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Summary of Contents for MICRO-EPSILON IF1032/ETH
- Page 1 Instruction Manual IF1032/ETH...
- Page 2 Interface Module MICRO-EPSILON MESSTECHNIK GmbH & Co. KG Königbacher Straße 15 94496 Ortenburg / Germany Tel. +49 (0) 8542 / 168-0 Fax +49 (0) 8542 / 168-90 e-mail info@micro-epsilon.de www.micro-epsilon.com Certified acc. to DIN EN ISO 9001: 2008...
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Page 3: Table Of Contents
Contents Safety ............................7 Symbols Used ..............................7 Warnings ................................7 Notes on CE Identification ..........................8 Proper Use ............................... 8 Proper Environment ............................9 Functional Principle, Technical Data ..................10 Functional Principle ............................10 Technical Data ............................... 11 Delivery ..........................12 Unpacking .............................. - Page 4 Analog Offset (AOF) ........................39 6.3.25 Analog Unit (AUN) ........................39 6.3.26 Analog Math Function (AMF) ....................... 40 6.3.27 Default Messages ......................... 40 Operation Using Ethernet ..........................41 6.4.1 Requirements ..........................41 6.4.2 Access via Web Interface ......................43 IF1032/ETH...
- Page 5 Firmware Update ............................43 Operating Menu, Set Interface Module Parameter ..................44 6.6.1 Preliminary Notes to the Settings ....................44 6.6.2 Menu Settings ..........................45 6.6.2.1 Login, Changing User Level ..................45 6.6.2.2 Measuring Mode ......................46 6.6.2.3 Trigger Mode ....................... 47 6.6.2.4 Sensor Interface ......................
- Page 6 CoE – Object Directory ..........................67 A 2.2.1 Communication Specific Standard Objects (CiA DS-301) ............67 A 2.2.2 Manufacturer Specific Objects ..................... 70 A 2.3 Measurement Data Format ..........................74 A 2.4 EtherCAT Configuration with the Beckhoff TwinCAT©-Manager ..............75 IF1032/ETH...
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Page 7: Safety
> Damage to or destruction of the interface module Avoid shock and vibration to the interface module. > Damage to or destruction of the interface module Avoid continuous exposure to fluids on the interface module. > Damage to or destruction of the interface module IF1032/ETH Page 7... -
Page 8: Notes On Ce Identification
- The interface module may only be operated within the limits specified in the technical data, see Chap. 2.2. - Use the IF1032/ETH in such a way that in case of malfunctions or failure personnel or machinery are not endangered. -
Page 9: Proper Environment
- Protection class: IP 40 - Operating temperature: 0 ... +60 °C (+32 ... +140 °F) - Storage temperature: -10 ... +75 °C (+14 ... +167 °F) - Humidity: 5 - 95 % (non-condensing) - Ambient pressure: Atmospheric pressure IF1032/ETH Page 9... -
Page 10: Functional Principle, Technical Data
The IF1032/ETH interface module is used for conversion of the MICRO-EPSILON internal sensor protocol (RS485) to Ethernet or EtherCAT. The IF1032/ETH interface module also has three analog inputs (2 x 0 -10 V voltage, 1 x 4 - 20 mA current) which can be used to convert the measuring values from analog sensors to Ethernet/EtherCAT. -
Page 11: Technical Data
Functional Principle, Technical Data Technical Data Model IF1032/ETH Power supply +5 ... +36 V Power consumption (without sensor) approx. 1.2 W Inputs RS485 (ME protocol) 3 analog inputs (2 x voltage, 1 x current) Trigger input (only for analog inputs) -
Page 12: Delivery
Delivery Delivery Unpacking 1 IF1032/ETH interface module 1 Ethernet cable, 3 m long 1 Instruction Manual 1 CD with measurement tool MEDAQ-LIB (Ethernet), SensorFinder, ESI-File (EtherCAT) 2 Terminal blocks Check for completeness and shipping damage immediately after unpacking. In case of damage or missing parts, please contact the manufacturer or supplier. -
Page 13: Installation And Mounting
Pay attention to careful handling during mounting and operation. Mounting the Interface Module 84 (3.31) (2x) 4.2 (.17) 10 (.39) 2 (.08) 6.5 (.26) (.98) (.39) 103.5 (4.07) 110 (4.33) Fig. 1 Dimensional drawing IF1032/ETH, dimensions in mm, not to scale IF1032/ETH Page 13... -
Page 14: Pin Assignment Inputs And Outputs
The power supply must correspond to that of the connected sensor as it is internally looped through to the sensor. MICRO-EPSILON recommends the use of the optionally available power supply PS2020 or the plug-in power supply PS2401 for the interface module, see Fig. - Page 15 Voltage input 2 for AD converter (0 - 10 V) (= CH2) GND 2 Ground for voltage, current input SY OUT+ Synchronisation output + (= EtherCAT distributed clocks, LVDS signal) SY OUT - Synchronisation output - (= EtherCAT distributed clocks, LVDS signal) IF1032/ETH Page 15...
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Page 16: Power Supply
The IF1032/ETH is a RS485 master; internally a termination resistance of 120 Ohm is permanently attached. The IF1032/ETH should be at the bus start. In short RS485 lines (< 5 m) or low baud rates can usu- ally be waived on a termination resistance at the end of the bus. -
Page 17: Operation
If a sensor is connected via RS485, the possible data rates are dependent on the connected sensor. Write the required data rate for this, e.g. in the web interface. After confirmation, the nearest possible data rate is set in the sensor and displayed in the web interface. IF1032/ETH Page 17... -
Page 18: Ethernet/Ethercat Switching
If the switch is in the Ethernet position, the Ethernet interface is always active irrespective of the software setting. If the switch is in the ECAT/Auto position, the interface set by the software is active. Any change of the interface does not come into effect until after restart of the interface module. IF1032/ETH Page 18... -
Page 19: Trigger Input
Operation Trigger Input The trigger input is only for the analog inputs of the IF1032/ETH. If the sensor to be connected has a trigger input itself, this must be used. Use an LVDS signal with max. 3.3 V for the trigger input. -
Page 20: Measuring Value Averaging
Example with N = 7: 2+3+4+5+6+7+8 ..0 1 2 3 4 5 6 7 8 gets to averaging value n 3+4+5+6+7+8+9 gets to averaging value n +1 ..1 2 3 4 5 6 7 8 9 IF1032/ETH Page 20... -
Page 21: Arithmetic Average
RS485, the available averaging types are dependent on whether they are supported by the respective sensor. Synchronisation Output (only EtherCAT) The Distributed Clocks Signal which can be transferred via EtherCAT is output at the outputs. This is an LVDS signal. IF1032/ETH Page 21... -
Page 22: Ethernet Interface
For this purpose, use the web interface or a special program. MICRO-EPSILON supports you by the driver MEDAQLib, containing all commands for IF1032/ETH. You will find more details on the enclosed CD or on the Internet: www.micro-epsilon.de/software “Standard applications > MEDAQlib“. - Page 23 Ethernet Interface Fig. 6 LAN connection of a PC Define the following address in the properties of the LAN connection: IP address: 169.254.168.1 Subnet mask: 255.255.0.0 IF1032/ETH Page 23...
- Page 24 Ethernet Interface Select Properties. Select Internet Protocol (TCP/IP) > Properties. IF1032/ETH Page 24...
- Page 25 - by using the web browser. Enter the current IP address into the address bar. Go to the Settings > Di- gital Interfaces > Ethernet settings menu to set a new IP address, activate DHCP or change the port. - by using software commands, see Chap. 6.3. - by using the SensorFinder software. IF1032/ETH Page 25...
- Page 26 The interface module supports UPnP . If you use an operational system with activated UPnP client e.g. stan- dard with Windows 7, the controller is listed in the explorer as a device automatically. This is helpful, if you do not know the IP address of the interface module. IF1032/ETH Page 26...
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Page 27: Data Format Of Measuring Values
Measuring values of all channels, starting with the lowest channel number frame 1 [number 32 bit channels N] Measuring value „ frame 2 [number 32 bit channels N] ..Measuring value „ M [number chan- 32 Bit nels N] IF1032/ETH Page 27... - Page 28 1677215 - 0 By default, the measuring values are continuously output with the set data rate via the data port. However, there is also a trigger mode, wherein individual measuring values can be queried, see Chap. 6.3.2. IF1032/ETH Page 28...
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Page 29: Settings For Analog Inputs
Channel numbers are separated by a comma, channel number and a parameter belonging to the channel by a colon. Several successive different parameters (for the command STS and VER) are separated by a semicolon. Commands always have to end with <CR> or <CRLF>. IF1032/ETH Page 29... -
Page 30: Data Rate (Sti = Set Sample Time)
$STIn,mOK<CRLF> Example: $STI1200,960OK<CRLF> Index n = designated new sample time in μs (TARGET) m = new sample time in μs (ACTUAL) Possible sample times * depending on the sensor Request the sample time Command $STI?<CR> Response $STI?nOK<CRLF> IF1032/ETH Page 30... -
Page 31: Trigger Mode (Trg)
There are possible settings regarding the trigger input, see Chap. 5.4. The available trigger modes are dependent on the connected sensor. If the trigger mode is turned off, the IF1032/ETH will send measuring values without interruption with the adjusted data rate.I Command $TRGn<CR>... -
Page 32: Filter, Averaging Number (Avn = Averaging Number)
$CHS1,0,0,1OK<CRLF>(Example: Channel 1,3,4 available) 6.3.6 Status (STS) Reads all settings at once. The individual parameters are separated by a semicolon. The structure of the respective responses corre- sponds to those of the individual requests. Command $STS<CR> Response $STSSTIn;AVTn;AVNn;CHS…;TRG.OK<CRLF> IF1032/ETH Page 32... -
Page 33: Version (Ver)
* If DHCP is active, no IP subnet- and gateway address has to be transmitted. Request settings Command $IPS? Response $IPS? m,<IPAddress>,<SubnetAddress>,<GatewayAddress>OK<CRLF> 6.3.9 Query Data Port (GDP = Get Data Port) Queries the port number of the data port. Command $GDP<CRLF> $GDP<Portnummer>OK<CRLF> Response Bsp: $GDP10001OK<CRLF> IF1032/ETH Page 33... -
Page 34: Set Data Port (Sdp = Set Data Port)
EtherCAT is in the position ECAT/AUTO. Otherwise the Ethernet interface is always active. The new interface is activated after a restart of the controller. Command $IFCm<CRLF> Example: $IFC1<CLRF> Response $IFCmOK<CRLF> m = 0: Ethernet Index m = 1: EtherCAT Request Command $IFC? Response $IFC?mOK<CLRF> IF1032/ETH Page 34... -
Page 35: Access Channel Information (Chi = Channel Info)
Login for Web Interface (LGI = Login) Changes the user level for the web interface to professional. Command $LGl<Password><CR> Response $LGl<Password><OK>CRLF Index Password = Password of the device. When delivered, no password is as- signed. The field can remain empty. IF1032/ETH Page 35... -
Page 36: Logout For Web Interface (Lgo = Logout)
6.3.18 Measuring Values Data Format (MDF = Measured Data Format) Requests the measuring value data format (DataRangeMin/DataRangeMax) is needed for scaling the measu- ring values. Command $MDFm<CR> Response $MDFm<DataRangeMin>, <DataRangeMax><CRLF> Index m (channel number 1 ... 8) IF1032/ETH Page 36... -
Page 37: Set Sensor Interface (Sif = Sensor Interface)
Command $SBR<value><CR> $SBR900000, 921600OK<CRLF> Response (A set baud rate of 900000 was written here, the sensor supports 9216000 as the next possible baud rate.) Value range 9200 - 6250000 Request $SBR?<CR> Response $SBR?9216000OK<CRLF> example IF1032/ETH Page 37... -
Page 38: Sensor Address (Sad = Sensor Address)
Automatically searches common baud rates for sensors. If a sensor was found, the sensor baud rate and the sensor address are automatically stored in the IF1032. Make sure only 1 sensor is connected as the search for the sensor happens by means of a broadcast command. Command $SSE<CR> Response $SSEOK<CRLF> IF1032/ETH Page 38... -
Page 39: Analog Offset (Aof)
Sets the unit of the analog inputs. This only changes the scaling, not the actual input range. Command $AUNm:n<CR> Response $AUNm:nOK<CRLF> m = 1,2,3 (channel) Parameter n = unit 0 = m, 1 = mm, 2 = μm, 3 = V, 4 = digit, 5 = mA Request $AUNm?<CR> Response $AUNm?nOK<CRLF> IF1032/ETH Page 39... -
Page 40: Analog Math Function (Amf)
$AMF0<CR>< function 6.3.27 Default Messages - Unknown command: (ECHO) + $UNKNOWN COMMAND<CRLF> - Wrong parameter after command: (ECHO) + $WRONG PARAMETER<CRLF> - Timeout (approximately 10 s after last input) (ECHO) + $TIMEOUT<CRLF> - Wrong password: $WRONG PASSWORD<CRLF> IF1032/ETH Page 40... -
Page 41: Operation Using Ethernet
The MAC address of the unit can be found on the nameplate of the controller. Javascript” must be enabled in the browser so that measurement results can be displayed graphically. IF1032/ETH Page 41... - Page 42 IP address: browser. an interface module with the serial number 169.254.168.1. “01234567”, type in the address bar on your browser „IF1032_01234567“. Interactive web pages for setting the interface module and peripherals are now shown in the web browser. IF1032/ETH Page 42...
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Page 43: Access Via Web Interface
The controller has a firmware update function. We recommend to always use the latest firmware version. You can find the latest firmware version on our website and it can be installed with the attached Firmware Update Tool. IF1032/ETH Page 43... -
Page 44: Operating Menu, Set Interface Module Parameter
6.6.1 Preliminary Notes to the Settings You can program the IF1032/ETH at the same time in two different ways: - Using a web browser via the sensor web interface - With ASCII command set and terminal program via Ethernet (Telnet). -
Page 45: Menu Settings
To change to user mode, click the Submit Password Logoff button. Fields with a grey background re- Fig. 10 Changing to professional level quire a selection. Fields with a dark border require the Value specification of a value. IF1032/ETH Page 45... -
Page 46: Measuring Mode
User level at restart User / Defines the user level that is enabled when the sensor starts the next Professional time. MICRO-EPSILON recommend to select User level. With the first-time assignment of a password the Old Password field remains free. 6.6.2.2 Measuring Mode The adjustable filter are depending on the connected sensor respectively controller. -
Page 47: Trigger Mode
This menu item determines the trigger behavior. The triggering is released by an external electrical signal, see Chap. 4.2. If the trigger mode is turned off, the IF1032/ETH will send measuring values without interruption with the adjusted data rate. Rising edge A measuring value is output per edge. -
Page 48: Sensor Interface
Ethernet Interface 6.6.2.4 Sensor Interface Fig. 11 Web page Settings / Sensor interface Fields with a grey background re- quire a selection. Fields with a dark border require the Value specification of a value. IF1032/ETH Page 48... - Page 49 Fields with a grey background re- Thereby only the diagram’s scaling changes, the actual input voltage range and input current range quire a selection. remains unchanged. Fields with a dark border require the Value specification of a value. IF1032/ETH Page 49...
- Page 50 The calculated measuring range/offset doesn’t necessarily correspond to the real measuring range/off- set of the sensor. It’s just for the correct scaling of the measurement value. By clicking the button Submit of the corresponding analog channel, the values are transferred to the controller. IF1032/ETH Page 50...
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Page 51: Digital Interfaces
ECAT/Auto position, see Chap. 7.2. If it’s in the Ethernet position, only the Ethernet interface will be enabled. Only switch to EtherCAT mode if the appropriate hardware is available. The web interface cannot be launched in EtherCAT mode. IF1032/ETH Page 51... -
Page 52: Manage Settings
Use this to export the settings of the controller into a file, respectively import it from a file. Fields with a grey background re- quire a selection. Fields with a dark border require the Value specification of a value. IF1032/ETH Page 52... -
Page 53: Menu Measuring
1, 2, 3, 4 Summary of all channel- dependent controller State active, - settings. No changes Measuring range Value m, mm, μm, V, digit, mA, °C can be made here. Offset Value m, mm, μm, V, digit, mA, °C IF1032/ETH Page 53... -
Page 54: Measuring Data Display
Ethernet Interface 6.6.3.2 Measuring Data Display Fig. 14 Web page measuring data display IF1032/ETH Page 54... - Page 55 Moving the view to the right hand end of the lower diagram or resetting the view forces the diagram to start continuous display again. Always at least one channel must be chosen for display! IF1032/ETH Page 55...
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Page 56: Menu Help, Info
Ethernet Interface 6.6.4 Menu Help, Info This page contains information such as the sensors serial and version numbers, channel names and serial numbers of the used channels. Fig. 15 Web page Help/Info IF1032/ETH Page 56... -
Page 57: Ethercat Interface
Process Data Objects PDO: A PDO telegram is used for real-time transmission of measuring values. Individu- al objects are not addressed. The content of the previously selected data is transmitted. The displacement values are transmitted as 32 bit Float values. IF1032/ETH Page 57... -
Page 58: Change Interface
CoE object. In both cases, a restart of the interface module is required after- wards. An ESI file is included for the integration of the EtherCAT interface, e.g. in TwinCAT. Further details can be found in the Appendix, see Chap. A 1. IF1032/ETH Page 58... -
Page 59: Warranty
The warranty period lasts 12 months following the day of shipment. Defective parts, except wear parts, will be repaired or replaced free of charge within this period if you return the device free of cost to MICRO-EPSILON. This warranty does not apply to damage resulting from abuse of the equipment and devices, from forceful handling or installation of the devices or from repair or modifications performed by third parties. -
Page 60: Decommissioning, Disposal
Incorrect disposal may cause harm to the environment. Dispose of the device, its components and accessories, as well as the packaging materials in compli- ance with the applicable country-specific waste treatment and disposal regulations of the region of use. IF1032/ETH Page 60... -
Page 61: Appendix A 1 Accessories
2.5 A, installation type; mounting on sym- metrical standard rail 35 mm x 7.5 mm, DIN 50022 PS2401 Plug-in power supply; 1 A, input 100 - 240 V AC, output 24 V DC / 1 A; with 1.8 m integrated cable IF1032/ETH Page 61... -
Page 62: Ethercat Documentation
1. EtherCAT datagram 2. EtherCAT datagram ... Ethernet-CRC Destination Source EtherType UDP/IP 0x88A4 Length Resolution Type EtherCAT header Data Working counter (11 bit) (1 bit) (4 bit) (10 byte) (min 32 byte) (2 byte) Fig. 17 Setup of EtherCAT frames IF1032/ETH Page 62... -
Page 63: A 2.1.2 Ethercat® Services
Addressing and FMMUs In order to address a slave in the EtherCAT® system, various methods from the master can be used. The IF1032/ETH supports as full slave: - Position addressing The slave device is addressed via its physical position in the EtherCAT® segment. -
Page 64: A 2.1.4 Sync Manager
Sync Manager Sync Managers serve the data consistency during the data exchange between EtherCAT® master and slaves. Each Sync Manager channel defines an area of the application memory. The IF1032/ETH has four channels: - Sync-Manager-Channel 0: Sync Manager 0 is used for mailbox write transfers (mailbox from master to slave). -
Page 65: A 2.1.5 Ethercat State Machine
The process data communication runs for the inputs. The outputs are in the “safe“ state. In the “Operational“ state, process data communication runs for the inputs as well as the outputs. Initialization Pre-Operational Safe-Operational Operational Fig. 18 EtherCAT State Machine IF1032/ETH Page 65... -
Page 66: A 2.1.6 Canopen Via Ethercat
Tx PDOs are used for the transmission of data from the slaves to the master (inputs), Rx PDOs are used to transmit data from the master to the slaves (outputs); not used in the IF1032/ETH. The PDO mapping defines which application objects (measurement data) are transmitted into a PDO. The IF1032/ETH has a Tx PDO for the measuring data. -
Page 67: A 2.2 Coe - Object Directory
Object 1000h: Device type 1000 Device type 0x00200000 Unsigned32 Provides information about the used device profile and device type. Object 1001h: Error register 1001 Error register 0x00 Unsigned8 Object 1008h: Manufacturer device name 1008 Device name IF1032/ETH Visible String IF1032/ETH Page 67... - Page 68 Object 1018h: Device identification 1018 RECORD Identity Subindices Number of entries Unsigned8 Vendor ID 0x0000065E Unsigned32 Product code 0x003EDE73 Unsigned32 Revision 0x00010000 Unsigned32 Serial number 0x009A4435 Unsigned32 The article number is deposit in the product code, the sensor’s serial number. IF1032/ETH Page 68...
- Page 69 Subindex 006 0x6020:0B Unsigned32 Subindex 007 0x6020:0C Unsigned32 Subindex 008 0x6020:0D Unsigned32 Subindex 009 0x6020:0E Unsigned32 Subindex 0010 0x6020:0F Unsigned32 Object 1C13h: TxPDO assign 1C13 RECORD TxPDO assign Subindices Number of entries Unsigned8 Subindex 001 0x1A00 Unsigned16 IF1032/ETH Page 69...
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Page 70: A 2.2.2 Manufacturer Specific Objects
Information and settings of channel 7 2027 Channel 8 Info Information and settings of channel 8 2060 Controller Settings Controller settings 2100 Controller Interface Ethernet/EtherCAT settings 2110 Sensor Interface Sensor interface settings 2200 Commands Commands 6020 Measuring values Measuring values IF1032/ETH Page 70... - Page 71 Channel 1 Info Subindices Number of entries Unsigned8 Name DL6500 Visible String Serial No xxxxxxxx Unsigned32 Status Active Enum Offset Float Range Float Unit μm Enum The structure of objects 2021h to 2027h corresponds to the object 2020h. IF1032/ETH Page 71...
- Page 72 Object 2100h: Controller interface 2100 RECORD Controller Interface Subindices Number of entries Unsigned8 Ethernet/EtherCAT EtherCAT Enum Ethernet Address type Static Enum Ethernet IPAddress 169.254.168.150 Visible String Ethernet Subnet 255.255.0.0 Visible String Ethernet Gateway 169.254.168.1 Visible String Ethernet Dataport 10001 Unsigned16 IF1032/ETH Page 72...
- Page 73 Unsigned8 Command AVT1 Visible String Command Response AVT1OK Visible String Optional commands can be transmitted with the object 2200h to the interface module, e.g. the math func- tions as those are not defined in the CoE objects. IF1032/ETH Page 73...
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Page 74: A 2.3 Measurement Data Format
Float Channel 7 xxxx Float Channel 8 xxxx Float A 2.3 Measurement Data Format The measuring values are transmitted as Float. The unit can be read from the channel info objects 2020h to 2027h (Range and Unit). IF1032/ETH Page 74... -
Page 75: A 2.4 Ethercat Configuration With The Beckhoff Twincat©-Manager
EtherCAT Configuration with the Beckhoff TwinCAT©-Manager For example the Beckhoff TwinCAT Manager can be used as EtherCAT master. Copy the device description file (EtherCAT®-Slave information) Micro-Epsilon.xml from the includ- ed CD in the directory \\TwinCAT\IO\EtherCAT (for TwinCAT V2.xx) or \\TwinCAT\3.1\Config\IO\EtherCAT (for TwinCAT V3.xx) before the measuring device can be configured via EtherCAT®. - Page 76 Appendix | EtherCAT Documentation The window Scan for boxes (EtherCAT® slaves) appears. Confirm with OK. Confirm with Ja/Yes. The IF1032/ETH is now shown in a list. Now confirm the window Activate Free Run with Ja/Yes. IF1032/ETH Page 76...
- Page 77 The latest status on the Online side should be at least PREOP, SAFEOP or OP. Example for a complete object directory (subject to change without prior notice). On the Process Data side the PDO allocations can be read from the device. IF1032/ETH Page 77...
- Page 78 Appendix | EtherCAT Documentation The selected measuring values are transmitted as process data in the status SAFEOP and OP. IF1032/ETH Page 78...
- Page 80 MICRO-EPSILON MESSTECHNIK GmbH & Co. KG X9751309-A041046GBR Königbacher Str. 15 · 94496 Ortenburg / Germany MICRO-EPSILON MESSTECHNIK Tel. +49 (0) 8542 / 168-0 · Fax +49 (0) 8542 / 168-90 *X9751309-A04* info@micro-epsilon.de · www.micro-epsilon.com...
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