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Wieland samos PRO COMPACT Manual

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samos ®
samos ® PRO
PRO
COMPACT-Gateways
Manual
Doc. no. BA000970
Last Update: 11/2016 (Rev. F)

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Summary of Contents for Wieland samos PRO COMPACT

  • Page 1 samos ® samos ® PRO COMPACT-Gateways Manual Doc. no. BA000970 Last Update: 11/2016 (Rev. F)
  • Page 2 This document is copyright-protected. The rights derived from this copyright are reserved for Wieland Electric. Reproduction of this document or parts of this document is only permissible within the limits of the statutory provision of the Copyright Act. Any modification or abridg- ment of the document is prohibited without the express written agreement of Wieland Electric.

  • Page 3: Table Of Contents

    Installing modules on standard rail 4.1.2 Removing modules from normal rail Electrical installation Initial configuration steps Configuration of gateways The graphic user interface (‘Gateway’ view) 5.1.1 When the "Gateway" view is active 5.1.2 Work area Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 4: Instance

    Basic configuration of the controller module 8.3.3 Configuring the data to PLC 8.3.4 Configuring the usage of data from PLC Supported CIP Objects 8.4.1 Identity Object 8.4.2 Assembly Object 8.4.3 Discrete Input Point Object Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 5: Instance

    Explicit Messaging 8.6.2 Implicit Messaging 8.6.3 Symbolic Addressing Adjust Performance Connection with more than one PLC Diagnostics and troubleshooting 8.9.1 Notifications via network 8.9.1.1 Explicit Message Connection 8.9.1.2 Implicit Message Connection Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 6: Instance

    Guarding protocols 10.12 Error objects 10.13 CANopen diagnostic examples 10.14 Diagnosis and troubleshooting EtherCAT Gateway 11.1 Interfaces and operation 11.2 EtherCAT basics 11.3 EtherCAT state machine 11.4 Bus topology and cabling Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 7 Technical data for supply circuit 12.6 General technical data 12.7 Dimensional drawings 12.7.1 Controller module 12.7.2 CANopen and PROFIBUS gateways 12.7.3 EtherCAT gateway Order data 13.1 Hardware modules and accessories 13.2 Modules for contact expansion Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 8: About This Manual

    Use the installation instructions/brief instructions when installing the samosPRO safety control. This manual contains original operating instructions in accordance with the Machinery Directi- Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 9: Scope Of Validity And Applicable Documents

    (controls) via a gateway. It is also aimed at persons commissioning a samosPRO gateway system for the first time or maintaining such a system. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 10: Information Depth

    – This gateway manual (BA000970) – The hardware manual (BA000966) – The software manual (BA000968) • The GSD file of the SP-PROFIBUS-DP for PROFIBUS-DP • The EDS file of the SP-CANopen for CANopen Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 11: Abbreviations And Definitions

    However, they may have differing attribute values. (Reference: CIP specification, version 3.18) Low Significant Byte Measured Packet Interval; shows the API at the time of measure- ment Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 12 Unconnected Message Manager UDINT Unsigned double integer = 4 Bytes = 2 Words Data type specified for CIP applications User Datagram Protocol, Internet standard protocol for the transport layer specified in RFC 793 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 13 Unsigned double integer = 2 Bytes = 1 Word Data type specified for CIP applications USINT Data type specified for CIP applications, which stands for 1 byte without a plus/minus symbol Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 14: Symbols/Icons And Writing Style/Spelling Standard Used

    Menus and commands The names of software menus, submenus, options, and commands, selection fields, and windows are written in bold font. Example: Click on Edit in the File menu. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 15: Safety

    The safety instructions and precautions for use of samosPRO gateways must be adhered In the event of any other use or any changes to the device – including within the scope of installation – this shall nullify any warranty claim with respect to Wieland Electric GmbH. ATTENTION NOTICE •...

  • Page 16: Environmentally Friendly Behavior

    Table 2: Overview of disposal according to components Components Disposal Product Housing Plastic recycling PC boards, cables, connectors, and Electronics recycling electric connecting pieces Packaging Cardboard, paper Paper/cardboard recycling Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 17: Product Description

    SP-COP2-ENI-x samosPLAN5+ functionality Modbus TCP A-01 V1.0 PROFINET IO B-01.xx V1.2 EtherCAT (SP-EN-ETC) C-01.xx C-01.xx C-01.xx V1.3 EtherNet/IP D-01.xx V1.4 PROFIBUS DP A-01 A-01 A-01 V1.0 CANopen A-01 A-01 A-01 V1.0 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 18: Equipment Variants

    You will find the manufacturing date of a device on the type label in the S/N field in the for- mat yywwnnnn (yy = year, ww = calendar week, nnnn = consecutive serial number within a calendar week). Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 19: Data Transferred To The Network (Network Input Data Sets)

    (4) bytes per module, with the controller module comprising 3 x 4 bytes. Details: see "Meaning of module state bits" [ch. 3.3.5, p. 23] table • Data set 4 (60 bytes) is currently filled with reserved values. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 20 Byte 19 Input values for Module 8 State of Module 2 Byte 20 Input values for Module 9 Reserved State of Module 3 Reserved Byte 21 Input values for Module 10 State of Module 3 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 21 The highest bit represents the state of this in- put/output. NOTICE The input values in data set 1 do not represent the physical state at the input terminals, but the pre-processed input values that are used for logic processing. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 22: Direct Gateway Output Values

    When two-channel output elements have been configured for an I/O module, only the lo- Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 23: Transmission Of Data From A Second Network

    0: Excess 0: Excess 0: Excess 0: Excess current current current current 1: no 1: no 1: no 1: no excess excess excess excess current current current current Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 24 The module state bits for the SP-SDI and SP-SDIO modules are only fully supported from firmware version 1.2.x. The module state bits have the following meaning, if not otherwise indicated: 0 = error 1 = no error Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 25 Y4 and tory flag) state state ing state") IY5-IY8 Byte 1 Module Module Reserved Reserved Reserved Reserved Reserved Reserved state out- state input put data data Byte 2 Reserved Byte 3 Reserved Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 26 • Not used (can be 0 or 1 ), both values occur. • If there is no module, all values - including the reserved values - are set to logical 1. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 27: Data Received From The Network (Network Output Data Sets)

    TCP/IP sockets (e.g. Modbus TCP/IP and Ethernet TCP/IP) if they make use of the same output data block number. In this case the last message will always overwri- ATTENTION te the data received earlier. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 28: Installation And Basic Configuration

    10 mm apart for a module replacement be- fore the corresponding module can be removed from the standard rail. • Standards to be considered Installation according to EN 50274 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 29  Make sure that the module is securely seated on the standard rail. Attempt to pull the module from the standard rail using slight pressure. If the module stays connected to the rail during this test, then the installation is correct. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 30 After installation Once you have installed the modules, the following steps are required: • Connect the modules electrically. • Configure modules (see: software manual). • Check the installation before first commissioning. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 31: Removing Modules From Normal Rail

    Slide the controller module in the direction of the arrow until the lateral plug connection is disconnected.  Unlock the module. To do this, pull the snap-on foot of the module outward using a screwdriver. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 32  Pull the modules apart from one another individually in the direction of the arrow until the lateral plug connection is disconnected.  Press on the module from above and fold the module away from the standard rail while it is in the pressed-down state. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 33: Electrical Installation

    RS-232 interface is internally connected to the ground of the power supply for the con- troller module (A2). • Connect the shielding of all field bus and Ethernet cables to functional earth (FE) just be- fore they lead into the switch box. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 34: Initial Configuration Steps

    CANopen gateway [ch. 10, p. 129] • EtherCAT Gateway [ch. 11, p. 166] • Transmitting and verifying the configuration See here for more detailed information: Software manual, chapter "Transferring the system configuration" Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 35: Configuration Of Gateways

    Hardware view. Scenario 1: You are using a gateway module An SP-CAN module in the Hardware view has been selected in this example: Illustration 1: Hardware configuration with gateway module Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 36 The gateway function on the SP-COP2-ENI module can be adjusted in the right side bar, in the module configuration dialog (the module must first have been selected in the work area): Illustration 2: SP-COP2-ENI module with activated gateway function Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 37: Work Area

    In this case an arrow symbol will appear, allowing you to toggle between the tabs: Tab 1: Routing table with output values (data bytes) Transmission direction: samosPRO COMPACT -> Network/field bus Illustration 4: Routing table with output values Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 38 Only data set 1 can be configured. This refers directly to output data block 1 in tab 1. • Input data group (to the PLC): Data set 1 to data set 5 refer directly to input data block 1 to input data block 5 in tab Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 39: Sidebars

    Left sidebar | Overview In the Overview tab of the left sidebar, you can see all of the project components used as a hierarchical tree structure. Illustration 9: Overview of the left sidebar Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 40 The right side bar shows the configuration dialog for the data byte you have selected in the work area. Depending on the data byte, you can configure individual parameters. You can also allocate tag names here. Illustration 10: Configuration dialog in the right sidebar Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 41: Commands

    Standard This resets the configuration of the gateways to the basic settings. Also see: Basic settings for the operating data [ch. 5.2.2, p. 42] Delete This deletes the currently selected element. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 42: Function And Basic Settings

    Direct data (Off) 5 Direct data (Off) 5 Direct data (Off) 6 Direct data (Off) 6 Direct data (Off) 7 Direct data (Off) 7 Continued Inputs for Module 1 Inputs for Module 1 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 43 Not allocated Not allocated (12 bytes) (50 bytes) 48-49 Not allocated Not allocated (2 bytes) The preset allocation of the bytes can be freely configured, as shown in the following section. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 44: Configuring The Gateway Output Values (Tab 1)

    Tag names have already been pre-assigned to the predefined output values (bytes). You can change these tag names:  In the work area, click on the byte for which you want to change the tag names. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 45  If you also want to change the tag names of individual bits: Overwrite the pre-allocated values with the desired new value under Parameters in the configuration dialog. In the Logic view, these bits will appear with the corresponding tag names. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 46: Editing The Gateway Input Values (Tab 2)

     In the work area, click on the byte for which you want to change the tag names.  If you wish to change the tag name of the byte: Overwrite the pre-allocated tag name of the byte with the desired new value in the confi- guration dialog. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 47  If you also want to change the tag names of individual bits: Overwrite the pre-allocated values with the desired new value under Parameters. In the Logic view, these bits will appear with the corresponding tag names. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 48: Monitoring Operating Data

    Further information about the state LED may be found in the documentation for the relevant module: Modbus TCP gateway [ch. 6.4, p. 59] • • PROFIBUS-DB gateway [ch. 9.4, p. 127] • CANopen gateway [ch. 10.14, p. 163] Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 49: Modbus Tcp Gateway

    Illustration 12: Interfaces and display elements Further information • Here in this manual: Diagnostics and troubleshooting [ch. 6.4, p. 59] • In the hardware manual: Device state and LED displays in the controller modules Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 50: Basic Configuration - Allocation Of An Ip Address

     Launch samosPLAN5+ and switch to the Hardware view. ⇨ The configuration dialog of the controls will appear in the right side bar.  Use the mouse to click on the white background of the work area. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 51 More detailed information on the link to the controls: Software manual, chapter "Connect with the safety control"  Press Send in the right side bar to transfer the configuration to the samosPRO system. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 52: Configuration Of The Modbus-Tcp Interface To The Plc - How The

    1 incoming connection Output data (to the PLC): PLC reads 6 outgoing connections Input data (from PLC): PLC writes 6 incoming connections The following table describes the configuration, depending on the transmission method: Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 53 The address settings for the Modbus TCP gateway are 1-based. Please subtract 1 from the register address set in samosPLAN5+ for a 0-based address setting. Example: Register 1100 corresponds to the Modbus address 1099. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 54 Defines that all data sets are to be written to a single address in the PLC memory. In this case the register address defined for Data Set 1 will be used. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 55  Combine samosPLAN5+ with the samosPRO system and transmit the configuration. More detailed information on the link to the controls: Software manual, chapter "Connect with the safety control" Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 56 PLC. If this operating mode is desired:  Launch samosPLAN5+. ⇨ You will see the following configuration window:  Change to the Gateway view and click on the Gateway configuration tab. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 57 The data from the PLC to the SP-COP2-ENI module assumes the value zero in the samos- PLAN5+ logic program if the Modbus TCP connection is terminated by the PLC itself or by a timeout. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 58 10 The gateway path is not available Invalid configuration, e.g. polling or setting the digital outputs via PLC when operating the SP-COP2-ENI in master mode Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 59: Diagnosis And Troubleshooting

    IP cation is required, deacti- address. vate the Ethernet connec- tions / PLC interfaces on the SP-COP2-ENI. • Correct the IP address and switch the system off and on again. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 60 Green • Check the other modules • The voltage supply for the of the samosPRO system. LED ACT SP-COP2-ENI module is Orange or was outside the spe- cifications. MS LED Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 61: State Bits

    From build state E-01.01: If the Modbus function in SP- COP2-ENI is ready for commu- nication or if at least one input or output byte was down- loaded or transmitted without errors. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 62: Profinet Io-Gateway

    ENI device via PROFINET is limited to one. Interfaces and operation 1031275147 Interfaces and operation are identical to that of the Modbus TCP Gateway. Interfaces and operation [ch. 6.1, p. 49] Read the following section: Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 63: Basic Configuration - Assigning A Device Name And An Ip Address

    SP-COP2-ENI device. In the Assign name function area, edit the PROFINET device name field and then select Assign name. This will permanently assign the new device name to the SP-COP2-ENI device. Illustration 13: Assigning device names with the TIA portal Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 64 TCP/IP. It can be necessary in this case to already assign an IP address to the SP-COP2-ENI before the PROFINET IO network is set up. This can also be done in the configuration dialog shown above. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 65: Profinet Configuration Of The Gateway - How The Data Are Trans

    If you are using SIEMENS TIA Portal, then the SP-COP2-ENI module appears in the following location in the hardware catalog: Additional field devices > PROFINET IO > I/O > Wieland Electric > samosPRO COMPACT > Head module > SP-COP2-ENI Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 66  Double-click the hardware symbol of the SP-COP2-ENI module.  Configure the IP address, the device name, and the update interval of the cyclical I/O data exchange. Select the Properties tab for this. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 67 The PLC can only communicate with the SP-COP2-ENI module if the PLC software and the gateway use the same gateway name. In accordance with IEC 61158-6-10 no capital letters are permitted for the symbolic name (NameOfStation). Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 68: Profinet Configuration Of The Gateway - Which Data Are Transfer

    Byte 11 Logic data valu- I/O module 12 I/O module 12 Not allocated input values output values Length 12 bytes 12 bytes 12 bytes 12 bytes 2 bytes Byte offset Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 69 For output data with IOPS=Bad, all of the gateway data bits in the samosPLAN5+ logic editor assume the value zero. This is the case, for example, if the PLC is stopped. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 70 "Meaning of the module status bits of the I/O modules" [ch. 3.3.5, p. 25] Data set 4 (auxiliary data) comprises 60 bytes and is currently filled with reserved values. This can only be placed in slot 34. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 71 32 Bytes à 0x20..0x7E SD card INSTALLATION_DATE 16 bytes SD card (IM_Date) DESCRIPTOR 54 bytes 54 Byte à 0x00..0xFF SD card (IM_Descriptor) IM_Signature 54 bytes 54 Byte à 0x00..0xFF SD card Subject to changes Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 72 The cause of the alarm is displayed by an error message from the GSDML file. The possible causes of an alarm can be found in the software manual, Section "List of all error messages". Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 73: Diagnostics And Troubleshooting

    DHCP server (manual as- Green address was allocated to signment using the MAC LED /ACT the SP-COP2-ENI module, address of the SP-COP2-ENI Yellow which is unknown to the module). PLC. MS LED Green Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 74 LED LINK Green plug is dirty or damaged. • Check the other samosPRO • Another samosPRO mo- LED /ACT modules. dule has an internal criti- Yellow cal error. MS LED Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 75: Deactivation Of The Profinet Io Function

    PLC and a device. The AR is initialized during PLC start-up. Cyclical input and output data, acyclical data using read/write services and alarms are exchanged bidi- rectionally between the PLC and the device within this AR. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 76: Ethernet/Ip Gateway

    5, PLC 5/250, PLC 5/VME, SLC 500, SLC 5/03, SLC 5/04 and MicroLogix-1000 • Automatic configuration of semi and full duplex connections as well as of connections with 10 and 100 Mbit/s. • MS (module state) and NET (network) LED Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 77: Basic Setup

    Firstly, install the current EDS file for the SP-COP2-ENI module in your PLC configuration pro- gram. You can find the current EDS file on the Internet at https://eshop.wieland-electric.com/. The following diagram shows you how you can make the setting using the Logix Designer.
  • Page 78 Logic Output (1 to 400) and Logic/Physical Input, if your PLC supports implicit message transmission. The following figure shows the appropriate dialog in the Logix Designer. Illustration 19: Basic connection selected in the Logix Designer Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 79 Logic output (321 to 400) and logic/physical input Logic output (321 to 400) and logic/state/system mode assembly Logic/physical input (“Listen only”) Logic/state/system mode assembly (“Listen only”) Logic/physical input (“Input only”) Logic/state/system mode assembly (“Input only”) Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 80 Input Only. Both possess a data size of zero. This means that the PLC does not make any data available for the SP-COP2-ENI module. If the PLC only requires process data from the SP-COP module, the user is recommended to use a connection with Input Only. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 81: Basic Configuration Of The Controller Module

    Illustration 22: Setting of the IPv4 device data in samosPLAN5+ If necessary, stop the device using the Start/Stop button: Illustration 23: If the “Start” button is displayed, the device is not in “Run” mode. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 82: Configuring The Data To Plc

    Tag names can be configured in the Parameter section of the pull-down menu on the right-hand side. Illustration 25: Adding of new data bytes (T → O) for use in the logic editor by configuring tag names Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 83: Configuring The Usage Of Data From Plc

    Illustration 26: Adding of a new data byte (T → O) for use in the logic editor by configuring the tag name. Illustration 27: Adding gateway data elements to the logic editor in samosPLAN5+ via drag-and-drop Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 84: Supported Cip Objects

    The identity object is required for all EtherNet/IP-based products. Instance 1, attribute 1 stands for the Vendor ID. Wieland Electric GmbH is listed by the ODVA using the value 314. Instance 1, attribute 2 stands for the device types. The Open Type Code 0x07 stands for a discrete universal I/O device.

  • Page 85: Assembly Object

    Number of data bytes Read UINT Number of members Read BYTE[67] Input bits (Instance 1 to 528 of Class 8) Read UINT Number of data bytes Read UINT Number of members Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 86: Discrete Input Point Object

    401 to 528 Read USINT Number of attributes 1 to 528 Read USINT[4] List of support attributes {1, 2, 3, 4} 529 to 584 Read USINT[3] List of support attributes {1, 2, 3} Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 87 533 + 4 x n Read BOOL Value of terminals Q1 to Q4 of the 0, 1 SP-SDIO[n] module, 536 + 4 x n where n = 1 to 12 = 584 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 88: Discrete Output Point Object

    0 = Class Read UINT Max. instance attribute ID 1 to 400 Read USINT Number of attributes 1 to 400 Read USINT[5] List of support attributes {1, 2, 3, 5, 6} Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 89: Discrete Input Group Object

    List of support attributes {1, 2, 3, 4, 5} Read BOOL Group state of all input terminals 0 = No error, (state of instances 401 to 420 of 1 = Error class 8) Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 90: Discrete Output Group Object

    Read UINT[56] Bound instances {1, ..., 56} Read BOOL Group state of all output terminals 0 = No error, (state of instances 529 to 584 of 1 = Error class 8) Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 91: Pccc Object

    2 byte 1 to 65535 USINT Function code 1 byte 0x67, 0x68, 0xa2, 0xaa Each answer telegram comprises 7+4 header bytes or 7+4+1 header bytes, if the state byte is 0xf0. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 92: Word Range Write

    Table 48: Feedback to the SP-COP2-ENI module of Read PLC-5 word range Name Data type Description Data range Payload UINT[n] 2•n = number of data bytes (up to 244 0 to 65535 bytes) 1127361931 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 93: Typed Write

    ID is 0x9a = 0b1001 1010, meaning that the data type is given in the following byte and the data size in the byte after that. The fourth byte of the type ID is 0x42 = 0b0100 0010, standing for an integer data type of size 2. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 94 Note: Byte 67, which is not specified in assembly instance 57, is also transferred. Note: The position of the word data with system state and system mode are dependent on the requested amount of data “x”. 1127364491 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 95: Protected Typed Logical Read With 2 Address Fields

    0x89 = Integer data Element num- USINT Offset = ID of the first element to be sent 0 to 24 – Size/2 back Payload UINT[n] n = Size/2 0 to 65535 1127367563 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 96: Protected Typed Logical Read With 3 Address Fields

    Offset = ID of the first element of the 0 to 25 – Size/2 answer Subelement USINT Doesn’t matter 0 to 254 (for number of bytes 1) Payload UINT[n] n = Size/2 0 to 65535 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 97: Vendor Object

    Table 59: System state/modes of the SP-COP2-ENI module System state/mode Value Supply voltage A1/2 available Initialization Configuration / project file required Configuration running / project file being down- loaded Idle Critical error Force mode 1127379339 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 98: Instance 6

    NOTICE Abbreviations and Defi- You can find an explanation of the technical terms used below here: nitions [ch. 1.5, p. 11] Table 60: Overview of th vendor-specific object (Wieland Electric, 0x78), supported by the SP-COP2-ENI module Class Instance Attribute Access...
  • Page 99 Reserved 2. Gateway 2. Gateway 2. Gateway Doesn’t Reserved 2. Gateway Doesn’t module module module matter module matter Output Input data Configura- Internal data state state tion state module state Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 100 4⋅n n Q4 Stuck-at Stuck-at Stuck-at Stuck-at Stuck-at Stuck-at Stuck-at Stuck-at high high high high Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 101: Supported Assembly Data

    State bytes of the controller mo- 60 byte 0 to 0xff Instance 3 of class 120 [ch. dule ( 8.4.8.3, p. 97] ), output data set 3 siehe [ch. 8.5.3, p. 104] Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 102 Input and Output. These settings can be used in generic EtherNet modu- le configuration in Logix Designer which can be seen in the illustration below. Illustration 29: Generic Ethernet module configuration Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 103: Assembly Instances For Logic Output Bytes

    4. The first byte of assembly instance 141 is 41. Byte of the logic data of module SP- COP2-ENI. In samosPLAN5+, it has the designation input data block 5. Write requests are refused if the assembly is already used by an active I/O connection. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 104: Assembly Instances For Logic Input Bytes

    Bit 5 of byte 50 of assembly instance 167, if set, indicates that an error code in class 120 in- stance 6 attribute 1 is non-zero. Bits 0 to 4 of byte 50 of assembly instance 167 byte are reserved for future use. 1127398539 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 105 Bytes 52 to 111 of assembly instance 167 make the corresponding state bytes of the controller mode available. They show the same value as attributes 1 to 60 of instance 3 in class 120. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 106: Accessing To Cip Objects

    Predefined as- semblies are interconnected by blue lines, vendor-specific assemblies by black lines. The con- troller module is shown as a hatched rectangle. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 107: Symbolic Addressing

    Illustration 32: Configuration of symbolic names for assemblies in samosPLAN5+ NOTICE The functions of the UCMM Message Client (unconnected), which can also be configured in samosPLAN5+, are not available in the module version D-01.01. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 108: Adjust Performance

    Plea- List of Assembly data [ch. 8.5.1, p. 101] se see the following for more information: Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 109: Diagnostics And Troubleshooting

    Flashing green Invalid Init Doesn’t matter Flashing red Valid Idle mode Doesn’t matter Flashing green Valid Turns green Valid Turns green/red or flashes red Valid Critical error Doesn’t matter Turns red 1127421323 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 110: Net (Network Status)

    • The module version does SP-COP2-ENI module. not support any PROFI- LED LINK Green • Use an SP-COP2-ENI device NET IO. starting with construction LED /ACT state B-xx. Yellow MS LED Red/gr Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 111: Link

    ACT (Activity Status) The SP-COP2-ENI module possesses a green LED with the designation ACT. If no port activity can be detected, it stays dark. If port activity is detected, it switches on. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 112: Diagnostic Functions In The Configuration Software

    Local time is also entered in the diagnosis view until the next time the controller module is switched off. Illustration 33: Diagnosis functions in samosPLAN5+ Illustration 34: Setting of the local time in a controller module by samosPLAN5+ Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 113: State Bits

    PLC does not count Internal state ... the EtherNet/IP function of ... the EtherNet/IP function of the module is ready for com- the module is not ready for munication. communication. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 114: Profibus Dp Gateway

    Run, but the gateway has a fault Red / green 1 Hz: Configuration required or is taking place right now 2 Hz: Critical error on the gateway Critical error on another module Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 115  Change to the Hardware view and click the SP-PB-DP module in the work area.  Enter the desired value for the Control address parameter under Communication in the right side bar. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 116 Connection to the PROFIBUS-DP field bus is via a 9-pin D-sub socket. Illustration 36: Pin configuration of D-sub socket and plug for the SP-PROFIBUS-DP module Table 68: Reference for pin configuration Description RxD/TxD-P CNTR-P GND-EXT +5V-EXT RxD/TxD-N CNTR-N (GND-EXT) SHLD Shielding Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 117 Baud rate (kbit/s) Maximum cable length (m) 1200 19.2 1200 93.75 1200 187.5 1000 1500 12000 Data transmission rate The data transmission rate is automatically set. The maximum baud rate is 12 Mbit/s. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 118: Projecting

    • Data blocks 1–4 each contain 12 bytes, while data block 5 contains 2 bytes. The content of the data blocks can be freely selected, but has been preconfigured as follows in the samosPLAN5+: Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 119 2 bytes Start address Data trans- Detailed information about the content of the process diagram may be found here: ferred to the network (network input data sets [ch. 3.2, p. 18] Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 120  Choose the desired module under Left side bar | Library. Illustration 42: Module in the library  Use the mouse button to drag the module into the work area on byte 23. Illustration 43: Module on new byte Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 121: Profibus Configuration Of The Gateway - How The Data Are Trans

    In the SIEMENS SIMATIC hardware manager, you will find the gateway in the hardware ca- talog under >>PROFIBUS DP > Other field equipment > Gateway > Wieland > samosPRO COMPACT.  Use the drag&drop function to pull the equipment into the PROFIBUS network. Example:...
  • Page 122 … 13 = 1 Gateway 14 = 2 Gateway (Relay output expansions are not counted) 12 to 15 Variable 4 bytes with module-specific diagnosis data. See below: Table “PROFIBUS error messages” Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 123 Fast shut-off collective error Power supply at B2 not in permitted range Table "Meaning 8 to 95 Description of bits 8 to 959: See of the module state bits" [ch. 3.3.5, p. 23] Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 124 Error: Short-circuit after low at output 2 Error: Short-circuit after high at output 3 Error: Short-circuit after low at output 3 Error: Short-circuit after high at output 4 Error: Short-circuit after low at output 4 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 125 Configuration is incompatible or invalid Reserved Reserved 7 to 31 Reserved Other module Reserved Internal error: Internal tests failed Reserved Reserved Configuration is incompatible or invalid Reserved Reserved 7 to 31 Reserved Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 126 Configuration is incompatible or invalid 5 to 31 Reserved Unsecure IO Reserved Internal error: Internal tests failed Reserved Reserved Configuration is incompatible or invalid Output power supply not in permitted range 6 to 31 Reserved Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 127: Diagnosis And Troubleshooting

    • Check the PROFIBUS cab- ly provides no more data. was changed. ling. • The PROFIBUS line has LED PWR Green • Check the PROFIBUS master. been interrupted. LED BF MS LED Red / green Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 128 • Switch on the power supply plug is dirty or damaged. again. LED BF • Another samosPRO mo- • Check the other samosPRO MS LED dule has an internal criti- modules. cal error. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 129: Canopen Gateway

    CANopen state: Pre-operational (only SDO data exchange) Green CAN-Bus off (hardware problem on CAN - physical layer) or error passive Node guarding failed (NMT master no longer monitors the slave) or heartbeat consumer failure Red (1 Hz) Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 130 Illustration 46: Setting the DIP switches on the SP-CANopen module Table 79: Setting the DIP switches on the SP-CANopen module Baud rate (kbit/s) DIP 1 DIP 2 DIP 3 DIP 4 1000 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 131  Change to the Hardware view and click the SP-CAN module in the work area.  Enter the desired value for the Control address and baud rate parameters under Com- munication in the right side bar. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 132 Illustration 47: Open-style plug on the SP-CANopen module Table 80: Reference: Allocation of open-style plug on the SP-CANopen module Description – – H CAN_H CAN High DR (CAN_SHLD) Shielding connection (optional) L CAN_L CAN Low – – Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 133 You will fin the EDS file and the equipment symbol for integration into a PLC of the product website of the SP-CANopen module on the Internet (https://eshop.wieland-electric.com/). Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 134: Canopen Configuration Of The Gateway - How The Data Are Transfer

     Choose the command Add configuration file... from the Extras menu. A file selection window is opened.  Select the EDS file of the SP-CANopen module and click the Open button. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 135 Step 3: Select and configure the process data objects (PDOs) Once you have added the device to the automation network, you must configure the process data objects to be used and how to transfer them. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 136 OK. More detailed information in this regard may be found in the sec- tion "Transmission types for the TxPDOs" on page 107 and in the manual for your CanO- pen configuration software.  Repeat these steps for the other transmission and receiving PDOs. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 137: Canopen Configuration Of The Gateway - Which Data Are Transferred

    Each object starts with a CAN identifier, followed by a RTR bit (remote transmission request), followed by a data length code (DLC), followed by 0 to 8 data bytes. The DLC (4 bits) provides the number of data bytes. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 138: Nmt - Network Management

    "Reset communication" (82h), data byte 2 addresses this command to all devices in the CANopen network (address = 0): Table 86: Example of an NMT object for resetting all communication CAN-ID DATA Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 139: Sync

    1803 (PDO communication parameter) and to amend Sub-Object 2. The following types are permitted: • Acyclic/synchronous = 0 • Cyclic/synchronous = 1 = 1 ... 240 • Acyclic once device profile = 255 (only for TxPDO 1 … 4, digital inputs) Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 140: Emergency

    Power supply not in permitted range Reserved Reserved Table "Mean- 08 to 95 Description of bits 8 to 959: See ing of the module state bits" [ch. 3.3.5, p. 23] Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 141 Error: Short-circuit after high at output 2 Error: Short-circuit after low at output 2 Error: Short-circuit after high at output 3 Error: Short-circuit after low at output 3 Error: Short-circuit after high at output 4 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 142 Internal error: Internal tests failed Reserved Reserved Configuration is incompatible or invalid 05 to 31 Reserved Reserved Reserved Internal error: Internal tests failed Reserved Reserved Configuration is incompatible or invalid 05 to 31 Reserved Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 143 The allocation of the diagnostic bits for M2 to M5 is as follows: Bit 0 Bit 1 … Bit 7 Bit 8 … Bit31 M5.0 M5.1 … M5.7 M4.0 … M2.7 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 144: Node Guarding

    (typically from a NMT master). Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 145: Pdo Communication

    LED MS of the CANopen gateway flashes red/green until an initial transmit/receive data exchange has taken place via PDO or SDO 6000/SDO 6200 in the CANopen network. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 146 B1…B32: CAN telegram bytes as for the gateway input data, with the aid of samosPLAN5+. The transmission type 255 is preset for all RxPDOs. This means that the gateway immediately transmits the RxPDO data on to the controller module. This setting cannot be changed. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 147: Sdo Communication

    The server responds with the following message. Bytes 1 to 4 contain the value of the reques- ted object. Table 99: SDO read confirmation CAN ID Data 580h + N SDO_L SDO_H SUB Byte 1 Byte 2 Byte 3 Byte 4 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 148 2. The data type of the data to be read is UDINT. The client sends: CAN ID Data 602h The server responds: CAN ID Data 582h The combined response data result in the 32-bit word 02500008h. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 149: Sdo Object Directory

    SDO 1001: Error register The error register (SINT) contains an error bit indicating whether an error is present. If bit 0 is set to 1, a “generic error” has been detected. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 150 This SDO cannot be read with a simple "SDO upload expedited". The "Upload SDO segment protocol" command (client command code ccs = 3) must be used instead, as described in the CANopen specifications DS 301. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 151 Manufacturer ID UDINT Unique manufacturer identification number (e.g. Wieland Electric) Product description UDINT Device variant Revision number UDINT Software version of the device Serial number UDINT Serial number of the device Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 152 The transmission type for all TxPDOs to 255 (asynchronous mode, event-driven) has been pre- set. The event timer contains the time in Ms for the cyclic transmission of the TxPDOs. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 153 SDO 3100 = Position + 3, with the first three sub-indices for the SP-COPx module being used. SDO 3100 can only be read. SDO 3200: Config-CRC SDO 3200 contains the system CRCs in UDINT format. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 154 TxPDO 1, Byte 1 … … 6200.8 TxPDO 1, Byte 8 6200.9-16 TxPDO 2, Byte 1-8 6200.17-24 TxPDO 3, Byte 1-8 6200.25-32 TxPDO 4, Byte 1-8 SDO 6200 can only be read. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 155: Guarding Protocols

    • If the configuration has been changed in such a way that life guarding is deactivated or activated, the entire samosPRO system must be restarted, so that the CANopen network communication can again be correctly established. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 156 Cable break detec- Not possible tion heartbeat (producer und consumer) > 0 > 0 > 0 Not permitted NOTICE It does not make sense to use heartbeat and life guarding simultaneously. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 157: Error Objects

    0, 0, 0, 0, 0 place in an The cause is either a hardware error-passive fault on the gateway or an ex- state ternal malfunction of the data transmission. • Check the cabling. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 158 Guarding has beat NMT master or the CAN found a cable cable has been interrupted. break • Check the CANopen mas- ter. • Check the cabling. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 159 M2, M3, M4, M5 tects incoming 0x81 error, other M1 = Module index errors exist M2…M5 = Module diagnostic data All errors re- – 0x0000 – moved 0x00 M1 = 0 M2…M5 = 0 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 160: Canopen Diagnostic Examples

    "Content of SDO 3100" [ch. 10.10, p. 153] (see table Error byte M5, Bit 2 = 0: external error Error byte M2, Bit 30 = 0. Error: Short-circuit after high at output 4 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 161 Module index M1: Module in position 12 (E Hex) Module status bit 8 (bit 0 of byte M4) = 1: two-channel evaluation of inputs 1–2: Table "CANopen Emergency Messages" [ch. 10.6, p. 140] Error detected (see Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 162 Upload response, size of data set is not shown 03 10: Index 1003 Sub-index: last error Module status bit 8 (bit 0 of byte M4) = 0: two-channel evaluation of inputs 1–2: error detected Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 163: Diagnosis And Troubleshooting

    Off /l Red / and the controller module and start the CPU modu- l Green has been stopped. MS LED Green (1 Hz) Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 164 • Check the diagnostic LED PWR Green • The CAN cable was inter- messages with the aid of LED NS rupted. the samosPLAN5+. • Reset the samosPRO MS LED system. Green Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 165 LED NS plug is dirty or damaged. supply MS LED • Another samosPRO mo- • once again. dule has an internal criti- • Check the other sa- cal error. mosPRO modules. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 166: Ethercat Gateway

    (e.g. the module version D-xx would be a more recent version). Illustration 55: Side label on a samosPRO COMPACT module Configuration example Illustration 56: Configuration example: SP-COP2-EN (0) , SP-EN-ETC (13), SP-SDIO (1) Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 167: Interfaces And Operation

    Key: LED off / LED flashes / LED lights up ECAT-IN LINK No EtherCAT device connected, no connection. EtherCAT device connected. Green Communication with connected EtherCAT device Green TX/RX Not used Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 168 Watchdog timeout: A watchdog timeout has occurred. (Example: The application controller is no longer respon- ding "INIT": The device is in the INIT state. Green "OPERATIONAL" Blink Green "PRE-OPERATIONAL" Single flash Green "SAFE-OPERATIONAL" Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 169 The indicator shows a sequence of two short flashes (200 ms each) interrupted by a short off phase (200 ms). The sequence is finished by a long off phase (1000 ms). Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 170: Ethercat Basics

    In this way the telegram is sent via the other pair of wires through all devices to the master (full duplex). The connection sequence and the use of full-duplex technology means EtherCAT is a logical ring. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 171 ESI file: Wieland SP EN ETC V1.1.xml You will receive an ESI file from Wieland for the EtherCAT gateway. This file is located either on the enclosed disk or in the download area of http://www.wielandinc.com/. Install the ESI fi- les in your PLC software configuration tool.

  • Page 172: Ethercat State Machine

    EtherCAT gateway copies current output data into the corresponding DP RAM areas of the EtherCAT gateway controller. In the Safe-Op state mailbox and process data communication are possible. Here the output data are updated cyclically while the input data are set to zero. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 173 In the "Op" state the EtherCAT gateway copies the data in the RX-PDO onto its input data set 1. The output data set 1 is copied by the gateway into the TX-PDO and sent to the EtherCAT master. Bootstrap optional (Boot) not implemented Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 174: Bus Topology And Cabling

    Hubs are not permitted in EtherCAT networks. • Use of switches: Switches in EtherCAT networks are only permitted between EtherCAT master and the first EtherCAT slave (100 Mbit/s, full duplex). Wieland Electric GmbH offers its own switches under the product family name "Ethernet Switch". • Terminator: If the gateway is the last device, the EtherCAT topology does not require a terminator.

  • Page 175: Data Transferred Into The Network

    The physical samosPRO modules are not presented as typical hardware modules in the net- work. Instead, the data provided by the samosPRO system have been arranged in three input data sets. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 176: Data Set 1

    Byte 43 Not allocated Byte 44 Not allocated Byte 45 Not allocated Byte 46 Not allocated Byte 47 Not allocated Byte 48 Not allocated Byte 49 Not allocated Total 50 bytes length Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 177 You will find more detailed information in the section on the relevant gate- Configuration of gateways [ch. 5, p. 35] way, as well as in the following section: Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 178 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Module 7 Module 6 Module 5 Module 4 Module 3 Module 2 Module 1 SP-COPx Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 179  Choose the desired module under Left side bar | Library. Illustration 61: Module in the library  Use the mouse button to drag the module into the work area on byte 23. Illustration 62: Module on new byte Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 180: Data Set 2

    Byte 5 a custom material number and thus a special Byte 6 agreement with Wieland Electric. Byte 7 Byte 8 to byte 31 Reserved for as yet unknown applications Length 32 bytes Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 181: Data Set 3

    Status of Module 3 Byte 22 Status of Module 3 Byte 23 Status of Module 3 Byte 24 Status of Module 4 Byte 25 Status of Module 4 Byte 26 Status of Module 4 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 182 Status of Module 11 Byte 56 Status of Module 12 Byte 57 Status of Module 12 Byte 58 Status of Module 12 Byte 59 Status of Module 12 Length 60 bytes Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 183: Data Received From The Network

    10 seconds and an entry will be made in the error log. In this case the state bits are not affected. Tag names pre-assigned in samosPLAN5+ for the EtherCAT gateway Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 184 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 9 Byte 19 Byte 29 Byte 39 Byte 49 Lengt 10 byte 10 byte 10 byte 10 byte 10 byte Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 185: Configuring An Ethercat Network

    EtherCAT configuration data and can establish a connection to the gateway. Please read the manual depending on your controller to see which steps are required in detail. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 186: Ethercat Configuration Of The Gateway - How The Data Are Transfer

    The example below shows how the gateway is added to a control project in Beckhoff Twin- CAT.  Copy the description file Wieland SP EN ETC V1.1.xml to the TwinCAT folder. An example of a typical installation can be seen below: ...
  • Page 187 Note: The folder with the current description files is only read when the program is restarted. Example: This is not true for the gateway, but is important for other slaves. Step 3: Create a new project Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 188 RUN state. The output data (outputs) is transmitted to the No tags have been created in the input data gateway but not displayed in the input data set. sets. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 189: Diagnostic Leds On The Gateway And Troubleshooting

    • Check network and device guration, gateway is configuration. MS LED addressed with incorrect • Switch power off and back data. • Gateway is in Pre-Op state. Green / flashing Red / flashing LINK Green Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 190 EtherCAT slave. • Check RJ45 cable. MS LED • Repair interruption to the EtherCAT network. Red / green Green/flash Red / double flash LINK (ETHERCAT- Green Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 191 • Mechanical strength Check whether the RJ 45 connectors are engaged by gently pulling on the EtherCAT connection cables. In case of high mechanical load, secure the RJ45 cable with a tension relief. Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 192: Technical Data

    1000 m 400 m 1.500 200 m 12.000 100 m Line parameters PROFIBUS-DP gateway [ch. 9, p. 114] To set the slave address via software, the hardware address setting must be "0". Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 193: Canopen Gateways

    These technical data apply to all gateway modules. Supply circuit Minimal Typical Maximum (e.g. via SBUS+) Supply voltage 16.8 V DC 24 V DC 30 V DC Power consumption 2.4 W Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 194: General Technical Data

    Weight 0.16 kg SBUS+ connection (internal safety bus) Number of pins Gateways 1 plug on the left and 1 plug on the right Hat rail Hat rail according to EN 60715 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 195: Dimensional Drawings

    Technical data 12.7 Dimensional drawings 910887819 12.7.1 Controller module 888568971 Illustration 63: Controller module dimensions (mm) Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 196: Canopen And Profibus Gateways

    Technical data 12.7.2 CANopen and PROFIBUS gateways 910890891 Illustration 64: Dimensional drawing CANopen and PROFIBUS gateways (mm) Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 197: Ethercat Gateway

    Technical data 12.7.3 EtherCAT gateway 1062793867 Illustration 65: Dimensional drawing EtherCAT gateway (mm) Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 198: Order Data

    Spring-loaded terminals, pluggable SP-COP2-ENI-A Controller module, USB and industrial Ethernet R1.190.1310.0 connection, 16 inputs / 4 outputs and 4 configurable inputs or outputs Screw terminals, pluggable Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
  • Page 199 4 inputs / 4 outputs and 4 configurable inputs or outputs Screw-loaded terminals, pluggable SP-EN-ETC EtherCAT Gateway R1.190.0160.0 WKFN 2.5 E/35 GO-URL fasis series level terminal with diode 56.703.8755.9 APFN 2.5 E/35 Terminal plate for WKFN 2.5 E/35 07.312.7355.0 Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

  • Page 200: Modules For Contact Expansion

    8 NC (normally closed contact), 2 NO (normally open contact), Screw terminals, pluggable SNE 4028S-C Contact expansion, 24 V DC, R1.188.3540.0 8 NC (normally closed contact), 2 NO (normally open contact), Screw terminals, pluggable Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)

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