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Beijer Electronics G Series User Manual

Ethercat network adapter
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EtherCAT network adapter
GN-9386
User manual
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G-series GN-9386 EtherCAT Rev. 1.01.docx

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  • Page 1 EtherCAT network adapter GN-9386 User manual Page 1 of (44) G-series GN-9386 EtherCAT Rev. 1.01.docx...
  • Page 2 GN-9386 User Manual DOCUMENT CHANGE SUMMARY REV. PAGES REMARKS DATE Editor 1.00 New Document 2018/7/30 1.01 First release 2019/01/29 Page 2 of (44) G-series GN-9386 EtherCAT Rev. 1.01.docx...

  • Page 3: Table Of Contents

    GN-9386 User Manual Contents 1. Important Notes ................................5 1.1. Safety Instruction ..........................6 1.1.1. Symbols ................................6 1.1.2. Safety Notes ..............................6 1.1.3. Certification ............................... 6 2. Environment Specification ............................7 3. General Description ............................... 8 3.1. GN-9386 Specification ........................8 3.2.
  • Page 4 GN-9386 User Manual 3.6.2. Example of Output Process Image (Output Register) Map ..........19 4. Dimension ..................................21 4.1. GN-9386 ............................. 21 5. EtherCAT Basics ................................22 5.1. EtherCAT Protocol .......................... 22 5.2. EtherCAT State Machine ....................... 22 5.3. EtherCAT Mailbox ........................... 24 5.4.

  • Page 5: Important Notes

    GN-9386 User Manual 1. Important Notes Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

  • Page 6: Safety Instruction

    GN-9386 User Manual 1.1. Safety Instruction 1.1.1. Symbols Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death property damage or economic loss. Identifies information that is critical for successful application and understanding of the product.

  • Page 7: Environment Specification

    GN-9386 User Manual 2. Environment Specification Environment Specification Operating Temperature -40℃~70℃ UL Temperature -20℃~60℃ Storage Temperature -40℃~85℃ Relative Humidity 5% ~ 90% non-condensing Mounting DIN rail General Specification Shock Operating IEC 60068-2-27 Vibration resistance Sine Vibration (Based on IEC 60068-2-6) - 5 ~ 25Hz : ±1.6mm - 25 ~ 300Hz : 4g - Sweep Rate : 1 Oct/min, 20 Sweeps...

  • Page 8: General Description

    GN-9386 User Manual 3. General Description 3.1. GN-9386 Specification Items Specification Communication Interface Specification Adapter Type Slave Node (EtherCAT) Max. Expansion Slot 63 slots I/O Data Size Max 128 bytes each slot Max. Network Node 65535 Baud Rate 100Mbps Bus Connection 2 x RJ-45 Mac Address / IP Address Not needed...

  • Page 9: Gn-9386 Wiring Diagram

    GN-9386 User Manual 3.2. GN-9386 Wiring Diagram Pin No. Signal Description Signal Description Pin No. System Power, 24V System Power, Ground System Power, 24V System Power, Ground Field Power, Ground Field Power, Ground Field Power, 24V Field Power, 24V Page 9 of (44) G-series GN-9386 EtherCAT Rev.

  • Page 10: Gn-9386 Led Indicator

    GN-9386 User Manual 3.3. GN-9386 LED Indicator 3.3.1. LED Indicator LED No. LED Function / Description LED Color Module Status Green/Red Current Running Status Green ERROR Error Status (EtherCAT) Extension Module Status Green/Red System Power System Power Enable Green Field Power Field Power Enable Green 3.3.2.

  • Page 11: Error(Error State Led)

    GN-9386 User Manual 3.3.4. ERROR(Error State LED) Status To indicate No Error No Error. Invalid Configuration Blinking Invalid Configuration. 3.3.5. IOS LED(Extension Module Status LED) Status To indicate Not Powered Device has no expansion module or may not be powered. Internal Bus On-line, Flashing Internal Bus is normal but does not exchanging I/O data.

  • Page 12: Indicator States And Flash Rates

    GN-9386 User Manual 3.3.7. Indicator states and flash rates LED ON Constantly ON LED OFF Constantly OFF. Equal ON and OFF times with a frequency of approximately 10 Hz: ON for approximately LED flickering 50ms and OFF for approximately 50ms. Equal ON and OFF times with a frequency of approximately 2, 5Hz: ON for approximately LED blinking 200ms followed by OFF for approximately 200ms.

  • Page 13: Gn-9386 Electrical Interface

    GN-9386 User Manual 3.4. GN-9386 Electrical Interface 3.4.1. RJ-45 Socket RJ-45 Signal Name Description Transmit + Transmit - Receive + Receive - Case Shield Shielded RJ-45 Socket 3.4.2. DIP Switch DIP Pole# Description IdentificationValue DIP bit#0 IdentificationValue DIP bit#1 IdentificationValue DIP bit#2 IdentificationValue DIP bit#3 IdentificationValue DIP bit#4 IdentificationValue DIP bit#5...

  • Page 14: Rs232 Port For Modbus/Rtu, Touch Panel Or I/O Guide

    GN-9386 User Manual 3.4.3. RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide Pin# Signal Name Description Reserved ---- RS232 TXD RS232 RXD RS232 GND 3.5. EtherCAT ID Type Setup 3.5.1. Hot Connection On TwinCAT Hot connection function can be used to remove a node from a preconfigured Configuration or change the location of nodes and flexible.This feature is available only Ethercat ID Type in TwinCAT.
  • Page 15 GN-9386 User Manual Hot Connection setting procedure 1. Add the EtherCAT ID Type in TwinCAT. 2. Hot Connect Group settings Set the identification value same as dip-switch. Page 15 of (44) G-series GN-9386 EtherCAT Rev. 1.01.docx...
  • Page 16 GN-9386 User Manual 3. Hot connection group set up is completed, run the Reload I/O device(F4). 4. Now you can use the Hot connection feature. Node is not overlapped between products. If there are same nodes, It should be changed. Page 16 of (44) G-series GN-9386 EtherCAT Rev.

  • Page 17: I/O Process Image Map

    GN-9386 User Manual 3.6. I/O Process Image Map An expansion module may have 3 types of data as I/O data, configuration parameter and memory register. The data exchange between network adapter and expansion modules is done via an I/O process image data by G-Series protocol.

  • Page 18: Example Of Input Process Image (Input Register) Map

    GN-9386 User Manual 3.6.1. Example of Input Process Image (Input Register) Map Input image data depends on slot position and expansion slot data type. Input process image data is only ordered by expansion slot position. For example slot configuration Slot Address Module Description EtherCAT Adapter 8-discrete input...

  • Page 19: Example Of Output Process Image (Output Register) Map

    GN-9386 User Manual 3.6.2. Example of Output Process Image (Output Register) Map Output image data depends on slot position and expansion slot data type. Output process image data is only ordered by expansion slot position. For example slot configuration Slot Address Module Description EtherCAT Adapter 8-discrete output...
  • Page 20 GN-9386 User Manual Analog Output Ch0 low byte (Slot#8) Analog Output Ch0 high byte (Slot#8) Analog Output Ch1 low byte (Slot#8) Analog Output Ch1 high byte (Slot#8) 0x1608 0x7080 Analog Output Ch2 low byte (Slot#8) Analog Output Ch2 high byte (Slot#8) Analog Output Ch3 low byte (Slot#8) Analog Output Ch3 high byte (Slot#8) 0x1609...

  • Page 21: Dimension

    GN-9386 User Manual 4. Dimension 4.1. GN-9386 (mm) Page 21 of (44) G-series GN-9386 EtherCAT Rev. 1.01.docx...

  • Page 22: Ethercat Basics

    GN-9386 User Manual 5. EtherCAT Basics The EtherCAT protocol uses an officially assigned EtherType inside the Ethernet Frame. The use of this EtherType allows transport of control data directly within the Ethernet frame without redefining the standard Ethernet frame. The frame may consist of several sub-telegrams, each serving a particular memory area of the logical process images that can be up to 4 gigabytes in size.
  • Page 23 GN-9386 User Manual Init After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication. Pre-Operational (Pre-Op) During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly.

  • Page 24: Ethercat Mailbox

    GN-9386 User Manual 5.3. EtherCAT Mailbox The device profiles describe the application parameters and the functional behavior of the devices including the device class-specific state machines. For many device classes, fieldbus technology already offers reliable device profiles, for example for I/O devices, drives or valves. Users are familiar with these profiles and the associated parameters and tools.
  • Page 25 GN-9386 User Manual  Servo drive profile according to IEC 61800-7-204(SERCOS) (SoE) SERCOS interface™ is acknowledged as a high-performance real-time communication interface, particularly for motion control applications. The SERCOS profile for servo drives and the communication technology are covered by the IEC 61800-7-204 standard. The mapping of this profile to EtherCAT (SoE) is specified in part 304 [2].

  • Page 26: Coe Interface

    GN-9386 User Manual  File Access over EtherCAT (FoE) any data structure in the device. Standardized firmware upload to devices is therefore possible, irrespective of whether or not they support TCP/IP.  Literature [1] EN 50325-4: Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces.

  • Page 27: Communication Objects

    GN-9386 User Manual 5.4.2. Communication Objects Index Sub-index Name Flags Default value 1000 Device type 0x00001389 1001 Gbus Status Normal Operation : 0x00 ** 1002 Master Fault Aaction 0x00 1008 Device name GN-9386(Crevis) 1009 Hardware version GN-9386.v1 100A Software version 1.000 1018 Identity...
  • Page 28 GN-9386 User Manual 7010* GT-xxxx 0xnn Byte#0 RW P 0x00 Byte#nnn RW P 0x00 8000 GN-9386(Parameter) Byte#0 Byte#1 Byte#2 Byte#3 8nn0* GT-xxxx(Parameter) Byte#0 Byte#nnn F000 Module device profile Module index distance Maximum numver of modules F010* Module List Subindex 001 (GN-9386) 0x00009386 Subindex 063 0x0000xxxx...

  • Page 29: Modbus Interface

    GN-9386 User Manual 6. MODBUS Interface 6.1. MODBUS Interface Register/Bit Map • Register Map Start Address Read/Write Description Func. Code 0x0000 ~ Read Process input image registers (Real Input Register) 3,4,23 0x0800 ~ Read/Write Process output image registers (Real Output Register) 3,16,23 0x1000 * Read...

  • Page 30: Supported Modbus Function Codes

    GN-9386 User Manual 6.2. Supported MODBUS Function Codes Function Function Description Code This function code is used to read from 1 to 2000 contiguous status of coils in a remote device. The Request PDU specifies the starting address, i.e. the address of the first coil specified, and the Read Coils 1(0x01) number of coils.
  • Page 31 GN-9386 User Manual MODBUS function code 08 provides a series of tests for checking the communication system between a client ( Master) device and a server ( Slave), or for checking various internal error conditions Diagnostics within a server. The function uses a two–byte sub-function code (Read diagnostic register) 8(0x08) field in the query to define the type of test to be performed.

  • Page 32: 0X08) Diagnostics

    GN-9386 User Manual 6.2.1. 8 0x08) Diagnostics Sub-function 0x0000(0) Return Query Data The data passed in the request data field is to be returned (looped back) in the response. The entire response message should be identical to the request. Sub-function Data Field (Request) Data Field (Response) Description...

  • Page 33: Error Response

    GN-9386 User Manual Sub-function 0x000F(15) Return Slave No Response Count The response data field returns the quantity of messages addressed to the remote device for which it has returned no response (neither a normal response nor an exception response), since its last restart, clear counters operation, or power–up.

  • Page 34: Modbus Special Register Map

    GN-9386 User Manual 6.3. MODBUS Special Register Map The special register map can be accessed by function code 3, 4, 6 and 16. Also the special register map must be accessed by read/write of every each address (one address). 6.3.1. Adapter Identification Special Register (0x1000, 4096) Address Access Type, Size Description...

  • Page 35: Adapter Information Special Register (0X1100, 4352)

    GN-9386 User Manual 6.3.2. Adapter Information Special Register (0x1100, 4352) Address Access Type, Size Description Master fault action option. - 0x00 : Normal option - 0x01 : Master fault action 0x1100(4352) Read/Write 1word This option can enable Master fault action option. With master fault action, fault action can be activated with master communication failure.

  • Page 36: Expansion Slot Information Special Resister (0X2000, 8192)

    GN-9386 User Manual 6.3.3. Expansion Slot Information Special Resister (0x2000, 8192) Each expansion slot has 0x20(32) address offset and same information structure. Slot#1 0x2000(8192)~0x201F(8223) Slot#2 0x2020(8224)~0x203F(8255) Slot#3 0x2040(8256)~0x205F(8287) Slot#4 0x2060(8288)~0x207F(8319) Slot#5 0x2080(8320)~0x209F(8351) Slot#6 0x20A0(8352)~0x20BF(8383) Slot#7 0x20C0(8384)~0x20DF(8415) Slot#8 0x20E0(8416)~0x20FF(8447) Slot#9 0x2100(8448)~0x211F(8479) Slot#10 0x2120(8480)~0x213F(8511) Slot#11 0x2140(8512)~0x215F(8543) Slot#12 0x2160(8544)~0x217F(8575) Slot#13 0x2180(8576)~0x219F(8607) Slot#14 0x21A0(8608)~0x21BF(8639) Slot#15 0x21C0(8640)~0x21DF(8671) Slot#16 0x21E0(8672)~0x21FF(8703)
  • Page 37 GN-9386 User Manual + 0x13(+19) 0x2013(8211) 0x2033(8243) 0x2053(8275) 0x2073(8307) ……. 0x27D3(10195) + 0x14(+20) 0x2014(8212) 0x2034(8244) 0x2054(8276) 0x2074(8308) ……. 0x27D4(10196) + 0x15(+21) 0x2015(8213) 0x2035(8245) 0x2055(8277) 0x2075(8309) ……. 0x27D5(10197) + 0x16(+22) 0x2016(8214) 0x2036(8246) 0x2056(8278) 0x2076(8310) ……. 0x27D6(10198) + 0x17(+23) 0x2017(8215) 0x2037(8247) 0x2057(8279) 0x2077(8311) …….

  • Page 38: Supported Modbus Function Codes

    GN-9386 User Manual Address Offset Access Type, Size Description + 0x02(+2) ** Read 1word Input start register address of input image word this slot. + 0x03(+3) ** Read 1word Input word’s bit offset of input image word this slot. + 0x04(+4) ** Read 1word Output start register address of output image word this slot.

  • Page 39: Trouble Shooting

    GN-9386 User Manual 7. TROUBLE SHOOTING How to diagnose by LED indicator LED Status Cause Action All LED turns off - No power - Check main power Cable - Contact Sales team and send module MOD LED is red - Occurrence critical error in firmware for repair.
  • Page 40 GN-9386 User Manual How to diagnose when device couldn’t communicate network Inspection of wrong or omission cable connection - Check status of cable connection for each node. - Check that all color matches between connector and cable. - Check wire omission. Terminator resistor - If terminator resistor is not installed, install terminator resistor - Check location of terminator resistor...

  • Page 41: Product List

    GN-9386 User Manual APPENDIX A A.1. Product List GT-Number Description ID(hex) Digital Input Module GT-1238 8 Points, Universal, 24Vdc, 10RTB 1238 GT-123F 16 Points, Universal, 24Vdc, 20P connector 123F GT-12DF 16 Points, Universal, 24Vdc, 18RTB 12DF GT-12FA 32 Points, Universal, 24Vdc, 40P connector 12FA GT-1804 4 Points, 120Vac, 10RTB...
  • Page 42 GN-9386 User Manual GT-3804 4 Channels, Thermocouple, 10RTB 3804 GT-3808 8 Channels, Thermocouple, 20P connector 3808 GT-3901 AC Measurement 3901 GT-3914 4 Channels, Differential, 0~20, 4~20, +/-20mA, 12Bits, 10RTB 3914 GT-3934 4 Channels, Differential, 0~20, 4~20, +/-20mA, 16Bits, 10RTB 3934 GT-3918 8 Channels, Differential, 0~20, 4~20, +/-20mA, 12Bits, 18RTB 3918...

  • Page 43: Glossary

    GN-9386 User Manual A.2. Glossary - System Power : The power for starting up CPU. - Field Power : The power for input and output line. - Terminator Resistor : Resistor for prevention reflected wave. - EDS : Electronic Data Sheet. - Sink : The method of in/output power supply if a device has no power source.
  • Page 44 GN-9386 User Manual Head office Beijer Electronics AB Box 426 20124 Malmö, Sweden Phone +46 40 358600 www.beijerelectronics.com Page 44 of (44) G-series GN-9386 EtherCAT Rev. 1.01.docx...

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