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Anybus CompactCom 40 EtherCAT Network Manual

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Anybus
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NETWORK GUIDE
SCM-1202-034 1.1 ENGLISH

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  • Page 1 ® ™ Anybus CompactCom EtherCAT ® NETWORK GUIDE SCM-1202-034 1.1 ENGLISH...
  • Page 2 Important User Information Liability Every care has been taken in the preparation of this document. 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.

  • Page 3: Table Of Contents

    About this document ......................5 Related Documents .......................5 Document History ......................5 Conventions ........................5 Document Specific Conventions..................6 Trademark Information ....................6 About the Anybus CompactCom 40 EtherCAT............7 General.........................7 Features ........................8 Basic Operation....................... 9 General Information .......................9 EtherCAT Implementation Details..................12 CANopen over EtherCAT Implementation Details ............14 Data exchange ......................15...
  • Page 4 JSON Objects......................107 11.3 Example........................115 A Categorization of Functionality ................117 Basic......................... 117 Extended........................117 B Implementation Details....................118 SUP-bit Definition ...................... 118 Anybus State Machine ....................118 Application Watchdog Timeout Handling ..............118 Anybus ® CompactCom ™ 40 EtherCAT ®...
  • Page 5 D Timing & Performance ....................123 General Information ....................123 Internal Timing......................123 E Secure HICP (Secure Host IP Configuration Protocol) ........125 General........................125 Operation ........................125 Copyright Notices .......................126 Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
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  • Page 7: Preface

    About this document This document is intended to provide a good understanding of the functionality offered by the Anybus CompactCom 40 EtherCAT. The document describes the features that are specific to Anybus CompactCom 40 EtherCAT. For general information regarding Anybus CompactCom 40, consult the Anybus CompactCom 40 design guides.

  • Page 8: Document Specific Conventions

    The terms “Anybus” or “module” refers to the Anybus CompactCom module. • The terms “host” or “host application” refer to the device that hosts the Anybus. • Hexadecimal values are written in the format NNNNh or 0xNNNN, where NNNN is the hexadecimal value.

  • Page 9: About The Anybus Compactcom 40 Ethercat

    This product conforms to all aspects of the host interface for Anybus CompactCom 40 modules defined in the Anybus CompactCom 40 Hardware and Software Design Guides, making it fully interchangeable with any other device following that specification.

  • Page 10: Features

    About the Anybus CompactCom 40 EtherCAT 8 (136) Features • CANopen over EtherCAT (CoE) • Support for Modular Device Profile • Ethernet connectors or M12 connectors • DS301 compliant • Galvanically isolated bus electronics • Network Identity customization • EMCY support •...

  • Page 11: Basic Operation

    General Information 3.1.1 Software Requirements No additional network support code needs to be written in order to support the Anybus Com- pactCom 40 EtherCAT, however due to the nature of the EtherCAT networking system, certain restrictions must be taken into account: •...
  • Page 12 By implementing support for the EtherCAT Object (F5h), the module can be customized to ap- pear as a vendor specific implementation rather than a generic Anybus device. For the end product to pass the ETG conformance tests and be certified, a separate Vendor ID has to be re- quested from ETG.
  • Page 13 • The mailbox size (in bytes) To be able to use Ethernet over EtherCAT (EoE), the Anybus CompactCom 40 device needs to be assigned a MAC address. Users with devices containing older software (prior to software version 2.00) will need to set the MAC address manually, in the Ethernet Host Object, to be able to use Ethernet over EtherCAT (EoE).

  • Page 14: Ethercat Implementation Details

    Which Ethernet physical layer is used in the slave devices (RJ45, E-Bus etc.) The Anybus CompactCom 40 EtherCAT modules all demonstrate less than 1 μs synchroniza- tion accuracy. For RJ45 products the accuracy may be around 50 ns under good conditions, and for E-Bus products around 30 ns.
  • Page 15 Watchdog Functionality Output I/O Sync Manager Watchdog If enabled, this watchdog monitors the PDO communication towards the Anybus module. If the master doesn’t update the Read Process Data within the specified time period, this will trigger a timeout condition in the module, causing it to shift from OPERATIONAL to SAFE-OPERATION- AL.

  • Page 16: Canopen Over Ethercat Implementation Details

    Reads a list of available indices Get Object Description Reads details of an index Get Entry Description Reads details of a subindex Emergency Reports unexpected conditions and diagnostic events. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...

  • Page 17: Data Exchange

    • Manufacturer and Profile Specific Objects, p. 26 • Assembly Mapping Object (EBh), p. 67 • Application Data Object (see Anybus CompactCom 40 Software Design Guide) • Modular Device Object (see Anybus CompactCom 40 Software Design Guide) Anybus ® CompactCom ™...

  • Page 18: File System

    3.5.1 Overview The Anybus CompactCom 40 EtherCAT has a built-in file system, that can be accessed from the application and from the network. Three directories are predefined: The virtual file system that e.g. holds the web pages of the module.

  • Page 19: General Information

    General Information The built-in file system hosts 28 Mb of nonvolatile storage, which can be accessed by the HTTP and FTP servers, the e-mail client, and the host application (through the Anybus File System In- terface Object (0Ah). Maximum number of directories and files that can be stored in the root directory is 511, if only short filenames are used (8 bytes name + 3 bytes extension).

  • Page 20: Communication Settings In Stand Alone Shift Register Mode

    Communication Settings in Stand Alone Shift Register Mode If the Anybus CompactCom 40 is used stand alone, there is no application from which to set the IP address. The IP address is instead set using the DIP1 switches (IP address byte 3) and the virtual attributes (Ethernet Host Object (F9h), attribute #17), that are written to the memory dur- ing setup (IP address byte 0 –...

  • Page 21: Network Reset Handling

    Reset Node If a valid firmware has been downloaded via FoE (File access over EtherCAT), the Anybus CompactCom 40 EtherCAT will send a reset type 00h (‘Power-on reset’) to the application at the transition from BOOT to INIT. Prior to the reset command a Reset_Request command has to be sent to the host application to make sure that a reset can be performed.

  • Page 22: Modular Device Profile

    3.10 Modular Device Profile The Anybus CompactCom 40 EtherCAT supports the Modular Device Profile, that is enabled if the Modular Device Object is implemented in the application. Running this profile, the module supports a maximum of 63 slots, including the coupler in slot 0. The maximum number of ADIs, that can be accessed from the network, is 16383.

  • Page 23: Object Dictionary (Canopen Over Ethercat)

    Serial Number implemented in the host application. EtherCAT Ob- ject (F5h), p. 10F1h Error Settings object Number of entries Sync error counter limit Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 24 1C13h Sync Manager Tx No. of assigned RO/RW If more than one PDO Assign PDOs sync mode is sup- ported, this entry is 01h - Assigned PDO RO/RW writable. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 25 1C32h, subindex 5. Input Calc and Copy Input Calc and Copy Time Time in nanoseconds. Cycle Time Too Cycle time to small, Small same value as 1C32h, subindex 12 (0Bh). Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 26 Also note that if both the Assembly Mapping Object and the Modular Device Object are implemented in the host, the Modular Device Profile mode will be enabled, overriding the settings of the Assembly Mapping Object. Anybus ® CompactCom ™...
  • Page 27 Modular device, dy- Same as the number of PDO map- All PDO mapping objects in that namic mapping ping objects in that direction. direction. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...

  • Page 28: Manufacturer And Profile Specific Objects

    SDO timeout value. 4.2.2 Network Data Format Data is translated between the native network format and the Anybus data format as follows: Anybus Data Type Network Data Type BOOL...

  • Page 29: Error Codes

    4.2.3 Error Codes If an error occurs when an object in the application is requested from the module, the error code returned is translated to an CANopen abort code as follows: Anybus CompactCom Error CANopen Abort Code Description (CANopen) Code...
  • Page 30 ADIs with multiple elements (i.e. arrays) are represented as multiple subindexes. 5FFFh ADI 3FFFh Number of entries (NNh) ADI value(s) (Attribute #5) ADIs with multiple elements (i.e. arrays) are represented as multiple subindexes. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 31 Value: "Number of ADIs per slot", attrib- ute #12 in the Modu- lar Device Object. See Anybus Com- pactCom 40 Soft- ware Design Guide for more information. Maximum number of Value: "Number of modules slots", Attribute 11 in...
  • Page 32 Read mappable F703h Not mappable Read mappable 7000h Write mappable 6001h Writable Read only Read mappable 7004h Writeable Read only Write mappable 6008h Write and Read 6009h and 7009h mappable Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 33 If the coupler holds any write or read mappable ADIs, objects will be created for these. Any ob- jects for the coupler are created after all other mapping objects have been created. For more information, see Mapping ADIs on PDOs, p. Anybus ® CompactCom ™...

  • Page 34: Anybus Module Objects

    Anybus Module Objects 32 (136) Anybus Module Objects General Information This chapter specifies the Anybus Module Object implementation in the module. Standard Objects: • Anybus Object (01h), p. 33 • Diagnostic Object (02h), p. 34 • Network Object (03h), p. 36 •...

  • Page 35: Anybus Object (01H)

    Anybus Module Objects 33 (136) Anybus Object (01h) Category Basic Object Description This object assembles all common Anybus data, and is described thoroughly in the general Anybus Compact- Com 40 Software Design Guide. Supported Commands Object: Get_Attribute Instance: Get_Attribute Set_Attribute...

  • Page 36: Diagnostic Object (02H)

    This object provides a standardised way of handling host application events & diagnostics, and is thoroughly described in the general Anybus CompactCom 40 Software Design Guide. An EMCY Object (Emergency Object) is sent on the network each time a diagnostic instance is created or deleted.
  • Page 37 When creating a Major unrecoverable event, this will not end up as an EMCY message on the bus, since this effectively forces the Anybus module to enter the EXCEPTION state. Bytes 0 and 1 (00h + Event Code) will be replaced by the value of attribute 3 if implemented.

  • Page 38: Network Object (03H)

    Anybus Module Objects 36 (136) Network Object (03h) Category Basic Object Description For more information regarding this object, consult the general Anybus CompactCom 40 Software Design Guide. Supported Commands Object: Get_Attribute Instance: Get_Attribute Set_Attribute Get_Enum_String Map_ADI_Write_Area Map_ADI_Read_Area Map_ADI_Write_Ext_Area Map_ADI_Read_Ext_Area Object Attributes (Instance #0) (Consult the general Anybus CompactCom 40 Software Design Guide for further information.)
  • Page 39 Get_Instance_Numbers command towards the Application Data Object. The implementation of the Modular Device Object in the host application is not correct, e.g. an error response is received on the Get_List command. The MAC address is missing when running Anybus IP. Anybus ® CompactCom ™...

  • Page 40: Network Configuration Object (04H)

    Anybus Module Objects 38 (136) Network Configuration Object (04h) Category Extended Object Description This object holds network specific configuration parameters that may be set by the end user. A reset com- mand (factory default) issued towards this object will result in all instances being set to their default values.
  • Page 41 Anybus Module Objects 39 (136) Instance Attributes (Instance #3, IP Address) Value is used after module reset. Name Access Data Type Description Name Array of “IP address” CHAR (Multilingual, see Multilingual Strings, p. 42 Data type UINT8 04h (= UINT8)
  • Page 42 Anybus Module Objects 40 (136) Instance Attributes (Instance #6, DHCP) Value is used after module reset. Name Access Data Type Description Name Array of “DHCP” CHAR (Multilingual, see Multilingual Strings, p. 42 Data type UINT8 08h (= ENUM) Number of elements...
  • Page 43 Anybus Module Objects 41 (136) Instance Attributes (Instance #11, Host name) This instance holds the host name of the module. Changes are valid after reset.. Name Access Data Type Description Name Array of “Host name” CHAR (Multilingual, see Multilingual Strings, p. 42...
  • Page 44 Anybus Module Objects 42 (136) Instance Attributes (Instance #14, SMTP User) This instance holds the user name for the SMTP account. Changes are valid after reset.. Name Access Data Type Description Name Array of “SMTP user” CHAR (Multilingual, see Multilingual Strings, p. 42...

  • Page 45: Socket Interface Object (07H)

    Anybus Module Objects 43 (136) Socket Interface Object (07h) Category Extended Object Description This object provides direct access to the TCP/IP stack socket interface, enabling custom protocols to be im- plemented over TCP/UDP. Note that some of the commands used when accessing this object may require segmentation. A message will be segmented if the amount of data sent or received is larger than the message channel can handle.
  • Page 46 Anybus Module Objects 44 (136) Instance Attributes (Sockets #1...20) Extended Name Access Data Type Description Socket Type UINT8 Value: Socket Type SOCK_STREAM, NONBLOCKING (TCP) SOCK_STREAM, BLOCKING (TCP) SOCK_DGRAM, NONBLOCKING (UDP) SOCK_DGRAM, BLOCKING (UDP) Port UINT16 Local port that the socket is bound to...
  • Page 47 Anybus Module Objects 45 (136) Command Details: Create Category Extended Details Command Code Valid for: Object Instance Description This command creates a socket. This command is only allowed in WAIT_PROCESS, IDLE and PROCESS_ACTIVE states. • Command Details Field Contents CmdExt[0]...
  • Page 48 Anybus Module Objects 46 (136) Command Details: Delete Category Extended Details Command Code Valid for: Object Instance Description This command deletes a previously created socket and closes the connection (if connected). • If the socket is of TCP-type and a connection is established, the connection is terminated with the RST- flag.
  • Page 49 Anybus Module Objects 47 (136) Command Details: Shutdown Category Extended Details Command Code Valid for: Instance Description This command closes a TCP-connection using the FIN-flag. Note that the response does not indicate if the connection actually shut down, which means that this command cannot be used to poll non-blocking sockets, nor will it block for blocking sockets.
  • Page 50 Anybus Module Objects 48 (136) Command Details: Listen Category Extended Details Command Code Valid for: Instance Description This command puts a TCP socket in listening state. • Command Details Field Contents CmdExt[0] (reserved, set to zero) CmdExt[1] (reserved) • Response Details...
  • Page 51 Anybus Module Objects 49 (136) Command Details: Accept Category Extended Details Command Code Valid for: Instance Description This command accepts incoming connections on a listening TCP socket. A new socket instance is created for each accepted connection. The new socket is connected with the host and the response returns its instance number.
  • Page 52 Anybus Module Objects 50 (136) Command Details: Connect Category Extended Details Command Code Valid for: Instance Description For SOCK-DGRAM-sockets, this command specifies the peer with which the socket is to be associated (to which datagrams are sent and the only address from which datagrams are received).
  • Page 53 Anybus Module Objects 51 (136) Command Details: Receive Category Extended Details Command Code Valid for: Instance Description This command receives data from a connected socket. Message segmentation may be used to receive up to 1472 bytes (for more information, see Message Segmentation, p.
  • Page 54 Anybus Module Objects 52 (136) Command Details: Receive_From Category Extended Details Command Code Valid for: Instance Description This command receives data from an unconnected SOCK_DGRAM-socket. Message segmentation may be used to receive up to 1472 bytes (For more information, see Message Segmentation, p.
  • Page 55 Anybus Module Objects 53 (136) Command Details: Send Category Extended Details Command Code Valid for: Instance Description This command sends data on a connected socket. Message segmentation may be used to send up to 1472 bytes (For more information, see Message Segmentation, p.
  • Page 56 Anybus Module Objects 54 (136) Command Details: Send_To Category Extended Details Command Code Valid for: Instance Description This command sends data to a specified host on an unconnected SOCK-DGRAM-socket. Message segmen- tation may be used to send up to 1472 bytes (For more information, see appendix For more information, see Message Segmentation, p.
  • Page 57 Anybus Module Objects 55 (136) Command Details: IP_Add_Membership Category Extended Details Command Code Valid for: Instance Description This command assigns the socket an IP multicast group membership. The module always joins the “All hosts group” automatically, however this command may be used to specify up to 20 additional memberships.
  • Page 58 Anybus Module Objects 56 (136) Command Details: DNS_Lookup Category Extended Details Command Code Valid for: Object Description This command resolves the given host name and returns the IP address. • Command Details Field Contents Comments CmdExt[0] (reserved) (set to zero) CmdExt[1] Data[0...
  • Page 59 Anybus Module Objects 57 (136) Socket Interface Error Codes (Object Specific) The following object-specific error codes may be returned by the module when using the socket interface object. Error Code Name Meaning ENOBUFS No internal buffers available ETIMEDOUT A timeout event occurred...
  • Page 60 The maximum message size supported by the Anybus CompactCom 40 is normally 1524 bytes. In some ap- plications a maximum message size of 255 bytes is supported, e.g. if an Anybus CompactCom 40 is to re- place an Anybus CompactCom 30 without any changes to the application. The maximum socket message size is 1472.
  • Page 61 Anybus Module Objects 59 (136) Response Segmentation When a response is segmented, the command initiator requests the next segment by sending the same com- mand multiple times. For each response, the data field is exchanged with the next data segment.

  • Page 62: Smtp Client Object (09H)

    Anybus Module Objects 60 (136) SMTP Client Object (09h) Category Extended Object Description This object groups functions related to the SMTP client. Supported Commands Object: Get_Attribute Create Delete Send e-mail from file (see below) Instance: Get_Attribute Set_Attribute Send e-mail (see below)
  • Page 63 Anybus Module Objects 61 (136) Command Details: Create Category Extended Details Command Code Valid for: Object Description This command creates an e-mail instance. • Command Details Field Contents Comments CmdExt[0] (reserved) (set to zero) CmdExt[1] • Response Details Field Contents...
  • Page 64 Anybus Module Objects 62 (136) Command Details: Delete Category Extended Details Command Code Valid for: Object Description This command deletes an e-mail instance. • Command Details Field Contents Comments CmdExt[0] E-mail instance number low byte CmdExt[1] high byte • Response Details...
  • Page 65 Anybus Module Objects 63 (136) Command Details: Send E-mail From File Category Extended Details Command Code Valid for: Object Description This command sends an e-mail based on a file in the file system. The file must be a plain ASCII-file in the following format:...
  • Page 66 Anybus Module Objects 64 (136) Command Details: Send E-mail Category Extended Details Command Code Valid for: Object Description This command sends the specified e-mail instance. • Command Details (no data) • Response Details (no data) Object Specific Error Codes Error Codes...

  • Page 67: Network Ethernet Object (0Ch)

    Anybus Module Objects 65 (136) Network Ethernet Object (0Ch) Category Extended Object Description This object provides Ethernet-specific information to the application. Supported Commands Object: Get_Attribute Instance: Get_Attribute Object Attributes (Instance #0) Name Access Data Type Value Name Array of “Network Ethernet”...

  • Page 68: Host Application Objects

    EtherCAT implementation. Standard Objects: • Application Object (see Anybus CompactCom 40 Software Design Guide) • Application File System Interface Object (see Anybus CompactCom 40 Software De- sign Guide) • Assembly Mapping Object (EBh), p. 67 • Sync Object (EEh), p. 68 •...

  • Page 69: Assembly Mapping Object (Ebh)

    If the Modular Device Object is implemented in the host application, i.e. modular device profile is enabled, the settings of this objects will be ignored. See also .. • Anybus CompactCom 40 Software Design Guide, “Assembly Mapping Object” Standard Objects, p. 21 for assembly to PDO mapping. Anybus ®...

  • Page 70: Sync Object (Eeh)

    Anybus CompactCom 40 Software Design Guide, “Sync Object” Supported Commands Object: Get_Attribute Instance: Get_Attribute Set_Attribute Object Attributes (Instance #0) (Consult the general Anybus CompactCom 40 Software Design Guide for further information.) Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide...
  • Page 71 Minimum required time, in nanoseconds, between RDPDI interrupt and valid output. Specifies the value of object entry 1C32h, subindex 6. (SM Output Parameter, Output Calc and Copy Time) The Anybus latency is added to this value before it is presented on EtherCAT. Input processing UINT32 Maximum required time, in nanoseconds, from "Input...
  • Page 72 ACTIVE, it will go to ERROR. 0007h Output error DCSYNCIOERROR (0033h) A problem in the application prevents it from acting on outputs. If the module is in state PROCESS_ACTIVE, it will go to ERROR. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide...

  • Page 73: Ethercat Object (F5H)

    Support for this object is optional. If implemented, it is highly recommended to support all attributes in the range 1... 6. To pass conformance tests, the end product has to have a Vendor ID valid for the end product vendor. See also... • Anybus CompactCom 40 Software Design Guide, “Error Codes” Supported Commands Object: Get_Attribute Instance:...
  • Page 74 Each index in the array contains the RxPDO map- ping object number that is used for the instance on the same index in the "Read PD Instance List" attribute. Valid values: 1600h - 17FFh. Anybus ® CompactCom ™ 40 EtherCAT ®...
  • Page 75 File access over EtherCAT. If FoE is disabled it is not possible to upgrade firmware via EtherCAT or access the Application File System Interface Object (EAh) via EtherCAT. FoE is not supported for Anybus IP. Enable EoE BOOL TRUE (=1) Enables/Disables functionality related to Ethernet over EtherCAT.
  • Page 76 If a CoE entry present in this attribute is implemented by the module, the module will handle all requests to that entry by itself, as it will if the object does not support being extended with more subindices, and nothing is forwarded to the host application. Anybus ® CompactCom ™...

  • Page 77: Ethernet Host Object (F9H)

    Enable Web BOOL True Enable/Disable Web Server Server (Enabled) (Not used if Transparent Ethernet is enabled.) (reserved) Reserved for Anybus CompactCom 30 applications. Enable Web ADI BOOL True Enable/Disable Web ADI access access (Enabled) (Not used if Transparent Ethernet is enabled.)
  • Page 78 0 = False Enables the option to reset the module from HICP. from HICP IP configuration Struct of: Whenever the configuration is assigned or changed, the Anybus CompactCom module will update this attribute. UINT32 (IP address) UINT32 (Subnet mask) UINT32...
  • Page 79 1 = Link sensed 0 = No link Link port 2 Current link status for port 2 1 = Link sensed 0 = No link 5... 15 (reserved) (mask off and ignore) Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...

  • Page 80: Web Server

    If a complete customized web system is designed and no files in the vfs folder are to be used, it is recommended to turn off the virtual file system completely, see the File System Interface Object. Anybus ® CompactCom ™...
  • Page 81 Domain name IP address or name Max 48 characters Available SMTP Settings Name Description Server IP address or name Max 64 characters User Max 64 characters Password Max 64 characters Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 82 Out Ucast packets: Sent unicast packets. Out NUcast packets: Sent non-unicast packets (broadcast and multicast). Out Discards: Outgoing packets discarded due to no available memory buffers. Out Errors: Transmission errors. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...

  • Page 83: Server Configuration

    [SSIFileTypes] The web root directory determines the location of all files related to the web interface. Files out- side of this directory and its subdirectories cannot be accessed by the web server. Anybus ® CompactCom ™...
  • Page 84 Content types can be added or redefined by adding them to the server configuration file. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 85 If the list of approved users is put in another file, be aware that this file can be accessed and read from the network. In the following example, the list of approved users will be loaded from here.cfg and too.cfg. [File path] \i\put\some\over\here.cfg \i\actually\put\some\of\it\here\too.cfg [AuthName] Howdy. Password, please. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...

  • Page 86: Ftp Server

    .UserN:PasswordN Notes: • Usernames must not exceed 16 characters in length. • Passwords must not exceed 16 characters in length. • Usernames and passwords must only contain alphanumeric characters. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...

  • Page 87: Session Example

    - Substitute <user> with the username – - Substitute <password> with the password Press Enter. The Explorer will now attempt to connect to the Anybus module using the specified settings. If successful, the file system will be displayed in the Explorer window. Fig. 3 Anybus ®...

  • Page 88: E-Mail Client

    Optionally, delete the e-mail instance using the Delete command (04h) Sending a message based on a file in the file system is achieved using the Send Email from File command. This command is described in the SMTP Client Object (04h). Anybus ® CompactCom ™...

  • Page 89: Server Side Include (Ssi)

    Server Side Include functionality, or SSI, allows data from files and objects to be represented on web pages and in e-mail messages. SSI are special commands embedded within the source document. When the Anybus Com- pactCom module encounters such a command, it will execute it, and replace it with the result (if applicable).
  • Page 90 Default Output Scenario Default Output Success (value of specified key) Authentication Error “Authentication error” File open error “Failed to open file “filename”” Key not found “Tag (key) not found” Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 91 Server Side Include (SSI) 89 (136) Example The following SSI... <?--exec cmd_argument='GetConfigItem("\example.cnf", "B")'--> ... in combination with the following file (‘\example.cnf’)... First Second Third ... returns the string ‘Third’. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 92 Default Output Scenario Default Output Success “Configuration stored to“filename”” Authentication Error “Authentication error” File open error “Failed to open file “filename”” File write error “Could not store configuration to “filename”” Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 93 The resulting file (‘\food.txt’) may look somewhat as follows: [Name] Cliff Barnes [Food] Cheese [Drink] Beer In order for this example to work, the HTML file must be named “test.shtm”. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 94 This command stores returns the username on an authentication session. This command cannot be used in e-mail messages. Syntax: <?--#exec cmd_argument='DisplayRemoteUser'--> Default Output Scenario Default Output Success (current user) Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 95 <FORM action="test.shtm"> <P> <LABEL for="lang">Language(0-4): </LABEL><BR> <INPUT type="text" name="lang"><BR><BR> <INPUT type="submit" name="_submit"> </P> </FORM> </BODY> </HTML> In order for this example to work, the HTML file must be named “test.shtm”. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 96 <HEAD><TITLE>IncludeFile Test</TITLE></HEAD> <BODY> <H1> Contents of ‘info.txt’:</H1> <P> <?--#exec cmd_argument='IncludeFile("info.txt")'-->. </P> </BODY> </HTML> Contents of ‘info.txt’: Neque porro quisquam est qui dolorem ipsum quia dolor sit amet,consectetur, adipisci velit... Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 97 Server Side Include (SSI) 95 (136) When viewed in a browser, the resulting page should look somewhat as follows: Fig. 4 See also... • Include File, p. 87 Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 98 Specifies whether to overwrite or append data to existing files. Default Output Scenario Default Output Success “Configuration stored to “filename”” Authentication Error “Authentication error” File Write Error “Could not store configuration to “filename”” Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 99 </P> </FORM> </BODY> </HTML> The resulting file (‘\stuff.txt’) will contain the value specified for the form object called ‘Meat’. In order for this example to work, the HTML file must be named “test.shtm”. Anybus ® CompactCom ™ 40 EtherCAT ®...
  • Page 100 98 (136) 10.3.9 printf() This function returns a formatted string which may contain data from the Anybus CompactCom module and/or application. The formatting syntax used is similar to that of the standard C-func- tion printf(). The function accepts a template string containing zero or more formatting tags, followed by a number of arguments.
  • Page 101 Specifies the max. no. of characters to be printed (no effect) • Modifier Modifier Meaning Character Argument is interpreted as SINT8 or UINT8 Argument is interpreted as SINT16 or UINT16 Argument is interpreted as SINT32 or UINT32 Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 102 “Too much data” ABCCMessage error ABCCMessage error string (Errors, p. 105) Example See also... ABCCMessage(), p. 102 Example (Set_Attribute):, p. 104 Formatting Tags Formatting tags are written as follows: %[*][Width][Modifier]type Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 103 Width (Optional) Specifies the maximum number of characters to be read • Modifier (Optional) Specifies a different data size. Modifier Meaning SINT8, SINT16, UINT8 or UINT16 SINT32 or UINT32 Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...

  • Page 104: Argument Functions

    Specifies the data type in the response (msgdata), see below. Numeric input can be supplied in the following formats: Decimal (e.g. 50) (no prefix) Octal (e.g. 043) Prefix 0 (zero) Hex (e.g. 0x1f) Prefix 0x Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 105 Get_Attribute request which (wrongfully) includes message data will be passed unmodified to the object, even though this is obviously wrong. Failure to observe this may cause loss of data or other undesired side effects. Anybus ® CompactCom ™...
  • Page 106 Instance #3 (IP address) command Set_attribute Attribute #5 msgdata Use data parsed by scanf() call c_type UINT8[4] Array of 4 unsigned 8-bit integers r_type NONE Response message holds no data Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 107 “Not enough data in msg data field” “Out of range” “Invalid state” “Out of resources” “Segmentation failure” “Segmentation buffer overflow” 17... 255 “Unknown error” See also... SSI Output Configuration, p. 106 Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...

  • Page 108: Ssi Output Configuration

    If no information for the selected language is found, it will use the default SSI output. Value of X Language English German Spanish Italian French See also... • SsiOutput(), p. 92 Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...

  • Page 109: Json

    1 = Big endian (Affects value, min and max representations) numadis Number Total number of ADIs webversion Number Web/JSON API version JSON object layout: "dataformat": 0, "numadis": 123, "webversion": 1 Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 110 Maximum value. May be NULL of no maximum value is present. access Number Bit 0: Read accessBit 1: Write access JSON object layout: "instance": "name": "Temperature threshold", "numelements": 1, "datatype": "min": "00", "max": "FF", "access": 0x03 nine more... Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 111 Optionally, a callback may be passed to the request for JSONP output Name Data Type Note result Number 0 = success POST adi/update.json - form data: inst=15&value=FF01 "result" : 0 Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 112 [high, low] milliseconds (ms) cpuload Number CPU load in % JSON object layout: "modulename": "ABCC M40", "serial": "ABCDEF00", "fwver": [ 1, 5, 0 ], "uptime": [ 5, 123456 ], "cpuload": Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 113 1: Link speed Number 0: 10 Mbit 1: 100 Mbit duplex Number 0: Half 1: Full JSON object layout: "mac": "003011FF0201", "comm1": "link": "speed": "duplex": "comm2": "link": "speed": "duplex": ...} Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 114 To change IP settings, use network/ipconf.json. It accepts any number of arguments from the list above. Values should be in the same format. Example: GET ipconf.json?dhcp=0&addr=10.11.32.2&hostname=abcc123&domainname=hms.se ethconf.json GET network/ethconf.json Name Data Type Note comm1 Number comm2 Number Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 115 Number Frames received that exceed the maximum permitted frame size tooshort Number Frames received that are shorter than the lowest permit- ted frame size Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...
  • Page 116 { "name": "Established Class3 Connections", "value": 1 } 11.2.4 Services smtp.json GET services/smtp.json. Password is not returned when retrieving the settings. Name Data Type Note server String user String Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1...

  • Page 117: Example

    The file, containing this code, has to be stored in the built-in file system, and the result can be seen in a common browser. <html> <head> <title>Anybus CompactCom</title> <!-- Imported libs --> <script type="text/javascript" src="vfs/js/jquery-1.9.1.js"></script> <script type="text/javascript" src="vfs/js/tmpl.js"></script>...
  • Page 118 This page intentionally left blank...

  • Page 119: A Categorization Of Functionality

    This category includes objects, attributes and services that are mandatory to implement or to use. They will be enough for starting up the Anybus CompactCom and sending/receiving data with the chosen network protocol. The basic functions of the industrial network are used.

  • Page 120: B Implementation Details

    (EtherCAT interface is forced to INIT state, and the master is informed that a power cycle is required to resume communication) Application Watchdog Timeout Handling The Anybus CompactCom 40 EtherCAT module will enter the EXCEPTION state if the applica- tion watchdog times out. Anybus ®...

  • Page 121: C Technical Specification

    The EtherCAT device is in ‘BOOT’ state (Fatal Event) If RUN and ERR turn red, this indicates a fatal event, forcing the bus interface to a physically passive state. Contact HMS technical support. Anybus ® CompactCom ™ 40 EtherCAT ®...
  • Page 122 Red, double flash Application watchdog timeout Sync manager watchdog timeout. Application controller failure Anybus module in EXCEPTION. If RUN and ERR turn red, this indicates a fatal event, forcing the bus interface to a physically passive state. Contact HMS technical support.

  • Page 123: C.2 Functional Earth (Fe) Requirements

    C.3.2 Power Consumption The Anybus CompactCom 40 EtherCAT is designed to fulfil the requirements of a Class B mod- ule. For more information about the power consumption classification used on the Anybus Com- pactCom platform, consult the general Anybus CompactCom Hardware Design Guide.

  • Page 124: C.4 Environmental Specification

    Appendix C: Technical Specification 122 (136) Environmental Specification Consult the Anybus CompactCom Hardware M40 Design Guide for further information. EMC Compliance Consult the Anybus CompactCom Hardware M40 Design Guide for further information. Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide...

  • Page 125: D Timing & Performance

    The Anybus CompactCom 40 EtherCAT module is able to receive and handle the first application telegram (serial mode) D.2.2 NW_INIT Handling This test measures the time required by the Anybus CompactCom 40 EtherCAT module to per- form the necessary actions in the NW_INIT-state. Parameter Conditions No.
  • Page 126 Parameter Description Delay (min.) Delay (typ.) Delay Unit (max.) T101 Read process data delay T102 Write process data delay Anybus Ethernet Ethernet Ethernet Host NP40 Ethernet connector Trafo connector Host Application Network Read process data delay Fig.

  • Page 127: E Secure Hicp (Secure Host Ip Configuration Protocol)

    IPconfig utility for changing settings, e.g. IP address, Subnet mask, and enable/disable DHCP. Anybus IPconfig can be downloaded free of charge from the HMS website, www.anybus.com. This utility may be used to access the network settings of any Anybus product connected to the network via UDP port 3250.

  • Page 128: F Copyright Notices

    BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF AD- VISED OF THE POSSIBILITY OF SUCH DAMAGE. Anybus ® CompactCom ™...
  • Page 129 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ftpd.c - This file is part of the FTP daemon for lwIP Anybus ® CompactCom ™...
  • Page 130 The FatFs module is a free software and there is NO WARRANTY. No restriction on use. You can use, modify and redistribute it for personal, non-profit or commercial products UNDER YOUR RESPONSIBILITY. Redistributions of source code must retain the above copyright notice. Anybus ® CompactCom ™...
  • Page 131 PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEG- LIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. Anybus ® CompactCom ™...
  • Page 132 SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAM- AGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHER- WISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. Anybus ® CompactCom ™...
  • Page 133 SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAM- AGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHER- WISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. Anybus ® CompactCom ™...
  • Page 134 SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAM- AGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHER- WISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. Anybus ® CompactCom ™...
  • Page 135 PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEG- LIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. Anybus ® CompactCom ™...
  • Page 136 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. L. Peter Deutsch ghost@aladdin.com Anybus ® CompactCom ™ 40 EtherCAT ®...
  • Page 137 BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF AD- VISED OF THE POSSIBILITY OF SUCH DAMAGE. Anybus ® CompactCom ™...
  • Page 138 last page HMS Industrial Networks AB Box 4126 300 04 Halmstad, Sweden © 2017 HMS Industrial Networks AB info@hms.se SCM-1202-034 1.1.3063 / 2017-01-19 14:25...

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