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ADLINK Technology TALOS-3012 User Manual

Ethercat master controller
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Manual Rev.:
Revision Date:
Part No:
Advance Technologies; Automate the World.
TALOS-3012
EtherCAT Master Controller
User's Manual
2.00
Sept. 10, 2015
50-1Z186-1000

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Summary of Contents for ADLINK Technology TALOS-3012

  • Page 1 TALOS-3012 EtherCAT Master Controller User’s Manual 2.00 Manual Rev.: Sept. 10, 2015 Revision Date: 50-1Z186-1000 Part No: Advance Technologies; Automate the World.
  • Page 2 Revision History Revision Release Date Description of Change(s) 2.00 Sept. 10, 2015 Initial Release...
  • Page 3 TALOS-3012 Preface Copyright 2015 ADLINK Technology, Inc. This document contains proprietary information protected by copy- right. All rights are reserved. No part of this manual may be repro- duced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer.
  • Page 4 Conventions Take note of the following conventions used throughout this manual to make sure that users perform certain tasks and instructions properly. Additional information, aids, and tips that help users perform tasks. NOTE: NOTE: Information to prevent minor physical injury, component dam- age, data loss, and/or program corruption when trying to com- plete a task.

  • Page 5: Table Of Contents

    TALOS-3012 Table of Contents Preface ..................iii List of Tables................ix List of Figures ................ xi 1 Introduction ................ 1 Overview................1 Features................2 Specifications............... 3 Unpacking Checklist ............5 Mechanical Drawings............6 Front Panel I/O Connectors ..........8 1.6.1 Power Button ..............
  • Page 6 Build, Log In, and Start the Project ....... 22 Troubleshooting ..............24 Errors ................. 28 RTE Setting................ 30 A Appendix: PLC Handler.............35 In CoDeSys................ 35 A.1.1 Configuring Symbols..........35 In Windows ................ 37 A.2.1 Mapping Variables ............ 37 B Appendix: BIOS Setup............39 Main ...................
  • Page 7 TALOS-3012 Serial-ATA Port 0 ............48 SATA Port0 HotPlug ............. 49 B.2.3 USB Configuration............ 49 Legacy USB Support ............ 49 XHCI Hand-Off .............. 49 EHCI Hand-Off .............. 50 USB Mass Storage Driver Support ....... 50 USB transfer time-out ........... 50 Device reset time-out ............
  • Page 8 TXE HMRFBO .............. 57 TXE Firmware Update ..........57 TXE EOP Message ............57 TXE Unconfiguration Perform ........57 B.2.10 Miscellaneous Configuration........58 OS Selection ..............58 Security ................59 Administrator Password ..........59 User Password ............. 59 Boot ................... 60 Setup Prompt Timeout ..........

  • Page 9: List Of Tables

    LED Indicators ............9 Table 1-3: HDMI Pin Assignment ..........10 Table 1-4: EtherCAT Port LED Function ........11 Table 1-5: Gigabit Ethernet Port LED Function ......11 Table 1-6: TALOS-3012 Rear Panel I/O Connector Legend ..12 List of Tables...
  • Page 10 This page intentionally left blank. List of Tables...

  • Page 11: List Of Figures

    TALOS-3012 List of Figures Figure 1-1: TALOS-3012 Functional Block Diagram..... 5 Figure 1-2: Top View..............6 Figure 1-3: Front View ..............7 Figure 1-4: (Right) Side View............7 Figure 1-5: Front Panel I/O ............8 Figure 1-6: (Right) Side Panel I/O..........12...
  • Page 12 This page intentionally left blank. List of Figures...

  • Page 13: Introduction

    Smart Factory environments. At a compact 100 x 120 x 55 mm (L x W x H), ADLINK’s newest Talos-3012 is a palm-size EtherCAT master controller powered by x86 processors. Based on the Intel Atom quad-core processor E3845 1.9GHz, with IEC 61131-3 compliant syntaxes, the Talos...

  • Page 14: Features

    1.2 Features Intel® Atom™ SoC processor E3845 ADLINK Softmotion Supports IEC 61131-3-compliant programming environment Minimal control cycle time within 250 μs Motion control of up to 64 axes and up to 10,000 I/O points of control Supports EtherCAT COE, FOE as well as EOE protocols Code executable when host Windows system crashes 3 user-defined indicators for CTR diagnostic Built-in SD socket for logging manufacturing data...

  • Page 15: Specifications

    TALOS-3012 1.3 Specifications Specifications System Core Processor Intel ® Atom™ E3845 Chipset SoC with processor Video 1x HDMI RAM (Program & 2 GB DDR3L 1066 MHz Data Memory) memory down Memory Retain Memory Configurable on SD card Storage (Data Usage) 16 GB SSD / SD card...
  • Page 16 Specifications Standard: 0°C to 50°C (w/HDD) Operating T emperature Extended T emperature: -20°C to 60°C (w/ industrial mSATA) Storage T emperature -40°C to 85°C (excl. HDD/SDD/CFAST) Humidity Approx. 95% @ 40°C (non-condensing) Vibration Operating, 5 Grms, 5-500 Hz, 3 axes (w/ mSATA) Contact +/-4 KV and Air +/-8 KV Operating, 50 G , half sine 11 ms duration (w/ Shock...

  • Page 17: Unpacking Checklist

    I210IT 2x HSUART DDI#1 2x DB-9 Figure 1-1: TALOS-3012 Functional Block Diagram 1.4 Unpacking Checklist Before unpacking, check the shipping carton for any damage. If the shipping carton and/or contents are damaged, inform your dealer immediately. Retain the shipping carton and packing materials for inspection.

  • Page 18: Mechanical Drawings

    The Talos-3012 does not support user-initiated OS reinstall or repair. Talos-3012 performance cannot be guaranteed in the event of configuration changes deviating from the original soft- CAUTION: ware installation. 1.5 Mechanical Drawings All dimensions shown are in millimeters (mm) unless otherwise stated.

  • Page 19: Figure 1-3: Front View

    TALOS-3012 Figure 1-3: Front View Figure 1-4: (Right) Side View Introduction...

  • Page 20: Front Panel I/O Connectors

    HDMI EtherCAT port User-defined LED indicators K ISD card Table 1-1: TALOS-3012 Front Panel I/O Connector Legend 1.6.1 Power Button The power button is a non-latched push button with a blue LED indicator. System is turned on when button is pressed, and the power LED lit.

  • Page 21: Led Indicators

    Blue standby mode Table 1-2: LED Indicators 1.6.3 Reset Button The reset button executes hard reset for the TALOS-3012. 1.6.4 HDMI Connector Provides connection to HDMI monitor or VGA, DVI monitor via HDMI-to-VGA adapter cable, and HDMI-to-DVI adapter cable. Introduction...

  • Page 22: Ethercat Port

    Signal Signal TMDS_DATA2+ TMDS_CLOCK_SHIELD TMDS_DATA2_SHIELD TMDS_CLOCK- TMDS_DATA2- TMDS_DATA1+ RESERVED TMDS_DATA1_SHIELD TMDS_DATA1- TMDS_DATA0+ DDC/CEC GROUND TMDS_DATA0_SHIELD +5V POWER TMDS_DATA0- HOT PLUG DETECT TMDS_CLOCK+ Table 1-3: HDMI Pin Assignment 1.6.5 EtherCAT Port The dedicated EtherCAT port provides connection to EtherCAT slave devices, implementing the Intel WGI210IT GbE controller, qualified by numerous EtherCAT software master stacks and including the CoDeSys platform.

  • Page 23: Gigabit Ethernet Port

    When using USB CD-ROM via USB 3.0 port to re-install or repair the OS, cold boot should be utilized NOTE: NOTE: 1.7 (Right) Side Panel I/O Connectors This section describes I/O connectors located on the side panel of the TALOS-3012. Introduction...

  • Page 24: Table 1-6: Talos-3012 Rear Panel I/O Connector Legend

    Figure 1-6: (Right) Side Panel I/O DC power supply connector DB-9P COM Ports Table 1-6: TALOS-3012 Rear Panel I/O Connector Legend Introduction...

  • Page 25: Getting Started

    Improper input voltage and/or polarity can be responsible for WARNING: system damage. The DC power input connector of the TALOS-3012 utilizes V+, V- , and chassis ground pins, and accepts input voltage as shown pre- viously. 1. Connect DC power cables as shown.

  • Page 26: Din Rail Mounting

    2.2 DIN Rail Mounting The TALOS-3012 controller is shipped with DIN rail mounting brackets and accessory screws, with mounting procedures as fol- lows. 1. Prepare the DIN rail mount brackets and 2 M4-F head screws included in the package. 2. Use the 2 included M4-F head screws to fix the DIN rail mount brackets to the chassis, according to the spacing dimensions of the screw holes and brackets, as shown.

  • Page 27: Cooling Considerations

    TALOS-3012 2.3 Cooling Considerations Heat-generating components of the TALOS-3012 (such as CPU and PCH) are all situated on the left side of the system. These components directly contact the heat sink via thermal pads and dissipate heat generated by the components. To maximize effi- ciency of heat dissipation, maintain a minimum of 2 inches (5 cm) clearance on the top of the TALOS-3012.
  • Page 28 This page intentionally left blank. Getting Started...

  • Page 29: Project Creation

    TALOS-3012 Project Creation 3.1 Creating a Project 1. Open CoDeSys IDE and create a Standard Project. 2. Configure the project with “CODESYS Control RTE V3 (3S – Smart Software Solutions GmbH)” PLC program- ming format. Project Creation...
  • Page 30 3. Add an EtherCAT master device in the PLC Device tree view. To enable proper configuration of related PLC and EtherCAT parameters, ensure that both the CoDeSys RTE and NOTE: NOTE: Gateway are enabled in the Windows taskbar. Project Creation...
  • Page 31 TALOS-3012 4. Connect to CoDeSys gateway and configure the corre- sponding NIC number in EtherCAT master usage. Project Creation...
  • Page 32 5. Add an EtherCAT Device in the device tree, either by scanning the whole EtherCAT line automatically using Scan for Devices, or, alternatively, adding one EtherCAT device manually, recommended to prevent mismatch between physical devices and corresponding ESI file. 6. Set EtherCAT device parameters in the relative device page.

  • Page 33: Starting A Task In Codesys Ide Environment

    TALOS-3012 3.2 Starting a Task in CoDeSys IDE Environment Start a Task 1. Add a new POU or place an existing POU in the PLC logic tree. 2. Put the POU into task configuration 3. Set the priority of all tasks in task configuration, from 1 (highest) to 31 (lowest).

  • Page 34: Build, Log In, And Start The Project

    The EtherCAT master task occupies the highest priority (0) set- ting by default, do not reset. CAUTION: Build, Log In, and Start the Project 1. Click the “Build” button to compile PLC execution when all POU has been completed. Project Creation...
  • Page 35 TALOS-3012 Ensure that both the CoDeSys RTE and Gateway have been enabled in the Windows taskbar, to allow proper NOTE: NOTE: configuration of related PLC and EtherCAT parameters. 2. Click Login/Logout to connect the CoDeSys RTE run- time and IDE.

  • Page 36: Troubleshooting

    4. Run a PLC program in RTE and monitor in IDE. If a green icon is displayed, operations are normal. A red icon indicates an operational abnormality. 3.3 Troubleshooting As mentioned, orange/red icons indicate an error/warning in EtherCAT communication or the failure of EtherCAT slave function.
  • Page 37 TALOS-3012 Ensure RTE is running: Ensure the EtherCAT slave is connected properly. Project Creation...
  • Page 38 Ensure the EtherCAT Master Task has been properly set: Project Creation...
  • Page 39 TALOS-3012 If the EtherCAT Slave icon is not green, please check the configuration as follows. Ensure that the Basic and Expert settings for EtherCAT slave conform to the specific device requirements. Basic Expert If an alarm has been issued for the EtherCAT slave, reset the alarm.

  • Page 40: Errors

    3.4 Errors To identify the error, open the Log tab in the Device page and locate the error listing. To isolate the error, first check the EtherCAT status in the Diagnostic Message of the Master setting tab. Project Creation...
  • Page 41 TALOS-3012 Then check the EtherCAT status in the Diagnostic Message of the Slave setting tab. In addition to the default Op mode, the slave state can be set to Init, Pre-Op, and Safe-Op modes. Project Creation...

  • Page 42: Rte Setting

    The error code produced by the slave can be checked in object dictionary 0x60F3, by SDO command in CoDeSys IDE. 3.5 RTE Setting 1. Select Control RTE from the taskbar Project Creation...
  • Page 43 TALOS-3012 2. Select PLC Configuration 3. The PLC Configuration window opens. Select the Scheduler tab. Project Creation...
  • Page 44 4. Set the maximum CPU loading (as a percent value). Project Creation...
  • Page 45 TALOS-3012 5. Open Task Configuration to monitor task time consump- tion. 6. In the Application context menu, select Add Object and then Trace to show the traced plot link to the variable in the program. Project Creation...
  • Page 46 This page intentionally left blank. Project Creation...

  • Page 47: A Appendix: Plc Handler

    TALOS-3012 Appendix A PLC Handler PLC handler manages data exchange between CoDeSys RTE and any Windows executions to support customized visualization with C tools such as Microsoft C#, Microsoft Visual Studio, Bor- land C and other C-based software tools. A.1 In CoDeSys A.1.1...
  • Page 48 2. Select the desired object 3. Select relative Variables/POU PLC Handler...

  • Page 49: In Windows

    TALOS-3012 4. Set the Codesys gateway to PLCHandlerGateway3.ini A.2 In Windows Copy the PLCHandlerGateway3.ini file into the corresponding folder for execution. A.2.1 Mapping Variables 1. On the DESample tab, select Create and then Connect. PLC Handler...
  • Page 50 2. Select Get All Symbol Name, corresponding variables are displayed. 3. Select the desired variable and double-click to R/W. PLC Handler...

  • Page 51: B Appendix: Bios Setup

    TALOS-3012. The BIOS setup program includes menus for configuring settings and enabling features of the TALOS-3012. Most users do not need to use the BIOS setup program, as the TALOS-3012 ships with default settings that work well for most configurations.

  • Page 52: Main

    B.1 Main B.1.1 BIOS Information Shows current system BIOS core version, BIOS version and Board version. B.1.2 System Time/System Date Changes system time and date. Highlight System Time or System Date using the up or down <Arrow> keys. Enter new values using the keyboard then <Enter>.

  • Page 53: System Management

    TALOS-3012 The time is in 24-hour format, for example, 5:30 A.M. appears as 05:30:00, and 5:30 P.M. as 17:30:00. NOTE: NOTE: B.1.3 System Management Board Information Provides SEMA Board Information. Temperatures and Fan Speed Displays system temperatures and fan speed.

  • Page 54: Runtime Statistics

    Runtime Statistics Displays runtime statistics for the system. Flags Shows SEMA flags. Power Up Power-Up Watchdog Resets the system after a preset period after power up has passed. ECO Mode Reduces power consumption of the system. After shutdown, at least 5 seconds must pass before restart can be executed. BIOS Setup...

  • Page 55: Advanced

    TALOS-3012 Power-Up Mode Selecting Turn On starts the device automatically when the power supply is turned on. Selecting Remain Off starts the device when the power button is pressed. Selecting Last State powers up to the last power state B.2 Advanced Setting incorrect or conflicting values in Advanced BIOS Setup may cause system malfunction.

  • Page 56: Cpu Configuration

    B.2.1 CPU Configuration Limit CPUID Maximum Disabled for Windows XP. Execute Disable Bit XD can prevent certain classes of malicious buffer overflow attacks when combined with a supporting OS (Windows Server 2003 SP1, Windows XP SP2, SuSE Linux 9.2, RedHat Enterprise 3 Update 3.) Intel Virtualization Technology When enabled, a VMM can utilize the additional hardware capabil-...
  • Page 57 TALOS-3012 Socket 0 CPU Information Feature Description CPU Brand Name Displays CPU rand name CPU Signature Displays CPU signature Microcode Patch Displays microcode patch Max CPU speed Displays max CPU speed Min CPU speed Displays min CPU speed Processor Cores...
  • Page 58 Feature Description L1 Data Cache Displays cache info L1 Code Cache Displays cache info L2 Cache Displays cache info L3 Cache Displays cache info CPU Thermal Configuration Enables/Disables Digital Thermal Sensor. BIOS Setup...
  • Page 59 TALOS-3012 PPM Configuration CPU C state Report Enables/Disables reports of CPU C state to OS. Max CPU C-state Determines which Max C state the processor supports. S0ix Enables/Disables CPU S0ix state BIOS Setup...

  • Page 60: Sata Configuration

    B.2.2 SATA Configuration Serial-ATA (SATA) Enables/Disables Serial ATA SATA Speed Support Selects SATA Speed Support Gen1 or Gen2 SATA Mode Selects IDE/AHCI modes Serial-ATA Port 0 Enables/Disables Serial ATA Port 0 BIOS Setup...

  • Page 61: Sata Port0 Hotplug

    TALOS-3012 SATA Port0 HotPlug Enables/Disables Port O HotPlug capability B.2.3 USB Configuration Legacy USB Support Selecting AUTO disables legacy support if no USB devices are connected, and DISABLE keeps USB devices available for only EFI applications. XHCI Hand-Off A workaround for OSs without XHCI handoff support. XHCI owner- ship change should be claimed by XHCI driver.

  • Page 62: Ehci Hand-Off

    EHCI Hand-Off A workaround for OSs without EHCI handoff support. EHCI owner- ship change should be claimed by EHCI driver USB Mass Storage Driver Support Enables/disables USB Mass Storage Driver support. USB transfer time-out Timeout value for Control, Bulk, and Interrupt transfers. Device reset time-out USB mass storage device Start Unit command timeout.
  • Page 63 TALOS-3012 USB Host Controller Configuration XHCI mode Sets operating mode of XHCI controller. USB2 Link Power Management Enables/disables USB2 Link Power Management. USB Per Port Control Controls each USB port 0 to 3, Enabling USB per port, or Dis- able by USB port x settings.

  • Page 64: Sdio Configuration

    B.2.4 SDIO Configuration SDIO Access Mode Selecting Auto accesses SD device in DMA mode if controller sup- ported, otherwise in PIO mode. Selecting DMA accesses SD device in DMA mode, and selecting PIO Accesses SD device in PIO mode. BIOS Setup...

  • Page 65: Network Configuration

    TALOS-3012 B.2.5 Network Configuration Network Stack Enables/disables UEFI Network Stack BIOS Setup...

  • Page 66: Baytrail Feature Configuration

    B.2.6 Baytrail Feature Configuration LPSS & SCC Devices Mode Sets LPSS & SCC Device Mode. SCC SD Card Support Enables/Disables SCC SD Card support DDR50 Support for SD Card Enables/Disables DDR50 capability in SD card controller. MIPI HSI Support Enables/Disables MIPI HSI support. LPSS HSUART # Support Enables/Disables LPSS HSUART # support.

  • Page 67: Hsuart Port Mode

    TALOS-3012 HSUART Port Mode Sets HSUART port mode. B.2.7 ACPI Setting Enable ACPI Auto Configuration Enables/Disables BIOS ACPI Auto Configuration. Enable Hibernation Enables/Disables hibernation capability (OS/S4 Sleep State), when supported by OS. ACPI Sleep State Selects the highest ACPI sleep state the system will enter when SUSPEND is selected.

  • Page 68: Lock Legacy Resources

    Lock Legacy Resources Enables/Disables Legacy Resource lock. B.2.8 Thermal Configuration Critical Trip Point Sets the ACPI critical trip point temperature at which the OS will shut the system down. Passive Trip Point Sets the temperature of the ACPI critical trip point at which the OS will begin throttling the processor Active Cooling Trip Point Sets the Active Cooling trip point.

  • Page 69: Security Configuration

    TALOS-3012 B.2.9 Security Configuration Enables/Disables TXE firmware TXE HMRFBO Enables/Disables TXE HMRFBO TXE Firmware Update Enables/Disables TXE firmware update. TXE EOP Message Sends EOP Message Before OS starts up. TXE Unconfiguration Perform Reverts TXE Settings to factory defaults. BIOS Setup...

  • Page 70: Miscellaneous Configuration

    B.2.10 Miscellaneous Configuration OS Selection Selects active OS. BIOS Setup...

  • Page 71: Security

    TALOS-3012 B.3 Security If only the Administrator’s password is set, only access to Setup is limited and authorization requested only when enter- ing Setup. If only the User’s password is set, a password must NOTE: NOTE: be entered to boot or enter setup. In Setup the user has Admin- istrator rights.

  • Page 72: Boot

    B.4 Boot Setup Prompt Timeout Sets number of seconds to wait for setup activation key. Bootup Num-Lock State Allows Number Lock setting to be modified during boot. Quiet Boot When Disabled, directs BIOS to display POST messages, when Enabled, directs BIOS to display the OEM logo. Fast Boot Enables or disables boot with initialization of the minimal set of devices required to launch active boot option.

  • Page 73: Boot Option Priorities

    TALOS-3012 Boot Option Priorities Specifies the priority of boot devices, with all installed boot devices detected during POST and displayed, where selecting Boot Option # specifies the desired boot device. CSM Configuration CSM Support Enables/disables CSM support. GateA20 Active Selecting Upon Request allows GA20 to be disabled using BIOS services, and selecting Always disallows disabling of GA20, useful when any RT code exceeding 1MB is executed.
  • Page 74 INT19 Trap Response Sets BIOS reaction to INT19 trapping by Option ROM, where selecting Immediate executes the trap immediately, and Post- poned executes the trap during a legacy boot. Boot option filter Sets Legacy/UEFI ROM priority. Network Sets execution of UEFI and Legacy PXE OpROM. Storage Sets execution of UEFI and Legacy Storage OpROM.

  • Page 75: Exit

    TALOS-3012 B.5 Exit Save Changes and Exit Exits Setup after saving changes. Discard Changes and Exit Exits Setup without saving any changes. Save Changes and Reset Resets the system after saving changes. Discard Changes and Reset Resets system setup without saving any changes.

  • Page 76: Discard Changes

    Discard Changes Discards changes made to Setup options. Restore Defaults Returns all BIOS options to Default settings, providing maximum system stability with limited performance. Applicable in the event of system configuration problems. Save as User Defaults Save changes as User Defaults. Restore User Defaults Restores User Defaults to all Setup options.

  • Page 77: Important Safety Instructions

    TALOS-3012 Important Safety Instructions For user safety, please read and follow all instructions, WARNINGS, CAUTIONS, and NOTES marked in this manual and on the associated equipment before handling/operating the equipment. Read these safety instructions carefully. Keep this user’s manual for future reference.
  • Page 78 Never attempt to fix the equipment. Equipment should only be serviced by qualified personnel. A Lithium-type battery may be provided for uninterrupted, backup or emergency power. Risk of explosion if battery is replaced with an incorrect type; please dispose of used batteries appropriately. WARNING: Equipment must be serviced by authorized technicians when:...

  • Page 79: Getting Service

    San Jose, CA 95138, USA Tel: +1-408-360-0200 Toll Free: +1-800-966-5200 (USA only) Fax: +1-408-360-0222 Email: info@adlinktech.com ADLINK Technology (China) Co., Ltd. Address: (201203) 300 Fang Chun Rd., Zhangjiang Hi-Tech Park Pudong New Area, Shanghai, 201203 China Tel: +86-21-5132-8988 Fax: +86-21-5132-3588 Email: market@adlinktech.com...
  • Page 80 84 Genting Lane #07-02A, Cityneon Design Centre Singapore 349584 Tel: +65-6844-2261 Fax: +65-6844-2263 Email: singapore@adlinktech.com ADLINK Technology Singapore Pte. Ltd. (Indian Liaison Office) Address: #50-56, First Floor, Spearhead Towers Margosa Main Road (between 16th/17th Cross) Malleswaram, Bangalore - 560 055, India Tel: +91-80-65605817, +91-80-42246107 Fax:...

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