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Beckhoff FC3102 Documentation

Beckhoff FC3102 Documentation

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FC3101 and FC3102
PCI Cards for PROFIBUS
Version:
Date:
3.0
2017-11-17

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Summary of Contents for Beckhoff FC3102

  • Page 1 Documentation FC3101 and FC3102 PCI Cards for PROFIBUS Version: Date: 2017-11-17...

  • Page 3: Table Of Contents

    PrmData (text) tab...................... 62 3.9.6 Diag tab.......................... 62 4 FC310x as slave............................ 64 Slave.............................  64 5 Appendix .............................. 69 Diagnostic Data - DiagData ...................... 69 5.1.1 DPV1 Error Codes ...................... 71 Configuration Data - CfgData .......................  73 Support and Service ........................ 75 FC3101 and FC3102 Version: 3.0...
  • Page 4 Table of Contents Version: 3.0 FC3101 and FC3102...

  • Page 5: Foreword

    The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright © Beckhoff Automation GmbH & Co. KG, Germany.

  • Page 6: Safety Instructions

    All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.

  • Page 7: Documentation Issue Status

    Foreword Documentation Issue Status Version Comment • Migration • Layout and foreword updated • Technical data and safety instructions amended • Technical description amended • First release FC3101 and FC3102 Version: 3.0...

  • Page 8: Product Overview

    Product Overview Introduction The functionalities of the Beckhoff PCI card FC310x (as Master [} 10] and Slave [} 11]) for use under TwinCAT (NCI, PTP, PLC and IO) is described below. TwinCAT 2.7 does not support all the functions described below. TwinCAT 2.8 on the other hand supports all functions described below, with the exception of redundancy and of the ADS server interface of the FC310x as a slave (these will both be supported as from TwinCAT 2.9).

  • Page 9: Hardware Description

    Product Overview Hardware Description One FC3102 PROFIBUS fieldbus card behaves in logical terms in the same way as two FC3101 cards, i.e. all components (with the exception of the PCI interface and the optional NOV RAM) are present in duplicate on the FC3102 card.

  • Page 10: Fc310X As Master

    MSAC_C1 connection). The Initiate, Abort, Read, Write and Data_Transport services are supported. PROFIBUS DPV2 A summary of the PROFIBUS-DPV2 master functions follows: Function Description Equidistance The DPV2 equidistance functionality is described in the PROFIBUS MC [} 25] chapter. Version: 3.0 FC3101 and FC3102...

  • Page 11: Profibus Dp

    Select the "General PROFIBUS Box (GSD)" under Miscellaneous to integrate other GSD files. Fig. 1: Adding a DP slave In the case of modular slaves, it is then still necessary to add the terminal/IL modules (for Beckhoff slaves) or the DP module (for third-party devices).

  • Page 12: Synchronization

    If, in the previous example, the copying of the inputs and outputs and the task computing time exceeds 0.8 ms, then NT will interrupt execution of the task, because 80% of real-time resources has been reached: Version: 3.0 FC3101 and FC3102...

  • Page 13: Fig. 3 I/O At Task Start And Real-Time Resources Exceeded

    DP cycle restarted, so that a DP cycle is omitted. The omission of a DP cycle can be detected with the CycleCounter, as described in the Master Diagnostics [} 20] chapter. FC3101 and FC3102 Version: 3.0...

  • Page 14: Slave Prioritization/Multiple Dp Cycles

    DP cycle will fail (or possibly more than one, depending on the ratio expressed in the number of DP cycles per task cycle), as described in the Synchronization [} 12] chapter. Fig. 7: Multiple DP Cycles in one Task Cycle Version: 3.0 FC3101 and FC3102...

  • Page 15: Sync/Freeze Functionality

    (see the Synchronization [} 12] chapter): • The outputs are written at the beginning (I/O at the start of the task) or the end (I/O not at the start of the task) of the task cycle FC3101 and FC3102 Version: 3.0...

  • Page 16: Diagnostics

    The DpState [} 25] of the slave is set to 0x02 (timeout) or 0x0B (faulty telegram). The effect on the DP connection can be set (see below). Normal DP cycle (12 Mbit/s, 5 slaves, 20 bytes I, 20 bytes O per slave on average) Version: 3.0 FC3101 and FC3102...

  • Page 17: Fig. 10 Normal Dp Cycle

    Retry limit (DX) (TwinCAT 2.8: see PROFIBUS [} 42] tab of the master, TwinCAT 2.9: see Bus Parameters [} 49] dialog) should be set to 0. Normal DP cycle (12 Mbit/s, 5 slaves, on average 20 bytes I, 20 bytes O per slave) in mode "Stay in Data Exch (for WD time)" FC3101 and FC3102 Version: 3.0...

  • Page 18: Fig. 13 Normal Dp Cycle For Stay In Data Exch (For Wd Time)

    DP master, there is a status variable CycleCounter, and this can be linked in the PLC (see the Master Diagnostics [} 20] chapter). This variable is incremented by the master after each DP cycle, so that failure of the master can be detected by monitoring this variable in the PLC. Version: 3.0 FC3101 and FC3102...
  • Page 19 The reaction to the stopping of the TwinCAT system is exactly the same as has been described above in the "Failure of the Host" chapter; the DP connections to all slaves are removed, and the master logs itself off from the bus. FC3101 and FC3102 Version: 3.0...

  • Page 20: Fc310X - Master Diagnostics

    GlobalState[3] is reserved for extensions: RESET (1): Card router not started (after start-up of the PC). INIT (2): Router started but card not active on PROFIBUS. STOP (3): Card active on PROFIBUS, but no cyclic data exchange. Version: 3.0 FC3101 and FC3102...
  • Page 21 268 - 269 PLL Overflow counter (see tab EquiDiag [} 46] (TwinCAT 2.8) or MC-Diag [} 46] (TwinCAT 2.9)) 270 - 271 PLL Underflow counter (see tab EquiDiag [} 46] (TwinCAT 2.8) or MC-Diag [} 46] (TwinCAT 2.9)) FC3101 and FC3102 Version: 3.0...
  • Page 22 ADS-Read parameters Meaning Net-ID PC Net-ID Port IndexGroup 0x00005000 + Device-Id (device's General tab) IndexOffset 0xFFFFF100 Length Length of the Tclo diagnostic data Data TcIo diagnostic data The Tclo diagnostic data has the following structure: Version: 3.0 FC3101 and FC3102...

  • Page 23: Slave Diagnostics

    DP slave data, and can be linked to a PLC variable (-> DpState [} 25] of the slave): Fig. 16: Slave diagnostics - DP state FC3101 and FC3102 Version: 3.0...
  • Page 24 DP diagnostic data from the slave. This does not affect the Data-Exchange cycle in the Beckhoff DP master, because the DP diagnostic telegram is sent at the end of the cyclic Data- Exchange cycle, and before the beginning of the next cycle. If the DP diagnostic data read from the slave has changed from its previous state, the DP master sets the "ExtDiagFlag"...

  • Page 25: Dp State Of The Slaves

    FC310x with Simodrive 611U has Plug&Play functionality The following steps are required for operating a Simodrive 611U on a FC310x: FC3101 and FC3102 Version: 3.0...

  • Page 26: Fig. 17 Pc Is Sync Master

    The connection between the sync master and the sync slave is made through a hardware link. This is only supported as from FC310x hardware version 4 and firmware version 3.00. No times have to be set. Version: 3.0 FC3101 and FC3102...

  • Page 27: Fig. 18 Fc310X Is Sync Master

    The EquiDiag [} 46] tab (TwinCAT 2.8) or MC-Diag [} 56] tab (TwinCAT 2.9) in the System Manager can be used for diagnosing the equidistance times, or this can be done via ADS in the control program (see chapter Master diagnostics [} 20]). FC3101 and FC3102 Version: 3.0...

  • Page 28: Ads (Acyclic Communication)

    FC310x. If the ADS-Read is answered without error (error code = 0), the data will contain the firmware version (BYTE offset 0-1) and the station address of the FC310x (BYTE offset 2). Version: 3.0 FC3101 and FC3102...
  • Page 29 Description Group (Lo- (Hi-Word) Word) 0xF100 0x00 0 -2 This will reset the equidistant diagnostic data (IndexOffset = 0), the Repeat counters (IndexOffset = 1) or the NoAnswer counters (IndexOffset = 2) of the FC310x. FC3101 and FC3102 Version: 3.0...
  • Page 30 With this, a DPV1 Initiate is sent to the appropriate configured DPV1 slave via a class 2 connection; the initiate parameters are included in the data (-> chapter DPV1 [} 31]). ADS-WriteControl An overview of the ADS-Write-Control commands supported by the FC310x is provided below. Version: 3.0 FC3101 and FC3102...

  • Page 31: Profibus Dpv1

    If it is also generally necessary to activate the C1 functionality by setting bit 7 in the PrmData byte 0 (see the slave's PROFIBUS [} 58] tab) for the corresponding slave (this is done automatically for those Beckhoff devices that support DPV1). MSAC-C1-Read is shown in ADS-Read, and MSAC-C1-Write is mapped in ADS-Write:...
  • Page 32 0x1000 + station address of the slave IndexGroup 0x100 + slot number (DPV1 parameter) IndexOffset Index (DPV1 parameter) Length Length of the data that is to be written Data In request: data that is to be written Version: 3.0 FC3101 and FC3102...
  • Page 33 Feature_Supported (value received from slave) 0x02 - 0x03 Profile_Feature_Supported (value received from slave) 0x04 - 0x05 Profile_Ident_number (value received from slave) MSAC-C2 Abort The MSAC-C2 Abort service allows the C2 connection to the slave to be removed again. FC3101 and FC3102 Version: 3.0...

  • Page 34: Uploading The Configuration

    Length 1538 Data Configuration data of the slave If the IndexGroup indicates that, for Beckhoff devices, tables 0, 1 and 9 are to be read, then the following data is supplied, provided the device is a Beckhoff device: Offset Description...

  • Page 35: Pkw Interface Of Profidrive Slaves

    Bit 27: 1 = ARRAY codes are not supported by PROFIDRIVE slave Bits 28-31: axis number (for single axis modules always 1) IndexOffset Length Parameter length: 1 Data In response: Number of the parameter 's array elements FC3101 and FC3102 Version: 3.0...

  • Page 36: S5-Fdl Communication

    Net-ID of the master (see the device's ADS [} 28] tab) Port 0x1000 + station address of the other FDL device IndexGroup 0x04000000 IndexOffset Station address of the other FDL device * 2 Length Data In response: receive counter, incremented with each reception Version: 3.0 FC3101 and FC3102...

  • Page 37: Ads Error Codes Of The Fc310X

    DPV1-C1-Write: DPV1 fault (4 bytes error code in the diagnostic data of the slave) 0x211C Read general: Incorrect IndexGroup 0x211D SetSlaveAdress: Incorrect IndexOffset 0x211E FDL-AGAG-Write: Incorrect IndexOffset 0x211F FDL-AGAG-Read: Incorrect IndexOffset 0x2120 FDL-AGAG-Write: Incorrect length 0x2121 SetSlaveAddress: Incorrect length 0x2122 FDL-AGAG-Read: Incorrect length FC3101 and FC3102 Version: 3.0...

  • Page 38: Master Redundancy

    The only difference in the PROFIBUS configuration between primary and redundant master should be in the settings Redundancy Mode and Version: 3.0 FC3101 and FC3102...

  • Page 39: Fig. 19 Counter And Startredundancymasterflag

    The application (PLC task or other program) is therefore responsible for diagnosing a failure of the primary master (by detecting that the ReciveTelegram-Counter and the ReceivedTelegramFromPrimaryMaster- Counter no longer increment, that the ClaimTokenTimeout-Counter increments or the user-specific FC3101 and FC3102 Version: 3.0...

  • Page 40: Device Tab

    PCI Slot/Irq: Indicates in which logical PCI slot the card was found. Search...: Searches for all connected FC310x channels. Select those required. In the case of an FC3102 both channels A and B appear. These behave in logical terms like two FC3101 cards.
  • Page 41 The FC310x then accepts the new configuration, but does show changes). In the case of Beckhoff boxes, the configuration is read precisely. In the case of external devices, the corresponding GSD file will be searched.

  • Page 42: Fig. 21 Twincat 2.8 - Profibus Tab

    HSA: The HSA specifies the highest active address up to which the GAP update is carried out (assuming it is active). Min. Slave-Int.: The MinSlaveInterval indicates the minimum cycle time with which the DP StartUp telegrams are sent the DP slaves (it is determined from the settings found in the GSD file). Version: 3.0 FC3101 and FC3102...
  • Page 43 DP slave to remain unaware of this, because the switch-over from the primary master to the redundant master should not have any interactions for the DP slave (see the Master Redundancy [} 38] chapter). FC3101 and FC3102 Version: 3.0...

  • Page 44: Fig. 22 Twincat 2.8 - Ads Tab

    (diagnostics, acyclic communication) going to the FC310x must address this Net-ID. Fig. 22: TwinCAT 2.8 - ADS tab 3.8.1.4 General Diag tab Fig. 23: TwinCAT 2.8 - General Diag tab Here, bus cabling problems and DP cycle times are displayed: Version: 3.0 FC3101 and FC3102...

  • Page 45: Fig. 24 Twincat 2.8 - Box States Tab

    Fig. 24: TwinCAT 2.8 - Box States tab Here, an overview of all current box states, the Repeat counter (increments for each telegram repeat to the slave) and the NoAnswer counter (increments every time the slave fails to answer) is displayed. FC3101 and FC3102 Version: 3.0...

  • Page 46: Fig. 25 Twincat 2.8 - Equidiag Tab

    Equi-Cycle Repeat Counter: Here, the number of telegram repetitions within the Equi-Cycle is displayed. Equi-Cycle NoDxch Counter: Here, the number of occurrences is displayed, for which not all MC slaves were in data exchange during an Equi-Cycle. Version: 3.0 FC3101 and FC3102...
  • Page 47 Here, the maximum jitter of the DP cycle is measured (GC for global control telegram, which is always sent at the start of a cycle). During start-up, the jitter may be somewhat greater, in the steady state it should not exceed 1 µs (for Sync mode "Sync Master") or 2 µs (for Sync mode "Disabled"). FC3101 and FC3102 Version: 3.0...

  • Page 48: Fig. 26 Twincat 2.9 - Fc310X Tab

    PCI Slot/Irq: Indicates in which logical PCI slot the card was found. Search...: Searches for all connected FC310x channels. Select those required. In the case of an FC3102 both channels A and B appear. These behave in logical terms like two FC3101 cards.

  • Page 49: Fig. 27 Twincat 2.9 - Bus Parameters Dialog

    The FC310x then accepts the new configuration, but does show changes). In the case of Beckhoff boxes, the configuration is read precisely. In the case of external devices, the corresponding GSD file will be searched.
  • Page 50 PROFIBUS cycle jitter and is therefore switched off by default. Optimize bus parameters: This is used to set the optimized bus parameters. Default bus parameters: This is used to set the default bus parameters. Version: 3.0 FC3101 and FC3102...

  • Page 51: Fig. 28 Twincat 2.9 - Fault Settings Dialog

    PLC breakpoint has been reached, or the system has crashed). It is possible to specify here how many missing tasks cycles can be tolerated before the master switches into the clear mode. This setting is independent of the setting in the Clear mode. FC3101 and FC3102 Version: 3.0...

  • Page 52: Fig. 29 Twincat 2.9 - Mc Tab

    Set To on Box: The To-time can be set individually for each slave on the Prm data (text) [} 62] tab of the Set Ti on Box: The Ti-time can be set individually for each slave on the Prm data (text) [} 62] tab of the box Version: 3.0 FC3101 and FC3102...

  • Page 53: Fig. 30 Twincat 2.9 - Ads Tab

    The FC310x is an ADS device with its own Net-ID, which can be changed here. All ADS services (diagnostics, acyclic communication) going to the FC310x must address this Net-ID. Fig. 30: TwinCAT 2.9 - ADS tab FC3101 and FC3102 Version: 3.0...

  • Page 54: Fig. 31 Twincat 2.9 - Dp-Diag Tab

    DpState not equal 0) Real Failed-Cycle-Counter: Increments if the DP cycle was not completed before the next task cycle began and all the slaves are involved in the data exchange (i.e. have a DpState of 0). Version: 3.0 FC3101 and FC3102...

  • Page 55: Fig. 32 Twincat 2.9 - Box States Tab

    Fig. 32: TwinCAT 2.9 - Box States tab Here, an overview of all current box states, the Repeat counter (increments for each telegram repeat to the slave) and the NoAnswer counter (increments every time the slave fails to answer) is displayed. FC3101 and FC3102 Version: 3.0...

  • Page 56: Fig. 33 Twincat 2.9 - Mc-Diag Tab

    Equi-Cycle Repeat Counter: Here, the number of telegram repetitions within the Equi-Cycle is displayed. Equi-Cycle NoDxch Counter: Here, the number of occurrences is displayed, for which not all MC slaves were in data exchange during an Equi-Cycle. Version: 3.0 FC3101 and FC3102...
  • Page 57 Here, the maximum jitter of the DP cycle is measured (GC for global control telegram, which is always sent at the start of a cycle). During start-up, the jitter may be somewhat greater, in the steady state it should not exceed 1 µs (for Sync mode "Sync Master") or 2 µs (for Sync mode "Disabled"). FC3101 and FC3102 Version: 3.0...

  • Page 58: Box Tab

    For particularly critical outputs it is possible to set a DP watchdog time down to as little as 2 ms for DP slaves that support a watchdog base time of 1 ms (namely all Beckhoff slaves with the exception of the BK3000 and BK3100, and any third-party devices whose GSD file contains the entry "WD_Base_1ms_supp = 1").

  • Page 59: Features Tab

    DP cycles to be transferred to the controller. In this case, there is an individual set of variables for each DP cycle (see the Slave Prioritization/Multiple DP Cycles [} 14] chapter). FC3101 and FC3102 Version: 3.0...

  • Page 60: Beckhoff Tab

    Beckhoff tab Fig. 36: Beckhoff tab FirmwareUpdate: This button enables updating of the firmware of a Beckhoff DP slave over a KS2000 cable via the serial interface 2 byte PLC interface: Switches on the 2 byte PLC interface of the Beckhoff DP slave.

  • Page 61: Processdata Tab

    611U, since a parameter file is required, which is generated by the SimoCon U). In any case it is possible to read and write the parameters via the PKW interface per ADS (see chapter PKW Protocol [} 35]). FC3101 and FC3102 Version: 3.0...

  • Page 62: Prmdata (Text) Tab

    Click on a line to change the current value. The description of the respective settings can be found in the documentation of the relevant manufacturer. 3.9.6 Diag tab Fig. 39: Diag tab The following information can be displayed here: Version: 3.0 FC3101 and FC3102...
  • Page 63 NoAnswer-Counter: Number of telegrams that remained unanswered by the slave. Last DPV1 error: Error-Decode, Error-Class, Error-Code and Error-Code 2 (see description of the DPV1 Error Codes [} 71]). For Beckhoff DP slaves, further diagnostic information will be displayed. FC3101 and FC3102 Version: 3.0...

  • Page 64: Fc310X As Slave

    Modules are to be appended to the box corresponding to the data that is to be transferred cyclically. This is done by clicking with the right mouse button on the box, and then selecting "Append modules": Version: 3.0 FC3101 and FC3102...

  • Page 65: Fig. 41 Append Modules

    In the default setting the inputs of the DP slave are set to 0, if the DP slave is not involved in data exchange. It is possible to change this input error reaction to "No changes" under Changes of the Input Data on the "Features" tab for the box: Fig. 42: Features FC3101 and FC3102 Version: 3.0...
  • Page 66 Result of the read: 0 = no error, otherwise: bits 0-15 = standard ADS error code, bits 16-23 = Error_Code_1, bits 24-31 = Error_Code_2, see description of the DPV1 error codes [} 71] Length (LENGTH) Length of the data that has been read Version: 3.0 FC3101 and FC3102...

  • Page 67: Fig. 43 Enabling The Ads Interface On The Dp Master

    DP slave PC is to be entered: Fig. 43: Enabling the ADS interface on the DP master For the DP slave, the Net-ID of the DP master PC should be entered under Add. NetIDs in the ADS tab of the device: FC3101 and FC3102 Version: 3.0...

  • Page 68: Fig. 44 Ads Tab On The Dp Slave

    FC310x as slave Fig. 44: ADS tab on the DP slave Version: 3.0 FC3101 and FC3102...

  • Page 69: Appendix

    Length of the associated diagnostic data, including header byte 0 = manufacturer-specific diagnostics (DPV1 is not supported) or DPV1 diagnostics (DPV1 is supported (DPV1_Enable = 1) in associated GSD file) Module diagnostics Channel diagnostics Revision number FC3101 and FC3102 Version: 3.0...
  • Page 70 Bit 2: 243th DP module has diagnostics Bit 3: 244th DP module has diagnostics (a maximum of 244 DP modules is possible) Channel diagnostics The channel diagnostics provide a closer description of the cause of the diagnosis of a DP module. Version: 3.0 FC3101 and FC3102...

  • Page 71: Dpv1 Error Codes

    In the event of an incorrect DPV1 access, the slave replies with 4 bytes of data (any values that are not described here are not defined in the DPV1 standard, and are therefore to be found in the slave's manual): Byte 0 DPV1 service 0xD1 Data_Transport 0xD7 Initiate 0xDE Read 0xDF Write FC3101 and FC3102 Version: 3.0...
  • Page 72 Access, Access Denied 0x07 Access, Invalid Range 0x08 Access, Invalid Parameter 0x09 Access, Invalid Type 0x0C 0x00 Resource, Read Constrain Conflict 0x01 Resource, Write Constrain Conflict 0x02 Resource, Busy 0x03 Resource, Unavailable Byte 3 Error_Code_2      Version: 3.0 FC3101 and FC3102...

  • Page 73: Configuration Data - Cfgdata

    1 (i.e. bits 0-3 = 0000B corresponds to a length of 1 word, while bits 0-3 = 1111B corresponds to a length of 16 words) If the first byte has the type "special identification format", then the second or third bytes have the following meaning: FC3101 and FC3102 Version: 3.0...
  • Page 74 000000B corresponds to a length of 1 byte, while bits 0-5 = 111111B corresponds to a length of 64 bytes) Type word, with consistency. Bits 0-5 contain the length of the data minus 1 (i.e. bits 0-5 = 000000B corresponds to a length of 1 word, while bits 0-5 = 111111B corresponds to a length of 64 words) Version: 3.0 FC3101 and FC3102...

  • Page 75: Support And Service

    Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 76 Diag tab ............................Fig. 40 FC310x appended as slave ......................Fig. 41 Append modules.......................... Fig. 42 Features............................Fig. 43 Enabling the ADS interface on the DP master................Fig. 44 ADS tab on the DP slave ......................Version: 3.0 FC3101 and FC3102...

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