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YASKAWA SLIO Manual

YASKAWA SLIO Manual

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System SLIO
IM | 053-1EC01 | Manual
HB300 | IM | 053-1EC01 | en | 22-30
Interface module EtherCAT - IM 053EC

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Summary of Contents for YASKAWA SLIO

  • Page 1 System SLIO IM | 053-1EC01 | Manual HB300 | IM | 053-1EC01 | en | 22-30 Interface module EtherCAT - IM 053EC...
  • Page 2 YASKAWA Europe GmbH Hauptstraße 185 65760 Eschborn Germany Tel.: +49 6196 569-300 Fax: +49 6196 569-398 Email: info@yaskawa.eu.com Internet: www.yaskawa.eu.com 053-1EC01_000_IM 053EC,7,EN - © 2022...

  • Page 3: Table Of Contents

    2.7 Trouble shooting - LEDs................. 38 2.8 Industrial security and installation guidelines..........39 2.8.1 Industrial security in information technology..........39 2.8.2 Installation guidelines.................. 41 2.9 General data for the System SLIO..............43 2.9.1 Use in difficult operating conditions............. 45 Hardware description................... 46 3.1 Properties....................... 46 3.2 Structure......................
  • Page 4 System SLIO Table of contents 4.4 Synchronization modes.................. 59 4.5 Accessing the System SLIO................60 4.5.1 General......................60 4.5.2 Accessing the I/O area in the master system..........60 4.5.3 Accessing the I/O area................61 4.5.4 Accessing parameter data................65 4.5.5 FMM - Free module mapping..............66 4.5.6 Easy Maintenance..................

  • Page 5: General

    This material is protected by copyright laws. It may not be reproduced, distributed, or altered in any fashion by any entity (either internal or external to Yaskawa) except in accordance with applicable agreements, contracts or licensing, without the express written consent of Yaskawa and the business management owner of the material.

  • Page 6: About This Manual

    About this manual Technical support Contact your local representative of YASKAWA Europe GmbH if you encounter problems or have questions regarding the product. If such a location is not available, you can reach the Yaskawa customer service via the following contact: YASKAWA Europe GmbH, European Headquarters, Hauptstraße 185, 65760 Eschborn, Germany...

  • Page 7: Safety Information

    System SLIO General Safety information 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

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

  • Page 9: System Conception

    2.2 System conception 2.2.1 Overview The System SLIO is a modular automation system for assembly on a 35mm mounting rail. By means of the periphery modules with 2, 4, 8 and 16 channels this system may properly be adapted matching to your automation tasks. The wiring complexity is low, because the supply of the DC 24V power section supply is integrated to the backplane bus and defective modules may be replaced with standing wiring.

  • Page 10: Components

    With the CPU 01xC electronic, input/output components and power supply are integrated to one casing. In addition, up to 64 periphery modules of the System SLIO can be con- nected to the backplane bus. As head module via the integrated power module for power supply CPU electronic and the I/O components are supplied as well as the electronic of the periphery modules, which are connected via backplane bus.
  • Page 11 Here you may only exchange the electronic module! Line extension In the System SLIO there is the possibility to place up to 64 modules in on line. By means of the line extension you can divide this line into several lines. 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 System SLIO Basics and mounting System conception > Components 8x periphery modules Each 8x periphery module consists of a terminal and an electronic module. Terminal module Electronic module Terminal module The terminal module serves to carry the electronic module, contains the backplane bus with power supply for the electronic, the DC 24V power section supply and the staircase- shaped terminal for wiring.

  • Page 13: Accessories

    The clamping off takes place by means of a screwdriver. Power module In the System SLIO the power supply is established by power modules. These are either integrated to the head module or may be installed between the periphery modules.
  • Page 14 You have to remove the bus cover of the head module before mounting a System SLIO module. For the protection of the backplane bus con- nector you always have to mount the bus cover at the last module of your system again.

  • Page 15: Hardware Revision

    Authoritative for the hardware revision of a System SLIO module is the hardware revi- sion of the electronic module. This is located under the labeling strip of the corre- sponding electronic module.
  • Page 16 System SLIO Basics and mounting Dimensions CPU 01x Bus coupler and line extension slave Line extension master HB300 | IM | 053-1EC01 | en | 22-30...
  • Page 17 System SLIO Basics and mounting Dimensions 8x periphery module Electronic module 16x periphery module 76.5 12.9 HB300 | IM | 053-1EC01 | en | 22-30...

  • Page 18: Mounting Bus Coupler

    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. For mounting and demounting these locking lever are to be turned upwards until these engage.
  • Page 19 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 The procedure is identical for 8x and 16x periphery modules. 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 20: Wiring

    2.5.1 Wiring bus coupler Terminal module terminals The System SLIO bus coupler have a power module integrated. Terminals with spring clamp technology are used for wiring. The spring clamp technology allows quick and easy connection of your signal and supply lines. In contrast to screw terminal connections this type of connection is vibration proof.
  • Page 21 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.
  • Page 22 1A characteristics Z. State of the electronic After PowerON of the System SLIO the LEDs RUN respectively MF get on so far as the power supply via LEDs sum current does not exceed 3A. With a sum current greater than 3A the LEDs may not be activated.

  • Page 23: Wiring 8X Periphery Modules

    (available as accessory) serves to carry the shield bus to connect cable shields. Each System SLIO module has a carrier hole for the shield bus carrier. Push the shield bus carrier, until they engage into the module. With a flat mounting rail for adaptation to a flat mounting rail you may remove the spacer of the shield bus car- rier.
  • Page 24 (available as accessory) serves to carry the shield bus to connect cable shields. Each System SLIO 8x periphery module has a carrier hole for the shield bus carrier. Push the shield bus carrier, until they engage into the module. With a flat mounting rail for adaptation to a flat mounting rail you may remove the spacer of the shield bus carrier.

  • Page 25: Wiring 16X Periphery Modules

    System SLIO Basics and mounting Wiring > Wiring 16x periphery 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 16x periphery modules Terminal block connectors CAUTION!

  • Page 26: Wiring Power Modules

    System SLIO Basics and mounting Wiring > Wiring power modules Insert wire The wiring happens without a tool. Determine according to the casing labelling the connection position. Insert through the round connection hole of the according contact your prepared wire until it stops, so that it is fixed.
  • Page 27 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.
  • Page 28 1A characteristics Z. State of the electronic After PowerON of the System SLIO the LEDs RUN respectively MF get on so far as the power supply via LEDs sum current does not exceed 3A. With a sum current greater than 3A the LEDs may not be activated.
  • Page 29 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 with the order number 007-1AB00. So you have also the possibility to define isolated groups.

  • Page 30: Demounting

    (available as accessory) serves to carry the shield bus to connect cable shields. Each System SLIO 8x periphery module has a carrier hole for the shield bus carrier. Push the shield bus carrier, until they engage into the module. With a flat mounting rail for adaptation to a flat mounting rail you may remove the spacer of the shield bus carrier.
  • Page 31 System SLIO Basics and mounting Demounting > Demounting bus coupler Turn all the locking lever of the bus coupler to be exchanged upwards. Pull the bus coupler forward. For mounting turn all the locking lever of the bus coupler to be exchanged upwards.

  • Page 32: Demounting 8X Periphery Modules

    System SLIO Basics and mounting Demounting > Demounting 8x periphery modules 2.6.2 Demounting 8x periphery modules Proceeding Exchange of an electronic Power-off your system. module For the exchange of a electronic module, the electronic module may be pulled for- ward after pressing the unlocking lever at the lower side of the module.
  • Page 33 System SLIO Basics and mounting Demounting > Demounting 8x periphery modules Exchange of a periphery Power-off your system. module Remove if exists the wiring of the module. 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.
  • Page 34 System SLIO Basics and mounting Demounting > Demounting 8x periphery modules Exchange of a module Power-off your system. group Remove if exists the wiring of the module group. 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.

  • Page 35: Demounting 16X Periphery Modules

    System SLIO Basics and mounting Demounting > Demounting 16x periphery modules 2.6.3 Demounting 16x periphery modules Proceeding Exchange of an electronic Power-off your system. unit To replace an electronic unit, you can push down and pull off the terminal block after releasing the lock.
  • Page 36 System SLIO Basics and mounting Demounting > Demounting 16x periphery modules 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 37 System SLIO Basics and mounting Demounting > Demounting 16x periphery modules 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 38: Trouble Shooting - Leds

    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 39: Industrial Security And Installation Guidelines

    System SLIO Basics and mounting Industrial security and installation guidelines > Industrial security in information technology 2.8 Industrial security and installation guidelines 2.8.1 Industrial security in information technology Latest version This chapter can also be found as a guide ‘IIndustrial IT Security’ at www.yaskawa.eu.com...
  • Page 40 System SLIO Basics and mounting Industrial security and installation guidelines > Industrial security in information technology 2.8.1.1 Protection of hardware and applications Precautions Do not integrate any components or systems into public networks. – Use VPN "Virtual Private Networks" for use in public networks. This allows you to control and filter the data traffic accordingly.

  • Page 41: Installation Guidelines

    System SLIO Basics and mounting Industrial security and installation guidelines > Installation guidelines 2.8.1.2 Protection of PC-based software Precautions Since PC-based software is used for programming, configuration and monitoring, it can also be used to manipulate entire systems or individual components. Particular caution is required here! Use user accounts on your PC systems.
  • Page 42 System SLIO Basics and mounting Industrial security and installation guidelines > Installation guidelines Possible interference Electromagnetic interferences may interfere your control via different ways: causes Electromagnetic fields (RF coupling) Magnetic fields with power frequency Bus system Power supply Protected earth conductor...

  • Page 43: General Data For The System Slio

    Please regard at installation! At potential differences between the grounding points, there may be a compensation current via the isolation connected at both sides. Remedy: Potential compensation line 2.9 General data for the System SLIO Conformity and approval Conformity 2014/35/EU...
  • Page 44 System SLIO Basics and mounting General data for the System SLIO Protection of persons and device protection Type of protection IP20 Electrical isolation to the field bus electrically isolated to the process level electrically isolated Insulation resistance Insulation voltage to reference earth...

  • Page 45: Use In Difficult Operating Conditions

    System SLIO Basics and mounting General data for the System SLIO > Use in difficult operating conditions 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),...

  • Page 46: Hardware Description

    Explicit Device ID ® via dip switch – Easy Maintenance Display of substitute values possible Integrated Web server LEDs for status display Ordering data Type Order number Description IM 053EC 053-1EC01 EtherCAT coupler for System SLIO HB300 | IM | 053-1EC01 | en | 22-30...

  • Page 47: Structure

    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 48 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...

  • Page 49: Address Switch

    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 50: Address Area

    System SLIO Hardware description Address area 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.

  • Page 51: Technical Data

    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)
  • Page 52 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.

  • Page 53: Deployment

    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 54 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 55: Ethercat State Machine

    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 56: Coe - Canopen Over Ethernet

    Is deactivated automatically when switching from Pre-Operational (Pre-Op) to Init. 4.1.5 ESI files You get an ESI file from Yaskawa for the EtherCAT coupler. For System SLIO this file can be found in the ‘Download Center’ of www.yaskawa.eu.com at ‘ESI 053-1EC01’ . Install the ESI files in your configuration tool.

  • Page 57: Setting The Hotconnect Address

    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 58: Hotconnect Via Configured Station Alias

    Starting with firmware version V2.0.1 and ESI version V5.0, the IM 053-1EC01 supports FSoE safety modules. For this, switching to Enhanced mode is required. More information on the use of the Yaskawa FSoE safety modules can be found in the corresponding manual.

  • Page 59: Synchronization Modes

    System SLIO Deployment Synchronization modes 4.4 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 60: Accessing The System Slio

    Max. required cycle time (in µs) = (1.83 * number of modules) + (0.33 * S of input and output bytes) + 60 Overview In the following you will find the description of accessing the following System SLIO areas via EtherCAT: I/O area in the master system...

  • Page 61: Accessing The I/O Area

    The I/O area may be accessed via the following objects: EtherCAT-Slot Please consider the System SLIO power and clamp modules do not have any module ID. These may not be recognized by the EtherCAT coupler and so are not listed respectively considered during slot allocation.
  • Page 62 System SLIO Deployment Accessing the System SLIO > Accessing the I/O area 4.5.3.2 Access via SDO By means of SDO access the in/output data of the object directory may be read. The fol- lowing figure shows how the in/output data are mapped on the SDO objects in operation...
  • Page 63 = Index + (16 Enhanced Ä Chap. 4.3 ‘Operating Mode - Normal/Enhanced mode’ page 58 With this object the input data of a System SLIO module may be read. Here the addressing of the EtherCAT-Slot via index (0x6000 + EtherCAT-Slot) takes place.
  • Page 64 Enhanced Ä Chap. 4.3 ‘Operating Mode - Normal/Enhanced mode’ page 58 With this object the output data of a System SLIO may be read. Here the addressing via index (0x7000 + EtherCAT-Slot) takes place. The corresponding output data may be accessed via subindexes.

  • Page 65: Accessing Parameter Data

    System SLIO Deployment Accessing the System SLIO > Accessing parameter data 4.5.4 Accessing parameter data The following figure shows how the parameter data are mapped on the SDO objects in operation mode Normal Mode: Parameter data 0x3100 + EtherCAT-Slot Index...

  • Page 66: Fmm - Free Module Mapping

    System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping Please note that in operation mode Enhanced Mode the index of the module-related objects is to be incremented accordingly. The index is calculated as follows:  EtherCAT-Slot)
  • Page 67 System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping Activate FMM via the CoE object 0x3000:02, so that the FMM data is stored reten- tive ð Your system is now ready for operation. An additional adaptation of your PLC program is not required.
  • Page 68 System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping 4.5.5.3 Examples 4.5.5.3.1 Target configuration Sample application The target configuration serves as a template for the configuration of hardware variants. It represents a superset of all available hardware variants.
  • Page 69 System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping 4.5.5.3.2 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...
  • Page 70 System SLIO Deployment Accessing the System SLIO > FMM - Free module mapping Variant 2: Reversed slots and modules from the actual configuration are ignored (1): Target configuration Slot Sub- Slot Mapping I/O target actual target index (2): Actual configuration...
  • Page 71 - The value for FMM consists of Mapping & 00 & I/O target The presence of gaps in the System SLIO is not allowed! But you can place modules and define them via the configuration as empty slot for the target hardware configuration.

  • Page 72: Easy Maintenance

    Accessing the System SLIO > Easy Maintenance 4.5.6 Easy Maintenance Overview Easy Maintenance means the support for adding and removing System SLIO modules during operation without having to restart the system. There are the following behaviors: Easy Maintenance at active bus connection –...
  • Page 73 System SLIO Deployment Accessing the System SLIO > Easy Maintenance 4.5.6.1.2 Compatible module is added again when the bus connection is active If a compatible module is inserted into the slot of a previously removed module during an active bus connection, the IM 053-1EC01 behaves as follows: Entries are made in the history object of the IM 053-1EC01: Module was plugged.

  • Page 74: Access To Module Information

    System SLIO Deployment Accessing the System SLIO > Access to module information 4.5.6.1.4 Not configured modules are added to the existing modules when the bus connection is active If one or more modules, which are not configured, are added to the existing modules during an active bus connection, the IM 053-1EC01 behaves as follows: The IM 053-1EC01 changes to the PreOp state.

  • Page 75: Accessing Diagnostics Data

    Accessing the System SLIO > Accessing diagnostics data 4.5.8 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. There is also the possibility to request diagnostics data via SDO.
  • Page 76 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...
  • Page 77 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 diagnostic data belong to.

  • Page 78: Accessing The Web Server Via Ethernet

    System SLIO Deployment Accessing the web server via Ethernet > Web server 4.6 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. The following options in the...
  • Page 79 1.1.1.0 [ Expert View ... ] [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...
  • Page 80 Expert View [Expert View] takes you to the advanced "Expert View". Please consider the System SLIO power and clamp modules do not have any module ID. These may not be recognized by the EtherCAT coupler and so are not listed respectively considered during slot allocation.

  • Page 81: Data Transfer Via Pdo And Sdo

    I/O data of the corresponding module. Information about the data structure of the I/O data of a module may be found in the additional System SLIO manual. So that the new configuration can be taken, the master system is to be initialized again, respectively when a EtherCAT configurator is used the new configuration can be loaded into the EtherCAT master.

  • Page 82: Object Dictionary

    0xF000 ... 0xFFFF Device Area EtherCAT-Slot Please consider the System SLIO power and clamp modules do not have any module ID. These may not be recognized by the EtherCAT coupler and so are not listed respectively considered during slot allocation.
  • Page 83 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...
  • Page 84 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 85 System SLIO Deployment Object Dictionary Diagnosis History Index:Sub Name Type Offset Access Default Description 0x10F3:00 Diagnosis History 0xFF Diagnosis History 0x10F3:01 Maximum Mes- 0xFA Maximum Messages sages 0x10F3:02 Newest Message Newest Message 0x10F3:02 Reading Newest Message and save at user program...
  • Page 86 System SLIO Deployment Object Dictionary Input mapping modules Index:Sub Name Type Offset Access Default Description 0x1A00 ... TxPDO map Number of Entry only available at slots with input modules. ro/rw 0x1A3F:00 inputs at this slot 0x1A00... Input mapping Bit 7...0: Length of the mapped objects in bits...
  • Page 87 System SLIO Deployment Object Dictionary Input Mapping coupler Index:Sub Name Type Offset Access Default Description 0x1B01:00 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...
  • Page 88 System SLIO Deployment Object Dictionary TxPDO Assign Index:Sub Name Type Offset Access Default Description 0x1C13:00 TxPDO Assign Number of Sync Manager 3 PDO Assignment input PDOs 0x1C13:01 TxPDO Mapping 1 U16 PDO Mapping object index of assigned PDO of coupler...
  • Page 89 System SLIO Deployment Object Dictionary SM output parameter Index:Sub Name Type Offset Access Default Description 0x1C32:00 SM output param- eter 0x1C32:01 Synchronization 0x00: Free Run (not synchronized) Type 0x01: Synchronous - synchronized with Sync Manager Event 0x02: DC Sync0 - synchronized with Sync0...
  • Page 90 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 91 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 92 System SLIO Deployment Object Dictionary Index:Sub Name Type Offset Access Default Description 0x1C33:10 Sync0 Cycle Time Only important for DC Sync0 (Synchronization type = 0x03) and subordinated local cycles: Time between two Sync0 signals if fixed Sync0 Cycle Time is needed by the application.
  • Page 93 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 94 System SLIO Deployment Object Dictionary Parameter EtherCAT cou- pler Index:Sub Name Type Offset Access Default Description 0x3000:00 Coupler parameter U8 Parameter EtherCAT coupler 0x3000:01 Auto acknowledge U8 Auto acknowledge 0x00: deactivated 0x01: activated (default) 0x3000: 02 Free Module Map- Free Module Mapping...
  • Page 95 System SLIO Deployment Object Dictionary Free Module Mapping (FMM) Configuration Index:Sub Name Type Offset Access Default Description 0x3001:00 Free Module Map- 0x64 Slot configuration for Free Module Mapping ping Configuration (data will be stored retentive) 0x3001:01 SubIndex 001 Byte 0: Output size of module in byte from max.
  • Page 96 0x313F: ... Ä ‘Explanation of the elements’ page 82 With this object the parameters of a System SLIO module may be accessed. Here the addressing by index takes place. Via subindexes the corresponding parameters may be accessed. The allocation of the subindexes may be found in the description of the corre- sponding module.
  • Page 97 Ä ‘Explanation of the elements’ page 82 Master counter Index:Sub Name Type Offset Access Default Description 0x4001:00 Master counter Error counter of System SLIO Master 0x4001:01 Expected length error 0x4001:02 TimeOut error 0x4001:03 StopBit error 0x4001:04 FCS error 0x4001:05 Telegram length...
  • Page 98 System SLIO Deployment Object Dictionary Module MDL counter Index:Sub Name Type Offset Access Default Description 0x4002:00 Module MDL Master Data Line Counter counter 0x4002:01 Slot 1 Slot 1 0x4002:02 Slot 2 Slot 2 0x4002: ... 0x4002:40 Slot 64 Slot 64 Ä...
  • Page 99 System SLIO Deployment Object Dictionary Module information Index:Sub Name Type Offset Access Default Description 0x4100:00 Module Informa- Module Identity Information IM 053EC tion 0x4100:01 Module Name VSTRG Module Name 0x4100:02 Module ID Module ID 0x4100:03 Serial Number VSTRG Serial number of the module...
  • Page 100 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)
  • Page 101 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 diagnostic data belong to.
  • Page 102 = Index + (16 Enhanced Ä Chap. 4.3 ‘Operating Mode - Normal/Enhanced mode’ page 58 With this object the input data of a System SLIO module may be read. Here the addressing of the EtherCAT-Slot via index (0x6000 + EtherCAT-Slot) takes place.
  • Page 103 Enhanced Ä Chap. 4.3 ‘Operating Mode - Normal/Enhanced mode’ page 58 With this object the output data of a System SLIO may be read. Here the addressing via index (0x7000 + EtherCAT-Slot) takes place. The corresponding output data may be accessed via subindexes.
  • Page 104 System SLIO Deployment Object Dictionary Module Profile List Index:Sub Name Type Offset Access Default Description 0xF010:00 Module Profile List U8 0x40 (64) Module ID of the modules Bit 15...0: Module profile information of the 0xF010:01 Subindex 001 module 0xF010:02 Subindex 002 Bit 31…16: fix (0) Module profile specific...

  • Page 105: Error Handling

    System SLIO Deployment Error handling > Overview Detected module list Index:Sub Name Type Offset Access Default Description 0xF050:00 Detected module 0x40 (64) Module IDs of the modules, which were recog- list nized by the coupler. 0xF050:01 Subindex 001 0xF050:02 Subindex 002 0xF050: ...

  • Page 106: Emergency Error Message

    System SLIO Deployment Error handling > Standard error messages 4.10.2 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. Emer- gency error messages are released within device-internal mechanisms and sent to the master by means of the mailbox service.
  • Page 107 System SLIO Deployment Error handling > Standard error messages EtherCAT specific error messages Code Description Current State Resulting State 0x0000 No error Current state 0x0001 Unspecified error Any + E 0x0002 No Memory Any + E 0x0011 Invalid requested state change I >...

  • Page 108: Sdo Error Code

    System SLIO Deployment Error handling > SDO error code Code Description Current State Resulting State 0x0032 PLL Error O, S > O S + E 0x0033 DC Sync IO Error O, S > O S + E 0x0034 DC Sync Timeout Error O, S >...
  • Page 109 System SLIO Deployment Error handling > SDO error code Code Description 0x05040001 Client/server command specifier not valid or unknown 0x05040002 Invalid block size (block mode only) 0x05040003 Invalid sequence number (block mode only) 0x05040004 CRC error (block mode only) 0x05040005...

  • Page 110: Firmware Update

    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. In this case, please call the Yaskawa Hot- line! –...

  • Page 111: Replace Ethercat Slave 053-1Ec00 With 053-1Ec01

    System SLIO Deployment Replace EtherCAT slave 053-1EC00 with 053-1EC01 4.12 Replace EtherCAT slave 053-1EC00 with 053-1EC01 It is not possible to copy modules and their properties / configuration from EtherCAT Slave 053-1EC00 to EtherCAT Slave 053-1EC01 since the EtherCAT slaves come from different ESI files.
  • Page 112 System SLIO Deployment Replace EtherCAT slave 053-1EC00 with 053-1EC01 HotConnect address – If the 053-1EC00 was addressed via a HotConnect address, then for the 053-1EC01 this HotConnect address is taken to the master configuration. Also the 053-1EC01 must use this HotConnect address at the bus.
  • Page 113 Calculation from FPGA version of the EtherCAT slave and the modules. Object 0x4100 Object was deleted or has got another meaning. Information about FPGA or System SLIO version. Object 0x4101 Object was deleted or has got another meaning. List of all FPGA versions of all connected modules.

  • Page 114: Appendix

    System SLIO Appendix Appendix HB300 | IM | 053-1EC01 | en | 22-30...
  • Page 115 System SLIO Appendix Content History of changes..................116 HB300 | IM | 053-1EC01 | en | 22-30...

  • Page 116: A History Of Changes

    System SLIO History of changes History of changes Rev. Changes 18-06 The manual was created. 18-09 Chapter "Deployment" Description "Synchronization modes" was changed. 18-49 Chapter "Hardware description" Description "Properties" was changed. Description "Address area" was added. Chapter "Deployment" Description "FMM - Free module mapping" was added.

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