Page 1 Hard- / Software Manual Industrial Ethernet Module Modbus-TCP...
Page 2: Registered Trademarks
Fax: +49 751 56146-29 Internet: www.ixxat.com E-Mail: info@ixxat.com Support In case of unsolvable problems with this product or other IXXAT products please contact IXXAT in written form: Fax: +49 751 56146-29 E-Mail: support@ixxat.de Further international support contacts can be found on our webpage www.ixxat.com...
Page 3 Characteristics ............... 31 2.3.6 Storing/Restore configuration parameter ........31 2.3.7 Configuration structure ..............31 2.3.8 Registering events ................ 32 2.3.9 Error handling ................32 2.3.10 Generic structure of the demo application ........32 Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 4 4 Ethernet Module Interface (EMI) – API Description ..... 50 4.1 EMI - Ethernet Module Interface ..........50 4.1.1 Types and Macros ................ 50 4.1.1.1 EMI_k_MAX_FTP_USER_NAME_PASSWORD_LEN ..50 4.1.1.2 EMI_t_API_CONFIG .............. 50 4.1.2 Functions ..................51 4.1.2.1 EMI_cmdPowerOnReset() ............. 51 Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 5 4.1.2.29 EMI_srvreqSend() ..............68 4.1.2.30 EMI_srvrespQuery() ............... 69 4.1.2.31 EMI_srvrespSegmentQuery() ..........70 4.1.2.32 EMI_srvrespServiceCompleted() ........... 71 4.1.2.33 EMI_srvconfSend() ..............71 4.1.2.34 EMI_srvindQuery() ..............72 4.1.2.35 EMI_srvindSegmentQuery() ..........73 4.1.2.36 EMI_srvServiceHandle() ............74 4.1.2.37 EMI_srvTransferContinue() ............ 75 Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 6 5.2.1 Device Description File ..............93 5.2.2 Variable access ................93 5.2.2.1 Object model ................95 5.2.3 Ethernet/IP specific variable mapping ........100 5.2.3.1 Process data mapping ............100 5.2.3.2 Configuration assembly ............102 Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 7 Detecting mapping errors ............. 114 5.3.7.3 Store PDO configuration ............115 5.3.8 Process data exchange .............. 115 5.3.8.1 Static mapping ..............115 5.3.8.2 Dynamic mapping ..............115 5.3.8.3 Synchronization..............116 5.3.8.4 Safe output values ............... 116 Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 8 6.5.7 COM_k_UNIT_ID_HC_FUPH (unit id 7) ........133 6.5.8 COM_k_UNIT_ID_MC_ABM (unit id 50) ........134 6.5.9 COM_k_UNIT_ID_MC_SHM (unit id 51) ........135 6.5.10 COM_k_UNIT_ID_MC_BCC (unit id 52) ........135 6.5.11 COM_k_UNIT_ID_MC_BSP (unit id 53) ........135 Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 9 7.1.1.2.9 GPIOs to application processor ........165 7.1.1.2.10 Reset (RESET#) ............165 7.1.1.3 Pin location ................166 7.1.2 RJ45 connectors ................. 166 7.1.3 LED labeling ................166 7.1.4 PE and shielding recommendations ........... 167 Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 10 7.5 Environmental Specification ..........175 7.5.1 Temperature ................175 7.5.2 Relative humidity ................ 175 8 Appendix ..................176 8.1 Shared Memory Layout ............176 8.2 FCC Compliance ..............177 8.3 EC Declaration of Conformity ..........178 Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 11: Definitions, Acronyms And Abbreviations
IO Consumer Status (PROFINET) IOXS IO Provider/Consumer Status (PROFINET) Module Controller Memory Controller Interface Module IEM containing BPW, CCI and protocol specific implemen- tations Managing Node (POWERLINK) Module State Machine: state machine on host controller Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 12 Start of Cycle Software Throughout this document: The part of the Industrial Ethernet Module API running on the Host Controller. Synchronous Peripheral Interface Unit Functional block of the software XML Device Description (POWERLINK) Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 13 Altera Application Note AN447 Interfacing Cyclone III and Cyclone IV Devices with 3.3/3.0/2.5-V LVTTL/LVCMOS I/O Systems November 2009 AN-447-2.0 http://www.altera.com/literature/an/an447.pdf EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 14: Important User Information
Introduction Important user information This manual is intended to provide a good understanding of IXXAT’s Industrial Ethernet Module (furthermore referenced as IEM). As there are many applications of the IEM, those responsible for the use of this device must ensure that all the necessary steps have been taken to verify that the application meets all performance and safety requirements including any applicable laws, regulations, codes, and standards.
Page 15: Key Features
Ethernet interface. FPGA 2x Duo LED Ethernet Port 1 Ethernet Port 2 SPI Flash * depends on the used protocol Figure 1-1: Schematic overview about the IEM Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 16: Working Principle
The main differentiation is made between exchange of process data and all other communication. The latter is thus in the following just referred to as “communication” (see Figure 1-2). Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 17: Process Data
Figure 1-3: Schematic overview of process area at DPRAM What Figure 1-2 and Figure 1-3 depicted is displayed in the following figure in more detail. Additionally it shows which API functions of the Ethernet Module Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 18 Additionally it shows which API functions of the Ethernet Module Inter- face (EMI) software are involved in the data flow. Please refer to Figure 1-4 later, when studying the functional interface (EMI) of the IEM. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 19 Introduction Figure 1-4: Functional overview of the logical DPRAM layout Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 20: Software Concept
State transitions between PROTOCOL_OFFLINE and PRO- TOCOL_ONLINE are handled by protocol specific implementation. For better readability, error states and sub states in case of a remote access are not shown in Figure 1-5. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 21 Not initialized: After a power-on of the system the MSM will be in this state. The SHM is cleared and the BCC is reset.  Initialized: SHM initialized, BCC established  Protocol opened: CCI initialized, protocol specific events registered, protocol stack configured Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 22 Not initialized. EMI_cmdBrdRelease() is permitted in any state ex- cept for Not initialized and will result in a state change to Not initialized. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 23: Getting Started
The host software of the IEM is separated into directories as shown in Figure 2-1. Each subfolder (furthermore referenced as unit) contains at least one file with definitions or a set of functions. A short description of the units is given in Figure 2-2. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 24 Generic operating system functions (memory and time access) Hint: Please adapt GEO_alloc() and GEO_free() to your behavior src/src/src-externals/ABM Administration Block Management (queue manager) src/src/src-externals/BCC Basic Communication Channel Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 25 Multiple modules are supported. The IEM can be interfaced either via an ad- dress/data bus (MCI) or a Serial Peripheral Interface (SPI). Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 26 The protocol information has to be used if more than one pro- tocol has to be supported by the same application software. EMI_cmdBrdInit() EMI_cmdBrdInfoReq() Figure 2-4: IEM startup For an example of how these functions are to be used please refer chapter 2.3.11. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 27 The channel configuration part is responsible for submitting process data mapping information to the module. Finally, with channel start the bus protocol is started and the module is ready to reach operation mode. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 28 Basically the module distinguishes between three types of variables:  Variables in the IO area section of the DPRAM  Variables in the acyclic area of the DPRAM Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 29 The application is responsible to implement a scheme to manage and access the variables on the host side. The provided demo application is using a ge- neric structure to handle the variables regardless of the used protocol. Please see chapter 2.3.11.1.5. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 30: Process Data Exchange
According to the con- sistency mechanisms, attributes with read and write access rights are not al- lowed for data mapped to the cyclic I/O area. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 31: Configuration Structure
COM_k_VALID. In this case potential stored objects are ignored. The application needn’t to write the configuration structure if there is a stored configuration. To clarify this correlation the following code snippet is used: Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 32: Registering Events
APPdemoGenIndConf.c, APPdemoGenMain.c, APPdemoGenMain.h, AP- PdemoGenReqResp.c and APPint.h. The functions inside APPdemoSpe.c work as wrapper/dispatcher functions in this context. Every call to a generic demo function leads, if necessary, to a call of a protocol specific function. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 33 BSP_Init() function, to initialize the board support package, as well as to call GEO_InitMem() to initialize the memory management. To prepare and set up the communication, all necessary functions are covered in the DemoStartup()-Function, the cyclic data transfer will be handled by DemoMain(). Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 34 APP_d_BrdRef = EMI_cmdBrdInit(0, &s_config); if (APP_d_BrdRef == -1) return COM_k_ERROR; e_ret = EMI_cmdBrdInfoReq(APP_d_BrdRef, &s_boardInfo); if (e_ret != COM_k_OK) return e_ret; /* Decode the type of the IEM protocol (see coding of the field "dw_protocol" Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 35 /* In synchron mode an update of the process data is triggered by the module, so register a user callback function to be called from the ISR */ if (b_UpdateMode == APP_k_UPDATE_MODE_SYNC) BSP_InterruptExtInit(UpdateProcessImage); }... Figure 2-12: Mode selection Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 36 (e_ret != COM_k_OK) DBG_PRINTF(("Error %d in APP_ChannelConfigureSpecific\n", e_ret)); return e_ret; /* Perform generic channel configurations */ e_ret = APPdemo_ChannelConfigureGeneric(); if (e_ret != COM_k_OK) DBG_PRINTF(("Error %d in APP_ChannelConfigureGeneric\n", e_ret)); return e_ret; }... Figure 2-14: Channel configure Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 37 In a first step, the generic members (dw_reference, w_type, w_size, dw_offset, dw_attributes) are initialized. In the demo application this is done in the function APPdemo_ChannelConfigureGeneric(). This function Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 38 To add variables by modifying the demo application do the following steps: 1. Adapt the variable count APP_cfg_NUM_OF_VARIABLES at APPint.h 2. Add generic entries and initialize its members at APPdemoGenMain.c 3. Edit protocol specific address part at APPdemoxxx.c Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 39 Figure 2-18: Register events II The associated callback function has to be coded according the prototype. /** COM_t_CBK: Event callback function typedef void (*COM_t_CBK)(UINT32 dw_event, UINT32 dw_param); Figure 2-19: Event callback Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 40 In the main loop, the only thing you have to do from the application is  Poll the event queue (EMI_evtEventCheck())  Trigger the processing of the service queues (EMI_srvServiceHandle())  Update the process image (e.g. like in UpdateProcessImage()) Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 41 BSP_SystemTick_Reset() BSP_SystemTick_GetCount() BSP_SharedMemStartAddrGet() BSP_Delay() BSP_InitSerial() – only for debug outputs BSP_LedInit() BSP_LedSwitch() BSP_LedHandle() BSP_ReadDigital() BSP_TimerInit() not required not required BSP_TimerStart() not required not required BSP_TimerStop() not required not required Table 3-1: BSP usage Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 42 … … … data[n] last data byte Table 3-2: Overview of data datagram packet Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 43 This unit is the API to the SPI controller. It provides all basic functionality of the SPI controller. 3.1.3.3.1 Types and Macros 3.1.3.3.2 Functions 3.1.3.3.2.1 SPI_Init() void SPI_Init( void ); Description Initialisation of the SPI as master Parameter Dir. Description Return Value Description Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 44 To keep this task as simple as possible, it is recommended to use the memory access macros from Integral.h in your appli- Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 45 (a host CPU is physically connected to the shared memory). If setting the define to CFG_k_FEAT_DISABLE the serial peripheral interface (SPI) is used instead to access the shared memory. Allowed values: CFG_k_FEAT_ENABLE, CFG_k_FEAT_DISABLE Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 46 Common.h and COMxxx.h NOTE: The indication/confirmation channel is used during the PROFINET startup sequence. So when using PROFINET ensure that the indication/confirmation channel is enabled. The following PROFINET specific indications are used currently during Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 47 Only if both host and protocol firmware version support this feature, it can be used. Descriptions of protocol firmware functionality can be found at the version history file "_ReadMe.txt" delivered with the module firmware. Allowed values: CFG_k_FEAT_ENABLE, CFG_k_FEAT_DISABLE Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 48: Service Channels
For communication between host and module controller, request/response and indication/confirmation mechanisms are used (see chapter 1.8.5.2). It is possi- ble to deactivate one or both service channels. By default, both channels are activated. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 49: Memory Management
The payload of a service consists of service header size and data content. If the maximum is less or equal than COM_k_SERVICE_MAX_PAYLOAD_SIZE, segmentation of services is not necessary, and the memory resources man- aged at GEO.c can be reduced. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 50 Module by means of the "heartbeat" signals. If the module does not an- swer to the heartbeat request within the w_watchdog_period, the state of the system will be automatically changed to the "Major unrecoverable fault" Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 51 EMI components Parameter Dir. Description Return Value Description 4.1.2.2 EMI_cmdBrdReset() COM_e_ERROR EMI_cmdBrdReset(UINT8 b_brdNum); Description A specific IEM located in the specified slot is reset. Remarks Afterwards the application has to call EMI_cmdBrdInit etc. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 52 EMI func- tions Return Value Description non-negative (>=0) initialized IEM board reference negative (<0) IEM is not available in the specified slot 4.1.2.4 EMI_cmdBrdRelease() COM_e_ERROR EMI_cmdBrdRelease(COM_t_BOARD_REF td_brdRef); Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 53 If the parameter ps_brdInfo is NULL then the ap- plication read evaluate response means EMI_cmdBrdInfoQuery. Remarks Parameter Dir. Description td_brdRef unique IEM reference ps_brdInfo address receiving the information Return Value Description COM_k_OK operation succeeded COM_k_NO_RESP no response available as yet Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 54 COM_k_ERROR operation failed 4.1.2.7 EMI_cmdFirmwareVerGet() UINT32 EMI_cmdFirmwareVerGet(COM_t_BOARD_REF td_brdRef); Description This function returns the firmware version of the module. Remarks EMI_cmdBrdInfoReq must be called before Parameter Dir. Description td_brdRef unique IEM reference Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 55 UINT32 EMI_cmdProtocolGet(COM_t_BOARD_REF td_brdRef); Description This function returns the fieldbus protocol identifier of the module. Remarks EMI_cmdBrdInfoReq must be called before Parameter Dir. Description td_brdRef unique IEM reference Return Value Description protocol identifier (UINT32) Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 56 EMI_cmdCommandRespQuery. Remarks Bus protocol specific parameters shall be provided by the application using the EMI_PreWriteData() / EMI_PostWriteData() function. Note that the Industrial Ethernet Module is not yet actively communicating in the network. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 57 IEM reference o_blocking blocking/non-blocking execution Return Value Description COM_k_OK channel closed successfully COM_k_BUSY BCC busy COM_k_INVALID_BOARD invalid IEM reference COM_k_INVALID_STATE routine called in invalid state COM_k_ERROR wrong board handle or error response Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 58 The state of the MSM on both devices is updated. The function is blocked waiting on the response if the o_blocking is TRUE, otherwise the application query response means EMI_cmdCommandRespQuery. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 59 Parameter Dir. Description td_brdRef unique IEM reference o_blocking blocking/non-blocking execution Return Value Description COM_k_OK channel reset for normal operation COM_k_BUSY CMD channel busy COM_k_INVALID_BOARD invalid IEM reference Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 60 COM_k_BUSY CMD channel busy COM_k_INVALID_BOARD invalid IEM reference COM_k_INVALID_STATE routine called in invalid state COM_k_INVALID_PARAM ps_response=0 in sync mode COM_k_ERROR channel configuration failed 4.1.2.17 EMI_cmdCfgStore() COM_e_ERROR EMI_cmdCfgStore(COM_t_BOARD_REF td_brdRef, BOOL o_blocking); Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 61 EMI_cmdCommandRespQuery. Remarks Restored values only become active after the next reset or restart of the Indus- trial Ethernet Module. Parameter Dir. Description td_brdRef unique IEM reference o_blocking blocking/non-blocking execution Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 62 The function is blocked waiting on the re- sponse if the pv_netTime <> NULL, otherwise the application has to query for the response by means of EMI_cmdNetworkTimeQuery. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 63 COM_e_ERROR EMI_cmdNetworkInfoReq(COM_t_BOARD_REF td_brdRef, UINT16 w_numMacAddr, COM_t_NETWORKINFO *ps_networkInfo); Description This function requests for the current network configuration. The CMD channel is used for the transmission of this service. The function is blocked waiting on Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 64 Return Value Description COM_k_OK operation succeeded COM_k_INVALID_BOARD invalid IEM reference COM_k_INVALID_STATE routine called in invalid state COM_k_NO_RESP no response available as yet COM_k_ERROR operation failed 4.1.2.24 EMI_evtEventRegister() COM_e_ERROR EMI_evtEventRegister(COM_t_BOARD_REF td_brdRef, UINT32 dw_event, COM_t_CBK pf_cbk, Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 65 This function unregisters a certain event callback previously registered by EMI_cmdRegisterEvent. The CMD channel is used for transmission of the Un- register service. The function is blocked waiting on the response if the Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 66 COM_k_OK event received from the queue or the event queue is empty COM_k_INVALID_STATE routine called in invalid state COM_k_INVALID_BOARD invalid IEM reference COM_k_ERROR error from CCI 4.1.2.27 EMI_srvRemoteConnOpen() COM_e_ERROR EMI_srvRemoteConnOpen(COM_t_BOARD_REF td_brdRef, COM_t_SERVICE_DATA *ps_request, Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 67 Thus the application will immediately receive a response. The application is responsible to allocate a service data command structure (COM_t_REMOTE_CLOSE) and free them after transmission. The application has to request for the response by means Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 68 The callback function delivers the reference value of the request. Thus polling of all pending requests by the application can be avoided. The applica- tion may specify a location ps_target inside of the shared memory to receive Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 69 Any IEM can be unambiguously identified by means of the ser- vice reference value. The application has to convert the protocol specific for- mat of complex data structures to the local format. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 70 EMI_RemoteConnection_Open called previous EMI_ServiceDataRespSegment_Query call. The automatic deallocation of administration blocks in EMI_Service_Handle is deactivated in this mode. Parameter Dir. Description td_brdRef unique IEM reference ps_conRef reference to identify the service channel Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 71 The queue is periodically checked for pending confirmations. The service requests are transmitted via the SD channel. The message is automatically fragmented if necessary. To transfer all pending confirmations the application has to call EMI_srvServiceHandle peri- Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 72 This reference value has been signaled to the application before via a callback function. By means of this reference value the module can identify the associated confirmation. EMI_srvindQuery may be Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 73 The ap- plication is responsible to re-assemble the received data. The administration block is deallocated automatically after the transmission of the confirmation. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 74 The function EMI_srvServiceHandle has to be called periodi- cally by the application. Remarks The user has to ensure that this function is called cyclically to provide for a continuous segmented service data transfer. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 75 COM_k_INVALID_BOARD invalid IEM reference COM_k_BUSY no more free entries in the service HC-MC queue and there are pending segments to be sent. 4.1.2.38 EMI_stsStatusQuery() COM_e_ERROR EMI_stsStatusQuery(COM_t_BOARD_REF td_brdRef, UINT32 *pdw_status); Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 76 This function reads the current led state from the corresponding buffer provid- ed via the CCI. Remarks Parameter Dir. Description td_brdRef unique IEM reference pw_status IN/OU pointer to store a status word Return Value Description COM_k_OK valid status word COM_k_BUSY status buffer busy Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 77 This function is used to guarantee data consistency during access to the pro- cess data. It returns a pointer to the locked buffer with current process image. The application, in its case, may copy data either directly to its process output Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 78 It unlocks the current read buffer. Remarks Parameter Dir. Description td_brdRef unique IEM reference Return Value Description COM_k_OK consistent input data access COM_k_INVALID_BOARD invalid IEM reference COM_k_INVALID_STATE routine called in invalid state COM_k_ERROR parameter error Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 79 IEM has be provided within the "w_length" parameter, otherwise it is not used. The appli- cation has to convert the local format of complex data structures to the proto- col specific format. Remarks Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 80 Return Value Description COM_k_OK data copy OK. COM_k_BUSY no access to shared memory possible. Retry limit was hit. COM_k_INVALID_BOARD invalid IEM reference Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 81 COM_k_OK data copy OK. COM_k_BUSY no access to shared memory possible. Retry limit was hit. COM_k_INVALID_BOARD invalid IEM reference COM_k_INVALID_STATE routine called in invalid state COM_k_ERROR parameter error 4.1.2.47 EMI_ioCyclWriteImageSizeGet() UINT32 EMI_ioCyclWriteImageSizeGet(COM_t_BOARD_REF td_brdRef); Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 82 Return Value Description Size of the process image or 0 in the error case 4.1.2.49 EMI_ioAcyclImageSizeGet() UINT32 EMI_ioAcyclImageSizeGet(COM_t_BOARD_REF td_brdRef); Description This function return the size of the acyclic image in the shared memory Remarks Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 83 This function could be used to set the username and the password for the FTP access on the IEM. The username and the password must be terminated by '\0'. The length of these string inclusive '\0' must not be larger than EMI_k_MAX_FTP_USER_NAME_PASSWORD_LEN Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 84 EMI_cmdCommandRespQuery() Return Value Description COM_k_OK operation succeeded COM_k_INVALID_BOARD invalid IEM reference COM_k_NO_RESP no response available as yet COM_k_BUSY BCC channel currently used COM_k_INVALID_PARAM: invalid parameter COM_k_ERROR: operation failed Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 85: Communication Protocols
(e.g. parameters, manufacturer- specific data, Identification and Maintenance Profile (I&M) functions). Since PROFINET transfers the data as a bit combination between provider and consumer without any interpretation, it makes sense to introduce an addi- Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 86 = 1; //Slot where the submodule has to be plugged in ps_plugSubmodCmd->w_slotNum = 1; //Subslot where the submodule has to be plugged // plug a submodule e_ret = EMI_cmdChannelConfigure(td_brdRef,&s_cmd,TRUE,&s_response); // blocking Figure 5-1: Registering of the device structure in the IEM Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 87: Variable Access
= 1; // register variable in output IO data area of shared memory e_ret = EMI_cmdChannelConfigure(td_brdRef,&s_cmd,TRUE,&s_response); // blocking // read variable reference dw_reference = *(UINT32*)&s_response.ab_res_data[0]; Figure 5-2: Creating a cyclic process variable Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 88: Process Data Mapping
1 byte 1 byte Size: 6 bytes 1 byte 1 byte Size: 54bytes 1 byte 1 byte Offset: Offset: Offset: Figure 5-3: Placement of process data in the IO area of the SHM Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 89 Here the list of indications can be found together with descriptions of the proper application reactions:  COM_k_PNIO_SUBMODULE_PARAM: after the IO Controller has updated all parameter variables of every submodule either in the SHM directly or on Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 90 [PNIO4]. It is up to the host application where to store this data, in the SHM or in the memory of the host CPU. Important is that I&M0 data is mandatory for any PROFINET certified device. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 91 The Host receives an event about changes made with these ob- jects and may update its internal databank. In the factory settings a PROFINET IO Device has a “zero-string” device name and all IP settings set to 0.0.0.0. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 92 Within the RJ45 connectors:  LED3/5 (green): Color Mode Status green no link green link established green flicker activity  LED4/6 (yellow): Color Mode Status yellow not powered / no link yellow 100 Mbits/s Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 93 Variables that are elements of either the local, built-in object model (see 5.2.2.1) or the object model of a remote device don’t have to be created. These variables don’t possess any address reference and can only be ac- Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 94 Set_Attribute_Single and the Get_Attribute_Single service for the same variable is only possible if the variable is located on the host controller or in the acyclic data area of the SHM. Figure 5-6 gives an overview about Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 95: Object Model
Adapter Device” profile of the IEM. Additional information e.g. the description of the attributes and the semantic of their values can be found in [EIP1] and [EIP2]. Identity object (0x01) Class attributes Name Access Revision Max. instance Number of instances Optional attribute list Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 96 Number of instances Optional attribute list Optional service list Max. ID number class attributes Max. ID number instance attributes Class services Code Name 0x01 Get_Attribute_All 0x0E Get_Attribute_Single Instance attributes Name Access Object list Number available Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 97 Connection manager object (0x06) Class attributes Name Access Revision Max. instance Number of instances Optional attribute list Max. ID number class attributes Max. ID number instance attributes Class services Code Name 0x01 Get_Attribute_All Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 98 Number of instances Optional attribute list Max. ID number class attributes Max. ID number instance attributes Class services Code Name 0x01 Get_Attribute_All 0x0E Get_Attribute_Single Instance attributes Name Access Status Configuration capability Configuration control get/set Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 99 0x0E Get_Attribute_Single Instance attributes Name Access Interface speed Interface flags Physical address Interface control get/set Interface type Interface state Interface label Instance service Code Name 0x01 Get_Attribute_All 0x0E Get_Attribute_Single 0x10 Set_Attribute_Single 0x4C Get_and_Clear Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 100 Together with every variable the total length of the assigned assembly has to be specified. For an example of the creation of a process data variable see Figure 5-14. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 101 SHM input area for cyclic data. The total assembly size must be in- creased by the size of the run/idle header variable. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 102 Get_Attribute_Single and Set_Attribute_Single (see [EIP1]). Other EIP ser- vices for variables are not supported. Any received reset service request di- rected to the local identity object will be signaled to the host application. The Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 103 State changes of the EtherNet/IP protocol are forwarded to the host and can be read by the application using EMI_stsStatusQuery(). The current state is available by masking the lowest 16 bits of the MSM state. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 104 As class 3 ForwardOpen requests are not covered by the method discussed in section 5.2.6.1, the host can keep track of established class 3 connections via indication event. The host cannot reject COM_k_EIP_CONNECTION_ESTABLISHED these connections. event handler registered this event using EMI_evtEventRegister() function. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 105 CIP connection green blinking no CIP connection duplicate IP address blinking CIP connection timeout Within the RJ45 connectors:  LED3/5 (green): Color Mode Status green no link green link established green flicker activity Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 106 Communication Protocols  LED4/6 (yellow): Color Mode Status yellow 10 Mbit/s yellow 100 Mbits/s Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 107: Device Description File
EtherCAT 5.3.1 Device Description File A template of a device description file for the IEM (IXXAT IEM *.xml) is includ- ed in the software package. To establish bus communication, modification of the file is not necessary. Data Objects have to be added if they are supposed to be visible in offline mode of the configuration tool.
Page 108 /* sub 3 */ UINT32 dw_SerialNo_1018_04; /* sub 4 */ UINT16 w_StationAdr_1100; UINT16 w_actLength_1008; UINT16 w_actLength_1009; UINT16 w_actLength_100A; UINT8 s_ManufactDevName_1008[COM_k_ECT_MAX_VISIBLE_STRING_SIZE]; UINT8 s_ManufactHwVers_1009[COM_k_ECT_MAX_VISIBLE_STRING_SIZE]; UINT8 s_ManufactSwVers_100A[COM_k_ECT_MAX_VISIBLE_STRING_SIZE]; } COM_t_ECT_DEVICE_INFO; Figure 5-16: Data structure used during configuration download Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 109: Object Dictionary
Diagnosis history RECORD RxPDO Counter limit (sub- (subidx 4) (max.) index 2) set by host 0x10F8 Local timestamp UINT64 TxPDO 1ms resolution 0x1600 Rx PDO mapping ARRAY 5 x 50 Index configurable – (max.) Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 110 Byte size Comment BOOL nonmaskable INT8 INT16 INT32 REAL32 floating point REAL64 floating point UINT64 INT64 VISIBLESTRING max. 80 OCTETSTRING max. 80 DOMAIN not defined max. 1536 bytes Figure 5-19: EtherCAT data types Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 111 IEM. Remember that the tool based mapping download is not useful for a constant mapping since the startup time will be increased by SDO transfers. Figure 5-20: Configuration download by tool Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 112 The setup for identical PDO map- ping looks like this: /** APP_t_ECT_MAPPING: EtherCAT specific PDO mapping layout. typedef struct UINT16 w_index; UINT8 b_subindex; UINT8 b_length; UINT32 dw_value; }APP_t_ECT_MAPPING; static APP_t_ECT_MAPPING as_PdoConfig[8] = Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 113 0 count with 8 bit, PDO index with 16 bit and mapping entry with 32 bit): /* set PDO config using w_index, b_subindex, b_length and dw_value */ COM_t_CMD_REQUEST s_cmd; COM_t_CMD_RESPONSE s_response; Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 114 5.3.7.2 Detecting mapping errors The IEM provides an event (see chapter “Protocol specific events”) which is generated if a mapping error is detected (value > 0). The return value decodes the specific error reason: Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 115 PDO at the SHM, data is copied in byte granularity. 5.3.8.2 Dynamic mapping Any mapping provided by the application can be modified by adding process data objects. This modified mapping has to be downloaded (see chapter 5.3.7.1.1). Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 116: Service Data Object (Sdo)
Set extended error 2 > 0  ABORTIDX_VALUE_TOO_SMALL (value = 0x14) The given value is too small for this object Note: Extended error codes can be used with write access to host data Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 117 State transition to mailbox data exchange. Writing PDO mapped objects by SDO is enabled.  COM_k_ECT_ESC_SAFEOP State transition to cyclic input process data exchange. The safe state of output process data values is set. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 118  COM_k_ECT_EVT_MAPPING Change of PDO mapping masked at parameter (index = parameter >>16, subindex = parameter >> 8) returning a value (error code) at op- tional parameter.  COM_k_ECT_EVT_ACYCLIC | COM_k_ECT_EVT_MAPPING Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 119 Protocol specific services are used for EtherCAT specific functionality which requires more payloads. Each service command COM_k_ECT_XXX uses the da- ta structure COM_t_PROT_SERVICE to provide the data at parameter area. EtherCAT supports the following services set by host: Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 120 Success or failure accessing a remote device will be signaled by events. 5.3.16.2 Close a remote SDO connection When closing a previously opened channel the function will be answered im- mediately because no direct communication channel is established while opening. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 121 OPERATIONAL ERROR  LED2 (lower LED): Color Mode Status IEM not initialized green power up, module running critical system failure For further information, please refer to the EtherCAT indicator and labeling specification [ETC2] Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 122 Communication Protocols Within the RJ45 connectors:  LED3/5 (green): Color Mode Status green no link green link established green flicker activity  LED4/6 (yellow): Color Mode Status yellow yellow Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 123: Ethernet Powerlink
Variables that are members of either the local, built-in object dictionary (see chapter 5.4.1) or the object dictionary of a remote device don’t have to be cre- ated. These variables can only be accessed by means of their protocol specific Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 124 Ethernet POWERLINK variables located in the cyclic data area of the SHM. Variables located in this area can either be written or read by the host controller respectively the re- Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 125 IEM. Also the IEM now samples the process image that will be sending in the next cycle. 5.4.4 LEDs The following LEDs are used by the IEM’s Powerlink implementation: Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 126 Mode Status green no link green link established green flicker activity  LED4/6 (yellow): Color Mode Status yellow not powered / no link yellow 100 Mbit/s CN state according to EPSG specification [EPL1] Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 127: Error Handling
COM_GET_UNIT_ID the application has the possibility to determine the unit where the error occurred. The Figure 6-1 shows the assignment between the unit number and the unit name. The values are also available in common.h. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 128 Each unit can consist of several modules (source files). To offer a further de- bug granularity, each source file of a unit has a unique id which is also includ- ed in a 32 bit error code. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 129: Error Codes
This error means that the assignment of the shared FATAL memory base address wasn't successful 6.5.3 COM_k_UNIT_ID_HC_BCC (unit id 3) Error Code Error Define Description Unit File Class 0x30301001 BCC_k_NOT_INIT This error means that the BCC is not yet initialized FATAL Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 130 This error means that the ABM block was not found by its FATAL 0x30605006 EMI_k_ABM_NOT_FOUND_BY_ID This error means that the ABM block was not found by its FATAL 0x30606006 EMI_k_ABM_NOT_FOUND_BY_ID This error means that the ABM block was not found by its FATAL Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 131 This error means that an error occurred while sending FATAL CLNK request 0xb0602017 EMI_k_CLNK_SEND_REQ This error means that an error occurred while sending FATAL CLNK request 0xb0609017 EMI_k_CLNK_SEND_REQ This error means that an error occurred while sending FATAL Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 132 0xb0601029 EMI_k_DATASTRUCTURE_VERIFY_I This error means that the header size is incompatible FATAL 0xb060102a EMI_k_DATASTRUCTURE_VERIFY_I This error means that the service data is bigger than in FATAL SD Queue HC->MC specified Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 133 0xb070312e FUPH_k_ERR_CLBCK_NOT_REGIS The FUPH_EventToApp() function was called but FATAL TERED callback function was not registered. 0xb070112f FUPH_k_ERR_BRD_REF_POLL The FUPH_ControlSmPoll() function was called with an FATAL invalid IEM board number. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 134 Description Unit File Class 0x23201001 ABM_k_ERR_OUT_OF_ADM_BLOCK This error means that there are not enough administration MINOR blocks available at the moment. 0x33201002 ABM_k_ERR_OUT_OF_DYN_MEM This error means that there are not enough dynamic FATAL Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 135 This error means that an error occurred while reading FATAL CLNK request 0xb6c01004 BPW_k_GEN_CLNK_SEND_RESP This error means that an error occurred while sending FATAL CLNK response 0xb6c01005 BPW_k_GEN_CCI_INIT This error means that an error occurred while initializing FATAL CCI unit Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 136 This error means that the variable to be created has MINOR neither read nor write attribute 0x26c01020 BPW_k_GEN_VAR_PROC_ON_HOS This error means that it is not allowed to create a process MINOR variable that is physically located in the host memory Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 137 This error means that an error occurred while acquiring FATAL the indication fifo 0xb6c07031 BPW_k_GEN_IND_FIFO_ACQ_WRIT This error means that an error occurred while acquiring FATAL the indication fifo 0xb6c01032 BPW_k_GEN_IND_FIFO_REL_WRIT This error means that an error occurred while releasing FATAL Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 138 BPW_k_GEN_WRITE_MAC_FLASH_ This error means that an flash error occured while ac- INFO FAILURE cessing the flash memory. 0x26c01048 BPW_k_INIT_FAILED_USER_PASS This error means that the user name and password addi- MINOR WORD tion failed. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 139 This error means that an error occurred while creating a EXIST new variable because the API of this variable does not MINOR exist in our database 0xa6d01005 DEV_k_PNIO_DEV_CLOSE_FAILED This error means that an error occurred while calling MINOR PNIO_device_close Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 140 This error means that the PNIO stack tried to write a record of the unregisterred submodule (database incon- FATAL sistence) 0xb6d0500a DEV_k_CLOSE_MOD_LIST_FREE_F This error means that an error occurred while releasing FATAL AILED the memory of the module list Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 141 This error means that the CRC of the module list in the MINOR flash is invalid 0x26d01012 DEV_k_FLASH_SUB_CRC_INV This error means that the CRC of the submodule list in MINOR the flash is invalid Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 142 This error means that the error occurred while calling MINOR PNIO_mod_pull() 0x36d0101a BPWP_k_MAIN_TASK_START_FAIL This error means that an error occurred while starting the FATAL main BPW task 0x26d0501a DEV_k_MOD_PULL_FAILED This error means that the error occurred while calling MINOR Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 143 This error means that we got "PARAM END" indication from the PNIO stack for submodule that does not exist in FATAL our database 0x36d01028 DEV_k_PARAM_END_MEM_ALLOC_ This error means that an error occurred while allocating a FATAL Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 144 DEV_k_LED_BLINK_STOP_FAILED This error means that an error occurred while stopping a FATAL timer for LED blinking 0x36d0103e DEV_k_RESET_FACTORY_FAILED This error means that an error occurred while clearing all FATAL NV data in flash Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 145 DEV_k_PDEV_MONITOR_STS_UPD This error means that an error occured while updating the FATAL spanning tree support register of the switch ip. 0x36d0504e DEV_k_PDEV_MONITOR_STS_UPD This error means that an error occured while updating the FATAL Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 146 MINOR 0x26f0100c BPWE_k_WRONG_SDO_MSG_TYPE The SDO callback function was called with a wrong mes- MINOR sage type 0x26f0100d BPWE_k_EVENT_SIGNALLING_ERR Signalling of the event did not work MINOR 0x26f0100e BPWE_k_EVENT_NOT_SUPPORTE Event does not supported MINOR Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 147 EIP task not initialized yet MINOR 0x27003006 BPW_k_ACY_NOT_INITIALIZED_5 EIP task not initialized yet MINOR 0x27004006 BPW_k_DEV_INVALID_VAR_2 variable reference doesn't exist MINOR 0x27001007 BPW_k_EIP_DELETE_ASSEM_FAIL delete of asssembly failed MINOR 0x27002007 BPW_k_CYC_NOT_INITIALIZED_6 EIP task not initialized yet MINOR Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 148 MINOR 0x37003010 BPW_k_ACY_NO_RSRC_9 no more resources FATAL 0x27001011 BPW_k_EIP_SWITCH_CFG_FAILUR This error means that an error occured while trying to MINOR verify/adapt the Switch/MAC settings with the setting Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 149 MINOR RR_1 0x27002021 BPW_k_INVALID_VAR_1 variable reference doesn't exist MINOR 0x27003021 BPW_k_ACY_PROTSPEC_ADDR_E protocol specifc address of variable doesn't exist MINOR RR_2 0x27002022 BPW_k_INVALID_VAR_2 variable reference doesn't exist MINOR Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 150 MINOR 0x27001038 BPW_k_ACY_SIZE_MISMATCH_2 protocol specific error MINOR 0x27003039 BPW_k_ACY_NOT_INITIALIZED_10 protocol specific error MINOR 0x2700303a BPW_k_ACY_INVALID_PARAM_1 protocol specific error MINOR 0x2700303b BPW_k_ACY_INTERNAL_ERR_2 protocol specific error MINOR 0x2700303c BPW_k_ACY_INVALID_PARAM_2 protocol specific error MINOR Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 151 An OS load error is detected MINOR 0xb8101002 BPW_k_ERR_EE_ACS An error occurred while accessing the EEPROM FATAL 0xa810b002 BPW_k_ERR_OS_LOAD An OS load error is detected MINOR 0xa8101003 BPW_k_ERR_EE_DATA An error is detected while verifying the EEPROM content MINOR Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 152 0x2960100e FUPM_k_ERR_FLASH_INFO_OPEN The flash info file creation failed. MINOR 0x2960100f FUPM_k_ERR_FLASH_INFO_WRITE The write access of the flash info file failed. MINOR 0x29601010 FUPM_k_ERR_FLASH_INFO_PER The permission setting for the flash info directory failed. MINOR Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 153 MINOR firmware update failed. 0x29601031 FUPM_k_ERR_NIOS_FLASH_FW The flashing of the (0) NIOS firmware block failed. MINOR 0x29601032 FUPM_k_ERR_NIOS_FILE_POS The setting of the firmware update file position for (0) MINOR NIOS firmware block failed. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 154 This error means that the new file name is too long. INFO 0x99702067 FUPM_k_SM_FILENAME_SIZE This error means that the new file name is too long. INFO 0xb9701068 FUPM_k_SM_STATE This error means that the state machine is in an unde- FATAL Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 155 This error means that data could not be gave to the FATAL memory for the Nios FW. 0xb9702081 FUPM_k_SM_UPDATE_NIOS This error means that data could not be gave to the FATAL memory for the Nios FW. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 156 This error means that the event during the store of IEM FATAL firmware state is not defined. 0xb9701097 FUPM_k_SM_EVENT_WF_END This error means that the event during the wait for end of FATAL FUP mechanism state is not defined. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 157 0xa97010a8 FUPM_k_CTRL_SET_MUTEX_RELE This error means that it was not possible to release the mutex to wait state during setting information of control MINOR file. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 158 This error means that it was not possible to open a file. MINOR 0xa9706133 FUPM_k_FW_FILE_STORE_OPEN This error means that it was not possible to open a file. MINOR 0xa9701134 FUPM_k_FW_FILE_STORE_STORE This error means that it was not possible to store to a file. MINOR Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 159 This error means that the file system could not be format- MINOR ted. 0x2970b2bc FUPM_k_NIOS_FILE_FORMAT This error means that the file system could not be format- MINOR ted. 0xa97012bd FUPM_k_NIOS_FILE_READ_OPEN This error means that open of a file was not possible. MINOR Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 160 This error means that the close of a file was not possible. MINOR 0xa97012c4 FUPM_k_ERR_FW_FILE_WRITE_W This error means that reading at a file was not possible. MINOR RITE 0xa970b2c4 FUPM_k_ERR_FW_FILE_WRITE_W This error means that reading at a file was not possible. MINOR RITE Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 161: Connectors And Leds
5 bidirectional data bus, bit 6 bidirectional data bus, bit 7 bidirectional data bus, bit 8 bidirectional data bus, bit 9 bidirectional data bus, bit 10 bidirectional data bus, bit 11 Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 162 These are the address input pins, which address the DPRAM. ADDR1 con- tains the least significant bit of the 16 bit access address (typically to connect to A of application processor), ADDR13 contains the most significant bit. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 163 Data transfer pins dependent on the Pins ADDR1-ADDR13, BE0#, BE1#, CS#, RD# and WR#. D0 is the least significant bit, D15 the most significant. Note: These pins are only supported in parallel interface mode. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 164 The Figure 7-3 shows the minimum timing requirements. Reset =100ns GPIO2NIOS1 =80ns Figure 7-3: Timing diagram to activate DPRAM/SPI operating mode Access GPIO2NIOS 0 (low level) DPRAM 1 (high level) Table 7-1: Truth table - DPRAM/SPI access Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 165 EMI_cmdBrdReset(). Reset =100ns Figure 7-5: Reset timing diagram Note: This reset is a logical reset it will be only resets the FPGA. The FPGA firmware is only loaded at the power-on cycle. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 166 The labeling of the LEDs can be seen in Figure 7-9. The states displayed by the LEDs are specific to the communication protocol. A description of the states displayed by the LEDs can be found in each communication protocol specific subsection of chapter 5. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 167: Hardware Interface
= don’t care Figure 7-11: Shielding behavior of the different bus protocols Hardware interface Note: For activating the different access mode be sure that you use the reset condition from chapter 7.1.1.2.8.1. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 168 Figure 7-12: Parallel interface access 7.2.2 SPI interface access Processor GPIOx Reset# GPIOy GPIO2NIOS1 GPIOz GPIO2NIOS2 (future use) INTERRUPTy GPIO2HOST2 SPI_CS# SPI_CS# SPI_CLK SPI_CLK SPI_MOSI SPI_MOSI SPI_MISO SPI_MISO Figure 7-13: SPI interface access Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 169: Electrical Specification
In general, data write access can be executed faster than data read access. The worst case will be two T . Thus the access time results in: sysclk = 3 * T = 40ns access_write sysclk Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 170 13,3ns Figure 7-17: Timing parallel access 7.3.4 Timing for SPI based access For the communication via SPI, the FPGA will act as SPI slave and the host must act as SPI master. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 171 7.3.4.2 Timing CS# SPI datagram MISO/MOSI Figure 7-19: Timing CS# Note: Please be sure that the chip select (CS#) is on low level over the whole time during the complete datagram read or write cycle. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 172: Mechanical Specification
Mounting hole B and C are for sole mechanical connection. Mounting hole A is used to connect PE (protective earth) with the IEM shield components and can be adapted by means of mechanical mounting to the various shield require- ments. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 173 15,40 – 16,90mm 234199 13,65mm Figure 7-23: Achievable PCB to PCB distances Note: These are only examples and need to be verified with information from ERNI as their products can change without further notice. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 174: Ethernet Connector
On the bottom side, is the height restrictions generally 5.0 mm for the areas not occupied by mounting material (distance bolts, connector). 70,0 66,0 top view Area A, Area C 16,0 Area A, 16,0 10,0 Figure 7-25: Height restriction (top side) - high fly zones Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 175: Environmental Specification
Operating mode min. max. operating -40°C +85°C non-operating -40°C +85°C Figure 7-26: Temperature specification 7.5.2 Relative humidity The IEM is designed to operate at a relative humidity of 5 to 95% non- condensing. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 176 Appendix 8 Appendix Shared Memory Layout Figure 8-1: Shared memory layout overview Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 177: Fcc Compliance
Operation of this equipment in a residential ar- ea is likely to cause harmful interference in which case the user will be re- quired to correct the interference at his own expense. Copyright IXXAT Automation GmbH IEM Manual, 1.5...
Page 178: Ec Declaration Of Conformity
Appendix EC Declaration of Conformity IXXAT Automation declares, that the product: with the article numbers: IEM-200 Powerlink IEM-200 EtherCAT IEM-200 Ethernet/IP IEM-200 PROFINET complies with the EU directive 2004/108/EC. Applied harmonized standards: EN 55022:2006 + A1:2007 Class A EN 61000-6-2:2005 26.04.2010, Dipl.-Ing.

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