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YASKAWA VIPA IM 053EC Manual

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VIPA System SLIO
IM | 053-1EC01 | Manual
HB300 | IM | 053-1EC01 | en | 18-49
Interface module EtherCAT - IM 053EC
www.vipa.com/en/service-support/manuals

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  • Page 1 VIPA System SLIO IM | 053-1EC01 | Manual HB300 | IM | 053-1EC01 | en | 18-49 Interface module EtherCAT - IM 053EC www.vipa.com/en/service-support/manuals...
  • 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 053-1EC01_000_IM 053EC,5,EN - © 2018...

  • Page 3: Table Of Contents

    VIPA System SLIO Table of contents Table of contents General........................5 1.1 Copyright © VIPA GmbH ................. 5 1.2 About this manual..................... 6 1.3 Safety information..................... 7 Basics and mounting..................... 8 2.1 Safety information for users................8 2.2 System conception................... 9 2.2.1 Overview......................
  • Page 4 VIPA System SLIO Table of contents 4.4.6 Access via slave information............... 62 4.4.7 Accessing diagnostics data................. 63 4.5 Accessing the web server via Ethernet ............66 4.5.1 Web server....................66 4.6 Data transfer via PDO and SDO..............70 4.7 Variable PDO mapping via SDO..............70 4.8 Object Dictionary....................

  • Page 5: 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 6: About This Manual

    VIPA System SLIO General About this manual Information product sup- Contact your local VIPA Customer Service Organization representative if you wish to port report errors or questions regarding the contents of this document. If you are unable to locate a customer service centre, contact VIPA as follows: VIPA GmbH, Ohmstraße 4, 91074 Herzogenaurach, Germany Telefax: +49 9132 744-1204 EMail: documentation@vipa.de...

  • Page 7: Safety Information

    VIPA System SLIO General Safety information CAUTION! Damages to property is likely if these warnings are not heeded. Supplementary information and useful tips. 1.3 Safety information Applications conforming The system is constructed and produced for: with specifications communication and process control general control and automation tasks industrial applications operation within the environmental conditions specified in the technical data...

  • Page 8: 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 9: 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 10: 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 11 VIPA System SLIO Basics and mounting System conception > Components 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. Here you have to place a line extension master at each end of a line and the subsequent line has to start with a line extension slave.

  • Page 12: Accessories

    VIPA System SLIO Basics and mounting System conception > Accessories 2.2.3 Accessories Shield bus carrier The shield bus carrier (order no.: 000-0AB00) serves to carry the shield bus (10mm x 3mm) to connect cable shields. Shield bus carriers, shield bus and shield fixings are not in the scope of delivery.

  • Page 13: Dimensions

    VIPA System SLIO Basics and mounting Dimensions 2.3 Dimensions Dimensions CPU 01xC Dimensions CPU 01x Dimensions bus coupler and line extension slave HB300 | IM | 053-1EC01 | en | 18-49...
  • Page 14 VIPA System SLIO Basics and mounting Dimensions Dimensions line extension master Dimension periphery module Dimensions electronic module Dimensions in mm HB300 | IM | 053-1EC01 | en | 18-49...

  • Page 15: Mounting Bus Coupler

    VIPA System SLIO Basics and mounting Mounting bus coupler 2.4 Mounting bus coupler Requirements for UL compliance use – Use for power supply exclusively SELV/PELV power supplies. – The System SLIO must be installed and operated in a housing according to IEC 61010-1 9.3.2 c). There are locking lever at the top side of the bus coupler.
  • Page 16 VIPA System SLIO Basics and mounting Mounting bus coupler Turn the locking lever upwards, place the bus coupler at the mounting rail and turn the lever downward. 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.

  • Page 17: Wiring

    VIPA System SLIO Basics and mounting Wiring > Wiring bus coupler After mounting the whole system, to protect the backplane bus connectors at the last module you have to mount the bus cover, now. If the last module is a clamp module, for adaptation the upper part of the bus cover is to be removed.
  • Page 18 VIPA System SLIO Basics and mounting Wiring > Wiring bus coupler Wiring procedure Pin number at the connector Opening for screwdriver Connection hole for wire 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.
  • Page 19 VIPA System SLIO Basics and mounting Wiring > Wiring bus coupler 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 20: Wiring Periphery Modules

    VIPA System SLIO Basics and mounting Wiring > Wiring periphery modules 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 21 VIPA System SLIO Basics and mounting Wiring > Wiring periphery modules Data 240V AC / 30V DC Cross section 0.08 ... 1.5mm (AWG 28 ... 16) Stripping length 10mm Wiring procedure Pin number at the connector Opening for screwdriver Connection hole for wire Insert a suited screwdriver at an angel into the square opening as shown.

  • Page 22: Wiring Power Modules

    VIPA System SLIO Basics and mounting Wiring > Wiring power modules Attach the cables with the accordingly stripped cable screen and fix it by the shield clamp with the shield bus. 2.5.3 Wiring power modules Terminal module terminals Power modules are either integrated to the head module or may be installed between the periphery modules.
  • Page 23 VIPA System SLIO Basics and mounting Wiring > Wiring power modules Wiring procedure Pin number at the connector Opening for screwdriver Connection hole for wire 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.
  • Page 24 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 25 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 26: 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 27 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 28: 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 29 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 30 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 31: Trouble Shooting - Leds

    VIPA System SLIO Basics and mounting Trouble shooting - LEDs 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 ☼.

  • Page 32: Installation Guidelines

    VIPA System SLIO Basics and mounting Installation guidelines 2.8 Installation guidelines General The installation guidelines contain information about the interference free deployment of a PLC system. There is the description of the ways, interference may occur in your PLC, how you can make sure the electromagnetic compatibility (EMC), and how you manage the isolation.
  • Page 33 VIPA System SLIO Basics and mounting Installation guidelines Proof the correct fixing of the lead isolation. – Data lines must be laid isolated. – Analog lines must be laid isolated. When transmitting signals with small ampli- tudes the one sided laying of the isolation may be favourable. –...

  • Page 34: 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 35 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 36: Hardware Description

    VIPA System SLIO Hardware description Properties Hardware description 3.1 Properties 053-1EC01 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 application profile –...

  • Page 37: Structure

    VIPA System SLIO Hardware description Structure > Interfaces 3.2 Structure 053-1EC01 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 38 VIPA System SLIO Hardware description Structure > Interfaces 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 39: Address Switch

    VIPA System SLIO Hardware description Structure > LEDs 3.2.2 Address switch To uniquely identify the EtherCAT slave, this must be assigned a Device ID. This address may only be assigned once at the bus. For the assignment of an HotConnect address via Ä...
  • Page 40 VIPA System SLIO Hardware description Structure > LEDs 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 2.5Hz: Error in configuration Blinks alternately with MT at firmware update...

  • Page 41: Address Area

    VIPA System SLIO Hardware description Address area 3.3 Address area Ä Chap. 4.4.2 ‘Accessing the I/O area in the Input area Max. number of possible data are 20byte. master system’ page 51 Address Bytes Function Hardware interrupt counter: number of hardware interrupts Diagnostics interrupt counter: number of diagnostics interrupts Diagnostic module status...

  • Page 42: Technical Data

    VIPA System SLIO Hardware description Technical data 3.4 Technical data Order no. 053-1EC01 Type IM 053EC Module ID Technical data power supply Power supply (rated value) DC 24 V Power supply (permitted range) DC 20.4...28.8 V Reverse polarity protection ü Current consumption (no-load operation) 95 mA Current consumption (rated value)
  • Page 43 VIPA System SLIO Hardware description Technical data Order no. 053-1EC01 Number of participants, max. 65535 Node addresses Transmission speed, min. 100 Mbit/s Transmission speed, max. 100 Mbit/s Address range inputs, max. 1024 Byte Address range outputs, max. 1024 Byte Number of TxPDOs, max. Number of RxPDOs, max.

  • Page 44: 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 45 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 46: 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 47: 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 48: Setting The Hotconnect Address

    VIPA System SLIO Deployment Setting the HotConnect address > HotConnect via Explicit Device ID 4.2 Setting the HotConnect address To uniquely identify the EtherCAT slave, this must be assigned a so called HotConnect address. This address may only be assigned once at the bus. You have the following options for setting the HotConnect address: Explicit Device ID: Address switch on the module - default setting.

  • Page 49: Hotconnect Via Configured Station Alias

    VIPA System SLIO Deployment Setting the HotConnect address > HotConnect via Configured Station Alias 4.2.2 HotConnect via Configured Station Alias Proceeding The specification of the HotConnect address via Configured Station Alias happens as fol- lows: In your configuration tool, connect to the corresponding slave station. This must be in the INIT state.

  • Page 50: Synchronization Modes

    VIPA System SLIO Deployment Synchronization modes 4.3 Synchronization modes Overview There are 3 modes of synchronization available to transfer the process data in EtherCAT: Synchron with SyncManager event (default) Free Run Synchron with distributed clocks (DC) The configuration tools usually include the synchronization modes Free Run and Syn- chron with SyncManager event as the operating mode ‘Free Run / SM Synchron’...

  • Page 51: Accessing The System Slio

    VIPA System SLIO Deployment Accessing the System SLIO > Accessing the I/O area in the master system Synchron with distributed To use the synchronization mode Synchron with distributed clocks (DC), in your configu- clocks (DC) ration tool you have to select the synchronization mode Synchron with DC-Sync0. More may be found in the manual of your configuration tool.

  • Page 52: Accessing The I/O Area

    VIPA System SLIO Deployment Accessing the System SLIO > Accessing the I/O area Mapping Process data parameterized Default objects 0x1AFF Standard Diagnostic Data activated Hardware Interrupt Counter Diagnostic Interrupt Counter 0x1B00 Extended Diagnostic Data activated Diagnostic Module Status New Message available 0x1B01 Sync Error Status deactivated...
  • Page 53 VIPA System SLIO Deployment Accessing the System SLIO > Accessing the I/O area Input data 0x6000 + EtherCAT-Slot Index Module Subindex 0x6000 SM 021 DI 2x DC 24V 01h, 02h 0x6002 SM 031 AI 2x 12Bit 01h, 02h 0x6003 FM 050 1x32Bit 01h, 02h, 03h, 04h 0x6004 SM 021 DI 4x DC 24V...
  • Page 54 VIPA System SLIO Deployment Accessing the System SLIO > Accessing the I/O area Read output data Index:Sub Name Type Offset Access Default Description 0x7000... Output data Number of subindexes of the output data for the 0x703F:00 corresponding EtherCAT-Slot. 0x7000... Output data (see module description) 0x703F:01 0x7000...

  • Page 55: Accessing Parameter Data

    VIPA System SLIO Deployment Accessing the System SLIO > Accessing parameter data 4.4.4 Accessing parameter data The following figure shows how the parameter data are mapped on the SDO objects: Parameter data 0x3100 + EtherCAT-Slot Index Module Subindex 0x3102 SM 031 AI 2x 12Bit 01h, 02h 0x3103 FM 050 1x32Bit...

  • Page 56: Fmm - Free Module Mapping

    VIPA System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping 4.4.5 FMM - Free module mapping 4.4.5.1 Overview With FMM you can use EtherCAT slave stations with different hardware variants without adapting your user program. You only have to adapt the FMM configuration in the slave station when configuring the hardware variants.
  • Page 57 VIPA System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping 4.4.5.2 FMM configuration The FMM configuration is made with the CoE object 0x3001. The CoE object 0x3001 consists of 64 subindexes, on each of which a FMM value with 4bytes can be written. Here, the subindex represents the slot Slot of the target configuration.
  • Page 58 VIPA System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping 4.4.5.3 Examples 4.4.5.3.1 Target configuration Sample application The determination of the FMM values is shown with the following sample application. Slot Module Input Output target target 1byte 0100h 1byte...
  • Page 59 VIPA System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping 4.4.5.3.2 Examples of hardware variants Based on the target configuration, the following examples show how to determine the FMM values for the hardware variants. Variant 1: Same type and number of modules but reversed slots (1): Target configuration Slot Sub-...
  • Page 60 VIPA System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping Variant 2: Reversed slots and modules are missing (1): Target configuration Slot Sub- Slot Mapping I/O target actual target index (2): Actual configuration 0100h 0x01000100 0001h 0xFF000001 0101h 0x02000101...
  • Page 61 VIPA System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping Variant 3: Modules are ignored (1): Target configuration Slot Sub- Slot Mapping I/O target actual target index (2): Actual configuration empty 0100h 0x00000100 empty 0001h 0x00000001 0101h 0x03000101 0800h...

  • Page 62: Access Via Slave Information

    VIPA System SLIO Deployment Accessing the System SLIO > Access via slave information 4.4.6 Access via slave information Read module information To uniquely identify the IM 053EC, some data is needed in the ESI file or stored in the called SII (Slave Information Interface). When accessing the module information of the IM 053EC the addressing via index (0x4100 + EtherCAT-Slot) takes place.

  • Page 63: Accessing Diagnostics Data

    VIPA System SLIO Deployment Accessing the System SLIO > Accessing diagnostics data 4.4.7 Accessing diagnostics data Hardware and diagnostic interrupt data of System SLIO modules with interrupt capability were automatically sent by an emergency telegram if the interrupt is activated by parame- terization.
  • Page 64 VIPA System SLIO Deployment Accessing the System SLIO > Accessing diagnostics data Hardware interrupt data Index:Sub Name Type Offset 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 interrupt 0x5000:02 Hardware interrupt...
  • Page 65 VIPA System SLIO Deployment Accessing the System SLIO > Accessing diagnostics data Diagnostic Data (byte 1 ... n) Index:Sub Name Type Offset Access Default Description 0x5005:00 Diagnostic Data 0x5005:01 Slot number By reading this index here the EtherCAT-Slot of the module may be found, to which the following diag- nostic data belong to.

  • Page 66: Accessing The Web Server Via Ethernet

    VIPA System SLIO Deployment Accessing the web server via Ethernet > Web server 4.5 Accessing the web server via Ethernet Access via Ethernet (EoE) On delivery the EtherCAT coupler has no IP address. To be able to access the EtherCAT coupler via EoE, you have to assign data to this IP address.
  • Page 67 VIPA System SLIO Deployment Accessing the web server via Ethernet > Web server Structure of the Web page The Web page is built dynamically and depends on the number of modules, which are connected to the EtherCAT coupler. [1] Module list: EtherCAT coupler and System SLIO module in the plugged sequence [2] Functions for the module, which is selected in the module list [3] Information respectively input field for the according function Web page with selected...
  • Page 68 VIPA System SLIO Deployment Accessing the web server via Ethernet > Web server Security – All functions for the writing access to the IM 053-1EC01 can be secured by a password. – Here you can see the current IP address data of the IM 053-1EC01. Firmware –...
  • Page 69 VIPA System SLIO Deployment Accessing the web server via Ethernet > Web server Web page with selected module Info – Here product name, order number, serial number, firmware version and hardware state number of the according module are listed. Data –...

  • Page 70: Data Transfer Via Pdo And Sdo

    VIPA System SLIO Deployment Variable PDO mapping via SDO 4.6 Data transfer via PDO and SDO Overview 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.

  • Page 71: Object Dictionary

    VIPA System SLIO Deployment Object Dictionary The adjustment of the process image of modules with a variable process image size should not be made by the object 0x31yy, since otherwise only the length in the module is adjusted but EtherCAT coupler and master further use the standard length! 4.8 Object Dictionary Object overview...
  • Page 72 VIPA System SLIO Deployment Object Dictionary Error Register Index:Sub Name Type Access Default Description 0x1001:00 Error Register Error Register Bit 0: Generic error – A not more precisely specified error occurred (flag is set at every error mes- sage). Bit 1: Current error Bit 2: Voltage error Bit 3: Temperature error Bit 4: Communication error...
  • Page 73 VIPA System SLIO Deployment Object Dictionary Error Setting Index:Sub Name Type Offset Access Default Description 0x10F1:00 0x0002 Error Setting 0x10F1:01 0x0001 Local Error Reaction – 0 = PDO State slave changes the value of the PDO State Bit (either in the PDO Parameter or if it is part of the process data description there.
  • Page 74 VIPA System SLIO Deployment Object Dictionary Index:Sub Name Type Offset Access Default Description 0x10F3:255 Diagnosis message OCTET- Diagnosis message STRING Ä ‘Explanation of the elements’ page 71 In the Diagnosis History, both the diagnostic and process alarms, as information about status changes as well as EtherCAT-specific error messages are entered chronologically.
  • Page 75 VIPA System SLIO Deployment Object Dictionary Input Mapping coupler Index:Sub Name Type Offset Access Default Description 0x1AFF:00 Status PDO Mapping of Status PDO Mapping Bit 7...0: Length of the mapped objects in bits Bit 15...8: Subindex of the mapped object Bit 31...16: Index of the mapped object 0x1AFF:01 Input Mapping 01...
  • Page 76 VIPA System SLIO Deployment Object Dictionary SyncManager Type Index:Sub Name Type Offset Access Default Description 0x1C00:00 SyncManager Sync Manager Communication Type Type 0x1C00:01 SyncManager 1 1: Mailbox receive (master to slave) 0x1C00:02 SyncManager 2 2: Mailbox send (slave to master) 0x1C00:03 SyncManager 3 3: Process data output...
  • Page 77 VIPA System SLIO Deployment Object Dictionary SM output parameter Index:Sub Name Type Offset Access Default Description 0x1C32:00 SM output parameter 0x1C32:01 Synchronization 0x00: Free Run (not synchronized) Type 0x01: Synchronous - synchronized with Sync Manager Event 0x02: DC Sync0 - synchronized with Sync0 Event 0x03: DC Sync1 - synchronized with Sync1 Event...
  • Page 78 VIPA System SLIO Deployment Object Dictionary Index:Sub Name Type Offset Access Default Description 0x1C32:09 Delay Time Only important for DC Sync0/1 (Synchronization type = 0x02 or 0x03): Hardware delay time of the slave. Time from receiving the trigger (Sync0 or Sync1 Event) to drive output values to the time until they become valid in the process (e.g.
  • Page 79 VIPA System SLIO Deployment Object Dictionary SM input parameter Index:Sub Name Type Offset Access Default Description 0x1C33:00 SM input param- eter 0x1C33:01 Synchronization 0x00: Free Run (not synchronized) Type 0x01: Synchronous with SM3 Event 0x02: DC Sync0 – synchronized with Sync0 Event 0x03: DC Sync1 –...
  • Page 80 VIPA System SLIO Deployment Object Dictionary Index:Sub Name Type Offset Access Default Description 0x1C33:10 Sync0 Cycle Only important for DC Sync0 (Synchronization type Time = 0x03) and subordinated local cycles: Time between two Sync0 signals if fixed Sync0 Cycle Time is needed by the application. 0x1C33:11 SM-Event Missed U16 This error counter is incremented when the...
  • Page 81 VIPA System SLIO Deployment Object Dictionary Command Index:Sub Name Type Offset Access Default Description 0x2000:00 Command Command Object (complete access is not possible) 0x2000:01 Execute Com- Execute Command mand 0x00000000: Clear all values in object 0x2000 0x00000001: Reset FMM data 0x00004001: Read web server state –...
  • Page 82 VIPA System SLIO Deployment Object Dictionary Parameter SLIO EtherCAT coupler Index:Sub Name Type Offset Access Default Description 0x3000:00 Coupler param- Parameter SLIO EtherCAT coupler eter 0x3000:01 Auto acknowl- Defines the mode, how interrupts are handled by edge the EtherCAT coupler. * 0x3000:02 Free Module Free Module Mapping...
  • Page 83 VIPA System SLIO Deployment Object Dictionary Parameter SLIO Module Index:Sub Name Type Offset Access Default Description 0x3100... Parameter Number of Parameter of a SLIO Module 0x313F:00 parameters 0x3100... Param1 0x313F:01 0x3100... Param2 0x313F:02 0x3100... 0x313F: ... Ä ‘Explanation of the elements’ page 71 With this object the parameters of a System SLIO module may be accessed.
  • Page 84 VIPA System SLIO Deployment Object Dictionary Master counter Index:Sub Name Type Offset Access Default Description 0x4001:00 Master counter Error counter of SLIO Master 0x4001:01 Expected length error 0x4001:02 TimeOut error 0x4001:03 StopBit error 0x4001:04 FCS error 0x4001:05 Telegram length error 0x4001:06 Telegram type error...
  • Page 85 VIPA System SLIO Deployment Object Dictionary Module NDL counter Index:Sub Name Type Offset Access Default Description 0x4003:00 Module NDL counter Node Data Line Counter 0x4003:01 Slot 1 Slot 1 0x4003:02 Slot 2 Slot 2 0x4003: ... 0x4003:40 Slot 64 Slot 64 Ä...
  • Page 86 VIPA System SLIO Deployment Object Dictionary Module firmware version Index:Sub Name Type Access Default Description 0x4105:00 Module firmware ver- Firmware versions of the modules sion 0x4105:01 Slot 1 EtherCAT-Slot 0x4105:02 Slot 2 0x4105: ... 0x4105:40 Slot 64 Ä ‘Explanation of the elements’ page 71 Via this object you may determine the firmware version of the SLIO module at the EtherCAT-Slot.
  • Page 87 VIPA System SLIO Deployment Object Dictionary Hardware interrupt data Index:Sub Name Type Offset 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 interrupt 0x5000:02 Hardware interrupt 0x00 Hardware interrupt data (see module description) data 00 0x5000:03...
  • Page 88 VIPA System SLIO Deployment Object Dictionary Diagnostic Data (byte 1 ... n) Index:Sub Name Type Offset Access Default Description 0x5005:00 Diagnostic Data 0x5005:01 Slot number By reading this index here the EtherCAT-Slot of the module may be found, to which the following diag- nostic data belong to.
  • Page 89 VIPA System SLIO Deployment Object Dictionary Read input data Index:Sub Name Type Offset Access Default Description 0x6000... Input data Number of subindexes of the input data for the 0x603F:00 corresponding EtherCAT-Slot. 0x6000... Input data (see module description) 0x603F:01 0x6000... 0x603F:02 0x6000...
  • Page 90 VIPA System SLIO Deployment Object Dictionary Modular device profile Index:Sub Name Type Offset Access Default Description 0xF000:00 Modular device Contains information to interpret the objects in func- profile tion areas of the modules 0xF000:01 Module index dis- Index distance between two modules tance 0xF000:02 Maximum number...
  • Page 91 VIPA System SLIO Deployment Object Dictionary Detected address list Index:Sub Name Type Offset Access Default Description 0xF040:00 Detected address 0x40 (64) Addresses of the modules, which were recognized list by the coupler. 0xF040:01 Subindex 001 0xF040:02 Subindex 002 0xF040: ... 0xF040:40 Subindex 064 Ä...

  • Page 92: Error Handling

    VIPA System SLIO Deployment Error handling > Emergency error message 4.9 Error handling 4.9.1 Overview In EtherCAT there are the following two types of error messages: Emergency error message Standard error message 4.9.2 Emergency error message Emergency error messages are generated on errors during state changes respectively at hardware and diagnostic interrupts if the interrupt is activated by parameterization.

  • Page 93: Standard Error Messages

    VIPA System SLIO Deployment Error handling > Standard error messages 4.9.3 Standard error messages Emergency error messages are released within device-internal mechanisms and sent to the EtherCAT master. The following standard error messages my occur: AL Status Code To get more information about the error the EtherCAT master reads the AL Status Code (AL = application layer).
  • Page 94 VIPA System SLIO Deployment Error handling > Standard error messages Code Description Current State Resulting State 0x002A Background Watchdog S, O P + E 0x002B No Valid Inputs and Outputs O, S > O S + E 0x002C Fatal Sync Error S + E 0x002D No Sync Error...

  • Page 95: Sdo Error Code

    VIPA System SLIO Deployment Error handling > SDO error code 4.9.4 SDO error code If a SDO request is negative evaluated, an according SDO error code is released. In the following table the possible errors are listed. Code Description 0x05030000 Toggle bit not alternated 0x05040000 SDO protocol timed out...

  • Page 96: Firmware Update

    VIPA System SLIO Deployment Replace EtherCAT slave 053-1EC00 with 053-1EC01 4.10 Firmware update Current firmware at The latest firmware versions are to be found in the service area at www.vipa.com. Load www.vipa.com the Px000314.pkg file. CAUTION! – When installing a new firmware you have to be extremely careful. Under certain circumstances you may destroy the slave station, for example if the voltage supply is interrupted during transfer or if the firmware file is defective.
  • Page 97 VIPA System SLIO Deployment Replace EtherCAT slave 053-1EC00 with 053-1EC01 When replacing an EtherCAT slave 053-1EC00 by 053-1EC01 an adaptation of your project is required. When replacing the EtherCAT slaves, make sure that all settings and parameters of the 053-1EC00 EtherCAT slave that deviate from the standard setting are transferred to the EtherCAT slave 053-1EC01.
  • Page 98 VIPA System SLIO Deployment Replace EtherCAT slave 053-1EC00 with 053-1EC01 Additional features The following features were added: Free module mapping: FMM – When replacing the EtherCAT slaves, please note that FMM is deactivated on the EtherCAT slave 053-1EC01. Otherwise, configuration errors are reported which cause the EtherCAT slave not to change to Safe-Op or Op.
  • Page 99 VIPA System SLIO Deployment Replace EtherCAT slave 053-1EC00 with 053-1EC01 Process data The 053-1EC01 occupies a larger address range of the process input data than the 053-1EC00. Depending on the firmware of the 053-1EC01 used, proceed as follows: 053-1EC01: from version V1.0.3 Set the S7 addresses for the input bytes to a free address range.

  • Page 100: Appendix

    VIPA System SLIO Appendix Appendix HB300 | IM | 053-1EC01 | en | 18-49...
  • Page 101 VIPA System SLIO Appendix Content History of changes..................102 HB300 | IM | 053-1EC01 | en | 18-49...

  • Page 102: A History Of Changes

    VIPA System SLIO History of changes History of changes Rev. Changes 18-06 The manual was created. 18-09 Chapter "Deployment" Description of "Synchronization modes" was revised. 18-23 Chapter "Hardware description" Description of "Properties" was revised. Description of "Address area" was added. Chapter "Deployment"...

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