has changed the Ether CAT status autonomously Parameter Change in the AL status register is set to 01 change error Red double flash Major internal fault 0 o 3 Link Activity 1 Off No link sensed on EtherCAT port 1 de SE A Green Link sensed on EtherCAT port 1 DN Green flickering Activity on EtherCAT port 1 9 d 4 Link Activity 2 Off No link sensed on EtherCAT port 2 Green Link sensed on EtherCAT port 2 Green flickering Activity on EtherCAT port 2 General Gateway Subnet Indications 5 Subnet Status State Off Status Power off Green flashing Running correctly but one or more transaction error s have occurred Green Running Red Transaction error timeout or subnet stopped 6 Device Status Off Power off Alternating Red Green Invalid or missing configuration Green Initializing Green flashing Running Red Bootloader mode Red flashing If the Device Status LED is flashing in a sequence Starting with one or more red flashes please note the sequence pattern and contact the HMS support department
86. the PC running the Anybus Configuration Manager 13 2 Operation Start 8 Stop Logging e Start logging Select Start Logging in the Tools menu Anybus Configuration Manager will then prompt for the desired mode of operation see below e Stop logging Select Stop Logging in the Tools menu This will open the log window see below Modes of Operation Select the desired mode of operation and click OK to start logging data e Log until full Data will be logged until the log buffer is full Select Log Mode Log until full e Log continuously Data will be logged continuously until logging is stopped by clicking Stop Logging The log buffer will contain the most recent data Log Window The logged data is displayed in hexadecimal decimal and AS CII format for both directions The time between the log en tries is displayed in a separate column The data may optionally be saved in ASCII text format by clicking Create Text file Click Close to exit x zj se E Create Text file Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 Data Logger 68 13 3 Configuration By default the log buffer can hold 512 bytes of data in each r S i Hms Options direction To specify a different size for the buffer select Options in the Tools menu Size ofloghuter it Oo aw Firmware Download A window with various settings wil
87. to let the Anybus Communicator act as a DF1 protocol master on the sub network 10 1 General In DF1 master mode communication is based on services A service represents a set of commands and operations on the subnetwork that is predefined in the Anybus Communicator Each service 1s as sociated with a set of parameters controlling how and when to use it on the subnetwork The communication is based on a query response scheme where the gateway issues a query on the sub network The addressed node on the subnetwork is expected to issue a response to that query Nodes are not permitted to issue responses spontaneously 1 e without first recetving a query Control System Gateway Subnetwork Devices Query S y Node mm a Response Query y mm a Response GE Node 2 Query S y 4 In DF1 Master Mode Anybus Configuration Manager comes preloaded with a number of services that can be selected by the user The actual DF1 commands that perform the services during runtime are predefined in the Anybus Communicator The configuration of the services is performed by right click ing on a node in the Anybus Configuration Manager and selecting Add Command Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 DF1 Protocol Mode 56 10 2 ABC Parameters a i Select ABC in the Navigation Section to gain access to the parameters e SE described in this sectio
88. um time between broadcasts 10 ms Description This parameter specifies how long the gateway shall wait after transmitting a broadcast trans action before processing the next entry in the scanlist The value should be set high enough to allow the slave devices time to finish the handling of the broadcast The entered value is multiplied by 10 For instance an entered value of 5 results in 50 ms Note This setting is only relevant for the Broadcaster node Offline options for field bus This parameter specifies the action to take for this transaction if the higher level network goes offline This affects the data that is sent to the subnetwork e Clear The data destined for the slave devices is cleared set to zero e Freeze The data destined for the slave device is frozen e NoScanning The updating of the subnetwork is stopped Offline options for sub network This parameter specifies the action to take for this transaction if the subnetwork goes offline This affects the data that is reported to the control system Clear Data is cleared 0 on the higher level network if the subnetwork goes offline Freeze Data is frozen on the higher level network if the subnetwork goes offline Reconnect time 10 ms Retries This parameter specifies how long the gateway shall wait before attempting to reconnect a dis connected node A node will be disconnected in case the maximum number of retries below has been rea
89. us RTU fieldbus communication adapter e Wizard Modbus RTU Master This option is suitable for Modbus RTU based net works See also Wizard Modbus RTU Master on page 70 e Blank Configuration This option creates an empty configuration Highlight the desired wizard and click OK to continue Anybus Communicator for EtherCAT Doc Rev 3 02 Select Configuration e D I ee Pei iz se E d Cancel ABCC ExtLink Wizard Wizard Modbus Blank Configuration RTU Mast aster Select the desired topic to do and press the OK button 4 vizard option will guide you through and explain all steps of a configuration The output from a wizard will result in a working configuration ready to download It is also possible to edit the configuration in the dard configuration tool after Wizard completion The Blank Configuration option will open the standard configuration tool and a configuration can be created from scratch Here it is also possible to open an existing configuration from file or via upload from a Communicator module Dont show this Window again Doc jd HMSI 168 95 Configuration Wizards 70 14 3 Wizard Modbus RTU Master This wizard can be used to create a Modbus RTU based network configuration based on certain infor mation about the subnetwork The online help system explains each configuration step in detail e Important Notes Many OEM devices do not fu
90. y Connect e Disconnect CA Clicking on this icon will cause the Anybus Configuration Manager to disconnect pe Disconnect from the gateway e Start Logging amp Stop Logging D See Tools on page 28 amp Data Logger on page 67 d Start Log Stop Log e Subnetwork Monitor Clicking on this icon will launch the subnetwork Monitor see Subnetwork Monitor on page 62 SE e Add Command e This icon is used to add commands to the currently selected node Add Command e Add Mailbox St Advanced functionality see Mailbox Editor on page 76 Y Add Mailbox e Add Node amp Add Broadcaster These icons ate used to add nodes to the configuration k Node Broadcaster e Node Monitor Clicking on this icon will launch the Node Monitor see Node Monitor on page 63 Node Monitor e Add Transaction s p m an JE LE 7 These icons are used to add transactions to the currently selected node ee e Transactions Transaction Anybus Communicator for EtherCAT Doc Rev 3 02 Doc d HMSI 168 95 Chapter 3 5 Basic Settings 5 1 Fieldbus Settings Select Fieldbus in the Navigation Section to gain access to the param Aly ABC eters described in this section A pel Suede Fieldbus Type Configuration Alphabetic Categorized Since the Anybus Configuration Manager supports a wide range Of communcaoradcise zeien i Default Gateway 0 0 0 0 networking systems make sure that this parame
91. y be followed by a No Error condition later on Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 Control and Status Registers 74 15 2 3 Status Code in Generic Data Mode This table is valid only in Generic Data Mode Code Condition Type DELE Description 0x00 Invalid Transaction Error Counter The number of invalid transactions i e received transac Counter Updated tions which doesn t match any of the consume transactions defined in the subnetwork configuration has increased 0x01 Frame Error Warning End character is enabled but a message delimiter timeout occurs prior to receiving it 0x02 Offline Timeout Error Counter The of number of timed out consume transactions has Counter Updated increased See also Consume Transactions on page 41 Offline timeout time 0x03 Buffer Overrun Warning A node returned more data than expected or the gate way was unable to finish processing a message prior to receiving a new one 0x04 Other Error Error Undefined error Ox1F No Error Warning No errors Note Conditions of type Error will eventually be followed by a No Error condition when the cause no longer is detected Conditions of type Warning are however considered informational and may not necessarily be followed by a No Error condition later on Anybus Communicator for EtherCAT Doc Rev 3 02 Doc Id HMSI 168 95 Contro

User Manual, Anybus Communicator for EtherCAT

Contents

Download Pdf Manuals

Related Search

Related Contents