IFM Electronic ecomot 300 AC1391 Supplementary Device Manual
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IFM Electronic ecomot 300 AC1391 Supplementary Device Manual

IFM Electronic ecomot 300 AC1391 Supplementary Device Manual

Ethercat interface in the as-i controllere
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Supplementary device manual
EtherCAT interface
in the AS-i controllerE
A
AC1391
AC1392
firmware version RTS 2.x
target from 15
®
for CoDeSys
from version 2.3
English

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Summary of Contents for IFM Electronic ecomot 300 AC1391

  • Page 1 Supplementary device manual EtherCAT interface in the AS-i controllerE AC1391 AC1392 firmware version RTS 2.x target from 15 ® for CoDeSys from version 2.3 English...

  • Page 2: Ifm Supplementary Device Manual Ethercat Interface In The As-I Controllere (Ac1391, Ac1392) 2012

    2012-02-24 Contents Revision: 16 December 2011 © All rights reserved by gmbh, Germany. ifm electronic No part of this manual may be reproduced and used without the consent of ifm electronic gmbh. All brand names used are the property of the corresponding rights holder.

  • Page 3: Table Of Contents

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Contents Contents On this manual ..........................9 What do the symbols and formats mean?.................9 What devices are described in this manual?..............10 How is this manual structured? ..................10 Overview: where is what? ....................11 Safety instructions ........................12 General..........................12 What previous knowledge is required? ................12...
  • Page 4 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Contents 5.3.10 Module 9 – analogue multiplex input ...............30 Example for module 9 ....................31 5.3.11 Module 10 – analogue multiplex output ............32 Example for module 10 ....................33 5.3.12 Module 11 –...
  • Page 5 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Contents Module 11, command 9 – read LDS (list of detected slaves) .........65 Structure........................65 Example: read LDS (list of detected slaves) of slave group 3 on AS-i master 2...65 6.10 Module 11, command 10 ) –...
  • Page 6 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Contents 7.2.8 Command 9, 16#9 – change the extended ID code 1 in the connected AS-i slave ......................86 7.2.9 Commands 10...20, 16#0A..16#14 – Force analogue data transmission directly to/from 3 AS-i slaves respectively ............87 7.2.10 Command 28, 16#1C –...
  • Page 7 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Contents Operating and display elements.................... 112 Status LEDs on the network connection ..............112 9.1.1 LED [RUN] ....................112 9.1.2 LED [ERR]..................... 112 9.1.3 LED [Link/Activity x], x = 1 or 2 ..............112 Display..........................
  • Page 8 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Contents...

  • Page 9: On This Manual

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 On this manual What do the symbols and formats mean? On this manual In this chapter we will give you an overview of the following points.  What do the symbols and formats mean? ...

  • Page 10: What Devices Are Described In This Manual

    2012-02-24 On this manual What devices are described in this manual? What devices are described in this manual? This manual describes the AS-i device family controllerE from ifm electronic gmbh.  according to AS-i master specification 3.0 (M4) onwards ...

  • Page 11: Overview: Where Is What

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 On this manual Overview: where is what? Overview: where is what? unlocking key for detaching the unit from a metal housing IP 20 DIN rail status LEDs of the fieldbus interface text/graphics display (→...

  • Page 12: Safety Instructions

    Property damage or bodily injury when the notes in this manual are not adhered to! assumes no liability for this. ifm electronic ► The acting person must have read and understood the safety instructions and the corresponding chapters in this manual before working on and with this device.

  • Page 13: System Requirements

    System requirements Information about the device → separate basic instructions of the device manual This manual describes the AS-i controllerE device family from ifm electronic gmbh with the option EtherCAT fieldbus interface. Information concerning the software → separate basic instructions of the device manual Required accessories Basic functions ...

  • Page 14: Getting Started

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Getting started Overview Getting started Overview The chapter General set-up procedure (→ page 15) illustrates the general set-up procedure for the controllerE devices AC1391 / AC1392 by means of 2 flowcharts. Possible error states and the corresponding corrective measures are described in additional tables in this chapter.

  • Page 15: General Set-Up Procedure

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Getting started General set-up procedure General set-up procedure START Address AS-i slaves via addressing unit Address AS-i slaves automatically (e.g. AC1144) during assembling? Install Hardware: Install Hardware: Power supplies, AS-i network, preaddressed Power supplies, AS-i network, preaddressed slaves, optional accessories (repeater, tuner etc.) slaves, optional accessories (repeater, tuner etc.)

  • Page 16: Troubleshooting (1)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Getting started General set-up procedure 4.2.1 Troubleshooting (1) Checkpoint Status Possible cause Remedy LED [24 V PWR] 24 V voltage supply not ok. ► Check 24 V voltage supply! AS-i voltage supply not ok.

  • Page 17: Troubleshooting (2)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Getting started General set-up procedure 4.2.2 Troubleshooting (2) Checkpoint Status Possible cause Remedy ► Read the error messages on the display of the controllerE and determine the concerned slave address(es)! One of the connected AS-i slaves ►...

  • Page 18: Fieldbus Setup (Overview)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Getting started Fieldbus setup (overview) Fieldbus setup (overview) Start fieldbus setup Hardware installation Connect the controllerE to the EtherCAT network. Fieldbus setup ► Set the fieldbus modules according to the data to be transmitted (...

  • Page 19: Connect The Beckhoff Industrial Pc Via Ethercat

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Getting started Connect the Beckhoff industrial PC via EtherCAT Connect the Beckhoff industrial PC via EtherCAT ► Copy manually the XML description file of the controllerE into the TwinCat directory …\TwinCAT\IO\EtherCAT.
  • Page 20 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Getting started Connect the Beckhoff industrial PC via EtherCAT Input and output data can be read and written.

  • Page 21: Function

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function Data management Function Basic functions  separate basic instructions of the device manual Data management The controllerE consists of different units: text/graphics display AS-i master 1 EtherCAT fieldbus interface (AS-i master 2) SRAM memory RS-232C...

  • Page 22: The Dual-Ported Ram

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The EtherCAT fieldbus interface 5.2.2 The dual-ported RAM In order to understand the settings of the fieldbus interface it is important to understand the function of the dual-ported RAM. The dual-ported RAM, in the following called DP-RAM, is a memory range which constitutes the interface between the controllerE data and the data of the fieldbus interface.

  • Page 23: The Fieldbus Modules

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules The fieldbus modules As with all controllerE units with fieldbus interface, the information to be exchanged is subdivided into logical blocks: the so-called fieldbus modules – in the following called modules. These modules often have a variable size (data length).

  • Page 24: Module 1 - Digital Input Master 1(A)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.1 Module 1 – digital input master 1(A) Binary input data of the digital single or A slave of AS-i master 1 Data content Data from the controllerE to the fieldbus interface Direction of data Value range...

  • Page 25: Module 2 - Digital Output Master 1(A)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.2 Module 2 – digital output master 1(A) Binary output data of the digital single or A slaves of AS-i master 1 Data content Data from the fieldbus interface to the controllerE Direction of data Value range...

  • Page 26: Module 3 - Digital Input Master 2(A)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.3 Module 3 – digital input master 2(A) Binary input data of the digital single or A slave of AS-i master 2 Data content Data from the controllerE to the fieldbus interface Direction of data Value range...

  • Page 27: Module 5 - Digital Input Master 1(B)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.5 Module 5 – digital input master 1(B) Binary input data of the digital B slaves of AS-i master 1 Data content Data from the controllerE to the fieldbus interface Direction of data Value range 0…16 [bytes]...

  • Page 28: Module 6 - Digital Output Master 1(B)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.6 Module 6 – digital output master 1(B) Binary output data of the digital B slaves of AS-i master 1 Data content Data from the fieldbus interface to the controllerE Direction of data Value range 0…16 [bytes]...

  • Page 29: Module 7 - Digital Input Master 2(B)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.7 Module 7 – digital input master 2(B) Binary input data of the digital B slaves of AS-i master 2. Data content Data from the controllerE to the fieldbus interface Direction of data Value range 0…16 [bytes]...

  • Page 30: Module 9 - Analogue Multiplex Input

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.10 Module 9 – analogue multiplex input Analogue input data of the slaves of the AS-i masters 1 + 2 Data content The data of analogue input slaves with the following AS-i slave addresses can be read directly Note via the modules 14 (master 1) (→...

  • Page 31: Example For Module 9

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules Example for module 9 Channel 2 (according to the labelling on the unit) of the analogue input slave with the AS-i Task: address 21 on master 2 is to be read. Solution: Requirement: Word...

  • Page 32: Module 10 - Analogue Multiplex Output

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.11 Module 10 – analogue multiplex output Analogue output data of the slaves of the AS-i masters 1 + 2 Data content The data of analogue output slaves with the following AS-i slave addresses can be written Note directly via the modules 15 (master 1) (→...

  • Page 33: Example For Module 10

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules Example for module 10 Channel 4 (according to the labelling on the unit) of the analogue output slave with the AS-i Task: address 12 on master 1 is to be set to the value 5000. Solution: Requirement: Word...

  • Page 34: Module 11 - Fieldbus Data Command Channel

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.12 Module 11 – fieldbus data command channel Command channel data of the AS-i masters 1 + 2 Data content For a detailed description of the handling of the fieldbus data command channel and the Note different commands →...
  • Page 35 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules The commands are only executed if the command number (the first byte) changes. Overview of the commands in module 11 Cmd. Description Byte 2 Byte 2 Byte 4 ►...
  • Page 36 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules Cmd. Description Byte 2 Byte 2 Byte 4 ► Config all – – MM000000 > response: status – MM000000 reserved – – – ► save configuration in flash –...

  • Page 37: Module 12 - Fieldbus Data Plc Input

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.13 Module 12 – fieldbus data PLC input Up to 128 bytes of freely definable data Data content Data from the fieldbus interface to the controllerE Direction of data Value range 0…128 [bytes]...

  • Page 38: Module 13 - Fieldbus Data Plc Output

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.14 Module 13 – fieldbus data PLC output Up to 128 bytes of freely definable data Data content Data from the controllerE to the fieldbus interface Direction of data Value range 0…128 [bytes]...

  • Page 39: Module 14 - Analogue Input Master 1

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.15 Module 14 – analogue input master 1 Analogue input data of the analogue slaves to AS-master 1 Data content With module 14 the data of the analogue input slaves on AS-i master 1 with the following AS-i Note slave addresses can be directly read: ...

  • Page 40: Module 14 - Table For Input Data For 4 Channels Per Slave

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules Module 14 – table for input data for 4 channels per slave For the setting 4 channels per slave Value range Sum of words Word no.
  • Page 41 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules For the setting 4 channels per slave Value range Sum of words Word no. AS-i addr. Channel AS-i addr. Channel...
  • Page 42 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules For the setting 4 channels per slave Value range Sum of words Word no. AS-i addr. Channel AS-i addr. Channel...

  • Page 43: Module 14 - Table For Input Data For 1 Channel Per Slave

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules Module 14 – table for input data for 1 channel per slave For the setting 1 channel per slave Value range Sum of words Word no.
  • Page 44 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules For the setting 1 channel per slave Value range Sum of words Word no. AS-i addr. Channel 24(A) 25(A) 26(A) 27(A) 28(A) 29(A) 30(A) 31(A)

  • Page 45: Module 15 - Analogue Output Master 1

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.16 Module 15 – analogue output master 1 Analogue output data of the analogue slaves on AS-i master 1 Data content With module 15 the data of the analogue input slaves on AS-i master 1 with the following AS-i Note slave addresses can be directly written: ...

  • Page 46: Module 15 - Table For Output Data For 4 Channels Per Slave

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules Module 15 – table for output data for 4 channels per slave For the setting 4 channels per slave Value range Sum of words Word no.
  • Page 47 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules For the setting 4 channels per slave Value range Sum of words Word no. AS-i addr. Channel AS-i addr. Channel 0 (60) 1 (61) 1 (17) 4 (124) 2 (62)
  • Page 48 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules For the setting 4 channels per slave Value range Sum of words Word no. AS-i addr. Channel AS-i addr. Channel 36 (96) 37 (97) 10 (17) 40 (124) 38 (98)

  • Page 49: Module 15 - Table For Output Data For 1 Channel Per Slave

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules Module 15 – table for output data for 1 channel per slave For the setting 1 channel per slave Value range Sum of words Word no.
  • Page 50 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules For the setting 1 channel per slave Value range Sum of words Word no. AS-i addr. Channel 16 (46) 24(A) 9 (17) 18 (62) 17 (47) 18 (48) 25(A)

  • Page 51: Module 16 - Analogue Input Master 2

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.17 Module 16 – analogue input master 2 Analogue input data of the analogue slaves to AS-master 2 Data content With module 16 the data of the analogue input slaves on AS-i master 2 with the AS-i slave Note addresses can be directly read.

  • Page 52: Module 17 - Analogue Output Master 2

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.18 Module 17 – analogue output master 2 Analogue output data of the analogue slaves on AS-i master 2 Data content With module 17 the data of the analogue input slaves on AS-i master 2 with the following AS-i Note slave addresses can be directly written: ...

  • Page 53: Module 18 - Fieldbus Diagnostic Data

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.19 Module 18 – fieldbus diagnostic data Diagnostic data of the AS-i masters 1 and 2 Data content Data from the controllerE to the fieldbus interface Direction of data Value range 0…2...

  • Page 54: Module 19 - Host Command Channel

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Function The fieldbus modules 5.3.20 Module 19 – host command channel Host command channel data of the AS-i masters 1 + 2 Data content For a detailed description of the handling of the host command channel and the different Note commands ...

  • Page 55: Module 11: Fieldbus Data Command Channel

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel List of commands in module 11 Module 11: fieldbus data command channel  page 35, table Overview of the commands in module 11 List of commands in module 11 Command number ...

  • Page 56: Module 11, Command 1 - Read Master Flags

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 1 – read master flags Module 11, command 1 – read master flags Structure Request from fieldbus master Byte MM = master no.

  • Page 57: Module 11, Command 2 - Change Operating Mode

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 2 – change operating mode Module 11, command 2 – change operating mode Request from fieldbus master Byte MM = master no. (1…2) 0 = protected mode 1 = config mode not used...

  • Page 58: Module 11, Command 3 - Read Current Slave Configuration

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 3 – read current slave configuration Module 11, command 3 – read current slave configuration Structure Request from fieldbus master MM = master no.

  • Page 59: Module 11, Command 4 - Read Projected Slave Configuration

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 4 – read projected slave configuration Module 11, command 4 – read projected slave configuration Structure Request from fieldbus master MM = master no.

  • Page 60: Module 11, Command 6 - Read Slave Parameters

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 6 – read slave parameters Module 11, command 6 – read slave parameters Structure Request from fieldbus master MM = master no. (1…2) X = slave type (0…1) Byte 0 = standard / A slave...

  • Page 61: Module 11, Command 7 - Change Projected Slave Parameters

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 7 – change projected slave parameters Module 11, command 7 – change projected slave parameters NOTE The projected parameters can only be changed if the AS-i master operates in the Config mode. Activation ...

  • Page 62: Example: Change Projected Slave Parameters Of Slave 7B On As-I Master 1

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 7 – change projected slave parameters Example: change projected slave parameters of slave 7B on AS-i master 1 Request from fieldbus master Byte no.

  • Page 63: Module 11, Command 8 - Read Las (List Of Active Slaves)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 8 – read LAS (list of active slaves) Module 11, command 8 – read LAS (list of active slaves) Slave group The 2 feedback bytes can only give information about max.

  • Page 64: Example: Read Las (List Of Active Slaves) Of Slave Group 1 On Master 1

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 8 – read LAS (list of active slaves) Example: read LAS (list of active slaves) of slave group 1 on master 1 Request from fieldbus master Byte no.

  • Page 65: Module 11, Command 9 - Read Lds (List Of Detected Slaves)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 9 – read LDS (list of detected slaves) Module 11, command 9 – read LDS (list of detected slaves) The 2 feedback bytes can only give information about max.

  • Page 66: Module 11, Command 10

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 10dec (0Ahex) – read LPF (list of slaves with peripheral fault) 6.10 Module 11, command 10 ) – read LPF (list of slaves with peripheral fault) The 2 feedback bytes can only give information about max.

  • Page 67: Module 11, Command 11

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 11dec (0Bhex) – read LPS (list of projected slaves) 6.11 Module 11, command 11 ) – read LPS (list of projected slaves) The 2 feedback bytes can only give information about max.

  • Page 68: Example: Read Lps (List Of Projected Slaves) Of Slave Group 2 On As-I Master 1

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 11dec (0Bhex) – read LPS (list of projected slaves) Example: read LPS (list of projected slaves) of slave group 2 on AS-i master 1 Request from fieldbus master Byte no.

  • Page 69: Module 11, Command 13

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 13dec (0Dhex) – read telegram error counter 6.12 Module 11, command 13 ) – read telegram error counter Structure Request from fieldbus master MM = master no.

  • Page 70: Module 11, Command 14

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 14dec (0Ehex) – read configuration error counter 6.13 Module 11, command 14 ) – read configuration error counter Structure Request from fieldbus master MM = master no.

  • Page 71: Module 11, Command 15

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 15dec (0Fhex) – read AS-i cycle counter 6.14 Module 11, command 15 ) – read AS-i cycle counter Structure Request from fieldbus master MM = master no.

  • Page 72: Module 11, Command 16

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 16dec (10hex) – change current slave parameters 6.15 Module 11, command 16 ) – change current slave parameters Structure Request from fieldbus master MM = master no.

  • Page 73: Module 11, Command 19

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 19dec (13hex) – Config all 6.16 Module 11, command 19 ) – Config all Structure Request from fieldbus master MM = master no.

  • Page 74: Module 11, Command 21

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 21dec (15hex) – save the configuration in flash 6.17 Module 11, command 21 ) – save the configuration in flash Structure Request from fieldbus master Byte...

  • Page 75: Module 11, Command 2222

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Module 11: fieldbus data command channel Module 11, command 22dec (16hex) – reset telegram error counter of a slave 6.18 Module 11, command 22 ) – reset telegram error counter of a slave Structure Request from fieldbus master...

  • Page 76: The Host Command Channel

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Syntax of the host command channel The host command channel The module 19 (→ page 54) contains an extended command channel which can have a length of 5 or 18 words.
  • Page 77 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Syntax of the host command channel NOTE If a command is to be executed, the user ID must be changed! Changing the command number alone does not start the execution.

  • Page 78: Host Commands

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands Host commands Command number Description decimal hexadecimal execute no command write parameters to a connected AS-i slave (change current slave parameters) adopt and save currently connected AS-i slaves in the configuration change the list of the projected AS-i slaves (LPS) set the operating mode of the AS-i master readdress a connected AS-i slave...

  • Page 79: Command 0, 16#0 - Execute No Command

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.1 Command 0, 16#0 – execute no command Request from the host >> controllerE: Word no. M = 0 user ID command number = 00 not used not used 2…18...

  • Page 80: Command 1, 16#1 - Write Parameters To A Connected As-I Slave (Change Current Slave Parameters)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.2 Command 1, 16#1 – write parameters to a connected AS-i slave (change current slave parameters) Request from the host >> controllerE: Word no.

  • Page 81: Command 3, 16#3 - Adopt And Save Currently Connected As-I Slaves In The

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.3 Command 3, 16#3 – adopt and save currently connected AS-i slaves in the configuration Note: This command can only be executed without error when the addressed AS-i master is in the Config mode.

  • Page 82: Command 4, 16#4 - Change The List Of The Projected As-I Slaves (Lps)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.4 Command 4, 16#4 – change the list of the projected AS-i slaves (LPS) Request from the host >> controllerE: Word no. user ID command number = 04 reserved = 00...

  • Page 83: Command 5, 16#5 - Set The Operation Mode Of The As-I Master

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.5 Command 5, 16#5 – set the operation mode of the AS-i master Request from the host >> controllerE: Word no. user ID command number = 05 reserved = 00 reserved = 00...

  • Page 84: Command 6, 16#6 - Readdress Connected As-I Slave

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.6 Command 6, 16#6 – readdress connected AS-i slave Request from the host >> controllerE: Word no. user ID command number = 06 reserved = 00 reserved = 00 16#00...

  • Page 85: Commando 7, 16#7 - Set The Auto Address Mode Of The As-I Master

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.7 Command 7, 16#7 – set the auto address mode of the AS-i master Request from the host >> controllerE: Word no. user ID command number = 07 reserved = 00...

  • Page 86: Command 9, 16#9 - Change The Extended Id Code 1 In The Connected As-I Slave

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.8 Command 9, 16#9 – change the extended ID code 1 in the connected AS-i slave Request from the host >> controllerE: Word no.

  • Page 87: Commands 10

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.9 Commands 10...20, 16#0A..16#14 – force analogue data transmission directly to/from 3 AS-i slaves respectively With these commands the analogue input or output data of 3 slaves can be overwritten. The commands are assigned to 3 slaves addresses each: Command number Slaves...
  • Page 88 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7th word: 16#0055 overflow and valid bits for AS-i slave 1: O3 = 0, V3 = 1, O2 = 0, V2 = 1, O1 = 0, V1 = 1, O0 = 0, V0 = 1 8th word: 16#2009 output data AS-i slave 2, channel 0 9th word: 16#2202...
  • Page 89 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands Example: 1st word: 16#0901 reflected command number A, user ID changes to 1 2nd word: 16#0000 (reserved) 3rd word: 16#3169 (slave 1 is a 4-channel input slave) input data AS-i slave 1, channel 0 4th word: 16#2202 input data AS-i slave 1, channel 1...

  • Page 90: Command 28, 16#1C - Deactivation Of The Slave Reset When Changing To The Protected Mode

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.10 Command 28, 16#1C – deactivation of the slave reset when changing to the protected mode When changing from the Config mode to the protected mode, all slaves are normally briefly reset (reset).

  • Page 91: Command 31, 16#1F - One-Time Execution Of The "Extended Safety Monitor Protocol" In The "Safety At Work" Monitor

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.11 Command 31, 16#1F – one-time execution of the "Extended safety monitor protocol" in the "Safety at Work" monitor. Request from the host >> controllerE: Word no.
  • Page 92 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands Description of the different fields: Word no. 4: LEDs OSSD 1 LEDs OSSD 2 Meaning green = contacts of the output circuits closed yellow = start-up / restart disable active yellow flashing or red: = contacts of the output circuits open red flashing = error on the level of the monitored AS-i components...
  • Page 93 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands Example: "Safety at Work" monitor has not triggered: 1st word: 16#071F reflected command number 1F, user ID changes to 7 2nd word: 16#0000 (reserved) 3rd word: 16#001E reflected subcommand 0 and AS-i slave address 30 4th word: 16#0000...
  • Page 94 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands Response controllerE >> host in case of a fault: Word no. E = 1 B = 0 user ID reflected command number = 16#1F reserved reserved 16#00...

  • Page 95: Command 21, 16#15 - Read Id String Of An As-I Slave With Profile S-7.4

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.12 Command 21, 16#15 – read ID string of an AS-i slave with profile S-7.4 Request from the host >> controllerE: Word no. R = 0 R = 0 user ID...
  • Page 96 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands Mux field = number of multiplexed data words Length: 3 bits Permitted values: 0…3 Meaning: number = value in "Mux field" +1 E type = characterises the slave as regards functionality and data structure Length: 5 bits Permitted values: 0...31...
  • Page 97 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands Possible error codes: faulty S-7.4 protocol sequence 16#0C S-7.4 protocol aborted (timeout) 16#0D invalid AS-i slave address for the S-7.4 protocol (e.g. B slaves) 16#0E AS-i slave has terminated the S-7.4 string 16#0F...

  • Page 98: Command 33, 16#21 – Read Diagnosis String Of An As-I Slave With Profile S-7.4

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.13 Command 33, 16#21 – read diagnosis string of an AS-i slave with profile S-7.4 Request from the host >> controllerE: Word no. S = 0 user ID command number = 33 (16#21)

  • Page 99: Profile S-7.4

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.14 Command 34, 16#22 – read parameter string of an AS-i slave with profile S-7.4 Request from the host >> controllerE: Word no. S = 0 user ID command number = 34 (16#22)

  • Page 100: Command 35, 16#23 - Write Parameter String Of An As-I Slave With Profile S-7.4

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.15 Command 35, 16#23 – write parameter string of an AS-i slave with profile S-7.4 Request from the host >> controllerE: Word no. user ID command number = 35 (16#23) AS-i slave address...

  • Page 101: Command 50, 16#32 - Read Current Configuration As-I Slaves 0(A)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.16 Command 50, 16#32 – read current configuration AS-i slaves 0(A)…15(A) Request from the host >> controllerE: Word no. user ID command number = 50 (16#32) reserved = 00 reserved = 00 not used...

  • Page 102: Command 54, 16#36 - Read Current Parameters Of A Connected As-I Slave

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.20 Command 54, 16#36 – read current parameters of a connected AS-i slave Request from the host >> controllerE: Word no. user ID command number = 54 (16#36) not used not used...

  • Page 103: Command 55, 16#37 - Read Current As-I Slave Lists

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.21 Command 55, 16#37 – read current AS-i slave lists Request from the host >> controllerE: Word no. user ID command number = 55 (16#37) not used not used 2...18...
  • Page 104 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 12th word: 16#0001 LPF slaves 16(A) to 31(A); here: peripheral fault on slave 16 13th word: 16#0002 LPF slaves (0B) to 15B; here: peripheral fault on slave 1B 14th word: 16#8000 LPF slaves 16B to 31B;...

  • Page 105: Command 56, 16#38 - Read Projected Configuration As-I Slaves 1(A)

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.22 Command 56, 16#38 – read projected configuration AS-i slaves 1(A)..15(A) Request from the host >> controllerE: Word no. user ID command number = 56 (16#38) not used not used 2…18...

  • Page 106: Command 96, 16#60 - Save Data Non-Volatilely In The Flash Memory Of The Controllere

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.26 Command 96, 16#60 – save data non-volatilely in the flash memory of the controllerE Request from the host >> controllerE: Word no. user ID command number = 96 (16#60) reserved = 00...

  • Page 107: Command 97, 16#61 - Carry Out Various Settings In The Controllere

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.27 Command 97, 16#61 – carry out various settings in the controllerE Request from the host >> controllerE: Word no. user ID command number = 97 (16#61) reserved = 00 reserved = 00...

  • Page 108: Command 102, 16#66 - Retrieve The Status Of The Controllere Display

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.28 Command 102, 16#66 – retrieve the status of the controllerE display Request from the host >> controllerE: Word no. user ID command number = 102 (16#66) reserved = 00 reserved = 00...

  • Page 109: Command 105, 16#69 - Read The Device Properties Of The Controllere

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 7.2.29 Command 105, 16#69 – read the device properties of the controllerE Request from the host >> controllerE: Word no. user ID command number = 105 (16#69) not used not used...
  • Page 110 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 The host command channel Host commands 4th word: 16#000B (Anybus type used) 16#0001: Anybus Profibus DP 16#0004: Anybus EtherCAT 16#0005: Anybus EtherCAT 16#0009: Anybus Ethernet IT 16#000A: Anybus Ethernet/IP 16#000B: ifm Profibus DP 16#000C: no fieldbus module detected 5th word: 16#0002 (flash memory type)

  • Page 111: Special Settings

    The source code for the required driver project has to be requested separately from ifm electronic gmbh. Possible setting values...

  • Page 112: Operating And Display Elements

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Operating and display elements Status LEDs on the network connection Operating and display elements Diagnostic LEDs → separate basic device manual Key functions → separate basic device manual Display basic functions →...

  • Page 113: Display

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Operating and display elements Display Display Display basic functions → separate basic device manual...

  • Page 114: Menu

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Menu Main menu [Quick Setup] Menu NOTE All menu texts in this manual are in English. Basic functions  separate basic instructions of the device manual 10.1 Main menu [Quick Setup] Setting and reading of the fieldbus parameters (password level 1 required).

  • Page 115: Set-Up

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Set-up Basic settings of the fieldbus interface Set-up This chapter shows you how to get the EtherCAT fieldbus interface started quickly. 11.1 Basic settings of the fieldbus interface The necessary settings of the EtherCAT fieldbus interface of the controllerE can be made by means of the integrated display and the four operating keys.

  • Page 116: Parameter Setting Of The Controllere

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Set-up Parameter setting of the controllerE 11.2 Parameter setting of the controllerE 11.2.1 Parameter setting of slaves in the controllerE Set the parameters of the slaves in the AS-i controllerE as described in the basic device manual. 11.3 Setting and reading of the fieldbus parameters Digital inputs...
  • Page 117 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Set-up Setting and reading of the fieldbus parameters Digital inputs > Indicates that the fieldbus module 5 (digital input master 1B) with a Master 1 (B) length of 16 bytes is activated. ►...
  • Page 118 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Set-up Setting and reading of the fieldbus parameters Analogue > Indicates that the fieldbus module 10 (analogue multiplex output) is multiplex output activated. ► Use [▲] / [▼] to change the setting. ►...
  • Page 119 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Set-up Setting and reading of the fieldbus parameters Analog output > Indicates that the fieldbus module 15 (analogue output master 1) master 1 with a length of 8 * 4 words is activated. ►...
  • Page 120 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Set-up Setting and reading of the fieldbus parameters Digital Inputs Master 1 (A) > Repetition of the display series ( step 1) ► Use [OK] to scroll to the next display. ►...

  • Page 121: Store System Parameters

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Set-up Store system parameters 11.4 Store system parameters  Basic device manual...

  • Page 122: Terms, Abbreviations

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Terms, abbreviations Terms, abbreviations  Slave with an A or B being appended to its address number and which may A/B slave therefore be present twice on the  master. Address This is the "name"...
  • Page 123 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Terms, abbreviations Ethernet Ethernet is a widely used, manufacturer-independent technology which enables transmission of data in the network. Ethernet belongs to the family of so-called "optimum data transmission" on a non exclusive transmission medium. The concept was developed in 1972 and specified as IEEE 802.3 in 1985.
  • Page 124 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Terms, abbreviations List of Projected Slaves In this slave list the controllerE enters the slaves projected for this AS-i master. MAC ID MAC = Manufacturer's Address Code = manufacturer's serial number ...
  • Page 125 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Terms, abbreviations Polling to poll = to count votes The controller master fetches the data from every participant in the system successively: Master calls participant 1. Participant 1 replies with its current data (actual values). Master transfers more data (target values) to participant 1, if needed.
  • Page 126 Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Terms, abbreviations  Slave whose address number may only occur once on the  master Single slave Passive participant on the bus, only responds on request of the  master. Slave Slaves in the bus have a unique address....

  • Page 127: Index

    Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24 Index Index NOTE nn-n The indication of the page where you can find some information about the keyword is written in normal characters. ii-i The indication of the page where the keyword is described in detail is written in italics . A dress ..................

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