YASKAWA VIPA IM 053EC Manual
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YASKAWA VIPA IM 053EC Manual

YASKAWA VIPA IM 053EC Manual

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VIPA System SLIO
IM | 053-1EC00 | Manual
HB300 | IM | 053-1EC00 | en | 16-49
IM 053EC
www.vipa.com/en/service-support/manual

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  • Page 1 VIPA System SLIO IM | 053-1EC00 | Manual HB300 | IM | 053-1EC00 | en | 16-49 IM 053EC www.vipa.com/en/service-support/manual...
  • Page 2 VIPA GmbH Ohmstr. 4 91074 Herzogenaurach Telephone: +49 9132 744-0 Fax: +49 9132 744-1864 Email: info@vipa.com Internet: www.vipa.com 053-1EC00_000_IM 053EC,2,GB - © 2014...

  • Page 3: Table Of Contents

    VIPA System SLIO Table of contents Table of contents General........................4 1.1 Copyright © VIPA GmbH ................. 4 1.2 About this manual..................... 5 1.3 Safety information..................... 6 Basics and mounting..................... 7 2.1 Safety information for users................7 2.2 System conception................... 8 2.2.1 Overview......................

  • Page 4: General

    VIPA System SLIO General Copyright © VIPA GmbH General 1.1 Copyright © VIPA GmbH All Rights Reserved This document contains proprietary information of VIPA and is not to be disclosed or used except in accordance with applicable agreements. This material is protected by the copyright laws. It may not be reproduced, distributed, or altered in any fashion by any entity (either internal or external to VIPA), except in accord- ance with applicable agreements, contracts or licensing, without the express written con- sent of VIPA and the business management owner of the material.

  • Page 5: About This Manual

    VIPA System SLIO General About this manual VIPA GmbH, Ohmstraße 4, 91074 Herzogenaurach, Germany Telefax: +49 9132 744-1204 EMail: documentation@vipa.de Technical support Contact your local VIPA Customer Service Organization representative if you encounter problems with the product or have questions regarding the product. If you are unable to locate a customer service centre, contact VIPA as follows: VIPA GmbH, Ohmstraße 4, 91074 Herzogenaurach, Germany Tel.: +49 9132 744-1150 (Hotline)

  • Page 6: Safety Information

    VIPA System SLIO General Safety information Supplementary information and useful tips. 1.3 Safety information Applications conforming The System SLIO is constructed and produced for: with specifications communication and process control general control and automation applications industrial applications operation within the environmental conditions specified in the technical data installation into a cubicle DANGER! This device is not certified for applications in...

  • Page 7: Basics And Mounting

    VIPA System SLIO Basics and mounting Safety information for users Basics and mounting 2.1 Safety information for users Handling of electrostatic VIPA modules make use of highly integrated components in MOS-Technology. These sensitive modules components are extremely sensitive to over-voltages that can occur during electrostatic discharges.

  • Page 8: System Conception

    VIPA System SLIO Basics and mounting System conception > Overview 2.2 System conception 2.2.1 Overview System SLIO is a modular automation system for assembly on a 35mm mounting rail. By means of the peripheral modules with 2, 4 or 8 channels this system may properly be adapted matching to your automation tasks.

  • Page 9: Components

    VIPA System SLIO Basics and mounting System conception > Components 2.2.2 Components CPU (head module) Bus coupler (head module) Line extension Periphery modules Accessories CAUTION! Only modules of VIPA may be combined. A mixed operation with third- party modules is not allowed! CPU 01xC With this CPU 01xC, the CPU electronic, input/output components and power supply are integrated to one casing.
  • Page 10 VIPA System SLIO Basics and mounting System conception > Components CAUTION! Bus interface and power module may not be separated! Here you may only exchange the electronic module! Line extension In the System SLIO there is the possibility to place up to 64 modules in on line. By means of the line extension you can divide this line into several lines.

  • Page 11: Accessories

    VIPA System SLIO Basics and mounting System conception > Accessories Electronic module The functionality of a SLIO periphery module is defined by the electronic module, which is mounted to the terminal module by a sliding mechanism. With an error the defective module may be exchanged for a functional module with standing installation.

  • Page 12: Dimensions

    VIPA System SLIO Basics and mounting Dimensions 2.3 Dimensions Dimensions CPU 01xC Dimensions CPU 01x HB300 | IM | 053-1EC00 | en | 16-49...
  • Page 13 VIPA System SLIO Basics and mounting Dimensions Dimensions bus coupler and line extension slave Dimensions line extension master HB300 | IM | 053-1EC00 | en | 16-49...

  • Page 14: Mounting Bus Coupler

    VIPA System SLIO Basics and mounting Mounting bus coupler Dimension periphery module Dimensions electronic module Dimensions in mm 2.4 Mounting bus coupler There are locking lever at the top side of the bus coupler. For mounting and demounting these locking lever are to be turned upwards until these engage. Place the bus coupler at the mounting rail.
  • Page 15 VIPA System SLIO Basics and mounting Mounting bus coupler Proceeding Mount the mounting rail! Please consider that a clearance from the middle of the mounting rail of at least 80mm above and 60mm below, respectively 80mm by deployment of shield bus carriers, exist. Turn the locking lever upwards, place the bus coupler at the mounting rail and turn the lever downward.
  • Page 16 VIPA System SLIO Basics and mounting Mounting bus coupler Mounting periphery modules Before mounting the periphery modules you have to remove the bus cover at the right side of the bus coupler by pulling it forward. Keep the cover for later mounting. Mount the periphery modules you want.

  • Page 17: Wiring

    VIPA System SLIO Basics and mounting Wiring > Wiring bus coupler 2.5 Wiring 2.5.1 Wiring bus coupler Terminal module terminals The System SLIO bus coupler have a power module integrated. Terminals with spring clamp technology are used for wiring. The spring clamp technology allows quick and easy connection of your signal and supply lines.
  • Page 18 VIPA System SLIO Basics and mounting Wiring > Wiring bus coupler Standard wiring (1) DC 24V for power section supply I/O area (max. 10A) (2) DC 24V for electronic power supply bus coupler and I/O area PM - Power module For wires with a core cross-section of 0.08mm up to 1.5mm Pos.
  • Page 19 VIPA System SLIO Basics and mounting Wiring > Wiring bus coupler Fusing The power section supply is to be externally protected with a fuse, which corresponds to the maximum current. This means max. 10A is to be protected with a 10A fuse (fast) respectively by a line circuit breaker 10A characteristics Z! It is recommended to externally protect the electronic power supply for bus coupler and I/O area with a 2A fuse (fast) respectively by a line circuit breaker 2A characteris-...

  • Page 20: Wiring Periphery Modules

    VIPA System SLIO Basics and mounting Wiring > Wiring periphery modules 2.5.2 Wiring periphery modules Terminal module terminals CAUTION! Do not connect hazardous voltages! If this is not explicitly stated in the corresponding module description, hazardous voltages are not allowed to be connected to the corresponding terminal module! With wiring the terminal modules, terminals with spring clamp technology are used for wiring.

  • Page 21: Wiring Power Modules

    VIPA System SLIO Basics and mounting Wiring > Wiring power modules To attach the shield the mounting of shield bus carriers are necessary. The shield bus carrier (available as accessory) serves to carry the shield bus to connect cable shields. Each System SLIO module has a carrier hole for the shield bus carrier.
  • Page 22 VIPA System SLIO Basics and mounting Wiring > Wiring power modules Insert a suited screwdriver at an angel into the square opening as shown. Press and hold the screwdriver in the opposite direction to open the contact spring. Insert the stripped end of wire into the round opening. You can use wires with a cross section of 0.08mm up to 1.5mm By removing the screwdriver, the wire is securely fixed via the spring contact to the...
  • Page 23 VIPA System SLIO Basics and mounting Wiring > Wiring power modules PM - Power module For wires with a core cross-section of 0.08mm up to 1.5mm Pos. Function Type Description not connected DC 24V DC 24V for power section supply GND for power section supply Sys DC 24V DC 24V for electronic section supply...
  • Page 24 VIPA System SLIO Basics and mounting Wiring > Wiring power modules Deployment of the power If the 10A for the power section supply is no longer sufficient, you may use the power modules module from VIPA with the order number 007-1AB00. So you have also the possibility to define isolated groups.

  • Page 25: Demounting

    VIPA System SLIO Basics and mounting Demounting > Demounting bus coupler Shield attachment Shield bus carrier Shield bus (10mm x 3mm) Shield clamp Cable shield To attach the shield the mounting of shield bus carriers are necessary. The shield bus carrier (available as accessory) serves to carry the shield bus to connect cable shields.
  • Page 26 VIPA System SLIO Basics and mounting Demounting > Demounting bus coupler For demounting and exchange of a (head) module or a group of modules, due to mounting reasons you always have to remove the electronic module right beside. After mounting it may be plugged again.

  • Page 27: Demounting Periphery Modules

    VIPA System SLIO Basics and mounting Demounting > Demounting periphery modules Plug again the electronic module, which you have removed before. Wire your bus coupler. ð Now you can bring your system back into operation. 2.6.2 Demounting periphery modules Proceeding Exchange of an electronic Power-off your system.
  • Page 28 VIPA System SLIO Basics and mounting Demounting > Demounting periphery modules Turn the locking lever of the module to be exchanged upwards. Pull the module. For mounting turn the locking lever of the module to be mounted upwards. To mount the module put it to the gap between the both modules and push it, guided by the stripes at both sides, to the mounting rail.
  • Page 29 VIPA System SLIO Basics and mounting Demounting > Demounting periphery modules Turn all the locking lever of the module group to be exchanged upwards. Pull the module group forward. For mounting turn all the locking lever of the module group to be mounted upwards. To mount the module group put it to the gap between the both modules and push it, guided by the stripes at both sides, to the mounting rail.

  • Page 30: Trouble Shooting - Leds

    VIPA System SLIO Basics and mounting Installation guidelines 2.7 Trouble shooting - LEDs General Each module has the LEDs RUN and MF on its front side. Errors or incorrect modules may be located by means of these LEDs. In the following illustrations flashing LEDs are marked by ☼. Sum current of the elec- tronic power supply exceeded...
  • Page 31 VIPA System SLIO Basics and mounting Installation guidelines What does EMC mean? Electromagnetic compatibility (EMC) means the ability of an electrical device, to function error free in an electromagnetic environment without being interfered respectively without interfering the environment. The components of VIPA are developed for the deployment in industrial environments and meets high demands on the EMC.
  • Page 32 VIPA System SLIO Basics and mounting Installation guidelines In special use cases you should appoint special EMC actions. – Consider to wire all inductivities with erase links. – Please consider luminescent lamps can influence signal lines. Create a homogeneous reference potential and ground all electrical operating sup- plies when possible.

  • Page 33: General Data

    VIPA System SLIO Basics and mounting General data 2.9 General data Conformity and approval Conformity 2014/35/EU Low-voltage directive 2014/30/EU EMC directive Approval Refer to Technical data others RoHS 2011/65/EU Restriction of the use of certain hazardous substances in electrical and electronic equipment Protection of persons and device protection Type of protection IP20...
  • Page 34 VIPA System SLIO Basics and mounting General data Mounting conditions Mounting place In the control cabinet Mounting position Horizontal and vertical Standard Comment Emitted interference EN 61000-6-4 Class A (Industrial area) Noise immunity EN 61000-6-2 Industrial area zone B EN 61000-4-2 8kV at air discharge (degree of severity 3), 4kV at contact discharge (degree of severity 2) EN 61000-4-3...

  • Page 35: Hardware Description

    VIPA System SLIO Hardware description Properties Hardware description 3.1 Properties Properties The EtherCAT coupler IM 053EC serves for an easy connection of decentralized periphery to EtherCAT. EtherCAT offers real time Ethernet technology on I/O level. EtherCAT coupler for max. 64 peripheral modules Ethernet-based field bus system with high real-time capability Supports the CANopen application profile CoE (CANopen over Ethernet) Online configuration via master system...

  • Page 36: Structure

    VIPA System SLIO Hardware description Structure > Interfaces 3.2 Structure 053-1EC00 Locking lever terminal module Labeling strip bus interface LED status indication bus interface Labelling strip power module LED status indication power module Backplane bus DC 24V power section supply Power module EtherCAT RJ45 bus interface "IN"...

  • Page 37: Leds

    VIPA System SLIO Hardware description Structure > LEDs PM - Power module For wires with a core cross-section of 0.08mm up to 1.5mm Pos. Function Type Description not connected DC 24V DC 24V for power section supply GND for power section supply Sys DC 24V DC 24V for electronic section supply not connected...

  • Page 38: Technical Data

    VIPA System SLIO Hardware description Technical Data Status indication bus interface Description · Bus interface is power supplied. green 1 flash per s: With state change due to an error e.g. a module is removed 2 flashes per s: EtherCAT-Timeout (watchdog) e.g. EtherCAT master is missing Blinking with 2Hz: Error in configuration ￮...
  • Page 39 VIPA System SLIO Hardware description Technical Data Order no. 053-1EC00 Power loss Status information, alarms, diagnostics Status display Interrupts yes, parameterizable Process alarm yes, parameterizable Diagnostic interrupt yes, parameterizable Diagnostic functions yes, parameterizable Diagnostics information read-out possible Supply voltage display green LED Service Indicator Group error display...
  • Page 40 VIPA System SLIO Hardware description Technical Data Order no. 053-1EC00 Net weight 155 g Weight including accessories Gross weight Environmental conditions Operating temperature 0 °C to 60 °C Storage temperature -25 °C to 70 °C Certifications UL certification KC certification HB300 | IM | 053-1EC00 | en | 16-49...

  • Page 41: Deployment

    VIPA System SLIO Deployment Basics EtherCAT > General Deployment 4.1 Basics EtherCAT 4.1.1 General Field buses were established for many years in the automation technology. Since higher speeds are required but the technical limits of this technology have already been reached, new solutions needed to be found.
  • Page 42 VIPA System SLIO Deployment Basics EtherCAT > General Process data (PDOs) The EtherCAT data link layer is optimized for the fast transfer of process data. Here it is specified how the process data of the device are assigned to the EtherCAT process data and how the application of the device is synchronized to the EtherCAT cycle.

  • Page 43: Ethercat State Machine

    VIPA System SLIO Deployment Basics EtherCAT > EtherCAT State Machine 4.1.2 EtherCAT State Machine States In each EtherCAT communication device a state machine is implemented. For each state there is defined which communication service is active via EtherCAT. The state machine of the slave station is controlled by the state machine of the EtherCAT master.

  • Page 44: Coe - Canopen Over Ethernet

    VIPA System SLIO Deployment Basics EtherCAT > ESI files 4.1.3 CoE - CANopen over Ethernet CoE means CANopen over EtherCAT. With CANopen you get a standard user interface, which makes a simplified system structure possible with most different devices. With CoE the device parameters may comfortably be accessed and data were may be read or written at the same time.

  • Page 45: Accessing The System Slio

    VIPA System SLIO Deployment Accessing the System SLIO > Accessing the I/O area 4.2 Accessing the System SLIO 4.2.1 General Overview In the following you will find the description of accessing the following System SLIO areas via EtherCAT: I/O area in the master system I/O area Parameter data Diagnostics data...
  • Page 46 VIPA System SLIO Deployment Accessing the System SLIO > Accessing the I/O area 4.2.3.2 Access via SDO By means of SDO access the in/output data of the object directory may be read. The fol- lowing figure shows how the in/output data are mapped on the SDO objects: Input data 0x6000 + EtherCAT-Slot Index Module...

  • Page 47: Accessing Parameter Data

    VIPA System SLIO Deployment Accessing the System SLIO > Accessing parameter data Read ouput data With the reading access of the output area of a System SLIO module the addressing via index (0x7000 + EtherCAT-Slot) takes place. The corresponding output data may be accessed via subindexes.

  • Page 48: Accessing Diagnostics Data

    VIPA System SLIO Deployment Accessing the System SLIO > Accessing diagnostics data Index Subindex Name Type Attr. Default Meaning value 0x3100 0x00 Parameter Unsigned8 Number Access to the parameters of the of param- System SLIO modules. Only modules ...0x313F eters with parameters are mapped.
  • Page 49 VIPA System SLIO Deployment Accessing the System SLIO > Accessing diagnostics data Index Subindex Name Type Attr. Default Meaning value 0x5000 0x00 Hardware Unsigned8 Current hardware interrupt data Interrupt Data 0x01 Slot Number Unsigned8 0x00 EtherCAT-Slot of the module which reports an interrupt 0x02 Hardware...

  • Page 50: Data Transfer Via Pdo And Sdo

    VIPA System SLIO Deployment Data transfer via PDO and SDO Index Subindex Name Type Attr. Default Meaning value 0x5005 0x00 Diagnostic Unsigned8 Data Slot 0x01 Unsigned8 By reading this index here the EtherCAT-Slot of the module may be found, to which the following diag- nostic data belong to.

  • Page 51: Variable Pdo Mapping Via Sdo

    VIPA System SLIO Deployment Object Dictionary PDO means Process Data Object. Process data may be transferred during run-time by means of PDOs. Here the Inputs respectively outputs are directly addressed within the frame. More concerning the process data transfer during run-time may be found in the manual of your EtherCAT master.
  • Page 52 VIPA System SLIO Deployment Object Dictionary Index Object Dictionary Area 0x2000 ... 0x5FFF Manufacturer Specific Area 0x6000 ... 0x6FFF Input Area 0x7000 ... 0x7FFF Output Area 0x8000 ... 0x8FFF Configuration Area 0x9000 ... 0x9FFF Information Area 0xA000 ... 0xAFFF Diagnosis Area 0xB000 ...
  • Page 53 VIPA System SLIO Deployment Object Dictionary Hardware version Index:Sub Name Type Access Default Description 0x1009:00 Hardware version VSTRG ro Ä ‘Explanation of the elements’ on page 52 Software version Index:Sub Name Type Access Default Description 0x100A:00 Software version VSTRG ro Ä...
  • Page 54 VIPA System SLIO Deployment Object Dictionary Input mapping modules Index:Sub Name Type Access Default Description 0x1A00... 0x1A3F: TxPDO map ro/rw** Number of inputs at Entry only available at slots with input this slot modules. 0x1A00... 0x1A3F:01 Input mapping ro/rw** E.g.: 0x6000:01, 8 > at slot 0 the first input has a length of 8 bit.
  • Page 55 VIPA System SLIO Deployment Object Dictionary TxPDO assign Index:Sub Name Type Access Default Description 0x1C13:00* TxPDO assign Number of input PDOs of couple 0x1C13:01 Subindex 001 and modules 0x1C13:02 Subindex 002 0x1C13: ... 0x1C13:40 Subindex 064 Ä ‘Explanation of the elements’ on page 52 The EtherCAT coupler also has process input data, which show the alarm status.
  • Page 56 VIPA System SLIO Deployment Object Dictionary Parameter SLIO EtherCAT coupler Index:Sub Name Type Access Default Description 0x3000:00* Coupler parameter 0x3000:01 Auto acknowledge Defines the mode, how interrupts are handled by the EtherCAT coupler. Ä ‘Explanation of the elements’ on page 52 Here the EtherCAT coupler may be parametrized.
  • Page 57 VIPA System SLIO Deployment Object Dictionary Clear SLIO counter Index:Sub Name Type Access Default Description 0x4000:00* Clear Slio counter Writing of a value you want to the corresponding subindex clears the counter. 0x4000:01 Clear master counter 0x4000:02 Clear module counter Ä...
  • Page 58 VIPA System SLIO Deployment Object Dictionary Module NDL counter Index:Sub Name Type Access Default Description 0x4003:00* Module NDL counter 0x4003:01 Slot 1 0x4003:02 Slot 2 0x4003: ... 0x4003:40 Slot 64 Ä ‘Explanation of the elements’ on page 52 Version components EtherCAT coupler Index:Sub Name...
  • Page 59 VIPA System SLIO Deployment Object Dictionary Firmware version modules Index:Sub Name Type Access Default Description 0x4102:00* Module firmware ver- Firmware versions of the modules sion 0x4102:01 Slot 1 EtherCAT-Slot 0x4102:02 Slot 2 0x4102: ... 0x4102:40 Slot 64 Ä ‘Explanation of the elements’ on page 52 Via this object you may determine the firmware version of the SLIO module at the EtherCAT-Slot.
  • Page 60 VIPA System SLIO Deployment Object Dictionary Hardware interrupt data Index:Sub Name Type Access Default Description 0x5000:00* Hardware interrupt Current hardware interrupt data data 0x5000:01 Slot number 0x00 EtherCAT-Slot of the module which reports an inter- rupt 0x5000:02 Hardware interrupt 0x00 Hardware interrupt data (see module description) data 00 0x5000:03...
  • Page 61 VIPA System SLIO Deployment Object Dictionary Diagnostic data (byte 1 ... n) Index:Sub Name Type Access Default Description 0x5005:00* Diagnostic data slot 0x5005:01 By reading this index here the EtherCAT-Slot of the module may be found, to which the following diag- nostic data belong to.
  • Page 62 VIPA System SLIO Deployment Object Dictionary Read input data Index:Sub Name Type Access Default Description 0x6000...0x603F:00* Input data Number of subindexes of the input data for the corresponding EtherCAT-Slot. 0x6000...0x603F:01 Input data (see module description) 0x6000...0x603F:02 0x6000...0x603F: ... Ä ‘Explanation of the elements’ on page 52 With this object the input data of a System SLIO module may be read.
  • Page 63 VIPA System SLIO Deployment Object Dictionary Module list Index:Sub Name Type Access Default Description 0xF010:00* Module list Module ID of the modules 0xF010:01 Subindex 001 0xF010:02 Subindex 002 0xF010: ... 0xF010:40 Subindex 064 Ä ‘Explanation of the elements’ on page 52 Configured module list Index:Sub Name...

  • Page 64: Error Handling

    VIPA System SLIO Deployment Error handling > Emergency error message Detected module list Index:Sub Name Type Access Default Description 0xF050:00* Detected module list Module IDs of the modules, which were recognized by the coupler. 0xF050:01 Subindex 001 0xF050:02 Subindex 002 0xF050: ...

  • Page 65: Standard Error Messages

    VIPA System SLIO Deployment Error handling > Standard error messages Frame structure Byte DATA EEC - Emergency Error Codes following ETG specifications: 0xFFxx: Vendor-specific emergency message (VIPA = 0xFF00) 0xA0xx: State Machine transition error, e.g. due to a configuration error (length, address, settings).
  • Page 66 VIPA System SLIO Deployment Error handling > Standard error messages EtherCAT specific error messages Code Description Current State Resulting State 0x0000 No error Current state 0x0001 Unspecified error Any + E 0x0002 No Memory Any + E 0x0011 Invalid requested state change I >...
  • Page 67 VIPA System SLIO Deployment Error handling > Standard error messages Code Description Current State Resulting State 0x0032 PLL Error O, S > O S + E 0x0033 DC Sync IO Error O, S > O S + E 0x0034 DC Sync Timeout Error O, S >...
  • Page 68 VIPA System SLIO Deployment Error handling > Standard error messages Code Description 0x05030000 Toggle bit not alternated 0x05040000 SDO protocol timed out 0x05040001 Client/server command specifier not valid or unknown 0x05040002 Invalid block size (block mode only) 0x05040003 Invalid sequence number (block mode only) 0x05040004 CRC error (block mode only) 0x05040005...

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