SICK FX0-GENT, FX0-GMOD, FX0-GPNT, FX0-GETC, FX0-GPRO, FX0-GCAN, FX0-GDEV Flexi Soft Gateways Operating Instructions
Below you will find brief information for Flexi Soft Gateways FX0-GENT, FX0-GMOD, FX0-GPNT, FX0-GETC, FX0-GPRO, FX0-GCAN and FX0-GDEV. These gateways allow the Flexi Soft system to send and receive non-safety related data to and from the external fieldbus system for control and diagnostics purposes. The Flexi Soft gateways allow the Flexi Soft System to send and receive non-safety related data to and from the external fieldbus system for control and diagnostics purposes. The devices are mounted on a 35 mm DIN rail and support several fieldbus protocols including EtherNet/IP, Modbus TCP, PROFINET IO, EtherCAT, PROFIBUS DP, CANopen and DeviceNet.
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OPERATING INSTRUCTIONS Flexi Soft Gateways EN Operating Instructions Flexi Soft Gateways This document is protected by the law of copyright, whereby all rights established therein remain with the company SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Alteration or abridgement of the document is not permitted without the explicit written approval of the company SICK AG. 2 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Contents Flexi Soft Gateways Contents 8012664/XR03/2013-11-19 Subject to change without notice 1 About this document.........................................................................................................7 Function of this document....................................................................................7 1.1 1.2 The Flexi Soft operating instructions ...................................................................7 1.3 Target group ..........................................................................................................7 1.4 Information depth .................................................................................................8 1.5 Scope .....................................................................................................................8 1.6 Abbreviations used ...............................................................................................8 1.7 Symbols used ........................................................................................................9 1.8 Trademarks ...........................................................................................................9 2 On safety...........................................................................................................................10 2.1 Qualified safety personnel..................................................................................10 2.2 Correct use ..........................................................................................................10 2.3 Environmental protection ...................................................................................11 2.3.1 Disposal .............................................................................................11 2.3.2 Separation of materials ....................................................................11 3 Product description Flexi Soft gateways......................................................................12 3.1 Device variants....................................................................................................13 3.2 Firmware versions ...............................................................................................13 3.3 Data transmitted into the network (input data sets) ........................................14 3.3.1 Logic results ......................................................................................17 3.3.2 Gateway direct output values...........................................................17 3.3.3 Module status and EFI status as well as input and output values.................................................................................................17 3.3.4 Routing of data from a second network ..........................................19 3.3.5 Configuration checksums .................................................................19 3.3.6 Error and status information of the modules ..................................19 3.4 Data received from the network (network output data sets) ...........................23 4 Mounting and basic configuration of the gateways....................................................24 4.1 Mounting/Dismantling........................................................................................24 4.1.1 Steps for mounting the modules......................................................24 4.1.2 Steps for dismantling the modules ..................................................26 4.2 Electrical installation...........................................................................................27 4.3 First configuration steps .....................................................................................27 4.3.1 Establishing a connection between gateway and PC......................28 4.3.2 Configuration of the gateways..........................................................29 4.3.3 Transfer of a configuration ...............................................................30 4.3.4 Verification of a configuration ..........................................................30 4.3.5 Upload of a configuration .................................................................31 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 3 Contents Operating Instructions Flexi Soft Gateways 5 4 Ethernet gateways .......................................................................................................... 32 5.1 Common features of the Ethernet gateways .................................................... 32 5.1.1 TCP/IP configuration interface......................................................... 32 5.1.2 Ethernet TCP/IP socket interface .................................................... 37 5.1.3 TCP/IP process image example ....................................................... 46 5.1.4 TCP/IP socket monitor...................................................................... 48 5.2 EtherNet/IP gateway .......................................................................................... 52 5.2.1 Interfaces and operation.................................................................. 53 5.2.2 Basic configuration — Assigning a device name and IP address ......................................................................................... 54 5.2.3 EtherNet/IP Class 1 communication — Implicit messaging ........... 55 5.2.4 Example configuration of implicit messaging with Rockwell RSLogix 5000 ................................................................................... 60 5.2.5 Example configuration of implicit messaging with an OMRON PLC ...................................................................................... 60 5.2.6 Ethernet/IP Class 3 communication — Explicit messaging ............ 60 5.2.7 Example for the configuration of explicit messaging...................... 72 5.2.8 TCP/IP configuration interface......................................................... 73 5.2.9 Ethernet TCP/IP socket interface .................................................... 73 5.2.10 Diagnostics and troubleshooting ..................................................... 74 5.3 Modbus TCP gateway ......................................................................................... 75 5.3.1 Interfaces and operation.................................................................. 75 5.3.2 Basic configuration — Assigning an IP address .............................. 76 5.3.3 Configuration of the Modbus TCP interface to the PLC — How the data are transferred........................................................... 77 5.3.4 TCP/IP configuration interface......................................................... 83 5.3.5 Ethernet TCP/IP socket interface .................................................... 83 5.3.6 Diagnostics and troubleshooting ..................................................... 83 5.4 PROFINET IO gateway......................................................................................... 84 5.4.1 Interfaces and operation.................................................................. 85 5.4.2 Basic configuration — Assigning a device name and IP address ......................................................................................... 86 5.4.3 PROFINET configuration of the gateway — How the data are transferred ........................................................................................ 88 5.4.4 PROFINET configuration of the gateway — Which data are transferred ........................................................................................ 92 5.4.5 TCP/IP configuration interface......................................................... 99 5.4.6 Ethernet TCP/IP socket interface .................................................... 99 5.4.7 Diagnostics and troubleshooting ...................................................100 5.5 EtherCAT gateway.............................................................................................101 5.5.1 Interfaces and operation................................................................101 5.5.2 Installation of the gateway in the Flexi Soft system .....................103 5.5.3 EtherCAT configuration of the gateway .........................................104 5.5.4 Input data — Flexi Soft to EtherCAT ...............................................107 5.5.5 Output data — EtherCAT to Flexi Soft ............................................107 5.5.6 Tag name export .............................................................................108 5.5.7 Ethernet over EtherCAT (EoE) ........................................................110 5.5.8 TCP/IP configuration interface.......................................................110 5.5.9 CoE (CAN application layer over EtherCAT) ...................................111 5.5.10 Diagnostics and troubleshooting ...................................................114 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Contents Flexi Soft Gateways 8012664/XR03/2013-11-19 Subject to change without notice 6 Fieldbus gateways........................................................................................................ 116 6.1 PROFIBUS DP gateway..................................................................................... 116 6.1.1 Interfaces and operation ............................................................... 116 6.1.2 Planning.......................................................................................... 119 6.1.3 PROFIBUS configuration of the gateway — How the data are transferred...................................................................................... 122 6.1.4 Diagnostics and troubleshooting .................................................. 129 6.2 CANopen gateway ............................................................................................ 130 6.2.1 Interfaces and operation ............................................................... 130 6.2.2 CANopen configuration of the gateway — How the data are transferred...................................................................................... 133 6.2.3 CANopen configuration of the gateway — Which data are transferred...................................................................................... 136 6.2.4 NMT — Network management ....................................................... 137 6.2.5 SYNC ............................................................................................... 138 6.2.6 Emergency ...................................................................................... 138 6.2.7 Node guarding................................................................................ 142 6.2.8 PDO communication ...................................................................... 143 6.2.9 SDO communication ...................................................................... 145 6.2.10 SDO object directory ...................................................................... 146 6.2.11 Guarding protocols......................................................................... 153 6.2.12 Error objects ................................................................................... 155 6.2.13 CANopen diagnostics examples .................................................... 156 6.2.14 Diagnostics and troubleshooting .................................................. 159 6.3 DeviceNet gateway........................................................................................... 160 6.3.1 Characteristic of the DeviceNet implementation ......................... 160 6.3.2 Interfaces and operation ............................................................... 161 6.3.3 Setting up DeviceNet communication .......................................... 164 6.3.4 Supported DeviceNet features ...................................................... 166 6.3.5 DeviceNet protocol settings .......................................................... 167 6.3.6 Assemblies ..................................................................................... 167 6.3.7 Diagnostics and troubleshooting .................................................. 170 7 Layout and content of the process image ................................................................. 172 7.1 Routing.............................................................................................................. 172 7.2 Default settings for the operational data ....................................................... 173 7.3 Customizing the operational data (Flexi Soft to Network) ............................. 174 7.3.1 The toolbar...................................................................................... 175 7.3.2 Available data area ........................................................................ 175 7.3.3 Gateway data set to network area ................................................ 176 7.3.4 Tag names area.............................................................................. 176 7.3.5 Gateway direct output values........................................................ 177 7.3.6 Output data configuration (Network to Flexi Soft)........................ 179 7.3.7 Saving and loading a configuration............................................... 180 7.3.8 Importing and exporting a configuration....................................... 180 7.4 Monitoring the operational data online .......................................................... 181 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 5 Contents Operating Instructions Flexi Soft Gateways 6 8 Technical specifications ..............................................................................................182 8.1 Technical specifications gateways ..................................................................182 8.1.1 EtherNet/IP, Modbus TCP, PROFINET IO.......................................182 8.1.2 EtherCAT..........................................................................................182 8.1.3 PROFIBUS DP ..................................................................................183 8.1.4 CANopen .........................................................................................183 8.1.5 DeviceNet........................................................................................184 8.2 Technical specifications, supply circuit ...........................................................184 8.3 General technical specifications......................................................................185 8.4 Dimensional drawings ......................................................................................186 8.4.1 Dimensional drawing FX0-GENT, FX0-GMOD, FX0-GPNT and FX0-GETC.........................................................................................186 8.4.2 Dimensional drawing FX0-GPRO, FX0-GCAN and FX0-GDEV .......187 8.5 Ordering information Flexi Soft gateways .......................................................187 9 Annex..............................................................................................................................188 9.1 EC declaration of conformity............................................................................188 9.2 List of tables .....................................................................................................190 9.3 List of illustrations ............................................................................................194 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions About this document Chapter 1 Flexi Soft Gateways 1 About this document Please read this chapter carefully before working with these operating instructions and the Flexi Soft gateways. 1.1 Function of this document These operating instructions only apply in conjunction with the other Flexi Soft operating instructions (see section 1.2 “The Flexi Soft operating instructions” below). They provide the technical personnel at the machine manufacturer or machine operating organisation information on safe mounting, adjustment, electrical installation, commissioning as well as on operation and maintenance of the Flexi Soft gateways. These operating instructions do not provide information on the operation of the machine in which a Flexi Soft modular safety controller and a Flexi Soft gateway is integrated. Information on this is to be found in the appropriate operating instructions for the machine. 1.2 The Flexi Soft operating instructions For the Flexi Soft system there are three operating instructions with clearly distinguished fields of application as well as mounting instructions for each module. The mounting instructions (SICK part no. 8012482, 8012475, 8013272, 8012484 and 8013274) are enclosed with each Flexi Soft module. They inform on the basic technical specifications of the modules and contain simple mounting instructions. Use the mounting instructions when mounting Flexi Soft safety controllers. The Flexi Soft hardware operating instructions (SICK part no. 8012999) describe all Flexi Soft modules and their functions in detail. Use the Hardware operating instructions in particular to configure Flexi Soft safety controllers. The Flexi Soft gateways operating instructions (this document) describe all Flexi Soft gateways and their functions in detail. The Flexi Soft software operating instructions (SICK part no. 8012998) describe the software-supported configuration and parameterization of the Flexi Soft safety controllers. In addition, the software operating instructions contain the description of the diagnostics functions that are important for operation and detailed information for the identification and elimination of errors. Use the software operating instructions in particular for the configuration, commissioning and operation of Flexi Soft safety controllers. 1.3 Target group These operating instructions are addressed to planning engineers, machine designers and the operators of systems in which a Flexi Soft modular safety controller is integrated and who want to exchange data with a fieldbus (a controller) via a gateway. They are also addressed to people who are placing a Flexi Soft gateway in operation for the first time or maintaining it. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 7 About this document Chapter 1 Operating Instructions Flexi Soft Gateways 1.4 Information depth These operating instructions contain information on the Flexi Soft gateways on the following subjects: mounting implementation into a network configuration via Flexi Soft Designer software data transfer to and from the network status information, planning and related mapping part numbers Warning! Pay attention to the safety notes and safety measures on the Flexi Soft gateways! WARNING Note We also refer you to our homepage on the Internet at www.sick.com There you will find the following files for download: FX0-GENT EDS file for EtherNet/IP FX0-GPNT GSDML file for PROFINET IO FX0-GPRO GSD file for PROFIBUS DP FX0-GCAN EDS file for CANopen FX0-GDEV EDS file for DeviceNet FX0-GETC ESI file for EtherCAT 1.5 Scope These operating instructions are valid for all Flexi Soft gateway modules. This document is part of SICK part number 8012662 (“Flexi Soft gateways” operating instructions in all available languages). These operating instructions are the original operating instructions. 1.6 CSV EFI h SINT UDINT UINT USINT 8 Abbreviations used Comma separated values Enhanced Function Interface Hexadecimal notation (e.g. 72h = 114) Short integer = 1 byte Unsigned double integer = 4 bytes = 2 Words Unsigned integer = 2 bytes = 1 Word Unsigned short integer = 1 byte © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice About this document Operating Instructions Chapter 1 Flexi Soft Gateways 1.7 Notes , , Symbols used Notes provide special information on the device. LED symbols describe the state of a diagnostics LED. Examples: The LED is illuminated constantly. The LED is flashing. The LED is off. Action Instructions for taking action are shown by an arrow. Read carefully and follow the instructions for action. Warning! WARNING A warning notice indicates an actual or potential risk or health hazard. They are designed to help you to prevent accidents. Read carefully and follow the warning notices! 1.8 Trademarks Windows XP, Windows Vista, Windows 7 and Internet Explorer are registered trademarks of Microsoft Corporation in the USA and other countries. SIEMENS SIMATIC Manager is a registered trademark of SIEMENS AG. DeviceNet and DeviceNet Safety are registered trademarks of the Open DeviceNet Vendor Association, Inc. (ODVA). TwinCAT is a registered trademark of Beckhoff Automation GmbH. ® “EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.” Other product names and company names referenced in this manual are trademarks or registered trademarks of their respective companies. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 9 On safety Chapter 2 Operating Instructions Flexi Soft Gateways 2 On safety This chapter deals with your own safety and the safety of the equipment operators. Please read this chapter carefully before working with a Flexi Soft gateway. 2.1 Qualified safety personnel The Flexi Soft gateway must only be installed, commissioned and serviced by qualified safety personnel. Qualified safety personnel are defined as persons who … have undergone the appropriate technical training and have been instructed by the responsible machine operator in the operation of the machine and the current valid safety guidelines and have access to the operating instructions of the Flexi Soft gateway and Flexi Soft modular safety controller and have read and familiarised themselves with them. 2.2 Correct use The Flexi Soft gateways can only be operated with a Flexi Soft system. The firmware version of the connected FX3-CPUx must be at least V1.11.0, the version of the Flexi Soft Designer configuration software must be at least 1.3.0. The Flexi Soft gateways do not have a dedicated voltage supply. The Flexi Soft gateways are not suitable for operation on a safety fieldbus! WARNING These gateways only generate non-safety-related fieldbus data (status bytes) for control and diagnostics purposes. Do not use data from a Flexi Soft gateway for safety related applications! With the Flexi Soft gateways it is possible to integrate non-safe data into the logic editor such that the safety function of the Flexi Soft system is compromised. Never implement the gateway into a Flexi Soft system without having this danger checked by a safety specialist. These modules may only be used by qualified safety personnel and only on the machine where they have been installed and initialised by qualified safety personnel in accordance with the operating instructions. Pay attention to the safety notes and safety measures on the Flexi Soft gateways! WARNING Notes 10 If the device is used for any other purposes or modified in any way — also during mounting and installation — any warranty claim against SICK AG shall become void. During the mounting, installation and usage of the Flexi Soft gateway, observe the standards and directives applicable in your country. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice On safety Operating Instructions Chapter 2 Flexi Soft Gateways The national/international rules and regulations apply to the installation, commissioning, use and periodic technical inspection of the Flexi Soft modular safety controller, in particular: – EMC directive 2004/108/EC, – Provision and Use of Work Equipment Directive 2009/104/EC, – the work safety regulations/safety rules. The operating instructions must be made available to the operator of the machine where a Flexi Soft system is used. The machine operator is to be instructed in the use of the device by qualified safety personnel and must be instructed to read the operating instructions. Use the Flexi Soft system in industrial environments only! WARNING The Flexi Soft system complies, as per the “radiated emissions” generic standard, with the requirements of class A (industrial applications). The Flexi Soft system is therefore only suitable for use in an industrial environment. UL applications For UL applications the device must be used with a Class 2 power supply or Class 2 transformer in accordance with UL 1310 or UL 1585. 2.3 Environmental protection The Flexi Soft gateways are designed for minimum impact on the environment, they consume only a minimum of energy and resources. At work, always act in an environmentally responsible manner. 2.3.1 Disposal Unusable or irreparable devices should always be disposed as per the applicable national regulations on waste disposal (e.g. European waste code 16 02 14). Note We would be pleased to be of assistance to you on the disposal of these devices. Contact us. 2.3.2 Separation of materials Only appropriately trained personnel are allowed to separate materials! Caution is required when dismantling devices. There is a risk of injuries. WARNING Before you send the devices for appropriate recycling, it is necessary to separate the different materials of the Flexi Soft gateways. Separate the housing from the rest of the parts (in particular the circuit board). Send the separated parts for recycling as appropriate (see Tab. 1). Tab. 1: Overview on disposal by components Components Disposal Product Housing, circuit boards, cables, connectors and electrical connecting pieces Electronic recycling Packaging Cardboard, paper 8012664/XR03/2013-11-19 Subject to change without notice Paper/cardboard recycling © SICK AG • Industrial Safety Systems • Germany • All rights reserved 11 Product description Flexi Soft gateways Chapter 3 Operating Instructions Flexi Soft Gateways 3 Product description Flexi Soft gateways The Flexi Soft gateways allow the Flexi Soft System to send and receive non-safety related data to and from the external fieldbus system for control and diagnostics purposes. Note In this manual, the data exchanged between the Flexi Soft system and the respective network will be considered always from the network master (PLC) point of view. Therefore data sent from the Flexi Soft system into the network will be referred to as input data while data received from the network will be referred to as output data. Do not operate a Flexi Soft gateway on a safety fieldbus! WARNING The Flexi Soft gateway modules are not suitable for operation on a safety fieldbus. They do not support any safety mechanism, which would be mandatory to communicate within a safety network. Configuration of the Flexi Soft gateways is performed using the Flexi Soft Designer configuration software on a PC or notebook connected to the FX3-CPUx over RS-232 interface or connected to the Ethernet gateways over Ethernet TCP/IP. The safety relevant logic of the Flexi Soft system operates independently from the gateway. If however the Flexi Soft system has been configured to integrate non-safe information from the fieldbus into the logic editor, a decoupling of the gateway can result in availablity problems. A Flexi Soft gateway can only be operated on a Flexi Soft system. It does not have a dedicated voltage supply. It is possible to use two Flexi Soft gateways per system. The gateways are fitted in a 22.5 mm wide housing for 35 mm DIN mounting rails in accordance with EN 60 715. Ordering information can be found in section 8.5 “Ordering information Flexi Soft gateways” on page 187. 12 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Product description Flexi Soft gateways Operating Instructions Chapter 3 Flexi Soft Gateways 3.1 Device variants Six Flexi Soft gateways are available for the different network types. Suitable for Ethernet networks are the EtherNet/IP gateway FX0-GENT, the Modbus TCP gateway FX0-GMOD, the PROFINET IO gateway FX0-GPNT and the EtherCAT gateway FX0-GETC. PROFIBUS DP gateway FX0-GPRO, FX0-GCAN for CANopen and FX0-GDEV for DeviceNet are fieldbus gateways without Ethernet functionality. Tab. 2: Device variants and features overview Gateway Network type FX0-GENT FX0-GMOD FX0-GPNT Note EtherNet/IP explicit messaging EtherNet/IP implicit messaging (only with firmware O V2.00.0) Modbus TCP master & slave receive method PROFINET IO slave conformance class A Ethernet TCP/IP socket TCP/IP configuration interface interface Client/server Available at port 9000 Client/server Available at port 9000 Client/server Available at port 9000 FX0-GETC EtherCAT slave – Available at port 9000 via EoE1) FX0-GPRO PROFIBUS DP slave – – FX0-GCAN CANopen slave – – FX0-GDEV DeviceNet-Slave – – You will find the device’s date of manufacture on the type label in the S/N field in the format yywwnnnn (yy = year, ww = calendar week, nnnn = continuos serial number in the calendar week). 3.2 Firmware versions The Ethernet gateways FX0-GENT, FX0-GMOD and FX0-GPNT are available with different firmware versions. To add a gateway to a Flexi Soft system in the Flexi Soft Designer’s hardware configuration window, you must select the appropriate step from the drop down list under the respective gateway. Tab. 3: Firmware versions of the Ethernet gateways Firmware version Step V1.xx.x V1.xx O V2.00.0 V2.xx You will find the firmware version on the type label of the device. Notes If you use the Flexi Soft Designer command Identify project to identify a connected Flexi Soft system with a gateway, the software will recognize the correct firmware version automatically. 1) 8012664/XR03/2013-11-19 Subject to change without notice The TCP/IP configuration interface for the FX0-GETC is only available after configuring EoE (Ethernet over EtherCAT). See section 5.5.7 “Ethernet over EtherCAT (EoE)” on page 110 and section 5.5.8 “TCP/IP configuration interface” on page 110. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 13 Chapter 3 Product description Flexi Soft gateways Operating Instructions Flexi Soft Gateways 3.3 Data transmitted into the network (input data sets) Available data The Flexi Soft gateways can provide the following data: Operational data – Logic results from the Flexi Soft main module (FX3-CPUx) (see section 3.3.1 on page 17) – Input values (HIGH/LOW) for all Flexi Soft input extension modules in the system and EFI devices connected (see section 3.3.2 auf Seite 17) – Output values (HIGH/LOW) for all Flexi Soft input/output extension modules and EFI devices connected (see section 3.3.2 on page 17) – Output data from another network, i.e. data received by a second gateway in the Flexi Soft system (see section 3.3.4 on page 19) – Gateway direct output values: It is possible to write logic results directly from the logic editor into the gateway (see section 7.3.5 on page 177). Diagnostics data – Checksums (see section 3.3.5 on page 19) – Error and status information for all modules except the UE410-2RO and UE410-4RO (see section 3.3.6 on page 19) Data sets The physical Flexi Soft modules are not represented as typical hardware modules in the network. Instead, the data available from the Flexi Soft system has been organized into four input data sets. Data set 1 (max. 50 bytes) contains the operational data. It can be compiled using the Flexi Soft Designer tool. Upon delivery there is a default selection for the content of data set 1 which can be freely modified. For details see Tab. 5 on page 16. For the FX0-GPNT and the FX0-GPRO, data set 1 has been subdivided in five input data blocks, where data block 1-4 contain 12 bytes each and data block 5 contains two bytes. The FX0-GCAN holds four process data objects (PDOs) with 8 bytes each. For detailed information see the section on the related gateway. Data set 2 (32 bytes) contains the system configuration checksums. See Tab. 5 on page 16. Data set 3 (60 bytes) contains the individual module status and diagnostics data with four (4) bytes per module. See section 3.3.6 “Error and status information of the modules” on page 19 for details. Data set 4 (60 bytes) is currently filled with reserved values. 14 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Product description Flexi Soft gateways Chapter 3 Flexi Soft Gateways Tab. 4 gives an overview which data sets are available for each gateway. Tab. 4: Availability of data set 1-4 Data set 1 FX0-GENT EtherNet/IP or TCP/IP FX0-GMOD Modbus TCP or TCP/IP FX0-GPNT PROFINET IO or TCP/IP FX0-GPRO PROFIBUS DP – Data set 4 EtherNet/IP or TCP/IP Modbus TCP or TCP/IP PROFINET IO or TCP/IP –2) EtherNet/IP or TCP/IP Modbus TCP or TCP/IP PROFINET IO or TCP/IP – 3) CANopen CANopen (SDOs) CANopen (SDOs) – FX0-GDEV DeviceNet DeviceNet DeviceNet DeviceNet FX0-GETC Input and output objects 2000h and 2001h Checksums Object 2002h Status and diagnostics Object 2003h Reserved Object 2004h 3) Subject to change without notice EtherNet/IP or TCP/IP Modbus TCP or TCP/IP PROFINET IO or TCP/IP Data set 3 FX0-GCAN 2) 8012664/XR03/2013-11-19 Data set 2 With the FX0-GPRO, diagnostics data are available via PROFIBUS standard DP-V0 diagnostics. For more information on how to retrieve module status and diagnostics data via the PROFIBUS DP gateway please refer to chapter 6.1 “PROFIBUS DP gateway” on page 116. With the FX0-GCAN, diagnostics data are available via CANopen SDO (service data objects) method. For more information on how to retrieve module status and diagnostics data via the CANopen gateway please refer to chapter 6.2 “CANopen gateway” on page 130. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 15 Product description Flexi Soft gateways Chapter 3 Operating Instructions Flexi Soft Gateways Tab. 5: Overview input data sets 1-3 (default settings for EtherNet/IP, Modbus TCP and TCP/IP) Data set 1 Data set 2 Data set 3 Total checksum Module status module 0. Module 0 is always the FX3CPUx. For detailed information about the module status see section 3.3.6 “Error and status information of the modules” on page 19. Flexi Soft checksum Module status module 1 CPU0 and CPU1: Reserved CPU2 and CPU3: ACR checksum Module status module 2 Flexi Soft checksum (verify status) Module status module 3 Byte 0 Logic result 0 Byte 1 Logic result 1 Byte 2 Logic result 2 Byte 3 Logic result 3 Byte 4 Input values module 1 Byte 5 Input values module 2 Byte 6 Input values module 3 Byte 7 Input values module 4 Byte 8 Input values module 5 Byte 9 Input values module 6 Byte 10 Input values module 7 Byte 11 Input values module 8 Byte 12 Input values module 9 Byte 13 Input values module 10 Byte 14 Input values module 11 Byte 15 Input values module 12 Byte 16 Output values module 1 Byte 17 Output values module 2 Byte 18 Output values module 3 Byte 19 Output values module 4 Byte 20 Output values module 5 Byte 21 Output values module 6 Byte 22 Output values module 7 Byte 23 Output values module 8 Byte 24 Output values module 9 Byte 25 Output values module 10 Byte 26 Output values module 11 Byte 27 Output values module 12 Byte 28 Gateway direct output values 0 Byte 29 Gateway direct output values 1 Byte 30 Gateway direct output values 2 Byte 31 Gateway direct output values 3 Byte … Not assigned … Byte 49 Not assigned … Module status module 4 Module status module 5 Reserved Module status module 6 Module status module 7 Byte … … Byte 56 Module status module 14. Module 13 and 14 are always the gateways. Byte 57 Byte 58 Byte 59 Length 16 50 bytes 32 bytes © SICK AG • Industrial Safety Systems • Germany • All rights reserved 60 bytes 8012664/XR03/2013-11-19 Subject to change without notice Product description Flexi Soft gateways Operating Instructions Chapter 3 Flexi Soft Gateways 3.3.1 Logic results Logic results generated by the logic editor of the Flexi Soft main module can be made available to the network. Up to 20 bytes are available where each bit represents one logic result from the logic editor. Data set 1 containing the logic results can be customized. For detailed information see the chapter on the related gateway and chapter 7 “Layout and content of the process image” on page 172. 3.3.2 Gateway direct output values It is possible to write values directly from the logic editor into a gateway. There are four bytes reserved for this in the default settings for data set 1, however up to all 50 bytes of data set 1 can be defined as gateway direct output values. For more information please see section 7.3.5 “Gateway direct output values” on page 177. Note In order to use gateway direct output values, a FX3-CPUx with firmware V2.00.0 or higher is required. 3.3.3 Module status and EFI status as well as input and output values The Flexi Soft gateways can transmit the status and all input and output states of all Flexi Soft modules and EFI devices connected to the Flexi Soft system into the network. Data set 1 containing the input and output values and the EFI information can be customized. For detailed information see the chapter on the related gateway and chapter 7 “Layout and content of the process image” on page 172. Module status The Flexi Soft gateways can transmit the status of the modules connected into the network. A total of 6 bytes are available for this purpose. Tab. 6: Module status Module status Size Meaning Allocation Status input data 2 Byte One sum bit per module for the Bit 0 = FX3-CPUx status of the module’s inputs Bit 1 = 1. extension 0 = Error module 1 = No error Status output data Position status 2 Byte 2 Byte Bit 2 = 2. extension One sum bit per module for the module status of the module’s outputs … 0 = Error Bit 13 = 1. gateway 1 = No error Bit 14 = 2. gateway One sum bit per module for the Bit 15 = reserved status of the inputs and outputs (AND operator on input data status and output data status) 0 = Error 1 = No error You will find information on the significance of the status bits in the operating instructions for the software Flexi Soft Designer (SICK part no. 8012998) in the chapter “Module input and output status bits in the logic editor”. Note 8012664/XR03/2013-11-19 Subject to change without notice The input and output status for the XTIO and XTDI modules is available only with firmware version V2.00.0 and higher. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 17 Product description Flexi Soft gateways Chapter 3 Operating Instructions Flexi Soft Gateways Input values and output values of the modules Input values for I/O modules 1 byte is available for data set 1 for each module. The input values indicate the status of the pre-evaluation on the I/O module. This status corresponds to the status of the element in the main module’s logic. The level on the related terminal cannot be reliably detected by this means, as the data can be set low by the cross circuit detection or the dual-channel sampling independent of the level on the input terminal (e.g. I1-I8). If dual-channel input elements are configured on an I/O module, then the less significant bit represents the status of the pre-evaluation on the related element (e.g. bit 0 for I1 and I2, bit 2 for I3 and I4, bit 4 for I5 and I6, bit 6 for I7 and I8). The more significant bit (bit 1, 3, 5 and 7) is used as follows: Tab. 7: Usage of the more significant bits on dualchannel evaluation on I/O modules FX3-XTIO Firmware version FX3-XTIO Dual-channel equivalent switches Dual-channel complementary switches V1.xx Same status as the less significant bit Inverted status of the less significant bit V2.00 and higher Status of the pre-evaluation 0 = Error 1 = No error I/O modules output values For each module with outputs, 1 byte is available for data set 1. The output values indicate the status of the control information from the main module’s logic for the related element on the I/O module. The level on the related terminals cannot be reliably detected from this status, as the output may be disabled by the cross circuit detection or the overload detection. If dual-channel output elements are configured on an I/O module, then only the less significant bit is used for the control information (e.g. bit 0 for Q1 and Q2, bit 2 for Q3 and Q4, bit 4 for Q5 and Q6, bit 6 for Q7 and Q8). The more significant bit (bit 1, 3, 5 and 7) is not used in this case (low). Input values for MOCx modules 2 bytes are available for data set 1 for each MOCx module. The input values indicate the status of the signals from the main module’s logic to the MOCx logic. Bit 16 and bit 17 of the usable bits from the main module to the MOCx logic are not available here. MOCx modules output values 2 bytes are available for data set 1 for each MOCx module. The output values indicate the status of the signals from the MOCx logic to the main module’s logic. 18 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Product description Flexi Soft gateways Operating Instructions Chapter 3 Flexi Soft Gateways EFI system information The FX3-CPU1 and FX3-CPU2 main modules have 2 EFI interfaces. An EFI interface is a safe communication interface between SICK devices. It allows to … read out information from the safety devices (e.g. C4000, S3000). transfer commands to the safety devices. The Flexi Soft gateways allow these EFI devices connected to the FX3-CPU1 or FX3-CPU2 to transmit their data into the network. Note It is only possible to select the EFI data in byte arrays. 4 byte arrays for each connected EFI device are available. Some of the data content is reserved and can not be used at the PLC. Further information about the properties, functions and benefits of the EFI interfaces can be found in the Flexi Soft Hardware operating instructions (SICK part no. 8012999). The general EFI function description is available in the operating instructions “EFI Enhanced Function Interface” (SICK part no. 8012622). 3.3.4 Routing of data from a second network If your Flexi Soft system contains two gateways, it is possible to rout information received by the first gateway from one network (e.g. from a Modbus PLC) into a second network via the second gateway (e.g. to a PROFIBUS master) and vice versa. 3.3.5 Configuration checksums Data set 2 contains the following configuration checksums for the Flexi Soft system. Total checksum: If ACR is deactivated: Same value as the Flexi Soft checksum If ACR is activated: Checksum over Flexi Soft checksum and ACR checksum Flexi Soft checksum: This checksum covers the configuration of the Flexi Soft system, i.e. for all Flexi Soft modules. The configuration of EFI devices connected is not included in the Flexi Soft checksum. Flexi Soft checksum (verify status): This is the checksum of the Flexi Soft configuration that has been verified. If this checksum is identical to the Flexi Soft checksum, then the configuration of the Flexi Soft system is considered verified (CV LED lights up Yellow). ACR checksum: This checksum covers the ACR configuration for EFI devices. Each checksum is four bytes long. Data set 2 can not be customized. 3.3.6 Error and status information of the modules Data set 3 contains the module status information transferred to the network. Four bytes are transferred for each module (e.g. FX3-XTIO). Data set 3 can not be customized. Notes Reserved (for future use) = static 1 (no status change) If no module is present, all values including the reserved values are set to logical 1. The four status bytes for each module are being transferred in Big Endian format as 32 bit word, i.e. the most significant byte (MSB = byte 3) is transferred first and the least significant byte (LSB = byte 0) is transferred last. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 19 Product description Flexi Soft gateways Chapter 3 Operating Instructions Flexi Soft Gateways Module status bits of the FX3-CPUx main modules The module status bits have the following significance, if not otherwise stated: 0 = Error 1 = No error Byte 0 Bit 7 EFI2 Bit 6 EFI1 Bit 5 Power supply Byte 1 Bit 4 Configuration Flexi Soft system Bit 3 Reserved Bit 2 Summary of bits 0.5 to 0.7 (power supply and EFI) Reserved Byte 2 Byte 3 Bit 1 Internal tests Flexi Link stations suspended 1 = None 0 = One or more Bit 0 Module operating state 1 = Run 0 = Other Flexi Link stations in the system 1 = All found 0 = One or more are missing Reserved Reserved Tab. 8: Module status bits of the FX3-CPUx main modules Module status bits of the I/O modules FX3-XTIO and FX3-XTDI 4) The module status bits have the following significance, if not otherwise stated: 0 = Error 1 = No error Byte 0 Bit 7 Reserved Bit 6 Output Fast Shut-Off Byte 1 Byte 2 Byte 3 Bit 5 Outputs power supply Bit 4 Configuration of this module is valid. Reserved External test signal Input 8 Short-circuit monitoring output 4 Short-circuit to low External test signal Input 7 Short-circuit monitoring output 4 Short-circuit to high External test signal Input 6 Short-circuit monitoring output 3 Short-circuit to low External test signal Input 5 Short-circuit monitoring output 3 Short-circuit to high Bit 3 Reserved Bit 2 Summary of bits 0.5 to 0.7 (external error) Bit 1 Internal tests Input 7-8 dual channel input evaluation External test signal Input 4 Short-circuit monitoring output 2 Short-circuit to low Input 5-6 dual channel input evaluation External test signal Input 3 Short-circuit monitoring output 2 Short-circuit to high Input 3-4 dual channel input evaluation External test signal Input 2 Short-circuit monitoring output 1 Short-circuit to low Bit 0 Module operating state 1 = Run 0 = Other Input 1-2 dual channel input evaluation External test signal Input 1 Short-circuit monitoring output 1 Short-circuit to high Tab. 9: Module status bits of the I/O modules FX3-XTIO and FX3-XTDI 4) 20 The module status bits for the FX3-XTIO and FX3-XTDI are fully supported only with firmware version 1.2.x and higher. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Product description Flexi Soft gateways Operating Instructions Chapter 3 Flexi Soft Gateways Module status bits of the I/O modules FX3-XTDS The module status bits have the following significance, if not otherwise stated: 0 = Error 1 = No error Byte 0 Bit 7 Output load (overcurrent) monitoring Bit 6 Reserved Bit 5 Outputs power supply Byte 1 Byte 2 Reserved External test signal Input 8 External test signal Input 7 External test signal Input 6 Byte 3 Bit 4 Configuration of this module is valid. Bit 3 Reserved Input 7-8 dual channel input evaluation External test External test signal Input 5 signal Input 4 Reserved Bit 2 Summary of bits 0.5 to 0.7 (external error) Bit 1 Internal tests Input 5-6 dual channel input evaluation External test signal Input 3 Input 3-4 dual channel input evaluation External test signal Input 2 Bit 0 Module operating state 1 = Run 0 = Other Input 1-2 dual channel input evaluation External test signal Input 1 Tab. 10: Module status bits of the I/O modules FX3-XTDS Module status bits of the I/O modules FX0-STIO The module status bits have the following significance, if not otherwise stated: 0 = Error 1 = No error Byte 0 Bit 7 Output load (overcurrent) monitoring Bit 6 Reserved Bit 5 Outputs power supply Bit 4 Configuration of this module is valid. Byte 1 Byte 2 Byte 3 Bit 3 Reserved Bit 2 Summary of bits 0.5 to 0.7 (external error) Bit 1 Internal tests Bit 0 Module operating state 1 = Run 0 = Other Reserved Reserved Reserved Tab. 11: Module status bits of the I/O modules FX0-STIO Module status bits of the Drive Monitor FX3-MOCx modules The module status bits have the following significance, if not otherwise stated: 0 = Error 1 = No error Byte 0 Byte 1 Bit 7 Reserved User-defined status bit 45) Bit 6 Encoder 2 Bit 5 Encoder 1 User-defined status bit 35) Byte 2 Byte 3 User-defined status bit 25) Bit 4 Configuration of this module is valid. Bit 3 Reserved User-defined status bit 15) Reserved Reserved Bit 2 Summary of bits 0.5 to 0.7 (external error) Bit 1 Internal tests Bit 0 Module operating state 1 = Run 0 = Other Reserved Tab. 12: Module status bits of the Drive Monitor FX3-MOCx modules 5) 8012664/XR03/2013-11-19 Subject to change without notice The status of this bit can be defined to suit the specific application in the MOCx logic, e.g. to indicate inadmissible movements of an axis that have been detected by an MOCx function block. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 21 Product description Flexi Soft gateways Chapter 3 Operating Instructions Flexi Soft Gateways Module status bits of the gateways The module status bits have the following significance, if not otherwise stated: 0 = Error 1 = No error Byte 0 Bit 7 Reserved Bit 6 Communication to the network Bit 5 Communication from the network Bit 4 Configuration of this module is valid. Byte 1 Byte 2 Byte 3 Bit 3 Reserved Bit 2 Summary of bits 0.5 to 0.7 (external error) Bit 1 Internal tests Bit 0 Module operating state 1 = Run 0 = Other Reserved Reserved Reserved Tab. 13: Module status bits of the gateways Example Module 2 (Flexi Soft XTIO) has a stuck-at-high error (24 V) on output 3. The following module status will be transferred into the network (only the first 12 of 60 bytes are shown): Tab. 14: Example module status in data set 3 Byte address 00 Byte MSB 01 02 03 04 LSB MSB 05 06 07 08 09 LSB MSB 10 11 … LSB … 3 2 1 0 3 2 1 0 3 2 1 0 … Value FF FF FF FF FF FF FF FF EF FF FF FB … Meaning Status module 0 (CPU) Status module 2 (XTIO) … Status module 1 (XTIO) The first relevant byte for the error on module 2 described above is the module status byte 0 for module 2. This is byte 11 with the hex value FB (11111011): Tab. 15: Example module status byte 0 of module 2 Bit # 7 6 5 4 3 2 1 0 Value 1 1 1 1 1 0 1 1 This corresponds to the error message “Summary of bits 0.5 to 0.7 (external error)” (byte 0, bit 2 in Tab. 9). The second relevant byte is the module status byte 3 for module 2. This is byte 08 with the hex value EF (11101111): Tab. 16: Example module status byte 3 of module 2 Bit # 7 6 5 4 3 2 1 0 Value 1 1 1 0 1 1 1 1 This corresponds to the error message “Short-circuit monitoring output 3, short-circuit to high” (byte 3, bit 4 in Tab. 9). You will find an example process image in section 5.1.3 “TCP/IP process image example” on page 46. 22 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Product description Flexi Soft gateways Operating Instructions Chapter 3 Flexi Soft Gateways 3.4 Data received from the network (network output data sets) The data received from the network are organised in output data sets (max. 50 bytes). These data have been subdivided in five data blocks holding 10 bytes each for the FX0RGENT, FX0-GMOD, FX0-GPNT, FX0-GETC and the FX0-GDEV. For the FX0-GPRO output data blocks 1-4 hold 12 bytes each while output data block 5 holds 2 bytes. The FX0-GCAN has four process data objects (PDOs) with 8 bytes each. Tab. 17: Output data blocks 1-5 for the different gateways Gateway Output data block 1 size Output data block 2 size Output data block 3 size Output data block 4 size Output data block 5 size FX0-GENT 10 bytes 10 bytes 10 bytes 10 bytes 10 bytes FX0-GMOD 10 bytes 10 bytes 10 bytes 10 bytes 10 bytes FX0-GPNT 10 bytes 10 bytes 10 bytes 10 bytes 10 bytes FX0-GETC 10 bytes 10 bytes 10 bytes 10 bytes 10 bytes FX0-GPRO 12 bytes 12 bytes 12 bytes 12 bytes 2 bytes FX0-GCAN 8 bytes 8 bytes 8 bytes 8 bytes FX0-GDEV 10 bytes 10 bytes 10 bytes 10 bytes – 10 bytes The contents of the output data blocks can be used within the FX3-CPUx logic editor and can also be made available to another network via a second Flexi Soft gateway in the Flexi Soft system. Notes In order to make the data from the network available in the logic editor or as input to another network, you must define a tag name for each bit that shall be used. Bits without a tag name will not be available in the logic editor nor for routing via a second gateway. For detailed information on how to define tag names for the data received please see the related section in the chapters on the different gateways. The status of the communication to and from the network can be monitored in the logic editor using the module input status bit for data from the network and the module output status bit for data to the network. When the gateway detects an invalid communication, the contents of the data sets will be set to zero (logical 0) and the corresponding module status bit will also be set to zero (logical 0). In case all communication is dropped, the data of the output data sets will be set to zero (logical 0) and the module input status bit will also be set to zero (logical 0). If a connection is closed while still others are available, the MS LED or the STATUS LED on the related gateway flashes Red/green for 10 s and an entry is made in the error history. In this case, the status bits will not be affected. Do not use the same output data set number for two different PLC connections or TCP/IP sockets! WARNING 8012664/XR03/2013-11-19 Subject to change without notice The output data set can be written to the Ethernet gateways in parallel by all communication interfaces or TCP/IP sockets (e.g. Modbus TCP and Ethernet TCP/IP), if they use the same output data set number. In that case, the last message overrides data received earlier. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 23 Mounting and basic configuration of the gateways Chapter 4 Operating Instructions Flexi Soft Gateways 4 Mounting and basic configuration of the gateways 4.1 Mounting/Dismantling This chapter describes the mounting of the Flexi Soft gateways. Make sure that the connection of the Flexi Soft gateway cannot lead to hazardous situations during installation! WARNING Ensure that connecting a Flexi Soft gateway cannot lead to a hazardous situation when implementing the unit on to the Flexi Soft system and Ethernet network. Prevent unintended start-up of equipment during connection of a Flexi Soft gateway. 4.1.1 Steps for mounting the modules The Flexi Soft system must be mounted in an environment that corresponds to enclosure rating IP 54 (EN 60 529), e.g. in a control cabinet with the enclosure rating IP 54. WARNING While supply voltage is applied, modules must not be plugged to nor be removed from the Flexi Soft system. To ensure full electromagnetic compatibility (EMC), the DIN mounting rail must be connected to functional earth (FE). Additionally connect all network cable shields directly at the control cabinet entrance to a common FE ground line. In a Flexi Soft system the main module FX3-CPUx is positioned at the extreme left. The two optional gateways follow directly to the right of the main module. Connect further Flexi Soft extension modules (e.g. FX3-XTIO or FX3-XTDI) onto the right side of the gateways and any additional relay modules (UE410-2RO or UE410-4RO) to the extreme right of the entire Flexi Soft system. Ensure that suitable ESD protective measures are taken during mounting. Otherwise the devices may be damaged. The connection between the modules is effected by means of the plug connection integrated in the housing. Take into account that, when replacing a module, the Flexi Soft modules have to be pushed approx. 10 mm apart before the corresponding module can be removed from the DIN mounting rail. Take suitable measures to ensure that foreign matter does not penetrate the connector openings, in particular that of the system plug. Mount the modules in accordance with EN 50 274. The modules are located in a 22.5 mm wide modular system for 35 mm DIN mounting rails according to EN 60 715. 24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Mounting and basic configuration of the gateways Chapter 4 Flexi Soft Gateways Fig. 1: Mounting the module onto the DIN mounting rail Make sure that the voltage supply of the Flexi Soft system is switched off. Hang the device onto the DIN mounting rail ( ). Connect the gateways directly onto the right side of the FX3-CPUx module of the Flexi Soft system. Up to two gateways per system are possible. Ensure that the earthing spring contact ( ) contacts the DIN mounting rail such that it can electrically conduct. Latch the module onto the DIN mounting rail by pressing it lightly in the direction of the arrow ( ). Fig. 2: Installing the end clips If there are several modules, slide the modules together individually in the direction of the arrow until the side plug connection latches in. Install end clips on the left and right. The following steps are necessary after mounting: Complete the electrical connections (see section 4.2 “Electrical installation” on page 27) Configuration (see section 4.3 “First configuration steps” on page 27 and the Flexi Soft Designer operating instructions, SICK part no. 8012998). Checking the installation (see the chapter on commissioning in the Flexi Soft hardware operating instructions, SICK part no. 8012999). 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 25 Mounting and basic configuration of the gateways Chapter 4 Operating Instructions Flexi Soft Gateways 4.1.2 Steps for dismantling the modules Fig. 3: Removing the removable terminals Remove the removable terminals with the wiring and the end clips. Fig. 4: Disconnecting the plug connections If there are several modules, slide the modules away from each other individually in the direction of the arrow until the side plug connection is separated. Fig. 5: Removing modules from the DIN mounting rail Press the module downwards at the rear ( ) and remove it from the DIN mounting rail in the direction of the arrow while keeping it pressed down ( ). 26 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Mounting and basic configuration of the gateways Chapter 4 Flexi Soft Gateways 4.2 Electrical installation Switch the entire machine/system off line! The system could start up unexpectedly while you are connecting the devices. WARNING Notes The Flexi Soft gateways fulfil the EMC requirements in accordance with the basic specification EN 61 000R6R2 for industrial use. To ensure full electromagnetic compatibility (EMC), the DIN mounting rail must be connected to functional earth (FE). The Flexi Soft system must be mounted in an environment that corresponds to enclosure rating IP 54 (EN 60 529), e.g. in a control cabinet with the enclosure rating IP 54. Mounting in accordance with EN 50 274. Electrical installation in accordance with EN 60 204R1. The voltage supply of the devices must be capable of buffering brief mains voltage failures of 20 ms as specified in EN 60 204R1. The voltage supply as well as all signals connected have to fulfil the regulations for extra-low voltages with safe separation (SELV, PELV) in accordance with EN 60 664 and EN 50 178 (equipment of electrical power installation with electronic devices). Ensure that all the modules of the Flexi Soft system, the connected protective devices as well as the voltage supplies are connected with the same GND plane. The GND of the RS-232 interface is connected internally to the GND of the supply of the main module (A2). Connect all fieldbus and Ethernet cable shields directly at the control cabinet entrance to the functional earth (FE). 4.3 First configuration steps This chapter describes the basic steps you have to perform for the configuration of the gateway: establish a first connection between the gateway and a PC or notebook upload or transfer of a configuration verification of a configuration 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 27 Mounting and basic configuration of the gateways Chapter 4 Operating Instructions Flexi Soft Gateways 4.3.1 Establishing a connection between gateway and PC Connect a PC or notebook to the RS-232 interface of the FX3-CPUx. Power up the Flexi Soft System. Open the Flexi Soft Designer configuration tool installed on the PC. Click on Edit com. interface settings to ensure the correct communication interface has been selected. The following dialog appears: Fig. 6: Connection settings dialog To edit the settings, click on the pencil icon to the right. The following dialog appears: Fig. 7: Modify profile dialog Modify the settings if required and click OK. Click OK. The dialog closes. Click on Connect to physical device. The Flexi Soft Designer will search for connected Flexi Soft devices and load the hardware configuration into the hardware configuration dialog. Once all modules have been identified correctly, the Flexi Soft Designer will ask whether the configuration shall be uploaded. Click Yes to upload the configuration. 28 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Mounting and basic configuration of the gateways Chapter 4 Flexi Soft Gateways As an example, the following hardware configuration may appear: Fig. 8: Hardware configuration dialog Click Disconnect to go into the offline mode if you want to change the configuration of the Flexi Soft modules. 4.3.2 Configuration of the gateways For the configuration of the gateways please refer to the sections on the related gateway: section 5.2 “EtherNet/IP gateway” on page 52 section 5.3 “Modbus TCP gateway” on page 75 section 5.4 “PROFINET IO gateway” on page 84 section 5.5 “EtherCAT gateway” on page 101 section 6.1 “PROFIBUS DP gateway” on page 116 section 6.2 “CANopen gateway” on page 130 section 6.3 „DeviceNet gateway“ on page 160 For the configuration of the TCP/IP interface of the Ethernet gateways, please refer to the following sections: section 5.1.1 “TCP/IP configuration interface” on page 32 section 5.1.2 “Ethernet TCP/IP socket interface” on page 37 For the configuration of the operational data (data transfer from and to the network), please refer to chapter 7 “Layout and content of the process image” on page 172. More information can be found in the Flexi Soft Designer operating instructions (SICK part no. 8012998). 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 29 Mounting and basic configuration of the gateways Chapter 4 Operating Instructions Flexi Soft Gateways 4.3.3 Transfer of a configuration Once you have finished the configuration, you have to transfer the configuration to your Flexi Soft system. In order to transfer a configuration, perform the following steps: Click Connect to go online. The Flexi Soft Designer connects to the Flexi Soft system. Click Transfer to transfer the configuration to the Flexi Soft system. Note Depending on your current user level, you will be prompted to log on as authorized client to be able to transfer a configuration. For details please see the Flexi Soft Designer operating instructions (SICK part no. 8012998). Once the transfer has been completed, you will be asked whether you want to run the main module. Depending on your choice, click Yes or No to leave the dialog. Note You can also start and stop the application in the Hardware configuration view using the Run application or Stop application buttons while the project is online. More information can be found in the Flexi Soft Designer operating instructions (SICK part no. 8012998). 4.3.4 Verification of a configuration After the configuration has been transferred successfully, the Flexi Soft system can be verified. To this purpose, the downloaded configuration data are read back out from the Flexi Soft system and compared with the project data. If they match, the data are displayed in a report. If the user confirms that they are correct, the system is considered to be verified. In the Hardware configuration view, click on the Upload and verify configuration button. A report of the current configuration will be generated. Click Yes below at the question Mark device as verified? if the displayed configuration is the expected configuration. The system is then considered to be verified. Notes You have to be logged in as authorized user in order to mark the configuration as “verified”. If the verification is completed successfully, a “Read in and compare” report that provides the most important project information is created subsequently. You can print out or store this report. The status verified/not verified is indicated in the lower right-hand corner of the Flexi Soft Designer and by the CV LED at the Flexi Soft main module lighting up. Only if the device and the corresponding configuration have been marked as verified, the “Auto Start mode” is active in the configuration of the main module. If the configuration is not set to verified, the system stays in Idle mode (CV LED on the FX3-CPUx module flashing) after power-up and needs to be set to Run state using the Flexi Soft Designer. If differences between the project data and the read-back configuration data are detected, a corresponding message including information about possible actions is displayed. Verification of the configuration is not possible then. Observe the information in the error message for the further procedure. Terminate the dialog box by clicking Close. If you change a verified configuration, the status is reset to “not verified”. Exception: If you make only non safety-related changes such as modifying the gateway name, the gateway’s IP address or the port number for a TCP/IP socket connection, the configuration status remains “verified”. More information can be found in the Flexi Soft Designer operating instructions (SICK part no. 8012998). 30 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Mounting and basic configuration of the gateways Chapter 4 Flexi Soft Gateways 4.3.5 Upload of a configuration When in online mode, you can upload a configuration from the connected Flexi Soft system: Click on Upload. The current configuration of the Flexi Soft system will be loaded into the Flexi Soft Designer and can be edited after going offline. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 31 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways 5 Ethernet gateways This chapter describes the following Flexi Soft gateways: EtherNet/IP gateway (FX0-GENT) Modbus TCP gateway (FX0-GMOD) PROFINET IO gateway (FX0-GPNT) EtherCAT gateway (FX0-GETC) 5.1 Common features of the Ethernet gateways 5.1.1 TCP/IP configuration interface The Flexi Soft Ethernet gateways offer a TCP/IP configuration interface which allows the configuration of the Flexi Soft system over Ethernet TCP/IP. This runs parallel to the Ethernet TCP/IP or other Ethernet protocols. Do not connect to the Flexi Soft system via the RS-232 and the Ethernet interface at the same time! WARNING The Flexi Soft system can only communicate with one instance of the Flexi Soft Designer at one time. Connecting to the Flexi Soft system using multiple instances of the Designer, either on a single PC or multiple PCs, may result in inconsistencies of the configuration and the diagnostics as well as in operational errors. This applies to both RS-232 and Ethernet connections equally. Consider the signal delay for remote TCP/IP connections! WARNING Remote TCP/IP connections to the gateway may be unstable if the signal delay is too great. Check the signal delay to the gateway using the ping command. Signal delays > 300 ms may cause the connection to break down. Possible solutions: Make sure that the connection is fast enough or make another route if this is possible. Or: Use a software tool like Teamviewer or PC anywhere to control a local computer on which the Flexi Soft Designer software is installed and connected with the Flexi Soft system. Or: Contact SICK support. In order to configure a gateway for TCP/IP configuration for the first time, perform the following steps: Step 1: Assign an IP address Connect a PC or notebook to the RS-232 interface of the FX3-CPUx. Power up the Flexi Soft System. Open the Flexi Soft Designer configuration tool installed on the PC and load the hardware configuration including the gateway. 32 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways If your project is online, click on the Disconnect button to go offline. Click on the Interfaces button above the main window and select the desired gateway or double click on the desired gateway in the hardware configuration view. The gateway configuration view opens. Click on the Gateway configuration button on the left hand menu. The following dialog appears: Fig. 9: Ethernet gateway configuration dialog On the left side of the dialog you will find the area for the gateway’s IP configuration. If desired, enter a Device name for the Flexi Soft gateway. Enter a valid IP address, for the Flexi Soft gateway, and if required a valid Subnet mask and a valid IP address for a Default gateway. Or: If your network uses a DHCP server, activate the DHCP checkbox. Click Connect to go online and transfer the configuration to the Flexi Soft system. Notes: If your project is online, you can use the Read IP address button at the upper left corner of the gateway IP configuration area to retrieve the current IP settings of the gateway. The out-of-the-box default IP address of the gateway is 192.168.250.250. You can find the default IP address also on the type label of the gateway. Step 2: Add a TCP/IP profile to your project Connect one of the two Ethernet ports of the gateway with your Ethernet network using a shielded Ethernet cable. Connect a PC (or notebook) to the same Ethernet network. Ensure the IP address settings of the PC match the network setup. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 33 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Note You can also connect your PC directly to one of the two Ethernet ports of the gateway. In this case, you can either adapt the IP address settings of your PC or the IP address settings of the gateway to match the other device’s IP setup. Open the Flexi Soft Designer configuration tool installed on the PC and upload the hardware configuration including the gateway. If your project is online, click on the Disconnect button to go offline. Click on Com settings. The following dialog appears: Fig. 10: Connection settings dialog Click on Add TCP/IP profile. The following dialog appears: Fig. 11: Create new TCP/IP profile dialog Select your Ethernet network adaptor from the drop down list. 34 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Click on Scan to search for Flexi Soft gateways on your Ethernet network. Gateways located will be displayed as shown in the dialog below. Their IP address will be displayed as well as their MAC address and device name. Fig. 12: Create new TCP/IP profile dialog after scan has been performed Notes Flexi Soft Designer with version O 1.4.0 performs an UDP scan. This means that all Flexi Soft Ethernet gateways with firmware version O V2.00.0 (FX0-GMOD, FX0-GPNT and FX0-GENT) in the network will be detected, even if they are in a different subnet. A FX0-GETC can be detected as well, if it has been configured for EoE before (see section 5.5.7 “Ethernet over EtherCAT (EoE)” on page 110 and section 5.5.8 “TCP/IP configuration interface” on page 110). Flexi Soft Designer version < 1.4.0 can detect only gateways with a matching subnet address. Select the gateway that you want to use for the new profile. Enter a name for the profile to the Entry name edit field. Click OK. The profile has now been created and is shown in the connection dialog: 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 35 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Fig. 13: Connection settings dialog with new TCP/IP profile In order to use this profile, it needs to be activated. Click on the Activate profile icon (white arrow in green circle) on the far right. The profile will then be activated and marked as such: Fig. 14: Connection settings dialog with new TCP/IP profile activated Click OK. All communication to the Flexi Soft system will now happen via TCP/IP. In order to use the profile via the serial interface again, you will have to re-activate it. Note The port number for the TCP/IP configuration interface is pre-set to port 9000 and can not be changed. Step 3: Connect via TCP/IP Click on the Connect button to go online. 36 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways How to change the network settings of a Flexi Soft gateway: Click on the Flexi Soft gateway network settings button. The Network scan dialog is opened. Click on the Scan button. Your network is scanned for connected gateways and the devices found are displayed in the list. Fig. 15: Found gateways in the Network scan dialog Notes Flexi Soft Designer with version O 1.4.0 performs an UDP scan. This means that all Flexi Soft Ethernet gateways with firmware version O V2.00.0 (FX0-GMOD, FX0-GPNT and FX0-GENT) in the network will be detected, even if they are in a different subnet. A FX0-GETC can be detected as well, if it has been configured for EoE before (see section 5.5.7 “Ethernet over EtherCAT (EoE)” on page 110 and section 5.5.8 “TCP/IP configuration interface” on page 110). Flexi Soft Designer version < 1.4.0 can detect only gateways with a matching subnet address. Click on the gateway you want to edit. Enter the new settings in the Edit IP address area. Click on the Set device config button to transfer the new settings to the device. Note If the Flexi Soft Designer identifies a Flexi Classic series gateway in the network, this will be displayed in the list as well. These gateways are equipped with an internal web server and can be addressed using the Open web browser button. 5.1.2 Ethernet TCP/IP socket interface The FX0-GENT, FX0-GMOD and FX0-GPNT Ethernet gateways support a total number of four TCP/IP socket interfaces each. This allows multiple applications to communicate with the gateway at the same time over Ethernet TCP/IP. The number of possible connections depends on the gateway’s firmware version. Tab. 18: Number of possible TCP/IP connections 8012664/XR03/2013-11-19 Subject to change without notice Firmware version Possible connections Possible connections overall per socket V1.xx.x 1 per socket 4 O V2.00.0 6 per socket 24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 37 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways The gateway’s proprietary network interface (e.g. Modbus TCP) runs in parallel and its configuration or usage does not interact with the TCP/IP socket configuration as it happens independently on separate Flexi Soft Designer pages. Do not use the same output data set number for two different PLC connections or TCP/IP sockets! WARNING The output data set can be written to the Ethernet gateways in parallel by all communication interfaces or TCP/IP sockets (e.g. Modbus TCP and Ethernet TCP/IP), if they use the same output data set number. In that case, the last message overrides data received earlier. The gateway processes the data of a Flexi Soft system and makes it available in different compilations, the data sets. These data sets are available over the TCP/IP interface. For a detailed description of the data sets please refer to section 3.3 “Data transmitted into the network (input data sets)” on page 14. In order to configure the Ethernet TCP/IP socket interface, perform the following steps: Open the Flexi Soft Designer and load the hardware configuration including the gateway. Click on the Interfaces button above the main window and select the desired gateway or double click on the desired gateway in the hardware configuration view to open the gateway configuration dialog. Click on TCP/IP configuration on the left hand menu. The following dialog appears: Fig. 16: TCP/IP configuration dialog 38 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Configuration of the TCP/IP interface — Who establishes the connection If the Flexi Soft gateway shall connect to external applications, perform the following configuration steps: Activate the Connect to radio button. Set IP address to the IP address of the computer the application is running on. Enter the Port number for the application. Note The configuration is considered faulty if either the connect socket port and/or the connect IP address is zero when in Connect mode. If external applications shall connect to the Flexi Soft gateway, perform the following configuration steps: Activate the Listen on radio button. Enter the Port number for the application. Notes Suggested port numbers are 9100 to 9103 (default values). Port 0 and port 9000 are reserved and can not be used (faulty configuration). Port numbers 0 to 1023 are managed by the Internet Assigned Numbers Authority (IANA) and should not be used to prevent collisions. See www.iana.org/assignments/port-numbers. Finally, determine how the data are transferred. Follow the steps outlined in the following section. Data transfer method — How the data are transferred Whenever the TCP/IP socket connection has been established (either by an application on a PC or by the gateway itself), there are two possible methods how the data sets can be transferred: The application requests the data set(s) per command message (Application requests (Polling) mode), or the gateway auto-updates the data sets as per configuration (Gateway writes to Address/Port (Auto update) mode). In Auto update mode there are two update modes how the gateways update the data: Update COS (Change of state): when any data of the input data set change status. Heartbeat interval: data will be sent automatically according to the configured Heartbeat rate in ms. Note If Heartbeat interval is enabled, a change of state will trigger an immediate update of the data as well, regardless of the set heartbeat rate. I.e. COS is always active. For both methods the following structure of messages applies. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 39 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways General telegram structure The request/response message (e.g. telegram) is structured as shown below: 0 1 … … … … Command … … … … … … … Parameter(s) … n Data (content depends on type of command) Tab. 19: Telegram structure Parameter Length Description Command WORD 0h = Undefined (no command) Polling mode specific 00F1h = Input data set(s) request message 001Fh = Input data set(s) response message Auto-update specific 00E1h = Auto update control 001Eh = Auto update control response 002Eh = Auto update input data set(s) message Digital outputs read/write 00F2h = Write output data set settings 002Fh = Response to write output data set settings Parameter(s) Length As defined in specific command determined by command Data Length As defined in specific command determined by command Error response to invalid messages The gateway will set the most significant bit of the command word in the event that an invalid or improperly formatted message is received. Tab. 20: Error response message Parameter Length Description Command WORD Bit 15 of received command will be set (i.e. command of 00F2h would become 80F2h) Following data 40 Length Unchanged. Returned as it was received determined by command © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Application requests (Polling) mode In this mode the gateway will only send any data upon request (e.g. polling). Therefore the application shall send request telegrams as per definition below and the gateway will respond with telegrams structured as per definition below. Note In order to prevent that the connection will be closed automatically, the application must request data at least every 30 s when Polling mode is active. How to configure the Polling mode in Flexi Soft Designer: In order to configure the Application requests (Polling) mode of the gateway via the Flexi Soft Designer tool, perform the following steps: Open the Flexi Soft Designer and load the hardware configuration including the gateway. Click on the Interfaces button above the main window and select the desired gateway or double click on the desired gateway in the hardware configuration view to open the gateway configuration dialog. Click on TCP/IP configuration on the left hand menu. The following dialog appears: Fig. 17: TCP/IP configuration for Application requests (Polling) mode Activate the Listen on radio button. Enter the Port number on which the application will connect. For the Polling mode choose the Update mode Enable COS update. Clear all Update data set n check boxes. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 41 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Get input data set(s) The request message is sent by an application to the gateway. The request message telegram shall be structured as shown below: Tab. 21: Get data set(s) request Parameter Length Value Command WORD 00F1h Request data set 1 WORD 0 = Do not send data set 1 Request data set 2 WORD Request data set 3 WORD Request data set 4 WORD = Data set(s) request message 1 = Send data set 1 0 = Do not send data set 2 1 = Send data set 2 0 = Do not send data set 3 1 = Send data set 3 0 = Do not send data set 4 1 = Send data set 4 The response message is returned to the application by the gateway. The response message telegram will be structured as shown below: Tab. 22: Get data set(s) response 42 Parameter Length Value Command WORD 00F1h Data set 1 length WORD 0 = Data set not returned in data set(s) data field Data set 2 length WORD Data set 3 length WORD Data set 4 length WORD Data set(s) data Array of bytes = Data set(s) response message Non-zero = Length of data set 0 = Data set not returned in data set(s) data field Non-zero = Length of data set 0 = Data set not returned in data set(s) data field Non-zero = Length of data set 0 = Data set not returned in data set(s) data field Non-zero = Length of data set Data set(s) information © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Write output data sets The following command message is sent by the application to the gateway to write to the output data sets: Tab. 23: Write output data set setting command Parameter Length Value Command WORD 00F2h Output data set 1 length WORD 0 = Output data set not included in data set(s) data field Output data set 2 length WORD Output data set 3 length WORD Output data set 4 length WORD Output data set 5 length WORD Data set(s) data Array of bytes = Set output data set(s) command message Non-zero = Length of data set 0 = Output data set not included in data set(s) data field Non-zero = Length of data set 0 = Output data set not included in data set(s) data field Non-zero = Length of data set 0 = Output data set not included in data set(s) data field Non-zero = Length of data set 0 = Output data set not included in data set(s) data field Non-zero = Length of data set Data set(s) information The response message is returned to the application by the gateway. The response message telegram is structured as shown below: Tab. 24: Write output data set setting response Parameter Length Value Command WORD 002Fh = Response to write output data set settings message Status WORD 0 = Success. Output data sets written correctly 1 = Error — Can not write output data sets due to either: Loss of backplane communication Incorrect routing information 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 43 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Gateway writes to Address/Port (Auto update) mode The gateway can be configured to automatically update the data set information (i.e. the application does not need to send any request messages as it would do in polling mode) once the connection to the application has been made. The configuration settings are available via the Flexi Soft Designer configuration tool or via the TCP/IP interface itself. Using one interface does not disable the other: The auto update mode could be enabled via Flexi Soft Designer and disabled via TCP/IP command, for example. How to configure the Auto-Update mode via the TCP/IP interface: This command message is sent by an application to the gateway to configure the auto update mode. This message can be used to either disable or enable the auto update mode directly through the TCP/IP interface. Tab. 25: Auto update mode configuration command Parameter Length Value Command WORD 00E1h Request data set 1 WORD 0 = Do not send data set 1 Request data set 2 WORD Request data set 3 WORD Request data set 4 WORD 1 = Send data set 1 0 = Do not send data set 2 1 = Send data set 2 0 = Do not send data set 3 1 = Send data set 3 0 = Do not send data set 4 1 = Send data set 4 Heartbeat WORD mode update rate Note = Auto update control 0 = Disable heartbeat messages Non-zero = Enable heartbeat message at specified rate in ms. Minimum = 40 ms Auto update is disabled if all Request Input Data Set flags are set to zero. The response message returned to the application by the gateway: Tab. 26: Auto update mode configuration response 44 Parameter Length Value Command WORD 001Eh = Response to the auto update control message © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways How to configure the Auto-Update mode in Flexi Soft Designer: In order to configure the Gateway writes to Address/Port (Auto update) mode of the gateway via the Flexi Soft Designer tool, perform the following steps: Open the Flexi Soft Designer and load the hardware configuration including the gateway. Click on the Interfaces button above the main window and select the desired gateway or double click the desired gateway in the hardware configuration view to open the gateway configuration dialog. Click on TCP/IP configuration on the left hand menu. The following dialog appears: Fig. 18: TCP/IP configuration for auto update Activate the Connect to radio button. Enter the IP address and the Port number the gateway shall write to. Select the update mode: Enable COS update or Enable auto update and COS. If you have selected Enable auto update and COS, select the Update rate in ms. Select which data sets shall be updated: Check the Update data set n checkbox. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 45 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Normal operation The following message is sent from the gateway to the application while operating in auto update mode. Tab. 27: Auto update mode normal operation message Parameter Length Value Command Data set 1 length WORD WORD Data set 2 length WORD Data set 3 length WORD Data set 4 length WORD Data set(s) data Array of bytes (length dependent on set definition) 002Eh = Auto update data set(s) message 0 = Data set not returned in data set(s) data field Non-zero = Length of data set 0 = Data set not returned in data set(s) data field Non-zero = Length of data set 0 = Data set not returned in data set(s) data field Non-zero = Length of data set 0 = Data set not returned in data set(s) data field Non-zero = Length of data set Data set(s) information. Details see section 3.3 “Data transmitted into the network (input data sets)” on page 14 and chapter 7 “Layout and content of the process image” on page 172. 5.1.3 TCP/IP process image example The following example shows a possible process image sent by a FX0-GENT gateway via TCP/IP in auto update mode: Tab. 28: TCP/IP process image example Byte values [hex] Part of message Meaning 00 2E Command Auto update data sets (see Tab. 27) Length of data set 1: 50 bytes 00 32 00 20 00 3C Command parameters Length of data set 2: 32 bytes Length of data set 3: 60 bytes 00 3C Length of data set 4: 60 bytes 03 FF 03 03 Logic results 0-3 C0 Input values module 1: C0 = 11000000 = Inputs I8 and I7 Active Input values module 2: 03 03 = 00000011 = Inputs I2 and I1 Active 3F 05 05 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Data set 1 (default byte assignments, see Tab. 5) Input values module 3-12 Output values module 1-12 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Not assigned 00 00 00 00 00 00 46 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Byte values [hex] Part of message Meaning 52 A1 10 4C Total checksum (same value as the Flexi Soft checksum) 52 A1 10 4C Flexi Soft checksum 00 00 00 00 Data set 2 00 00 00 00 (see Tab. 5) 00 00 00 00 CPU0 and CPU1: Reserved CPU2 and CPU3: ACR checksum 00 00 00 00 00 00 00 00 00 00 00 00 FF FF FF FF Status module 0 (FX3-CPUx): OK FF FF FF FF Status module 1 (e.g. FX3-XTDI): OK FD FB FF FF Status module 2 (e.g. FX3-XTIO): Byte 0: FF = 11111111: No errors Data set 3 (see Tab. 5 and section 3.3.6 “Error and status information of the modules” on page 19) FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF Byte 1: FF = 11111111: No errors Byte 2: FB = 11111011: Input 3 external test signal failure. Byte 3: FD = 11111101: Output 1 stuckRatRlow error Data set 3 data is transferred in Big Endian Status modules 3-6: OK format, i.e. in 32 bit double word format with the most significant byte placed in the leftmost position. Status modules 7-12 (no modules present) FF FF FF FF FF FF FF FF Status module 13 (e.g. FX0-GENT): OK FF FF FF FF Status module 14 (no module present) 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Data set 4 Reserved 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 47 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways 5.1.4 TCP/IP socket monitor The TCP/IP socket monitor allows you to view the input data sets that a gateway transfers into the network via TCP/IP, issue commands to the gateway and to write data to the gateway’s output data sets. The TCP/IP socket monitor is a separate program that is installed with the Flexi Soft Designer. You will find the TCP/IP socket monitor in the Windows Start menu under “Programs/SICK/Flexi Soft Designer/Tools/TCPIP socket monitor”. In order to connect to the gateway via the socket monitor, at least one TCP/IP socket must be enabled on the gateway (see section 5.1.2 “Ethernet TCP/IP socket interface” on page 37). How to use the socket monitor: Power up the Flexi Soft system. Connect one of the two Ethernet ports of the gateway with your Ethernet network using a shielded Ethernet cable. Connect a PC (or notebook) to the same Ethernet network. Ensure the IP address settings of the gateway and the PC match the network setup. Note You can also connect your PC directly to one of the two Ethernet ports of the gateway. In this case, you can either adapt the IP address settings of your PC or the IP address settings of the gateway to match the other device’s IP setup. Open the TCP/IP socket monitor. The following window opens: Fig. 19: Socket monitor window The TCP/IP socket monitor can connect to the gateway either as TCP client or as TCP server, depending on the socket configuration of the gateway. 48 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways PC is TCP Client If at least one socket is enabled and if the gateway is configured to Listen on this socket, the PC can connect to the gateway as client. In a dropdown list in the PC is TCP Client area, all available network adapters are displayed: Fig. 20: PC is TCP Client area — Gateway is configured to listen Select the network adapter that is connected to the gateway. The MAC address and the IP address of the selected network adapter are displayed beneath the dropdown list. Enter the Flexi Soft IP address of the gateway and the Port number of the enabled socket. Click on Connect to establish the communication to the gateway. PC is TCP Server If at least one socket is enabled and if the gateway is configured to Connect on this socket, the PC can connect to the gateway as server. In a dropdown list in the PC is TCP Client area, all available network adapters are displayed: Fig. 21: PC is TCP Server area — Gateway is configured to connect Select the network adapter that is connected to the gateway. The MAC address and the IP address of the selected network adapter are displayed beneath the dropdown list. Note The gateway socket must be configured to connect to the local IP address of the PC. Enter the Port number on which the enabled socket is configured to connect. Click on Listen on to establish the communication to the gateway. Once the connection to the gateway is established, the further proceedings are alike, no matter whether the PC is connected as client or as server. It is possible to establish a client and a server connection at the same time, if the gateway socket configuration allows this. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 49 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Write data to device — How to control the gateway The Write data to device area consists of three file cards which are used to assemble different commands that can be sent to the gateway. The commands are assembled automatically as you activate or deactivate the different options on the file cards and are displayed in the log window. A click on the Write button sends the displayed command to the gateway. The Clear log button deletes the displayed command from the log window. It is also possible to edit the command in the log window manually. Under the Read input data sets file card you can request input data sets from the gateway using the 00F1h command (see Tab. 21 on page 42). Fig. 22: Write data to device — Read input data sets Activate all data sets that you want to receive. The command that will be sent is shown in the log window. Click on the Write button above the log window to send the command to the gateway. The gateway will respond with a 00F1h response message (see Tab. 22 on page 42) that will be shown in the Read automatic data from device area below. Note If the gateway is configured to send data sets on this socket cyclically or on change of state (COS), the gateway’s response may be overwritten very soon by the next message from the gateway. In this case you should modify the configuration under the Configure input data sets file card (see below). Under the Write output data sets file card you can write data to the gateway’s output data sets using the 00F2h command (see Tab. 23 on page 43). Fig. 23: Write data to device — Write output data sets Activate all data sets that you want to send and edit the data in the input field for the respective data set. The command that will be sent is shown in the log window below. 50 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Click on the Write button above the log window to send the command to the gateway. The gateway will respond with a 00F2h response message to indicate whether the output data sets have been written correctly or if an error has occured (see Tab. 24 on page 43). The result will be shown in the Read automatic data from device area below. Under the Configure input data sets file card you can configure the gateway to send input data sets either on change of state (COS) or cyclically (auto update) using the 00E1h command (see Tab. 25 on page 44). Fig. 24: Write data to device — Configure input data sets Activate all data sets that you want to receive, choose the update mode (i.e. either COS or auto update and COS) and enter the Update rate (40 to 65535 ms), if auto update is desired. The command that will be sent is shown in the log window. Click on Write to send the command to the gateway. The gateway will respond with a 00E1h response message (see Tab. 26 on page 44) that will be shown in the Read data from device automatically area below. Depending on the configuration, the gateway will follow up with 00E2h messages, i.e. it will send the activated data sets as on COS and cyclically as configured (see Tab. 27 on page 46). Notes The initial behaviour of the gateway when you open the socket monitor depends on the gateway’s configuration for the respective socket in your project or on the last 00E1h command the gateway has received and does not correspond necessarily with the settings displayed in the Configure input data sets file card. The changes you make to the input data sets configuration here will not be stored in your project but will change the behaviour of the gateway temporarily, i.e. until it receives another 00E1h command or until the Flexi Soft system is restarted. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 51 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Read automatic data from device — Monitoring the gateway’s messages The Read automatic data from device area shows the messages sent by the gateway. Fig. 25: Read automatic data from device The last Command and the Data sets that have been sent by the gateway are displayed in the grey part of the area. The data are displayed in blocks of four bytes. Data blocks that have changed value since the last message has been received are highlighted blue. The log window shows the complete command string the gateway has sent. The communication indicator in the upper left corner of the log window title bar lights up green if currently data are received from the gateway. The time stamp in the log window title bar indicates when the last command string has been received. The Clear log button erases the log. You can choose from the dropdown list whether the next received command string shall override the last one or if it shall be appended at the top of the log. 5.2 EtherNet/IP gateway The following Flexi Soft gateway can be used for EtherNet/IP: FX0-GENT. You will find the EDS files and the device icon for PLC interfacing … in the Internet on the FX0-GENT product page on www.sick.com. in the Flexi Soft Designer program folder on your hard disk (default installation folder is “C:\programs\SICK\FlexiSoft\DeviceDescriptions\...”). Flexi Soft EtherNet/IP gateways with firmware V1.xx.x support only EtherNet/IP explicit messaging (Class 3). Implicit messaging (Class 1) is not supported. Please use the EDS file SICK_FX0_GENT_1.00.eds for these gateways. Flexi Soft EtherNet/IP gateways with firmware O V2.00.0 support EtherNet/IP implicit messaging and explicit messaging (Class 1 and Class 3). Please use the EDS file SICK_FX0_GENT_2.02.eds for these gateways. 52 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways 5.2.1 Interfaces and operation The FX0-GENT is equipped with an integrated three-port switch for connection to the Ethernet network. Two RJ-45 sockets are available for the connection. The switch functionality allows the FX0-GENT to be used for connection to another Ethernet component (e.g. connection to a notebook) without having to interrupt the Ethernet connection to the network. Fig. 26: Interfaces and display elements of the FX0>GENT RJ>45 Ethernet socket Power supply LED (green) Network activity LED for Ethernet port 1 or 2 (green) STATUS LED (red/green) RJ>45 Ethernet socket Tab. 29: Meaning of the LED displays of the FX0-GENT Symbol description: : LED is off Green: LED lights up green Red: LED flashes red LED Meaning PWR No power supply Green LINK/ACT 1 LINK/ACT 2 No Ethernet connection Green Green STATUS Power supply switched on 6) Ethernet connection active, no data transmission Ethernet connection active, data transmission Power-up Green Executing (live process data from/to FX3-CPUx) Green 1 Hz: Idle Red 1 Hz: Configuring/configuration required 2 Hz: Critical fault on gateway Red Critical fault on another module Red/green Executing, but faulty or no Ethernet communication Note Error elimination is described in section 5.2.10 “Diagnostics and troubleshooting” on page 74. Power-up sequence On power-up, the following LED test sequence is performed: 6) 8012664/XR03/2013-11-19 Subject to change without notice STATUS LED Off for 6 s STATUS LED Red for 0.25 s STATUS LED Green for 0.25 s STATUS LED Off On older versions of the FX0-GENT, the STATUS LED is called MS LED. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 53 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways 5.2.2 Basic configuration — Assigning a device name and IP address Configuration of the FX0-GENT is performed via the Flexi Soft Designer tool. Open the Flexi Soft Designer and load the hardware configuration including the EtherNet/IP gateway. Click on the Interfaces button above the main window and select the FX0-GENT or double click the FX0-GENT in the hardware configuration to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: Fig. 27: EtherNet/IP gateway configuration dialog If desired, change the Device name for the Flexi Soft gateway. Enter a valid IP address for the Flexi Soft gateway, and if required a valid Subnet mask and a valid IP address for a Default gateway. Click Connect to go online and download the configuration to the Flexi Soft system. 54 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways 5.2.3 Note EtherNet/IP Class 1 communication — Implicit messaging Only Flexi Soft EtherNet/IP gateways with firmware O V2.00.0 support both EtherNet/IP implicit messaging and explicit messaging (Class 1 and Class 3). If your gateway has an older firmware version, please refer to section 5.2.6 “Ethernet/IP Class 3 communication — Explicit messaging” on page 60. Please use the EDS file SICK_FX0_GENT_1.00.eds for these older gateways. General overview Implicit messaging is a method of communication between EtherNet/IP PLCs and devices. Implicit messaging uses Ethernet UDP messages. Implicit messaging is cyclic in nature. Input and output data is exchanged between the controllers and devices at regular time intervals. Message delivery is not guaranteed. Multicast addressing is possible. Class 1 functionality To establish Class 1 communication, a connection between the PLC and the EtherNet/IP gateway must be created. To this end, the PLC must send a Forward Open message to the gateway. The gateway then checks the received parameters, responds with a success or fail status message (Forward Open response) and, if successful, includes a set of connection parameters. The Forward Open message from the PLC to the EtherNet/IP gateway includes the following parameters: input connection type (gateway to PLC: either point-to-point or multicast) input assembly object instance number input data length output connection type (PLC to gateway: only point-to-point is accepted) output assembly object instance number (unused if input data only) output data length (unused if input data only) requested packet interval The EtherNet/IP gateway then returns the following parameters in the Forward Open response: status of connection attempt – SUCCESS: If the received parameters are acceptable and the gateway has sufficient bandwidth and memory resources, the connection will be accepted. The STATUS LED is Green. – FAILURE: If either the received parameters are incorrect or the gateway does not have sufficient bandwidth and memory resources, the connection will be rejected. The STATUS LED blinks Red/green. The IP address and UDP socket port number on which the PLC must listen for input messages: – If the input connection is point-to-point, this is the PLC’s IP address. – If the input connection is multicast, the gateway sends the multicast address on which the PLC must listen for input messages. The packet interval that will be allowed by the gateway. This may be the same as or greater than the interval requested by the PLC. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 55 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Once a connection has been successfully created, data can then be exchanged between the PLC and the EtherNet/IP gateway. The connection will remain open until it is closed by either the PLC or the EtherNet/IP gateway. Packet update interval The packet update interval for Class 1 connections that will be returned to the EtherNet/IP PLC in the Forward Open response depends on the following factors: the value for the Requested Packet Interval received from the EtherNet/IP PLC in the Forward Open message the Maximum PLC Update Rate as configured in the Gateway configuration dialog of the Flexi Soft Designer the 10 ms system clock that the EtherNet/IP gateway operates on If the Requested Packet Interval is less than the Maximum PLC Update Rate, the packet update interval will be set to the Maximum PLC Update Rate. Otherwise, it will be set to the Requested Packet Interval. If the packet update interval is not a multiple of 10 ms (10, 20, 30, 40, etc.), then the packet update interval will be adjusted up to the next multiple of 10 ms. Tab. 30: Examples for the packet update interval Requested Maximum PLC Actual packet Packet Interval Update Rate update interval 5 ms 10 ms 15 ms 15 ms 10 ms 10 ms 20 ms 10 ms 10 ms 10 ms 20 ms 20 ms 20 ms 25 ms 30 ms 40 ms 32 ms 30 ms 30 ms 40 ms 40 ms 48 ms 40 ms 50 ms 50 ms 40 ms 50 ms Description Set to Maximum PLC Update Rate Requested Packet Interval accepted Set to Maximum PLC Update Rate Requested Packet Interval adjusted upward to 20 ms Maximum PLC Update Rate adjusted upward to 30 ms Requested Packet Interval accepted Requested Packet Interval adjusted upward to 40 ms Requested Packet Interval adjusted upward to 50 ms Requested Packet Interval accepted Bandwidth limitations The maximum number of Class 1 messages per second is limited by the FX3-CPUx. At 50 % of available CPU bandwidth, this is approximately 200 messages per second or one Class 1 connection at 10 ms I/O update rate (the system clock frequency of the FX0-GENT is 10 ms). Tab. 31: Recommended bandwidths for Class 1 messages Note 56 PLC update rate [ms] Cyclic two-way I/O Cyclic input-only multicast connections connections 10 1 2 20 2 4 40 Up to 4 Up to 8 The gateway will not enforce these bandwidth recommendations. However, if the bandwidth used for Class 1 communication exceeds 200 messages per second, the RS-232 interface and the Ethernet TCP/IP interface will slow down. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Point-to-point and multicast connections For EtherNet/IP PLC to gateway: Only point-to-point connections will be accepted. Multicast connections will not be accepted. For gateway to EtherNet/IP PLC: Both point-to-point and multicast connections will be accepted. Multicast connections can be either exclusive owner or multiple listeners. Maximum number of Class 1 connections For I/O connections involving both input and output data sets: Each output data set can be controlled by only one I/O connection. I/O connection attempts to control an output data set that is already controlled by another I/O connection will be rejected. If each I/O connection controls only one output data set, then up to 5 I/O connections can be active simultaneously. The maximum number of possible I/O connections decreases if an I/O connection controls more than one output data set. For connections involving only input data sets (gateway to PLC): Depending on the gateway’s bandwidth, up to 32 connections may be created at one time if all request the same set of input data. The maximum number of connections requesting different data that can be supported depends on the requested data rates and the available gateway bandwidth. If the connections require more bandwidth than available, the gateway will slow down and not be able to return the input data at the requested data rates. Class 1 data access — Input data sets All four input data sets are included in one array that can be read by all Class 1 PLCs. The start of the input data received by the PLC is defined by the assembly instance number. Each input instance number corresponds to the start of an input data set. The length determines how much input data is received by the PLC. This allows partial and/or multiple input data sets to be received by the PLC. For example, the first 20 bytes of input data set 1 or all input data sets could be read by the PLC. All input data sent to the PLC must be sequential. This means that input data sets 1 and 2 or input data sets 1, 2, and 3 can be sent together. However, input data sets 1 and 3 can not be sent together because they are not sequential. Tab. 32: Class 1 read access points to input data sets Assembly Byte Length Input instance index [bytes] data set 1 0-49 50 1 2 50-81 32 2 3 82-141 60 3 4 142-201 60 4 Description Valid read lengths [bytes] Starting at input data set 1 Can read input data sets 1-4 Starting at input data set 2 Can read input data sets 2-4 Starting at input data set 3 Can read input data sets 3-4 Can read input data set 4 1-202 1-152 1-120 1-60 Class 1 data access — Output data sets All five output data sets are included in one array that can be written by all Class 1 PLCs. The start of the output data is defined by the assembly instance number. Each output instance number corresponds to the start of an output data set. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 57 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways The length determines how much output data is sent by the PLC. This allows a PLC to write to one or multiple output data sets. For example, output data set 1 or all five output data sets could be written. Because partial output data sets cannot be written, the output length must be a multiple of 10 bytes. The length must be 10 to write one output data set, 20 for two data sets, and so on. All output data written by the PLC must be sequential. This means that e.g. output data sets 1 and 2 or output data sets 1, 2, and 3 can be written together. However, output data sets 1 and 3 can not be written together because they are not sequential. Tab. 33: Class 1 write access points to output data sets Assembly Byte Length Output instance index [bytes] data set Description Valid write lengths [bytes] 5 0-9 10 1 Starting at output data set 1 Can set output data sets 1-5 6 10-19 10 2 Starting at output data set 2 Can set output data sets 2-5 7 20-29 10 3 Starting at output data set 3 Can set output data sets 3-5 8 30-39 10 4 9 40-49 10 5 Starting at output data set 4 Can set output data sets 4+5 Starting at output data set 5 Can set output data set 5 10 = Output data set 1 20 = Output data sets 1+2 30 = Output data sets 1-3 40 = Output data sets 1-4 50 = Output data sets 1-5 10 = Output data set 2 20 = Output data sets 2+3 30 = Output data sets 2-4 40 = Output data sets 2-5 10 = Output data set 3 20 = Output data sets 3+4 30 = Output data sets 3-5 10 = Output data set 4 20 = Output data sets 4+5 10 = Output data set 5 Assembly object definition All Class 1 data must be transferred using the assembly object. The assembly object interface is used to directly tie Vendor Specific objects to a standard interface which the EtherNet/IP PLC uses to communicate with the device. For the Flexi Soft EtherNet/IP gateway, the assembly object corresponds to the Full Data Set Transfer object (72h), which provides access to the input and output data sets (see page 65). Each instance of the assembly object corresponds to one or more Full Data Set Transfer object attributes. The assembly object defines the interface by which a Class 1 PLC can … request the input data set information from the Flexi Soft gateway. write the output data set information to the Flexi Soft gateway. Tab. 34: Assembly object class attributes 58 Attribute ID Name Data type Data values Access rule 1 Revision UINT 1 Get 2 Max. instance UINT 9 Get 3 Num. instances UINT 9 Get © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Tab. 35: Assembly object instance definitions Assembly Description Data type instance no. Data Access Corresponding values rule Full Data Transfer object attributes Flexi Soft to Network 1 Request input data sets 1 to 4 data BYTE[202] Valid read lengths: 1-202 0-255 Get 1, 2, 3, 4 2 Request input data sets 2 to 4 data BYTE[152] Valid read lengths: 1-152 0-255 Get 2, 3, 4 3 Request input data set 3 and 4 data BYTE[120] Valid read lengths: 1-120 0-255 Get 3, 4 4 Request input data set 4 data BYTE[60] Valid read lengths: 1-60 0-255 Get 4 Network to Flexi Soft 8012664/XR03/2013-11-19 Subject to change without notice 5 Write output data set 1 to 5 data BYTE[50] Valid write lengths: 10 = Set 1 20 = Sets 1-2 30 = Sets 1-3 40 = Sets 1-4 50 = Sets 1-5 0-255 Get/Set 5, 6, 7, 8, 9 6 Write output data sets 2 to 5 data BYTE[40] Valid write lengths: 10 = Set 2 20 = Sets 2-3 30 = Sets 2-4 40 = Sets 2-5 0-255 Get/Set 6, 7, 8, 9 7 Write output data sets 3 to 5 data BYTE[30] Valid write lengths: 10 = Set 3 20 = Sets 3-4 30 = Sets 3-5 0-255 Get/Set 7, 8, 9 8 Write output data sets 4 and 5 data BYTE[20] Valid write lengths: 10 = Set 4 20 = Sets 4-5 0-255 Get/Set 8, 9 9 Write output data set 5 data BYTE[10] Valid write lengths: 10 = Set 5 0-255 Get/Set 9 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 59 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Tab. 36: Assembly object instance attributes Attribute ID Name Data type Data values Access rule 3 Data Array of BYTE 0-255 Get/Set 4 Data length UINT Maximum number of bytes in attribute 3 Get Attribute 3 — Request/Write Data: either the readable input data or the writeable output data, dependent on the instance number Attribute 4 — Data length: maximum data length for each assembly instance Common services Tab. 37: Assembly object common services Service code Implemented in class Implemented in instance Service name 01h Yes No Get_Attributes_All 0Eh Yes Yes Get_Attribute_Single 10h No Yes Set_Attribute_Single 02h No No Set_Attribute_All 5.2.4 Example configuration of implicit messaging with Rockwell RSLogix 5000 You will find a description of the configuration of a class 1 connection using Rockwell RSLogix 5000 in the brochure “Flexi Soft Ethernet IP: Implicit Messaging with Rockwell RSLogix 5000” (SICK part no. 8015359). This brochure is available for download in PDF format at www.sick.com. 5.2.5 Example configuration of implicit messaging with an OMRON PLC You will find a description of the configuration of a class 1 connection using an OMRON PLC in the brochure “Flexi Soft Ethernet IP: Implicit Messaging with an Omron PLC” (SICK part no. 8015341). This brochure is available for download in PDF format at www.sick.com. 5.2.6 Ethernet/IP Class 3 communication — Explicit messaging General overview Explicit messaging is a method of communication between EtherNet/IP PLCs and devices. Explicit messaging uses Ethernet TCP/IP messages. Explicit messaging is not cyclic in nature. The PLC and the devices must send individual messages to each other. Message delivery is guaranteed. Multicast addressing is not possible. 60 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Transfer methods The configuration steps in this section specify how the data to the higher-level PLC are transferred. In general, there are two different transfer methods available for both transfer directions such as Flexi Soft to Network and Network to Flexi Soft: Gateway writes to tag/file and/or Gateway reads from tag/file — the FX0-GENT gateway operates as master. It writes the data into and/or reads from the PLC memory. PLC requests and/or PLC writes — the FX0-GENT gateway operates as slave. The PLC requests the data from the gateway and/or writes the data to the gateway. Both methods can be mixed. E.g. it is possible to configure the gateway as master for the Flexi Soft to Network direction (option Gateway writes to tag/file activated) while it operates at the same time as slave for the Network to Flexi Soft direction (option PLC writes activated). Number of possible connections The number of possible connections to the PLC depends on whether the FX0-GENT is operated as master or slave. Depending on the setting, up to 128 PLCs can address the FX0-GENT at the same time. Tab. 38: Number of possible connections Operating mode of the FX0-GENT Maximum connections Rx (To PLC) Transfer mode: Gateway writes to Tag/File Tx (From PLC) Transfer mode: Gateway reads from Tag/File Rx (To PLC) Transfer mode: Gateway writes to Tag/File Tx (From PLC) Transfer mode: PLC writes Rx (To PLC) Transfer mode: PLC requests Tx (From PLC) Transfer mode: Gateway reads from Tag/File Rx (To PLC) Transfer mode: PLC requests Tx (From PLC) Transfer mode: PLC writes Rx and Tx: 1 Rx: 1 Tx: 127 Rx: 127 Tx: 1 Rx and Tx: 128 Configuration process The following table outlines the configuration process depending on the transfer method: Tab. 39: Configuration guideline — Gateway as master Gateway is master (Gateway writes to Tag/File and/or Gateway reads from Tag/File) To do in the gateway configuration (via Flexi Soft Designer tool) Select which data shall be written to/read from the PLC Define where in the PLC memory the selected data shall be written to: Enter tag names. Example: InDataSet1 And/or define where in the PLC memory the selected data shall be read from: Enter tag names. Example: OutDataSet1 Select how often this data shall be transmitted. Define where the data shall be read from/written to in the EtherNet/IP network: Enter the IP address and controller slot number of the PLC. Tab. 40: Configuration guideline — Gateway as slave Define exactly the same tag names in the PLC program. Example: InDataSet1 INT[25] OutDataSet1 INT[5] The data type shall be INT. – – To do in the gateway configuration To do in the PLC program and/or EtherNet/IP (via Flexi Soft Designer tool) network configuration tool – – – Subject to change without notice – Gateway is slave (PLC requests and/or PLC writes) – 8012664/XR03/2013-11-19 To do in the PLC program and/or EtherNet/IP network configuration tool Download and install the FX0-GENT EDS file from www.sick.com. Integrate the FX0-GENT into the EtherNet/IP network via network configuration tool (i.e. RSNetworx). Program the explicit message “Get_Attribute_...” or “Set_Attribute_...” in the PLC program to read/write data from/to the gateway Program the trigger for sending the explicit messages. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 61 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Method 1: Gateway writes to/reads from Tag/File — FX0-GENT writes the data into/reads the data from the PLC memory In this operating mode the FX0-GENT as a master writes the data of all activated data sets into the specified memory areas of the PLC. The only task for the PLC programmer is to define a controller tag name which matches the gateway configuration tag name. In order to configure the gateway to be master, perform the following steps: Open the Flexi Soft Designer and load the hardware configuration including the EtherNet/IP gateway. Click on the Interfaces button above the main window and select the FX0-GENT or double click the FX0-GENT in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: Fig. 28: EtherNet/IP gateway configuration as master Within the Gateway configuration dialog, select the transfer method by activating Gateway writes to tag/file for the Flexi Soft to Network direction and Gateway reads from tag/file for the Network to Flexi Soft direction. Select which data shall be written to/read from the PLC by checking the checkbox for the required data set. Define where in the PLC memory the selected data shall be written to or read from: Enter tag names into the Tag/file name edit fields (max. 20 characters). Select Write all sets in one tag if all data sets shall be written into one tag in the PLC memory. In this case, the tag defined for data set 1 will be used. 62 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Define how often the data shall be transmitted to the PLC: – Select Enable COS update (update on change of state) if the FX0-GENT is to update the data in the PLC immediately when changes occur in the data sets. – Select Enable heartbeat interval to activate updating of the selected data sets with the set Heartbeat rate in ms. – Both options may be selected at the same time. Define how often the data shall be read from the PLC: – Enter a Heartbeat rate in ms to activate updating of the selected data sets with the set time. Define where the data shall be read from/written to in the EtherNet/IP network: Enter the IP address and controller Slot number of the PLC. Note The configuration is considered faulty, if the PLC IP address is zero and either Gateway writes to tag/file for the Flexi Soft to Network direction and/or Gateway reads from tag/file for the Network to Flexi Soft direction is activated. The Max. PLC update rate (ms) defines the maximum rate (the minimum time interval) for transferring the data sets to and from the PLC. Settings occur dependent on the PLC processing speed. Minimum = 10 ms, maximum = 65,535 ms. The default value of 40 ms is suitable for most PLCs. Notes – If the value entered for the Max. PLC update rate is greater than the Heartbeat rate set for writing to or reading from the PLC, the heartbeat rate will be automatically increased (i.e. slowed down) to this value. – All data sets are transferred to the PLC in 16 bit integer format with the first byte placed in the most significant, or leftmost byte of the integer. Click Connect to go online and download the configuration to the Flexi Soft system. Open the PLC programming tool. Define the PLC tag names as previously configured in the Flexi Soft EtherNet/IP gateway. Fig. 29 shows an example for the definition of tag names in a PLC program written with RSLogix: Fig. 29: Example of tag names in a PLC program Notes Tag names for Allen Bradley SLC/PLC-5 PLCs must begin with a “$” (i.e. $N10:0). Tag names for Allen Bradley MicroLogix PLCs must begin with a “#” (i.e. #N10:0). 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 63 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Method 2: Polling mode — PLC requests the data from/PLC writes the data to the FX0NGENT In this operating mode the FX0RGENT operates as slave. It sends the data to the PLC upon request and the PLC writes the data to the gateway. If this operating mode is desired: Open the Flexi Soft Designer and load the hardware configuration including the EtherNet/IP gateway. Click on the Interfaces button above the main window and select the FX0-GENT or double click the FX0-GENT in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: Fig. 30: EtherNet/IP gateway configuration as slave Within the Gateway configuration dialog, select the transfer method by activating PLC requests for the Flexi Soft to Network direction, PLC writes for the Network to Flexi Soft direction. Select which data shall be requested or written by the PLC by checking the checkboxes for the required data sets. Click Connect to go online and download the configuration to the Flexi Soft system. Program the explicit messaging in the PLC. Polling data sets via explicit messaging The FX0-GENT supports two vendor specific objects which can be polled via explicit messaging: The Full Data Set Transfer object allows to poll for each of the data sets. There is one instance where each attribute represents a data set. 64 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways The Individual Input Data Set Transfer object allows to poll for the individual data set parameters. There is one instance per data set and each attribute represents one byte of the data set. Full Data Set Transfer object definition (72h — one instance) The vendor specific Full Data Set Transfer object defines the attributes by which the PLC can: request the complete input data set information from the FX0-GENT. write the complete output data set information to the FX0-GENT. Class attribute (instance 0) Tab. 41: Full Data Set Transfer object (72h) class attribute (instance 0) Attribute ID Name Data type Data values Access rule 1 Revision UINT 1 Get 2 Max. instance UINT 1 Get 3 Num. instances UINT 1 Get Instance attribute (instance 1) These attributes provide access to input and output data sets. Get Attribute Single requests for a specific input data set will return the input data set information. Get Attributes All requests will return all enabled input data sets. All data set information will be returned in integer (16 bit word) format. For byte data, the first byte will be placed in the most significant or leftmost byte of the integer and the second byte will be placed in the least significant or rightmost byte of the integer. Tab. 42: Full Data Set Transfer object (72h) instance attribute (instance 1) Attribute ID Name Data type Data values Access rule 1 Request input data set 1 specific data Array of UINT 0-255 Get 2 Request input data set 2 specific data Array of UINT 0-255 Get 3 Request input data set 3 specific data Array of UINT 0-255 Get 4 Request input data set 4 specific data Array of UINT 0-255 Get Flexi Soft to Network Network to Flexi Soft 8012664/XR03/2013-11-19 Subject to change without notice 5 Write the output data set 1 specific data Array of UINT 0-255 Set 6 Write the output data set 2 specific data Array of UINT 0-255 Set 7 Write the output data set 3 specific data Array of UINT 0-255 Set 8 Write the output data set 4 specific data Array of UINT 0-255 Set 9 Write the output data set 5 specific data Array of UINT 0-255 Set © SICK AG • Industrial Safety Systems • Germany • All rights reserved 65 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Common services Tab. 43: Full Data Set Transfer object (72h) common services Service code Implemented in class Implemented in instance Service name 01h Yes Yes Get_Attributes_All 0Eh Yes Yes Get_Attribute_Single 10h No Yes Set_Attribute_Single 02h No Yes Set_Attribute_All Individual Input Data Set Transfer object definition (73h — one instance per data set) The vendor specific Individual Input Data Set Transfer object defines the attributes by which the PLC can request either full input data sets or individual parameters within an input data set. Class attributes Tab. 44: Individual Input Data Set Transfer object (73h) class attributes Attribute ID Name Data type Data values Access rule 1 Revision UINT 1 Get 2 Max instance UINT 4 Get 3 Num instances UINT 4 Get Instance attributes Tab. 45: Individual Input Data Set Transfer object (73h) instance attributes Attribute ID Name Data type Data values Access rule 1 to n (dependent on data set definition) Request input data set specific data SINT 0-255 Get Common services Tab. 46: Individual Input Data Set Transfer object (73h) common services Service code Implemented in class Implemented in Service name instance 01h Yes Yes Get_Attributes_All 0Eh Yes Yes Get_Attribute_Single Instance attribute definitions Attribute 1 to n — Request input data set specific parameters These attributes return the input data set specific data arrays. Get Attribute Single requests for a specific input data set will return only the requested data set parameter information. Get Attributes All requests will return the entire data set. The data set attributes, numbered from 1 to N, refer to each individual attribute of each individual input data set. Each instance refers to a unique input data set and each input data set has a unique attribute numbering scheme. The following tables reflect the attribute definitions for each input data set. Get All Data Set Attributes request All data set information will be returned in integer (16 bit word) format. For byte data, the first byte will be placed in the least significant or rightmost byte of the integer and the second byte will be placed in the most significant or leftmost byte of the integer. 66 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Example: For an input data set, the data will be returned as follows: – IntegerArray[0]: BBAAh — AA = BYTE1; BB = BYTE2 – IntegerArray[1]: DDCCh — CC = MED1; DD = MED2 – … – IntegerArray[6]: NNMMh Note — MM = BYTE13; NN = BYTE14 The typical PC tools of Rockwell/Allen Bradley change this data format back to BBAA hex format for visualisation purposes. Check your data for plausibility before putting your Flexi Soft system into operation. Instance 1 — Input data set 1 attribute definitions Tab. 47: Individual Input Data Set Transfer object (73h) instance 1 attribute definitions Attribute number Data set parameter Size 1 Byte 0 SINT 2 Byte 1 SINT … … … 50 Byte 49 SINT Instance 2 — Input data set 2 attribute definitions Tab. 48: Individual Input Data Set Transfer object (73h) instance 2 attribute definitions Attribute number Data set parameter Size 1 Total checksum UDINT 2 Flexi Soft checksum UDINT 3 CPU0 and CPU1: Reserved UDINT CPU2 and CPU3: ACR checksum 4 Reserved UDINT 5 Reserved UDINT 6 Reserved UDINT 7 Reserved UDINT 8 Reserved UDINT Instance 3 — Input data set 3 attribute definitions Tab. 49: Individual Input Data Set Transfer object (73h) instance 3 attribute definitions Attribute number Data set parameter Size 1 Module status module 0 UINT[2] 2 Module status module 1 UINT[2] … … … 15 Module status module 14 UINT[2] Instance 4 — Input data set 4 attribute definitions Tab. 50: Individual Input Data Set Transfer object (73h) instance 4 attribute definitions 8012664/XR03/2013-11-19 Subject to change without notice Attribute number Data set parameter Size 1 Reserved UINT[2] 2 Reserved UINT[2] … … … 15 Reserved UINT[2] © SICK AG • Industrial Safety Systems • Germany • All rights reserved 67 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways PLC-5/SLC/MicroLogix interface The PLC-5, SLC and MicroLogix PLC interfaces are supported by: the same write to PLC functionality as provided to ControlLogix PLCs provided in the Write-to-File receive method. PCCC based messages transferred via the PCCC object – SLC Typed Read Message – SLC Typed Write Message – PLC-5 Typed Read Message (Logical ASCII and Logical Binary address format) – PLC-5 Typed Write Message (Logical ASCII and Logic binary address format). Normal PLC-5/SLC file naming conventions are used. The primary differences between the PLC-5/SLC/MicroLogix interface and the ControlLogix interfaces are: Polling is performed through the SLC and PLC-5 specific messages instead of accessing the Data Transfer object. Data is written into files on the PLC, instead of tags as on ControlLogix PLCs. Note While ControlLogix PLCs support the SLC and PLC-5 messages, using those messages on ControlLogix PLCs is not recommended due to data size and performance considerations. Receive communication methods Polling Receive Method This method provides a polling method that allows the PLC to request data on a periodic basis. In this method, the input data set information is returned in the response to the data request message. The PLC requests data by accessing the corresponding data file address on the FX0-GENT with either a SLC typed read or PLC-5 typed read message. The following restrictions apply to this method: – The file location to receive the input data set on the PLC must be of type INTEGER and large enough to contain the input data set table(s). – If no data has been received on the FLEXBUS+ for the specified module, all zeros will be returned. Unsolicited — Write to File Receive Method When it is determined that data received on the Flexi Soft gateway’s FLEXBUS+ interface is to be sent to the PLC, the data is immediately written to a file location on the PLC. The following restrictions apply to this method: – The Receive Data Area File Name must have the same name as the file defined on the PLC. For SLC and PLC-5 PLCs, all file names must be configured with a preceding “$” (i.e $N10:0). For MicroLogix PLCs, all file names must be configured with a preceding “#” (i.e # N10:0). – The file on the PLC must be of type INTEGER and must be large enough to contain the input data set table(s). – Data will be written with the first byte placed in the MS byte location of the integer. Example: aabb, ccdd, eeff, etc. where aa = byte 1, bb = byte 2, cc = byte 3, etc. 68 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Transmit (From PLC) Data Transfer Methods The FX0-GENT will support the following methods of receiving or retrieving the output data set(s) from the PLC. PLC Writes Method This is the standard method where the PLC uses a message instruction to write the output data sets to the FX0-GENT. With this method, the output data sets can be updated via a PCCC message written to the corresponding file/address location on the FX0RGENT. Read-from-File Transmit Method (Poll the PLC) With this method, the FX0-GENT will monitor the configured PLC memory location for changes to the output data set(s). When a change is detected, the output data sets will be processed accordingly. The following restrictions apply to this method: – The output data set file locations must be of INTEGER (16 bit word) format and must be of sufficient length to contain the entire output data set. – Data in the INTEGER file must be formatted with the first byte placed in the MS byte location. Example: aabb, ccdd, eeff, etc. where aa = byte 1, bb = byte 2, cc = byte 3, etc. PLC-5 and SLC Messages The following PCCC messages are supported for the PLC-5, SLC and MicroLogix PLCs: Tab. 51: Supported PCCC messages for the PLC-5, SLC and MicroLogix PLCs Message type PCCC message Maximum message size SLC Typed Read 162 CLX: 242 SINTs (121 INTs) SLC: 206 SINTs (103 INTs) SLC Typed Write 170 CLX: 220 SINTs (110 INTs) SLC: 206 SINTs (103 INTs) PLC-5 Typed Read 104 CLX: 234 SINTs (117 INTs) SLC: 252 SINTs (126 INTs) PLC-5 Typed Write 103 CLX: 226 SINTs (113 INTs) SLC: 226 SINTs (113 INTs) Note 8012664/XR03/2013-11-19 Subject to change without notice Both the PLC-5 and SLC Typed Read message can be used to retrieve all input data sets. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 69 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Tab. 52: Addressing for the PLC-5/SLC messages Address Description Access rule Data size [words] N10:0 All enabled input data sets data Get 16-101 N11:0 Request input data set 1 data Get 25 N12:0 Request input data set 2 data Get 16 N13:0 Request input data set 3 data Get 30 N14:0 Request input data set 4 data Get 30 N20:0 Write all enabled output data sets Set 5-25 N21:0 Write output data set 1 data Set 5 N22:0 Write output data set 2 data Set 5 N23:0 Write output data set 3 data Set 5 N24:0 Write output data set 4 data Set 5 N25:0 Write output data set 5 data Set 5 7) 8) PLC-5/SLC Receive Data Message The Receive Input Data Set Message format is as defined for each individual input data set. Please refer to section 3.3 “Data transmitted into the network (input data sets)” on page 14 for further details. PCCC object (67h — 1 instance) The PCCC object provides the ability to encapsulate and then transmit and receive PCCC messages between devices on an EtherNet/IP network. This object is used to communicate to SLC 5/05 and PLC-5 PLCs over EtherNet/IP. Class attributes Not supported. Instance attributes Not supported. Instances Supports instance 1. Common services Tab. 53: PCCC object (67h) common services 7) 8) 70 Service code Implemented in class Implemented in instance Service name 4Bh No Yes Execute_PCCC Will correspond to all enabled input data sets. Must correspond to all enabled output data sets. Example: If only output data sets 1 and 2 are enabled, then 10 words (20 bytes) must be written. If all output data sets are enabled, then 25 words (50 bytes) must be written. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Message structure for Execute_PCCC Tab. 54: PCCC object (67h) request message Tab. 55: PCCC object (67h) response message Tab. 56: PCCC object (67h) supported PCCC command types 8012664/XR03/2013-11-19 Subject to change without notice Name Data type Description Length USINT Length of requestor ID Vendor UINT Vendor number of requestor Serial number UDINT ASA serial number of requestor CMD USINT Command byte STS USINT 0 TNSW UINT Transport word FNC USINT Function code PCCC_params Array of USINT CMD/FMC specific parameters Name Data type Description Length USINT Length of requestor ID Vendor UINT Vendor number of requestor Serial number UDINT ASA serial number of requestor CMD USINT Command byte STS USINT Status byte TNSW UINT Transport word. Same value as request EXT_STS USINT Extended status (if error) PCCC_params Array of USINT CMD/FMC specific result data CMD FNC Description 0Fh 67h PLC-5 write 0Fh 68h PLC-5 read 0Fh A2h SLC 500 protected read with 3 address fields 0Fh AAh SLC 500 protected write with 3 address fields © SICK AG • Industrial Safety Systems • Germany • All rights reserved 71 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways 5.2.7 Example for the configuration of explicit messaging This section gives an example how to configure explicit messaging using RSLogix. Required gateway settings In the Gateway configuration dialog of the Flexi Soft Designer, the following settings have to be activated: PLC requests PLC writes Required RSLogix settings In RSLogix, the following settings must be made: PLC is Active (explicit messaging enabled) 128 connections possible Each Data Set must have the correct size. Main program sends a message with command to SET or GET (either Get_Attribute_Single or Get_Attributes_All, see Tab. 46). Step 1: Create two tags. One for the MESSAGE and one to store the data from the GET command. The MESSAGE tag will be for the MSG block which is used for explicit messaging. The MSG command in this example will request Data Set 1. The received Data Set 1 will then be placed into a tag of our choosing, called “WhatIWant”. Note The destination tag must be set to the size of the Data Set. In this case, it would be 50 bytes or INT[25]. Fig. 31: Creating tags for explicit messaging Step 2: On one line in the program, create a NOT connected to the MSG command Fig. 32: Main routine programming for explicit messaging Select “message.EN” for the NOT symbol. This ensures that the message will be requested repeatedly. 72 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Step 3: Edit the message command as follows: – Configuration: Select CIP Generic. The Class describes the object. Class 72 is for Full Data Set Transfer. Instance 1 and Attribute 1 determine the data type which in this case is Data Set 1 (see Tab. 42). As Destination the “WhatIWant” tag must be chosen. Fig. 33: Explicit messaging — Message configuration – Communication: The message has to contain the Path to the gateway. In this example the path is 10.4.209.51. Fig. 34: Explicit messaging — Communication configuration 5.2.8 TCP/IP configuration interface See section 5.1.1 “TCP/IP configuration interface” on page 32. 5.2.9 Ethernet TCP/IP socket interface See section 5.1.2 “Ethernet TCP/IP socket interface” on page 37. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 73 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways 5.2.10 Diagnostics and troubleshooting For information how to perform diagnostics on the Flexi Soft system please refer to the operating instructions for the Flexi Soft Designer software (SICK part no. 8012998). Tab. 57: Troubleshooting for the FX0-GENT Symbol description: : LED is off Green: LED lights up green Red: LED flashes red Error Possible cause Possible remedy The Flexi Soft Designer tool does not connect to the Flexi Soft gateway module FX0-GENT has no power supply. FX0-GENT is not in the same physical network as the PC. The PC is configured to another subnet mask in the TCP/IP settings. FX0-GENT has already been configured once and has a fixed set IP address or an IP address assigned by a DHCP server that is not recognised. FX0-GENT is configured for data transfer to PLC, but Ethernet communication is not yet established or faulty. Duplicate IP address detected. Another device on the network has the same IP address. Establish the power supply. Check the Ethernet wiring and network settings on the PC and correct if necessary. Set the subnet mask on the PC to 255.255.0.0 (factory setting of the FX0RGENT). Check the communication settings in the Flexi Soft Designer. FX0-GENT does not supply any data. PWR Green LINK/ACT / Green STATUS9) Red/green FX0-GENT does not supply any data. PWR Green LINK/ACT / Green STATUS9) Red (1 Hz) FX0-GENT does not supply any data. PWR Green LINK/ACT / Green STATUS9) Green FX0-GENT does not supply any data. PWR Green LINK/ACT / Green STATUS9) Green (1 Hz) FX0-GENT functioned correctly after configuration, but suddenly no longer supplies data. PWR Green LINK/ACT / Green STATUS9) Red/green FX0-GENT/Flexi Soft system is in Critical fault mode. PWR Green LINK/ACT Green STATUS9) Red FX0-GENT is in Critical fault mode. PWR Green LINK/ACT / Green STATUS9) Red (2 Hz) 9) 74 Configuration required. Configuration download is not completed. Minimum one Ethernet connection needs to be established. Set up Ethernet connection on PLC side, check Ethernet cabling, check Ethernet connection settings on PLC and in the Flexi Soft Designer. If no Ethernet communication is required, disable the Ethernet connections/PLC interfaces on the FX0-GENT. Adjust IP address and power cycle device. Configure the FX0-GENT and download the configuration to the device. Wait until the configuration download has been completed. No data set is activated. No Ethernet communication interface is enabled. Activate at least one data set. FX0-GENT is in Idle mode. CPU/application is stopped. Start CPU (change into Run state) . FX0-GENT is operated in slave mode, the IP address is assigned from a DHCP server. After the FX0GENT or the DHCP server has been restarted, a different IP address that is unknown to the PLC has been assigned to the FX0-GENT. FX0-GENT is not plugged properly into the other Flexi Soft module. Module connecting plug is soiled or damaged. Other Flexi Soft module has internal critical error. FX0-GENT internal device error CPU firmware version does not support Flexi Soft gateways. Either assign a fixed IP address to the FX0-GENT, or reserve a fixed IP address for the FX0-GENT in the DHCP server (manual assignment by means of the MAC address of the FX0-GENT). Plug the FX0-GENT in correctly. Clean the connecting socket/plug. Repower the system. Check the other Flexi Soft modules. Switch off the power supply of the Flexi Soft system and switch it on again. Check the diagnostics messages with the Flexi Soft Designer. Use a FX3-CPUx with the required firmware version (see section 2.2 “Correct use” on page 10). If the error remains, replace the gateway. On older versions of the FX0-GENT, the STATUS LED is called MS LED. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways 5.3 Modbus TCP gateway The following Flexi Soft gateway can be used for Modbus/TCP: FX0-GMOD. The Flexi Soft Modbus TCP gateway supports: Modbus TCP master and slave receive methods Ethernet TCP/IP socket interface, polling and auto update function With firmware O V2.01.0: Data can be read also wordwise. 5.3.1 Interfaces and operation The FX0-GMOD is equipped with an integrated three-port switch for connection with the Ethernet network. Two RJ-45 sockets are available for the connection. The switch functionality allows the FX0-GMOD to be used for connection to another Ethernet component (e.g. connection to a notebook) without having to interrupt the Ethernet connection to the network. Fig. 35: Interfaces and display elements of the FX0>GMOD RJ>45 Ethernet socket LED power supply (green) LED network activity for Ethernet port 1 or 2 (green) LED MS (red/green) RJ>45 Ethernet socket Tab. 58: Meaning of the LED displays Symbol description: : LED is off Green: LED lights up green Red: LED flashes red LED Meaning PWR No power supply Green LINK/ACT 1 LINK/ACT 2 Power supply switched on No Ethernet connection Green Green MS Ethernet connection active, no data transmission Ethernet connection active, data transmission Power-up Green Executing (live process data from/to FX3-CPUx) Green 1 Hz: Idle Red 1 Hz: Configuring/configuration required 2 Hz: Critical fault on gateway Red Critical fault on another module Red/green Executing, but Ethernet communication not established or faulty Note 8012664/XR03/2013-11-19 Subject to change without notice Error elimination is described in section 5.3.6 “Diagnostics and troubleshooting” on page 83. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 75 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Power-up sequence On power-up, the following LED test sequence is performed: MS LED Off for 6 s MS LED Red for 0.25 s MS LED Green for 0.25 s MS LED Off 5.3.2 Basic configuration — Assigning an IP address Configuration of the FX0-GMOD is performed via the Flexi Soft Designer tool. Via Flexi Soft Designer tool Open the Flexi Soft Designer and load the hardware configuration including the Modbus TCP gateway. Click on the Interfaces button above the main window and select the FX0-GMOD or double click the FX0-GMOD in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: Fig. 36: Modbus TCP gateway configuration dialog Enter a valid IP address, Subnet mask and if required a valid IP address for a Default gateway. Click OK. Click Connect to go online and download the configuration to the Flexi Soft system. 76 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways 5.3.3 Configuration of the Modbus TCP interface to the PLC — How the data are transferred Modbus TCP application characteristics: support of standard Modbus TCP addressing conventions Master and Slave receive methods Modbus TCP PLC requirements: The PLC must support the Modbus TCP protocol. The PLC must support the Read Holding Registers and Write Multiple Registers commands or, alternatively, the Read/Write Multiple Registers command. The configuration steps in this section specify how the data to the higher-level PLC are transferred. In general, there are two different transfer methods available for each transfer direction such as Flexi Soft to Network and Network to Flexi Soft: Polling receive method/PLC requests (gateway as slave) This method provides a polling method that allows the PLC to request data on a periodic basis. In this method, the data is returned in the response to the data request message. The PLC requests data by accessing the receive data address on the FX0-GMOD module with a Read Holding Registers message. Master receive method — Gateway writes to PLC (auto-update, gateway as master) When it is determined that data received on the FX0-GMOD module backplane interface is to be sent to the PLC, the data is immediately written to a data memory location on the PLC. Slave transmit method — PLC writes (gateway as slave) In this method, the PLC will send write messages to the FX0-GMOD module to set the output data sets. To write to the output data sets, the PLC writes the data to specified addresses. Master transmit method — Gateway reads from PLC (auto-update, gateway as master) In the master transmit mode, the FX0-GMOD module will poll the PLC for the output data set settings. Note The configuration is considered faulty, if the PLC IP address is zero and either the Read Transfer mode and/or the Write Transfer mode is set to Master. The number of possible connections to the PLC depends on whether the FX0-GMOD is operated as a master or slave. Depending on the setting, up to 32 PLCs can address the FX0-GMOD at the same time. Tab. 59: Number of possible connections 8012664/XR03/2013-11-19 Subject to change without notice Operating mode of the FX0-GMOD Maximum connections Rx (To PLC) transfer mode: Master Tx (From PLC) transfer mode: Master Rx (To PLC) transfer mode: Master Tx (From PLC) transfer mode: Slave Rx (To PLC) transfer mode: Slave Tx (From PLC) transfer mode: Master Rx (To PLC) transfer mode: Slave Tx (From PLC) transfer mode: Slave Rx and Tx: 1 Rx: 1 Tx: 31 Rx: 31 Tx: 1 Rx and Tx: 32 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 77 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways The following table outlines a guideline to the configuration process depending on the transfer method: Tab. 60: Configuration guideline — Gateway as master Gateway is master To do in the gateway configuration (via Flexi To do in the PLC program and/or Modbus TCP Soft Designer tool) network configuration tool Select Gateway writes to tag/file and/or Gateway reads from register to configure gateway as master. Select which data shall be written to/read from the PLC Define where in the PLC memory the selected data shall be written to: Enter holding register address(es). Example: “400001” And/or define where in the PLC memory the selected data shall be read from: Enter holding register addresses. Select how often this data shall be transmitted. Define where the data shall be read from/written to in the Modbus TCP network: Enter the IP address and controller slot number of the PLC. Tab. 61: Configuration guideline — Gateway as slave 78 – Ensure the addresses defined in the Flexi Soft Designer configuration are available and contain the data determined for the Flexi Soft system. Note: Modbus TCP communication uses port 502 as standard port. – – Gateway is slave To do in the gateway configuration (via Flexi Soft Designer tool) To do in the PLC program and/or Modbus TCP network configuration tool Select PLC requests and PLC writes in the gateway configuration dialog – – Note – Define which data shall be written to/read from the gateway. Ensure the PLC program writes the data into the addresses defined for the gateway (see Tab. 62 on page 82). The Modbus TCP gateway address setting is based 1. Please add 1 to the holding register address set in the Flexi Soft Designer for an address setting based 0. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Master mode — FX0-GMOD reads from/writes to the PLC In order to configure the gateway to be master, perform the following steps: Open the Flexi Soft Designer and load the hardware configuration including the Modbus TCP gateway. Click on the Interfaces button above the main window and select the FX0-GMOD or double click the FX0-GMOD in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: Fig. 37: Modbus TCP gateway configuration as master Within the Gateway configuration dialog, select the transfer method by checking Gateway writes to tag/file for the Flexi Soft to Network direction and Gateway reads from register for the Network to Flexi Soft direction. Select which data shall be written to/read from the PLC by checking the checkbox for the required data set. For the exact description of the data sets please refer to section 3.3 “Data transmitted into the network (input data sets)” on page 14. Define where in the PLC memory the selected data shall be written to or read from: Enter addresses into the Holding register address field (max. 20 characters). Select Write all sets in one tag if all data sets shall be written into one address in the PLC memory. In this case, the tag/file defined for data set 1 will be used. For the Flexi Soft to network direction, define how often the data shall be transmitted: – Select Enable COS update if the FX0-GMOD is to update the data in the PLC immediately when changes occur in the data sets. – Select Enable heartbeat interval to activate updating of the selected data sets with the set Heartbeat rate. Both options may be selected at the same time. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 79 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways For the Network to Flexi Soft direction, define how often the data shall be read: – Enter a Heartbeat rate to activate updating of the selected data sets with the set time interval. Define where the data shall be read from/written to in the Modbus TCP network: Enter the PLC IP address and the Modbus Device ID of the PLC. Max. PLC update rate defines the maximum rate (the minimum time interval) for sending the data sets to the PLC. Settings occur dependent on the PLC processing speed. Minimum = 10 ms, maximum = 65,535 ms. The default value of 40 ms is suitable for most PLCs. Note If this value is greater than the Heartbeat rate, the heartbeat rate is slowed down to this value. Go online and download the configuration to the Flexi Soft system. Write to PLC Note The following restrictions apply when the gateway is master and writes the input data sets to the PLC: The input data set address (set via Flexi Soft Designer Tool) must be the same as that defined on the PLC. The variable to receive the data on the PLC must be: – in the 40xxxx address range (for Schneider Modicon type PLCs) – an array of 16 bit words – long enough to contain the specified input data set array. All input data sets are transferred to the PLC in 16 bit word format with the first byte placed in the least significant, or rightmost byte of the integer and the second byte placed in the most significant, or leftmost byte of the integer. Read from PLC Note The following restrictions apply when the gateway is master and reads the output data sets from the PLC: The output data set addresses must be the same as those defined on the PLC. The variables to request the data on the PLC must be: – in the 40xxxx address range (for Schneider Modicon type PLCs) – for the output data set settings, an array of 16 bit words long enough to contain the entire output data set. All output data sets are transferred from the PLC in 16 bit word format and the first byte must be placed in the least significant, or rightmost byte of the integer and the second byte placed in the most significant, or leftmost byte of the integer. Slave mode — PLC reads from/writes to the FX0-GMOD In this operating mode the FX0-GMOD sends the data as slave upon request from the PLC. If this operating mode is desired: Open the Flexi Soft Designer and load the hardware configuration including the Modbus TCP gateway. Click on the Interfaces button above the main window and select the FX0-GMOD or double click the FX0-GMOD in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: 80 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Fig. 38: Modbus TCP gateway configuration as slave Within the Gateway configuration dialog, select the transfer method by checking PLC requests for the Flexi Soft to Network direction and PLC writes for the Network to Flexi Soft direction. Select which data shall be written/read to/from the PLC by checking the checkbox for the required data set. For the exact description of the data sets please refer to section 3.3 “Data transmitted into the network (input data sets)” on page 14. Click OK. Go online and download the configuration to the Flexi Soft system. PLC writes output data sets The following restrictions apply when the PLC writes the output data sets: The device index must be 1. The message must be sent in word format. All output data sets are transferred from the PLC in 16 bit word format and the first byte must be placed in the least significant, or rightmost byte of the integer and the second byte placed in the most significant, or leftmost byte of the integer. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 81 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways PLC polls input data sets The following restrictions apply to this method: The device index must be 1. The variable to receive the data on the PLC must be: – in the 40xxxx address range (for Schneider Modicon type PLCs) – an array of 16 bit words – long enough to contain the data set array(s) All input data sets are transferred to the PLC in 16 bit word format with the first byte placed in the least significant, or rightmost byte of the integer and the second byte placed in the most significant, or leftmost byte of the integer. FX0-GMOD as slave — Data addressing The following table lists the address to read out the data sets. Tab. 62: Data addressing for FX0-GMOD as receiver Unit ID Address (Base 1) 1 Description Access Scope [words] Note Request all enabled input data sets Get 16-101 1100 Request input data set 1 data Get 25 1200 Request input data set 2 data Get 16 1300 Request input data set 3 data Get 30 1400 Request input data set 4 data Get 30 2000 Write all enabled output data sets data Set 5-25 2100 Write output data set 1 data Set 5 2200 Write output data set 2 data Set 5 2300 Write output data set 3 data Set 5 2400 Write output data set 4 data Set 5 2500 Write output data set 5 data Set 5 11) All data sets can only be read or written as a block. It is not possible to read or write single bits or bytes. 10) 11) 82 10) 1000 Will correspond to all enabled input data sets. Must correspond to all enabled output data sets. Example: If only output data sets 1 and 2 are enabled, then 10 words (20 bytes) must be written. If all output data sets are enabled, then 25 words (50 bytes) must be written. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Modbus commands and error messages The FX0-GMOD supports the following Modbus commands and error messages: Tab. 63: Modbus commands Tab. 64: Modbus error messages Modbus command Value Read holding registers 3 Write multiple registers 16 (10h) Read/write multiple registers 23 (17h) Modbus error response Description 1 Illegal function The requested function is not supported 2 Illegal data address Undefined data address received 3 Illegal data value Request with illegal data values, for example not enough data requested for a data set 10 Gateway paths not available Invalid configuration, for example polling or setting of the digital outputs via PLC during operation of the FX0-GMOD in master mode 5.3.4 TCP/IP configuration interface See section 5.1.1 “TCP/IP configuration interface” on page 32. 5.3.5 Ethernet TCP/IP socket interface See section 5.1.2 “Ethernet TCP/IP socket interface” on page 37. 5.3.6 Diagnostics and troubleshooting For information how to perform diagnostics on the Flexi Soft system please refer to the operating instructions for the Flexi Soft Designer software (SICK part no. 8012998). Tab. 65: Troubleshooting for the FX0-GMOD Symbol description: : LED is off Green: LED lights up green Red: LED flashes red 8012664/XR03/2013-11-19 Subject to change without notice Error Possible cause FX0-GMOD has no power supply. FX0-GMOD is not in the same physical network as the PC. The PC is configured to another subnet mask in the TCP/IP settings. FX0-GMOD has already been configured once and has a fixed set IP address or an IP address assigned by a DHCP server that is not recognised. FX0-GMOD does not supply any FX0-GMOD is configured for data transfer to PLC, but Ethernet data. communication is not yet PWR Green established or faulty. LINK/ACT / Green MS Red/green Duplicate IP address detected. Another device on the network has the same IP address. The Flexi Soft Designer tool does not connect to the Flexi Soft gateway module Possible remedy Establish the power supply. Check the Ethernet wiring and network settings on the PC and correct if necessary. Set the subnet mask on the PC to 255.255.0.0 (factory setting of the FX0RGMOD). Check the communication settings in the Flexi Soft Designer. Minimum one Ethernet connection needs to be established. Set up Ethernet connection on PLC side, check Ethernet cabling, check Ethernet connection settings on PLC and in the Flexi Soft Designer. If no Ethernet communication is required, disable the Ethernet connections/PLC interfaces on the FX0-GMOD. Adjust IP address and power cycle device. For Modbus TCP communication check the Modbus port number at the PLC (the Modbus port number must be 502). Do not confuse the Modbus port number with the TCP/IP socket port number which must be > 1023. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 83 Chapter 5 Ethernet gateways Operating Instructions Flexi Soft Gateways Error Possible cause Possible remedy FX0-GMOD does not supply any data. PWR Green LINK/ACT / Green MS Red (1 Hz) FX0-GMOD does not supply any data. PWR Green LINK/ACT / Green MS Green FX0-GMOD does not supply any data. PWR Green LINK/ACT / Green MS Green (1 Hz) FX0-GMOD functioned correctly after configuration, but suddenly no longer supplies data. PWR Green LINK/ACT / Green MS Red/green Configuration required. Configuration download is not completed. Configure the FX0-GMOD and download the configuration to the device. Wait until the configuration download has been completed. No data set is activated. No Ethernet communication interface is enabled. Activate at least one data set. FX0-GMOD is in Idle mode. CPU/application is stopped. Start CPU (change into Run state) . FX0-GMOD is operated in slave mode, the IP address is assigned from a DHCP server. After the FX0GMOD or the DHCP server has been restarted, a different IP address that is unknown to the PLC has been assigned to the FX0GMOD. FX0-GMOD is not plugged properly into the other Flexi Soft module. Module connecting plug is soiled or damaged. Other Flexi Soft module has internal critical error. FX0-GMOD internal device error CPU firmware version does not support Flexi Soft gateways. Either assign a fixed IP address to the FX0RGMOD, or reserve a fixed IP address for the FX0-GMOD in the DHCP server (manual assignment by means of the MAC address of the FX0-GMOD). FX0-GMOD/Flexi Soft system is in Critical fault mode. PWR Green LINK/ACT Green MS Red FX0-GMOD is in Critical fault mode. PWR Green LINK/ACT / Green MS Red (2 Hz) 5.4 Plug the FX0-GMOD in correctly. Clean the connecting socket/plug. Repower the system. Check the other Flexi Soft modules. Switch off the power supply of the Flexi Soft system and switch it on again. Check the diagnostics messages with the Flexi Soft Designer. Use a FX3-CPUx with the required firmware version (see section 2.2 “Correct use” on page 10). If the error remains, replace the gateway. PROFINET IO gateway The following Flexi Soft gateway can be used for PROFINET IO: FX0-GPNT. You will find the GSDML file and device icon for PLC interfacing with PROFIBUS support … in the Internet on the FX0-GPNT product page on www.sick.com. in the Flexi Soft Designer program folder on your hard disk (default installation folder is “C:\programs\SICK\FlexiSoft\DeviceDescriptions\...”). The FX0-GPNT supports 84 PROFINET IO conformance class A Fast integrated switching LLDP Auto-MDI SNMP Auto negotiation MIB II Cyclic I/O communication © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways 5.4.1 Interfaces and operation The FX0-GPNT is equipped with an integrated 3-port switch for connection with the Ethernet network. Two RJ-45 sockets are available for the connection. The switch functionality allows the FX0-GPNT to be used for connection to another Ethernet component (e.g. connection to a notebook) without having to interrupt the Ethernet connection to the network. Fig. 39: Interfaces and display elements of the FX0>GPNT RJ>45 Ethernet socket LED power supply (green) LED network activity for Ethernet port 1 or 2 (green) LED STATUS (red/green) RJ>45 Ethernet socket Tab. 66: Meaning of the LED displays of the FX0-GPNT Symbol description: : LED is off Green: LED lights up green Red: LED flashes red LED Meaning PWR No power supply Green LINK/ACT 1 LINK/ACT 2 Power supply switched on No Ethernet connection Green Green STATUS Ethernet connection active, no data transmission Ethernet connection active, data transmission Power-up Green Green Executing (live process data from/to FX3-CPUx) 1 Hz: Idle 2 Hz: PROFINET master requested LED flashing for physical device identification Red 1 Hz: Configuring/configuration required 2 Hz: Critical fault on gateway Red Critical fault on another module Red/green Executing, but Ethernet communication not established or faulty (can be switched off, see below) Note 8012664/XR03/2013-11-19 Subject to change without notice Error elimination is described in section 5.4.7 “Diagnostics and troubleshooting” on page 100. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 85 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Disabling the STATUS LED for PROFINET communication With firmware O V2.00.0 the red/green flashing of the STATUS LED can be disabled in the Flexi Soft Designer. Otherwise the LED will flash permanently if no PROFINET communication is established (e.g. if the gateway is used for TCP/IP communication only). Click on the Interfaces button above the main window and select the FX0-GPNT or double click the FX0-GPNT in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. On the right side of the window you will find the following configuration panel: Fig. 40: Disabling the STATUS LED of the FX0-GPNT Activate the checkbox. After downloading the configuration, the LED will light up Green permanently, even if no PROFINET communication is established. Note This feature is only available with firmware O V2.00.0 and Flexi Soft Designer version O 1.4.0. Power-up sequence On power-up, the following LED test sequence is performed: STATUS LED Off for 6 s STATUS LED Red for 0.25 s STATUS LED Green for 0.25 s STATUS LED Off 5.4.2 Basic configuration — Assigning a device name and IP address Configuration and diagnostic of the FX0-GPNT may be performed via the Flexi Soft Designer tool as well as with the PROFINET IO network programming tool (e.g. SIEMENS SIMATIC). Configuration via PROFINET IO In the out-of-the-box configuration, each PROFINET IO field device, e.g. the FX0-GPNT has a MAC address and a symbolic name stored. Notes The symbolic name for the gateway is FX0-GPNT. This name is used by the I/O controller (i.e. PLC) to assign the IP address to the field device. If the IP address is also used for other Ethernet communications like TCP/IP or configuration over Ethernet, remember that the PLC can change the IP address so these can be interupted. 86 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Address assignment is performed in two steps. Assign a unique plant specific name to the gateway by using either the network configuration tool, e.g. SIEMENS SIMATIC Manager or the Flexi Soft Designer tool. Using the plant specific (unique) name, the I/O controller (i.e. PLC) can now assign the IP address to the gateway before system boot. Note The FX0-GPNT MAC address is printed on the device type label (example: 00:06:77:02:00:A7). Device name set via SIEMENS SIMATIC Manager Refer to section “Step 4: Assign the device name” on page 91. Device name set via Flexi Soft Designer Open the Flexi Soft Designer and load the hardware configuration including the PROFINET IO gateway. Ensure your project is offline. Click on the Interfaces button above the main window and select the FX0-GPNT or double click the FX0-GPNT in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: Fig. 41: PROFINET IO gateway configuration dialog Enter the device name in the Device name field (maximum length 255 characters). Notes The device name format must apply to the PROFINET standard specification. Ensure that the default gateway address corresponds to the address set by the PLC for the gateway. If there is no router used, Siemens Step 7 uses as default gateway address the same address as the IP address for the GPNT. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 87 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways IP address set via Flexi Soft Designer tool Usually the IP address will be assigned by the PROFINET IO controller (e.g. PLC). However, the FX0-GPNT allows configuration of the entire Flexi Soft system over Ethernet TCP/IP. In this case, it may be necessary to assign an IP address to the gateway even before the PROFINET IO network has been setup. This can be done on the configuration page shown in Fig. 41 as well. 5.4.3 PROFINET configuration of the gateway — How the data are transferred The following steps need to be taken in order to configure the communication between PLC and gateway. Note This document does not cover the creation of the PROFINET IO network or the rest of the automation system project in the network configuration tool. It is assumed the PROFINET project has already been set up in the configuration program, e.g. SIEMENS SIMATIC Manager. Examples refer to configurations performed with SIEMENS SIMATIC manager. Step 1: Install the generic station description file (GSDML file) Before the FX0-GPNT can be used as device in the network configuration tool, e.g. SIEMENS SIMATIC Manager, for the first time, the generic station description (GSDML) of the gateway must be installed into the hardware catalogue of the tool. Download the GSDML file and device icon from www.sick.com, on the FX0RGPNT product page. Follow the instructions in the online help or in the user manual of the PROFINET network configuration tool for installing generic station description files. Using the SIEMENS SIMATIC Manager — HW Config, the gateway then appears in the hardware catalogue under >>PROFINET IO > Additional Field Devices > Gateway > FlexiSoft. 88 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Step 2: Add the gateway to the project In order to have the Flexi Soft system data available in the PLC process image, the gateway must be added to the hardware configuration first. The procedure associated with this depends on the hardware configuration program of the PLC being used. On this topic, please also read the documentation for the corresponding program. The example below shows how to add the gateway to a SIEMENS SIMATIC Manager project. In the SIEMENS SIMATIC Hardware Manager, the gateway can be found in the hardware catalogue under >>PROFINET IO > Additional Field Devices > Gateway > FlexiSoft. Drag & drop the device into the Ethernet PROFINET IO network. Example: Fig. 42: PROFINET IO gateway in the PROFINET IO HW Config After adding the device to the automation network it is required to configure which of the cyclic data blocks will be used and where they will be addressed in memory. For details refer to section 5.4.4 “PROFINET configuration of the gateway — Which data are transferred” on page 92. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 89 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Step 3: Configure the properties of the gateway Double click on the gateway hardware symbol. Configure the update time of the cyclic I/O data exchange. To do this click on the IO cycle tab and select the desired rate from the Update time pull-down menu. Fig. 43: Configuration of the update time of the FX0-GPNT 90 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Step 4: Assign the device name In order for the PLC to communicate with the FX0-GPNT, the PLC software and the gateway must agree on the name of the gateway. Specify the gateway’s PROFINET IO device name Double click on the gateway hardware symbol. Select the General tab. Enter the desired device name in the dialog as shown below: Fig. 44: Properties dialog of the FX0-GPNT Note The device name format shall apply to the PROFINET standard specification. Assign the device name to the gateway. Select PLC > Ethernet > Assign device name. The Assign device name dialog opens. From the Assign device name dialog, find and select the SICK gateway that you wish to assign the device name to in the list. Click the Assign name button. Fig. 45: Assign device name dialog for the FX0-GPNT 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 91 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways 5.4.4 PROFINET configuration of the gateway — Which data are transferred Cyclic data The physical Flexi Soft I/O modules are not represented as typical hardware modules in the PROFINET IO hardware catalogue. Instead, the data available from the Flexi Soft system has been organized into data blocks. Each data block represents a “hardware” module in the PROFINET IO hardware catalogue. The Flexi Soft PROFINET IO gateway GSDML supports ten (10) slots (see Fig. 46: Projecting the FX0RGPNT) where the modules can be placed into. This allows each data block to be mapped once. Process data from the Flexi Soft system to the PLC The FX0-GPNT provides 5 input data blocks (virtual I/O device modules) containing the process image. These must be projected in a hardware configurator (e.g. SIEMENS HW Config) in natural order (1, 2, 3, 4, 5). No other sequence is possible. Notes Depending on the type of PLC used, further modules may be displayed (e.g.“universal module”). These modules are not needed and should be ignored. The input data blocks 1-4 contain 12 bytes each, input data block 5 contains 2 bytes. The contents of the input data blocks are freely selectable, but are preconfigured in the Flexi Soft Designer configuration software: Tab. 67: Default content of input data block 1-5 of the FX0>GPNT Data block 1 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Length Data block 2 Data block 3 Data block 4 Data block 5 Input data Input data Input data Logic result 0 Not assigned Not assigned Logic result 1 Not assigned Not assigned Logic result 2 Not assigned Logic result 3 Not assigned Input data Input data Input values module 1 Input values module 2 Input values module 3 Input values module 4 Input values module 5 Input values module 6 Input values module 7 Input values module 8 Input values module 9 Input values module 10 Input values module 11 Input values module 12 Output values module 1 Output values module 2 Output values module 3 Output values module 4 Output values module 5 Output values module 6 Output values module 7 Output values module 8 Output values module 9 Output values module 10 Output values module 11 Output values module 12 Gateway direct output values 0 Gateway direct output values 1 Gateway direct output values 2 Gateway direct output values 3 12 bytes 12 bytes Not assigned Not assigned Not assigned Not available Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned 12 bytes 12 bytes 2 bytes For detailed information about the content of the process image please see section 3.3 “Data transmitted into the network (input data sets)” on page 14. For information on how to configure the process image, see chapter 7 “Layout and content of the process image” on page 172 and the Flexi Soft Designer operating instructions (SICK part no. 8012998). 92 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Data from the PLC to the FX3-CPUx There are five (5) output data blocks, 10 bytes each. The content of these data blocks can be used as input in the Flexi Soft logic editor or can be routed via a second gateway into another network. In order to have the desired bits available for routing or in the logic editor, tag names have to be defined for each bit that shall be used. Bits without a tag name will not be available. For detailed information how to define and customize the content and tag names of the input and output data please see chapter 7 “Layout and content of the process image” on page 172 and the operating instructions for the Flexi Soft Designer software (SICK part no. 8012998). Settings within the PROFINET IO network configuration tool Drag the data blocks from the SIEMENS SIMATIC Manager — HW Config hardware catalogue under >>PROFINET IO > Additional field devices > Gateway > SICK > Flexi Soft... > data blocks into the slots of the FX0-GPNT shown in the SIEMENS SIMATIC Manager — HW Config configuration table. Fig. 46: Projecting the FX0>GPNT Notes The I and Q addresses reflect where in memory the cyclic data will be available. Each input data block can only be placed into the slot of the same number. Example: Input data block 4 can only be mapped into slot 4. Acyclic data and alarms Record read Flexi Soft system diagnostic data is available as data record to be read by the PLC. There are three data sets, data set 2, 3 and 4, providing diagnostic information: Data Set 2 contains the Flexi Soft checksums. Data Set 3 contains the individual module status with four (4) bytes per module. Data Set 4 is currently filled with reserved values. The format of the data sets is as specified in the tables below. To access the acyclic data sets, a record read must be performed on the appropriate address as shown in the following table. Tab. 68: Memory location for data set 2, 3 and 4 Note 8012664/XR03/2013-11-19 Subject to change without notice Data set 2 Data set 3 Data set 4 Location 1200-1231 1300-1359 1400-1459 Size in bytes 32 bytes 60 bytes 60 bytes Data set 1 is mapped into the cyclic transferred PROFINET modules of the device. The content may be defined by the user. Refer to chapter 7 “Layout and content of the process image” on page 172 for details. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 93 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Tab. 69: Default content of input data set 2-4 of the FX0>GPNT. For the interpretation of the module status bit in data set 3 please see section 3.3.6 “Error and status information of the modules” on page 19. Data set 2 Data set 3 Total checksum Module status module 0 Flexi Soft checksum Module status module 1 Data set 4 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Module status module 2 Byte 10 Byte 11 Byte 12 Byte 13 Module status module 3 Byte 14 Byte 15 Byte 16 Byte 17 Module status module 4 Byte 18 Byte 19 Byte 20 CPU0 and CPU1: Reserved CPU2 and CPU3: ACR checksum Byte 21 Reserved Module status module 5 Byte 22 Byte 23 Byte 24 Byte 25 Module status module 6 Byte 26 Byte 27 Byte 28 Byte 29 Module status module 7 Byte 30 Byte 31 Byte … … Byte 49 … Byte … … Byte 56 Module status module 14. Module 13 and 14 are always the gateways. Byte 57 Byte 58 Byte 59 Length 94 32 bytes 60 bytes © SICK AG • Industrial Safety Systems • Germany • All rights reserved 60 bytes 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways I&M Information The FX0-GPNT will support I&M information as required by the PROFINET specification. The following I&M information will be able to be read from the device: Tab. 70: I&M information of the FX0-GPNT I&M field Size Value Manufacturer ID 2 bytes 257 Order ID 20 bytes “1044078 ” (must be padded with spaces) Serial Number 16 bytes Read from I2C Hardware Revision 4 bytes Read from I2C Software Revision 4 bytes Read from firmware Revision Counter 2 bytes 0 Profile ID 2 bytes Generic Device Profile Specific Device 2 bytes Generic Device IM version 2 bytes 1.1 IM Supported 2 bytes 0 Alarms Alarms can be read acyclically through the PROFINET IO alarms infrastructure. Once an error occurs on any Flexi Soft module, the PROFINET IO gateway raises the appropriate diagnostic alarm to the network. This will trigger the fault LED on the PLC, and make the specifics (text and help) of the diagnostic alarm available through the SIMATIC PLC interface. The RALRM function block (SFB54) in OB82 (the diagnostic interrupt) allows the user to retrieve specifics on the alarm raised within the PLC program itself. Notes All alarms are output to module 0. The subslot number indicates the Flexi Soft module that has caused the alarm. st nd st Number 0 = CPU, 1 = 1 XT module, 2 = 2 XT module … 13 = 1 gateway, nd 14 = 2 gateway. The reason for the alarm is being identified by an error text message from the GSDML file. Up to 32 different error messages per Flexi Soft module type are possible. For the possible causes for an alarm please refer to Tab. 71. The same diagnostic information is available through a record read to data set 3. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 95 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways The following table matches the PROFINET IO error type (as defined by the GSDML) to the appropriate message. The module status bits have the following significance, if not otherwise stated: 0 = Error 1 = No error Tab. 71: PROFINET IO error type definitions Error type Message Error origin 0100 0101 0102 0103 0104 0105 0106 0107 0108 CPU 0109 0200 0201 0202 0203 0204 0205 0206 0207 0208 0209 0210 0211 0212 … 0215 0216 0217 0218 0219 0220 0221 0222 0223 0224 0225 0226 0227 0228 0229 0230 0231 0300 0301 0302 0303 0304 0305 0306 0307 … 0331 96 XTIO/XTDI PROFIBUS gateway Error definition Operating state Run Internal tests Summary of bits 0105 to 0107 Reserved Configuration Flexi Soft system Power supply EFI1 EFI2 Flexi Link stations in the system 1 = All found 0 = One or more are missing Flexi Link stations suspended 1 = None 0 = One or more Operating state Run Internal tests Summary of bits 0205 to 0207 Reserved Configuration of this module is valid Outputs power supply Output Fast-Shut-Off Reserved Input 1-2 dual channel input evaluation Input 3-4 dual channel input evaluation Input 5-6 dual channel input evaluation Input 7-8 dual channel input evaluation Reserved External test signal Input 1 External test signal Input 2 External test signal Input 3 External test signal Input 4 External test signal Input 5 External test signal Input 6 External test signal Input 7 External test signal Input 8 Short-circuit monitoring output 1: short-circuit to high Short-circuit monitoring output 1: short-circuit to low Short-circuit monitoring output 2: short-circuit to high Short-circuit monitoring output 2: short-circuit to low Short-circuit monitoring output 3: short-circuit to high Short-circuit monitoring output 3: short-circuit to low Short-circuit monitoring output 4: short-circuit to high Short-circuit monitoring output 4: short-circuit to low Operating state Run Internal tests Summary of bits 0305 to 0307 (external error) Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Error type Message Error origin 0400 0401 0402 0403 0404 0405 0406 0407 … 0431 0500 0501 0502 0503 0504 0505 0506 0507 … 0531 0600 0601 0602 0603 0604 0605 0606 0607 … 0631 0700 0701 0702 0703 0704 0705 0706 0707 … 0731 0800 0801 0802 0803 0804 0805 0806 0805 … 0831 0C00 0C01 0C02 0C03 0C04 0C05 0C06 0C07 … 0C31 0F00 0F01 0F02 0F03 0F04 0F05 0F06 0F07 … 0F31 8012664/XR03/2013-11-19 Subject to change without notice Error definition Operating state Run Internal tests Summary of bits 0405 to 0407 (external error) Reserved CANopen gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 0505 to 0507 (external error) Reserved DeviceNet gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 0605 to 0607 (external error) Reserved Modbus gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 0705 to 0707 (external error) Reserved EtherNet/IP gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 0805 to 0807 (external error) Reserved PROFINET gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 0C05 to 0C07 (external error) Reserved CC-Link gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 0F05 bis 0F07 (external error) Reserved Sercos III gateway Configuration of this module is valid Communication from the network Communication to the network Reserved © SICK AG • Industrial Safety Systems • Germany • All rights reserved 97 Chapter 5 Ethernet gateways Operating Instructions Flexi Soft Gateways Error type Message Error origin 1000 1001 1002 1003 1004 1005 1006 1007 … 1031 1100 … 1F31 2000 2001 2002 2003 2004 2005 2006 2007 2008 … 2031 2100 2101 2102 2103 2104 2105 2106 2107 2108 … 2111 2112 2113 2114 2115 2116 … 2131 2200 2201 2202 2203 2204 2205 2206 2207 2208 2209 2210 2211 2212 … 2215 2216 2217 2218 2219 2220 2221 2222 2223 2224 … 2231 2300 … 3F31 12) 98 Error definition Operating state Run Internal tests Summary of bits 1005 to 1007 (external error) Reserved EtherCAT gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Other gateways Reserved Operating state Run Internal tests Summary of bits 2005 to 2007 Reserved STIO Configuration of this module is valid Outputs power supply Reserved Output load (overcurrent) monitoring Reserved Operating state Run Internal tests Summary of bits 2105 to 2107 Reserved Configuration of this module is valid Encoder 1 Encoder 2 MOCx Reserved Reserved User-defined status bit 112) User-defined status bit 212) User-defined status bit 312) User-defined status bit 412) Reserved Operating state Run Internal tests Summary of bits 2205 to 2207 Reserved Configuration of this module is valid Outputs power supply Reserved Output load (overcurrent) monitoring Input 1-2 dual channel input evaluation Input 3-4 dual channel input evaluation Input 5-6 dual channel input evaluation XTDS Input 7-8 dual channel input evaluation Reserved External test signal Input 1 External test signal Input 2 External test signal Input 3 External test signal Input 4 External test signal Input 5 External test signal Input 6 External test signal Input 7 External test signal Input 8 Reserved Other modules Reserved The status of this bit can be defined to suit the specific application in the MOCx logic, e.g. to indicate inadmissible movements of an axis that have been detected by an MOCx function block. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways 5.4.5 TCP/IP configuration interface See section 5.1.1 “TCP/IP configuration interface” on page 32. 5.4.6 Ethernet TCP/IP socket interface See section 5.1.2 “Ethernet TCP/IP socket interface” on page 37. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 99 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways 5.4.7 Diagnostics and troubleshooting For information how to perform diagnostics on the Flexi Soft system please refer to the operating instructions for the Flexi Soft Designer software (SICK part no. 8012998). Tab. 72: Troubleshooting for the FX0-GPNT Symbol description: : LED is off Green: LED lights up green Red: LED flashes red Error Possible cause Possible remedy The Flexi Soft Designer tool does not connect to the Flexi Soft gateway module. FX0-GPNT has no power supply. FX0-GPNT is not in the same physical network as the PC. The PC is configured to another subnet mask in the TCP/IP settings. FX0-GPNT has already been configured once and has a fixed set IP address or an IP address assigned by a DHCP server that is not recognised. FX0-GPNT is configured for data transfer to PLC, but Ethernet communication is not yet established or faulty. Duplicate IP address detected. Another device on the network has the same IP address. Improperly formatted PROFINET device name. Establish the power supply. Check the Ethernet wiring and network settings on the PC and correct if necessary. Set the subnet mask on the PC to 255.255.0.0 (factory setting of the FX0RGPNT). Check the communication settings in the Flexi Soft Designer. FX0-GPNT does not supply any data. PWR Green LINK/ACT / Green STATUS Red/green13) FX0-GPNT does not supply any data. PWR Green LINK/ACT / Green STATUS Red (1 Hz) FX0-GPNT does not supply any data. PWR Green LINK/ACT / Green STATUS Green (1 Hz) FX0-GPNT does not supply any data. PWR Green LINK/ACT / Green STATUS Green (2 Hz) FX0-GPNT functioned correctly after configuration, but suddenly no longer supplies data. PWR Green LINK/ACT / Green STATUS Red/green13) Configuration required. Configuration download is not completed. No data set is activated. Flexi Soft system is in Idle mode. Activate at least one data set. Start CPU (change into Run state). PROFINET master requested LED flashing for physical device identification. Stop flashing with Simatic Manager or power cycle Flexi Soft system to clear. FX0-GPNT is operated in slave mode, the IP address is assigned from a DHCP server. After the FX0-GPNT or the DHCP server has been restarted, a different IP address that is unknown to the PLC has been assigned to the FX0-GPNT. FX0-GPNT/Flexi Soft system is FX0-GPNT is not plugged properly into the other Flexi in Critical fault mode. Soft module. PWR Green LINK/ACT Green Module connecting plug is STATUS Red soiled or damaged. Other Flexi Soft module has internal critical error. FX0-GPNT internal device error FX0-GPNT is in Critical fault mode. CPU firmware version does not PWR Green support Flexi Soft gateways. LINK/ACT / Green STATUS Red (2 Hz) 13) 100 Minimum one Ethernet connection needs to be established. Set up Ethernet connection on PLC side, check Ethernet cabling, check Ethernet connection settings on PLC and in the Flexi Soft Designer. If no Ethernet communication is required, disable the Ethernet connections/PLC interfaces on the FX0-GPNT. Adjust IP address and power cycle device. Adjust device name between PROFINET Master and FX0-GPNT. Configure the FX0-GPNT and download the configuration to the device. Wait until the configuration download has been completed. Either assign a fixed IP address to the FX0RGPNT, or reserve a fixed IP address for the FX0RGPNT in the DHCP server (manual assignment by means of the MAC address of the FX0-GPNT). Plug the FX0-GPNT in correctly Clean the connecting socket/plug. Repower the system. Check the other Flexi Soft modules. Switch off the power supply of the Flexi Soft system and switch it on again. Check the diagnostics messages with Flexi Soft Designer. Use a FX3-CPUx with the required firmware version (see section 2.2 “Correct use” on page 10). If the error remains, replace the gateway. With firmware O V2.00.0 the red/green flashing of the STATUS LED can be disabled in the Flexi Soft Designer. In this case, the STATUS LED is Green permanently, if the configuration is valid. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways 5.5 EtherCAT gateway ® “EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.” The following Flexi Soft gateway can be used for EtherCAT: FX0-GETC. You will find the ESI file and the device icon for PLC interfacing with EtherCAT support … in the Internet on the FX0-GETC product page on www.sick.com. in the Flexi Soft Designer program folder on your hard disk (default installation folder is “C:\programs\SICK\FlexiSoft\DeviceDescriptions\...”). The FX0-GETC is an EtherCAT slave device. It supports and requires the following services for complete function: Configuration and diagnostics of the Flexi Soft station via TCP/IP, tunneled in EtherCAT using the EoE (Ethernet over EtherCAT) protocol 5.5.1 CoE (CAN application layer over EtherCAT) Station diagnostics via CoE object 10F3h Interfaces and operation Controls and status indicators Fig. 47: Controls and status indicators FX0-GETC RJ-45 EtherCAT input port Module Status LED (green) LED network activity (Link/Act) for each EtherCAT port (green) EtherCAT Error LED (red) EtherCAT Run LED (green) RJ-45 EtherCAT output port 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 101 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Tab. 73: Meaning of the status LEDs of the FX0-GETC Symbol description: : LED is off Green: LED lights up green Red: LED flashes red LED Meaning MS Power-up Green Flexi Soft system is in the Run state. Green (1 Hz) Flexi Soft system is in the Stop state. Red (1 Hz) Invalid configuration Red (2 Hz) Critical error on the gateway Red Red/green ERR Critical fault on another module Recoverable external error No error Red (2.5 Hz) Invalid configuration Red (single flash) Pre-operational caused by system behaviour (e.g. configuration in progress or required) Red (double flash) Timeout (connection lost) Red RUN System error Init Green (2.5 Hz) Pre-operational Green (single flash) Safe-operational Green Link/ Act No EtherCAT connection Green Green Note Operational EtherCAT connection active, no data transmission EtherCAT connection active, data transmission For error diagnostics and troubleshooting see section 5.5.10 “Diagnostics and troubleshooting” on page 114. Power-up sequence On power-up, the following LED test sequence is performed: All LEDs Off for 6 s MS LED Red for 0.25 s MS LED Green for 0.25 s MS LED Off ERR LED Red for 0.25 s ERR LED Off RUN LED Green for 0.25 s RUN LED Off Cabling requirements EtherCAT is based on a Fast Ethernet cabling infrastructure that is characterized as follows: type 100 Base-TX RJ-45 connectors twisted pair Ethernet cable, max. length 100 m according to DIN EN 50 173 use of core pairs 1/2 and 3/6 screened cables are recommended 102 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways 5.5.2 Installation of the gateway in the Flexi Soft system This section outlines the basic steps to install the gateway in the Flexi Soft system. More detailed information will be given in the following sections. Add the gateway to a Flexi Soft system Mount the gateway as described in section 4.1.1 “Steps for mounting the modules” on page 24. Connect the FX0-GETC to your EtherCAT network using Ethernet cables with RJ-45 connectors. The upper connector on the gateway is the input port (ECAT IN) and is connected to the PLC side of the network. The lower connector is the output port (ECAT OUT) where further EtherCAT devices can be connected. If the output port is not used it can remain unconnected. Open the Flexi Soft Designer and load the hardware configuration including the gateway or create a new Flexi Soft system with an FX0-GETC in the Flexi Soft Designer. Configure the gateway in the Flexi Soft system Click on the Interfaces button above the main window and select the FX0-GETC or double click the FX0-GETC in the hardware configuration view to open the gateway configuration dialog. The configuration dialog is divided into three areas: CPU to EtherCAT, EtherCAT to CPU and Gateway configuration that can be accessed through the icons on the left. In the CPU to EtherCAT area, select the data that shall be transferred from the Flexi Soft system to the EtherCAT network. Up to 50 bytes can be used which are divided in five input data sets with 10 bytes each. In the EtherCAT to CPU area, select the data that shall be transferred from the EtherCAT network to the Flexi Soft system. Up to 50 bytes can be used which are divided in five output data sets with 10 bytes each. In the Gateway configuration area, you can change the device name of the gateway in the Flexi Soft system. The default name of the gateway is “GETC”. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 103 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Fig. 48: Gateway configuration dialog for the FX0-GETC Note In the middle of the screen, the station alias (second station address) of the gateway and the EoE parameters are displayed. This data is only informative; it is set in the EtherCAT network configuration tool (e.g. TwinCAT). 5.5.3 Note EtherCAT configuration of the gateway This document does not cover the creation of the EtherCAT network or the rest of the automation system project in the network configuration tool. It is assumed the EtherCAT project has already been set up in the configuration program, e.g. TwinCAT. Examples refer to configurations performed with TwinCAT V2.11.0. The following steps need to be taken in order to configure the communication between PLC and gateway. Step 1: Install the EtherCAT Slave Information (ESI) file The ESI file FX0-GETC.xml contains the information that is needed for the integration of the FX0-GETC in the EtherCAT network. Before the FX0-GETC can be used as device in the EtherCAT network configuration tool (e.g. TwinCAT) for the first time, the ESI file of the gateway must be installed into the hardware catalogue of the tool. You will find the ESI file in the Flexi Soft Designer program folder (default folder is “C:\programs\SICK\FlexiSoft\DeviceDescriptions\FX0-GETC_ESI”). You can also download the ESI file from www.sick.com, on the FX0-GETC product page. Follow the instructions in the online help or in the user manual of the EtherCAT network configuration tool for installing ESI files. Example — How to install the ESI file using TwinCAT: Copy the ESI file FX0-GETC.xml in the TwinCAT folder under “TwinCAT\Io\EtherCAT\”. Restart TwinCAT in order to rebuild its ESI cache. 104 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Step 2: Insert the gateway into the EtherCAT network In order to have the Flexi Soft system data available in the PLC process image, the gateway must be added to the hardware configuration first. The procedure associated with this depends on the hardware configuration program of the PLC being used. On this topic, please also read the documentation for the corresponding program. Example — How to insert the FX0-GETC using TwinCAT: In order to integrate the gateway manually into the EtherCAT network, use the Append box command and select the Flexi Soft EtherCAT gateway. Fig. 49: Example for inserting the FX0-GETC into an EtherCAT network Alternatively you can perform a network scan using the Scan boxes command. Step 3: Select and configure the process data objects (PDOs) After adding the device to the automation network you must configure which of the process data objects (PDOs) you want to use. The FX0-GETC provides five input PDOs for the transfer of input data to a connected PLC that can be used alternatively. I.e. only one of these five input PDOs can be active at any time. There is one input PDO for 10 byte input data (1 data set used in the Flexi Soft Designer), one for 20 byte data (2 data sets used) etc. up to the maximum of 50 byte. Similarly you must select one out of five different available output PDOs from 10 to 50 bytes into which the PLC output data can be written. Notes The structure of the PDOs is predefined and can not be edited. The input data PDOs contain an additional first byte for the diagnostics flag (Diag). This byte is set to True (“1”) if a new diagnosis message (CoE object 10F3h) is available and to False (“0”) if all diagnosis messages are acknowledged. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 105 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Tab. 74: Process data objects of the FX0-GETC Input PDOs Index Size Content 1A00h 11 bytes Diag byte + input data set 1 1A01h 21 bytes Diag byte + input data sets 1-2 1A02h 31 bytes Diag byte + input data sets 1-3 1A03h 41 bytes Diag byte + input data sets 1-4 1A04h 51 bytes Diag byte + input data sets 1-5 Index Size Content 1600h 10 bytes Output data set 1 1601h 20 bytes Output data sets 1-2 1602h 30 bytes Output data sets 1-3 1603h 40 bytes Output data sets 1-4 1604h 50 bytes Output data sets 1-5 Output PDOs Select one of the five available PDOs for each data transfer direction (input and output) with the appropriate size for the used process data in the EtherCAT network configuration tool. Notes Only one input PDO and one output PDO can be active at any time. If the selected PDO is greater than the process data configured, unused data will be filled with zeroes. If the selected PDO is smaller than the process data configured, excess data will be truncated. Example — How to select the PDOs using TwinCAT: Under the Process Data file card, select the desired PDO type (Inputs or Outputs) in the Sync Manager selection list. Then select the desired PDO in the PDO Assignment selection list. In order to change the PDO you need to deselect the active one first. In the Download area, select PDO Assignment but leave PDO Configuration unchecked since the PDO configuration is predefined and can not be changed. Fig. 50: PDO configuration in the EtherCAT network configuration tool 106 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways 5.5.4 Input data — Flexi Soft to EtherCAT The FX0-GETC can transfer up to 50 bytes input data to a connected PLC over EtherCAT. The input data are divided into five data sets. Notes Each input data set contains 10 bytes. The contents of the data sets are freely selectable, but are preconfigured in the Flexi Soft Designer configuration software (see Tab. 75). If an input data set contains any data, the complete 10 byte set is sent over EtherCAT. Tab. 75: Default content of input data set 1-5 of the FX0>GETC Data set 1 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Length Data set 2 Data set 3 Data set 4 Data set 5 Input data Input data Input data Input data Input data Input values module 1 Input values module 2 Input values module 3 Input values module 4 Input values module 5 Input values module 6 Input values module 7 Input values module 8 Input values module 9 Input values module 10 Input values module 11 Input values module 12 Output values module 1 Output values module 2 Output values module 3 Output values module 4 Output values module 5 Output values module 6 Output values module 7 Output values module 8 Output values module 9 Output values module 10 Output values module 11 Output values module 12 Gateway direct output values 2 Gateway direct output values 3 Gateway direct output values 0 Gateway direct output values 1 10 bytes 10 bytes 10 bytes Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Logic result 0 Not assigned Not assigned Logic result 1 Not assigned Not assigned Logic result 2 Not assigned Not assigned Logic result 3 Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned 10 bytes 10 bytes For detailed information about the content of the process image please see section 3.3 “Data transmitted into the network (input data sets)” on page 14. For further information on how to configure the process image, see chapter 7 “Layout and content of the process image” on page 172 and the Flexi Soft Designer operating instructions (SICK part no. 8012998). Note The process data can also be read using the CoE objects 2000h and 2001h (see section 5.5.9 “CoE (CAN application layer over EtherCAT)” on page 111). The simple SDO access is recommended for diagnostic purposes. In normal operation the faster PDO communication should be used. 5.5.5 Output data — EtherCAT to Flexi Soft The FX0-GETC can receive up to 50 bytes input data from a connected PLC over EtherCAT. Similar to the input data, the output data are divided into five data sets. Notes Each output data set contains 10 bytes. The contents of the output data sets can be configured in the Flexi Soft Designer configuration software. See section 7.3.6 “Output data configuration (Network to Flexi Soft)” on page 179. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 107 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways 5.5.6 Tag name export The Flexi Soft Designer allows you to export the names of the bits used in the input and output data sets. Before exporting you can also edit the start addresses for the used data sets in the PLC. The exported tag names and start addresses can then be imported as variables to the application program in the EtherCAT network configuration tool (e.g. TwinCAT PLC). This speeds up the generation of the PLC program and makes it easier to identify each bit in the EtherCAT PDOs. How to export the tag names: The input and output data sets must be exported separately. Depending on whether you want to export the tag names of the input or output data sets, open the CPU to EtherCAT or the EtherCAT to CPU configuration page. Click on the Export button in the toolbar. A dialog window opens. Select the destination folder, enter a name for the export file, select the required file type (e.g. *.csv or *.exp for TwinCAT) from the selection list at the bottom of the dialog window and click on Save to export the file. Notes For each used data set the export creates a 10 byte structure with the byte or module names and a bit variable for each used bit. The name of the bit variable consists of the application name, the name of the byte and the name of the bit. It is recommended to assign a tag name to each module in the Flexi Soft configuration and to use unique tag names for all modules, bytes and bits. Special characters in the names are deleted and spaces are replaced with the character “_”. The start address for each data set in the TwinCAT PLC process image can be changed in the gateway configuration menu (see below). 108 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways How to change the start address for the data sets: Open the Flexi Soft Designer and load the hardware configuration including the EtherCAT gateway. Ensure your project is offline. Click on the Interfaces button above the main window and select the FX0-GETC or double click the FX0-GETC in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: Fig. 51: EtherCAT gateway configuration dialog Click on the button to the right of the data set for which you want to change the start address. The following dialog appears: Fig. 52: Edit the data block start address Type in the desired new start address or use the arrows to change the address. The address will be checked automatically for plausibility, i.e. it is not possible to configure data sets with overlapping address ranges. Click OK to accept the new start address. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 109 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways 5.5.7 Ethernet over EtherCAT (EoE) The EoE functionality of the gateway needs to be activated via the EtherCAT network configuration tool (e.g. TwinCAT) before it can be used. The gateway itself has no real MAC address. Therefore it is necessary to assign a virtual MAC address and the IP settings to the device. Follow the instructions in the online help or in the user manual of your EtherCAT network configuration tool for activating EoE. Fig. 53: EoE activation for the FX0-GETC in TwinCAT If the EoE configuration is loaded to the gateway it can be accessed over Ethernet by the Flexi Soft Designer. Note The EoE protocol only works if the gateway is in the Pre-Operational state or higher, because it relies on the EtherCAT mailboxes of the Gateway, which are not available in the Init state. 5.5.8 TCP/IP configuration interface In order to use the TCP/IP communication interface, the FX0-GETC must be part of a working EtherCAT network. EoE functionality must be enabled for the Flexi Soft system and an IP address and a subnet mask must be assigned to it in the EtherCAT configuration tool. Follow the instructions in the online help or in the user manual of your EtherCAT network configuration tool for assigning an IP address and a subnet mask. If the EtherCAT master and the Flexi Soft Designer are running on different PCs, then TCP/IP routing must be enabled in the Flexi Soft Designer. In the Com settings window, create a new TCP/IP profile or modify an existing TCP/IP profile for the FX0-GETC, activate the checkbox for Enable TCP/IP routing and enter a suitable Subnet address and Gateway address. 110 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Ethernet gateways Operating Instructions Chapter 5 Flexi Soft Gateways Fig. 54: Enabling TCP/IP routing for the FX0-GETC in the Flexi Soft Designer Note The Default Gateway in the EoE settings of the EtherCAT gateway in your EtherCAT network configuration tool must be set correctly in order to establish a communication. 5.5.9 CoE (CAN application layer over EtherCAT) The FX0-GETC supports various CoE objects. They can be viewed in the EtherCAT network configuration tool or used in an application through SDO read commands. In addition to the standard EtherCAT objects the FX0-GETC has a number of vendor specific objects. Fig. 55: CoE object catalogue of the FX0-GETC in TwinCAT Note 8012664/XR03/2013-11-19 Subject to change without notice The CoE objects can only be read, i.e. it is not possible to change the input or output process data or other CoE objects via SDO commands. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 111 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways Input process data (2000h) This object contains the input process data from the Flexi Soft system to an EtherCAT PLC and makes them available for acyclic usage. It corresponds to the EtherCAT input PDO data of the FX0-GETC. Tab. 76: FX0-GETC Input Process Data CoE object 2000h Index Subindex Name Size 01 Dataset1 10 bytes 02 Dataset2 10 bytes 03 Dataset3 10 bytes 04 Dataset4 10 bytes 05 Dataset5 10 bytes 2000h Output process data (2001h) This object contains the output process data from an EtherCAT PLC to the Flexi Soft system and makes them available for acyclic usage. It corresponds to the EtherCAT output PDO data of the FX0-GETC. Tab. 77: FX0-GETC Output Process Data CoE object 2001h Index Subindex Name Size 01 Dataset1 10 bytes 02 Dataset2 10 bytes 03 Dataset3 10 bytes 04 Dataset4 10 bytes 05 Dataset5 10 bytes 2001h Checksums (2002h) This object contains the checksums described in section 3.3.5 “Configuration checksums” on page 19. Tab. 78: FX0-GETC checksums in CoE object 2002h Index Subindex Name Size 01 Total checksum 4 bytes 02 Flexi Soft checksum CPU0 and CPU1: Reserved CPU2 and CPU3: ACR checksum 4 bytes 2002h 03 4 bytes Status and diagnosis (2003h) This object contains the module status bits of the Flexi Soft system. Each Flexi Soft module has 32 status bits, each representing a possible error message of the module. The meaning of each bit depends on the type of module. For details see section 3.3.6 “Error and status information of the modules” on page 19. The gateway uses these module status bits internally in order to generate the error messages displayed in object 10F3h. Tab. 79: FX0-GETC Status and Diagnosis CoE object 2003h Index 2003h Subindex Name Size 01 FX3-CPUx 4 bytes 02 Module 1 4 bytes 03 … 0D Module 2 … Module 12 4 bytes 0E Gateway 1 4 bytes 0F Gateway 2 4 bytes Reserved (2004h) This object is reserved for future use. 112 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways Diagnosis history (10F3h) The Diagnosis history lists the entries in object 2003h chronologically. If the Diagnosis history contains new entries that have not yet been confirmed, the Diag byte in the input process image (i.e. the first byte of the EtherCAT input PDO and of the CoE object 2000h) is set to True. Subindex 1 of the Diagnosis history contains the maximum number of possible diagnosis history entries. Subindex 2 (Newest) refers to the newest diagnosis message. Subindex 3 (Acknowledged) refers to the last message that has been confirmed or — if no messages have been confirmed so far — to the last entry. Subindex 4 is True if Reading is required (i.e. if Newest and Acknowledged are different). Tab. 80: Structure of the Diagnosis history object Subindex [hex] Content Format Comments 01h Max. entry number UNSIGNED8 02h Newest UNSIGNED8 = Subindex of the newest history entry (e.g. 2Ah) 03h Acknowledged UNSIGNED8 = Subindex of the last acknowledged history entry 04h Reading required BOOLEAN = True, if Newest is not the same as Acknowledged 05h Flags UNSIGNED16 Flags to control the sending and storing of diagnosis messages — the Flexi Soft EtherCAT gateway does not support any of the optional options. 06h-69h Diagnosis history entries OCTET STRING See below. The Diagnosis history object is structured as a ring buffer. If subindex 69h has been written, the next entry will start over with subindex 06h. If the number of unconfirmed diagnosis messages reaches 100, older messages will not be overwritten. Instead the newest diagnosis message is replaced by a buffer overflow error message (FFFFh). Detailed information about the structure and usage of this object can be found in the “EtherCAT Protocol Enhancements” document by the EtherCAT Technology Group (ETG.1020) which can be obtained via the internet on www.ethercat.org. Each diagnosis message consists of a diagnosis code and an ASCII string containing the message parameter set. The diagnosis code consists of the module number and the diagnosis bit of the respective module. The ASCII string is “module xx +” or “module xx -”, where xx stands for the position in the Flexi Soft system of the module that has generated the diagnosis message. Coming diagnosis messages are marked with a “+”, going diagnosis messages are marked with a “-”. If a problem has been diagnosed and resolved subsequently, the object 10F3h will contain two diagnosis messages that differ only by the trailing “+” or “-”. The FX0-GETC does not support a time stamp for the Diagnosis history object. If a time stamp is required, the reading device (e.g. the PLC) can be programmed to add the time stamp when a diagnosis message is read. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 113 Ethernet gateways Chapter 5 Operating Instructions Flexi Soft Gateways 5.5.10 Diagnostics and troubleshooting The FX0-GETC provides the following module status bits in the Flexi Soft system for diagnostic purposes. The module number of the FX0-GETC is 16. Tab. 81: Module status bits of the FX0-GETC Bit Error message Possible causes 0 Module not in operation No process data connection with the PLC 1 Module has internal error Hardware error. Replace module 2 Module has external error No process data connection with the PLC 3 Reserved n/a Configuration invalid or incompatible The configuration of the Flexi Soft system is invalid, e.g. a hardware component has been added or removed or has been replaced by an incompatible device Module input status invalid No process data connection with the PLC 4 Configuration required or in progress 5 EtherCAT status is Pre-operational or less 6 7 … 31 114 Module output status invalid No process data connection with the PLC EtherCAT status is Safe-operational or less Reserved n/a © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Ethernet gateways Chapter 5 Flexi Soft Gateways For information how to perform diagnostics on the Flexi Soft system please refer to the operating instructions for the Flexi Soft Designer software (SICK part no. 8012998). Tab. 82: Troubleshooting for the FX0-GETC Symbol description: : LED is off Green: LED lights up green Red: LED flashes red Error Possible cause Possible remedy The Flexi Soft Designer tool does not connect to the Flexi Soft gateway module FX0-GETC has no power supply. FX0-GETC does not supply any data. MS Red (1 Hz) ERR Red (2.5 Hz) RUN Off FX0-GETC does not supply any data. MS Red/green ERR Off RUN Green (2.5 Hz) FX0-GETC does not supply any data. MS Green (1 Hz) ERR Off RUN Green FX0-GETC does not supply any data. MS Green ERR Off RUN Green FX0-GETC is in Critical fault mode. MS Red (2 Hz) ERR Red RUN Off Configuration required. Configuration download is not completed. Establish the power supply. Check the communication settings in the Flexi Soft Designer. Configure the FX0-GETC and download the configuration to the device. Wait until the configuration download has been completed. FX0-GETC/Flexi Soft System is in Critical fault mode MS Red ERR Red RUN Off 8012664/XR03/2013-11-19 Subject to change without notice No input PDO is activated. Activate an input PDO. Flexi Soft system is in the Stop state. CPU/application is stopped. Start CPU (change into Run state). EtherCAT PLC is in Stop state. Set EtherCAT PLC into Run state. FX0-GETC internal device error. CPU firmware version does not support Flexi Soft gateways. Switch off the power supply of the Flexi Soft system and switch it on again. Check the diagnostics messages with Flexi Soft Designer. Use a FX3-CPUx with the required firmware version (see section 2.2 “Correct use” on page 10). If the error remains, replace the gateway. Plug the FX0-GETC in correctly. Clean the connecting socket/plug. Repower the system. Check the other Flexi Soft modules. Check the diagnostics messages with Flexi Soft Designer. FX0-GETC is not plugged properly into the other Flexi Soft module. Module connecting plug is soiled or damaged. Other Flexi Soft module has internal critical error. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 115 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways 6 Fieldbus gateways 6.1 PROFIBUS DP gateway The following Flexi Soft gateway can be used for PROFIBUS DP: FX0-GPRO. 6.1.1 Interfaces and operation Controls and status indicators Fig. 56: Controls and status indicators FX0-GPRO BF LED (red) Address switch 1 MS LED (red/green) PROFIBUS connection PWR LED (red/green) Tab. 83: Meaning of the status LEDs of the FX0-GPRO Symbol description: : LED is off Green: LED lights up green Red: LED flashes red Address switch 2 LED Meaning BF Connection to DP master established Red MS No bus connection: Fieldbus cable break, address fault or master is not (or no longer) writing to the bus Power-up, waiting for bus off Green Executing Green Idle Red/green Executing, but there is an error at the gateway Red 1 Hz: Configuration required or in progress 2 Hz: Critical fault on gateway Red PWR 116 Critical fault on another module No power supply Green Power supply switched on, no error Red Critical fault © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways Tab. 84: Address switch FX0>GPRO Switch × 10 ×1 Function Address switch 1 10 position rotary switch for setting the module address (tens) Address switch 2 10 position rotary switch for setting the module address (ones) How to set the PROFIBUS DP address via hardware address switches: Set the PROFIBUS DP address using the hardware address switches on the device front. Then switch the Flexi Soft system off and back on again. How to set the PROFIBUS DP address via software using the Flexi Soft Designer: Set the two hardware address switches on the device front to “00”. Open the Flexi Soft Designer and load the hardware configuration including the PROFIBUS DP gateway. Ensure your project is offline. Click on the Interfaces button above the main window and select the FX0-GPRO or double click the FX0-GPRO in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: Fig. 57: Setting the PROFIBUS address for the FX0>GPRO Select the PROFIBUS address in the PROFIBUS address field. Click Connect to go online and transfer the configuration to the Flexi Soft system. Notes The address that can be set via the hardware address switch ranges from 1 … 99. The address that can be set via the Flexi Soft Designer software ranges from 3 … 125. The PROFIBUS master cannot overwrite the address. A modified address setting only becomes effective after switching off and switching on the Flexi Soft system. In online mode, you can read the address set on the PROFIBUS DP gateway by clicking on the Read button above the PROFIBUS address field. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 117 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Plug assignment The connection to the PROFIBUS DP fieldbus is made using a 9 pin DRSub socket. Fig. 58: D-Sub socket and plug pin assignments FX0>GPRO Pin Pin 1 Pin 9 Pin 2 Pin 3 Pin 4 NC 2 NC 3 RxD/TxD-P Pin 8 4 CNTR-P Pin 7 5 GND-EXT 6 +5V-EXT 7 NC 8 RxD/TxD-N 9 CNTR-N (GND-EXT) Pin 6 Pin 5 Description 1 SHLD SHLD Shield Bus cable The bus topology for PROFIBUS DP is a linear structure comprising a screened, twisted 2 core cable with active bus termination at both ends. The possible bus lengths are 100 m at 12 Mbit/s up to 1,200 m at 94 kbit/s. Fig. 59: Bus cable FX0-GPRO Tab. 85: Explanation bus cable FX0-GPRO Position Description 1 PROFIBUS user grey 2 Shielded bus cable 3 PROFIBUS termination yellow (with integrated terminating resistors) Cable parameters The properties of the bus cable are specified in EN 50 170 as cable type A. Tab. 86: Cable parameters FX0>GPRO 118 Property Value Characteristic impedance 135-165 a (at a frequency of 3-20 MHz) Capacitance per unit length < 30 pF/m Loop resistance b 110 a/km Core diameter > 0.64 mm Core cross-section > 0.34 mm © SICK AG • Industrial Safety Systems • Germany • All rights reserved 2 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways With these cable parameters, the following maximum physical sizes are possible for a bus segment: Tab. 87: Maximum cable lengths FX0-GPRO Baud rate [kbit/s] Max. cable length [m] 9.6 1200 19.2 1200 93.75 1200 187.5 1000 500 400 1500 200 12000 100 Data transmission rate The data transmission rate is set automatically. The maximum baud rate is 12 Mbit/s. Configuration comparison of the Alarm bitmask This check box in the dialog box for the gateway configuration is provided for compatibility reasons and, as a rule, should not be changed. On loading configurations that have been prepared using a version of Flexi Soft Designer < 1.3.1 the check box is cleared. In the case of configurations that have been prepared using Flexi Soft Designer 1.3.1 or higher, the check box is selected. With the check box selected the Alarm bitmasks in the device are updated by Flexi Soft Designer. This function is available for FX0-GPRO with firmware versions from V1.30.0. In this way it is possible to modify the scope of the alarms generated on the fieldbus side to new software versions on other modules. If you change the status of this check box for a configuration already verified, then you must verify this configuration again. 6.1.2 Planning GSD file Normally the FX0-GPRO is used on a DP master that looks up the device characteristics in the GSD file. You will find the GSD file and device icon for PLC interfacing with PROFIBUS support … on the FX0-GPRO product page on the Internet at www.sick.com. in the Flexi Soft Designer program folder on your hard disk (default installation folder is “C:\programs\SICK\FlexiSoft\DeviceDescriptions\...”). Note Tab. 88: GSD file versions for the FX0-GPRO There are two different GSD files available which should be used depending on the FX0RGPRO gateway’s firmware version: FX0-GPRO firmware version GSD file Functionality V1.00-V1.29 SICK0C18.gsd DP-V0 Slave O V1.30 SIC_0C18.gsd DP-V1 Slave FX0-GPRO gateways with firmware version O V1.30 will work with the GSD file SICK0C18.gsd as well, but will only support DP-V0 slave functionality. FX0-GPRO gateways with firmware versions V1.00 to V1.29 will not work with the GSD file SIC_0C18.gsd. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 119 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Note In DP-V1 slave mode only reading of I&M0 data is supported. This can be triggered by a Class 1 or Class 2 master. Operational data transmitted by the FX0-GPRO PROFIBUS DP The FX0-GPRO GSD file provides input/output data blocks (virtual I/O device modules) containing the operational data. These 5 blocks must be projected in a DP configurator in natural order (1, 2, 3, 4, 5). No other sequence is possible. Fig. 60: PROFIBUS DP configuration example in Siemens SIMATIC Manager Notes Depending on the type of PLC used, further modules may be displayed (e.g.“universal module”). These modules are not needed and should be ignored. The data blocks 1-4 contain 12 bytes each, data block 5 contains 2 bytes. The contents of the data blocks are freely selectable, but are preconfigured in the Flexi Soft Designer configuration software: 120 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways Tab. 89: Default content of input data block 1-5 of the FX0>GPRO Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Length Data block 1 Data block 2 Data block 3 Data block 4 Data block 5 Input data Input data Input data Input data Input data Input values module 1 Input values module 2 Input values module 3 Input values module 4 Input values module 5 Input values module 6 Input values module 7 Input values module 8 Input values module 9 Input values module 10 Input values module 11 Input values module 12 Output values module 1 Output values module 2 Output values module 3 Output values module 4 Output values module 5 Output values module 6 Output values module 7 Output values module 8 Output values module 9 Output values module 10 Output values module 11 Output values module 12 Logic result 0 Not assigned Not assigned Logic result 1 Not assigned Not assigned Logic result 2 Not assigned Logic result 3 Not assigned Gateway direct output values 0 Gateway direct output values 1 Gateway direct output values 2 Gateway direct output values 3 12 bytes 12 bytes Not assigned Not assigned Not assigned Not available Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned 12 bytes 12 bytes 2 bytes For detailed information about the content of the process image please see section 3.3 “Data transmitted into the network (input data sets)” on page 14. How to set the start address for the data blocks: Open the Flexi Soft Designer and load the hardware configuration including the PROFIBUS DP gateway. Ensure your project is offline. Click on the Interfaces button above the main window and select the FX0-GPRO or double click the FX0-GPRO in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 121 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Fig. 61: PROFIBUS DP gateway configuration dialog Click on the button to the right of the data block for which you want to change the start address. The following dialog appears: Fig. 62: Edit the data block start address Type in the desired new start address or use the arrows to change the address. The address set will be checked automatically for plausibility, i.e. it is not possible to configure data blocks with overlapping address ranges. Click OK to accept the new start address. For further information on how to configure the process image, see chapter 7 “Layout and content of the process image” on page 172 and the Flexi Soft Designer operating instructions (SICK part no. 8012998). 6.1.3 PROFIBUS configuration of the gateway — How the data are transferred The following steps need to be taken in order to configure the communication between PLC and gateway. Note 122 This document does not cover the creation of the PROFIBUS DP network or the rest of the automation system project in the network configuration tool. It is assumed the PROFIBUS project has already been set up in the configuration program, e.g. SIEMENS SIMATIC Manager. Examples refer to configurations performed with SIEMENS SIMATIC manager. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways Step 1: Install the generic station description file (GSD file) Before the FX0-GPRO can be used as device in the network configuration tool, e.g. SIEMENS SIMATIC Manager, for the first time, the generic station description (GSD) of the gateway must be installed into the hardware catalogue of the tool. Download the GSD file and device icon from www.sick.com, on the FX0-GPRO product page. Follow the instructions in the online help or in the user manual of the PROFINET network configuration tool for installing generic station description files. Using the SIEMENS SIMATIC Manager — HW Config, the gateway then appears in the hardware catalogue under >>PROFIBUS DP > Additional Field Devices > Gateway > SICK > Flexi Soft. Step 2: Add the gateway to the project In order to have the Flexi Soft system data available in the PLC process image, the gateway must be added to the hardware configuration first. The procedure associated with this depends on the hardware configuration program of the PLC being used. On this topic, please also read the documentation for the corresponding program. The example below shows how to add the gateway to a SIEMENS SIMATIC Manager project. In the SIEMENS SIMATIC Hardware Manager, the gateway can be found in the hardware catalogue under >>PROFIBUS DP > Additional Field Devices > Gateway > SICK > Flexi Soft. Drag & drop the device into the PROFIBUS network. Example: Fig. 63: PROFIBUS DP gateway in the PROFIBUS HW Config Note 8012664/XR03/2013-11-19 Subject to change without notice The universal module does not support any data exchange. Please select only Input/ Output Data Block 1-5. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 123 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Diagnostics data FX0-GPRO PROFIBUS DP With the FX0-GPRO, diagnostics data are available via PROFIBUS standard DP-V0 diagnostics: standard diagnostics (6 bytes) device related diagnostics: status messages or manufacturer specific messages Each Flexi Soft module supports a unique module ID. Based on this ID the gateway determines the manufacturer specific diagnostics number. This way it is possible to retrieve module specific diagnostics texts from the GSD file. The content of the diagnostics message is shown in Tab. 90. Tab. 90: Content of the PROFIBUS diagnostics messages Octet Content Comment 7 8 9 09h See Tab. 91 0 10 (Bit 0 … 2) 10 (Bit 3 … 7) 000, 001 or 010 00000…11111 Header Module number PROFIBUS module slot number. The PROFIBUS gateway supports five slots, which do not represent the physical slots, thus all messages shall be tied to slot 0 (gateway itself). 000 = All errors going, 001 = Error coming, 010 = Error going 11 0 … 14 12 … 15 Variable Alarm sequence number, will be incremented for each state change of octet 10 Bit 0 … 2 (error coming/going) In the case of modules with firmware V1.30 and later the alarm sequence number is not used for reasons of conformity with the PROFIBUS DP specification. These bits are therefore always 0 for these modules. Position of the Flexi Soft module raising the diagnostic information. 0 = FX3-CPUx 1 = 1st extension module … 13 = 1st gateway 14 = 2nd gateway (relay modules are not counted) 4 bytes module specific diagnostics data. See Tab. 92. The following table lists the module numbers for the Flexi Soft system. Tab. 91: Flexi Soft module numbers 124 Module number [dec] Module number [hex] Module 161 A1 Flexi Soft main module (FX3-CPUx) 162 A2 FX3-XT module (FX3-XTDI, FX3-XTIO) 163 A3 PROFIBUS gateway (FX0-GPRO) 164 A4 CANopen gateway (FX0-GCAN) 165 A5 DeviceNet gateway (FX0-GDEV) 166 A6 Modbus gateway (FX0-GMOD) 167 A7 EtherNet/IP gateway (FX0-GENT) 168 A8 PROFINET IO gateway (FX0-GPNT) 172 AC CC-Link gateway (on request) 175 AF Sercos III gateway (on request) 176 B0 EtherCAT gateway (FX0-GETC) 192 C0 Extension module (FX0-STIO) 193 C1 Drive Monitor (FX3-MOCx) 194 C2 Extension module (FX3-XTDS) © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways The following table matches the module specific diagnostics data (as defined by the GSD) to the appropriate error message. The module status bits have the following significance, if not otherwise stated: 0 = Error 1 = No error Tab. 92: PROFIBUS error messages Module Diagnostics bit number [dec] [Octet Bit] 1 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 Error origin CPU 13.0 13.1 2 3 8012664/XR03/2013-11-19 Subject to change without notice 13.2 … 15.7 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 13.0 13.1 13.2 13.3 13.4 … 13.7 14.0 14.1 14.2 14.3 14.4 14.5 14.6 14.7 15.0 15.1 15.2 15.3 15.4 15.5 15.6 15.7 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 … 15.7 XTIO/XTDI PROFIBUS gateway Error message Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved Configuration Flexi Soft system Power supply EFI1 EFI2 Flexi Link stations in the system 1 = All found 0 = One or more are missing Flexi Link stations suspended 1 = None 0 = One or more Reserved Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved Configuration of this module is valid Outputs power supply Output Fast-Shut-Off Reserved Input 1-2 dual channel input evaluation Input 3-4 dual channel input evaluation Input 5-6 dual channel input evaluation Input 7-8 dual channel input evaluation Reserved External test signal Input 1 External test signal Input 2 External test signal Input 3 External test signal Input 4 External test signal Input 5 External test signal Input 6 External test signal Input 7 External test signal Input 8 Short-circuit monitoring output 1: short-circuit to high Short-circuit monitoring output 1: short-circuit to low Short-circuit monitoring output 2: short-circuit to high Short-circuit monitoring output 2: short-circuit to low Short-circuit monitoring output 3: short-circuit to high Short-circuit monitoring output 3: short-circuit to low Short-circuit monitoring output 4: short-circuit to high Short-circuit monitoring output 4: short-circuit to low Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved © SICK AG • Industrial Safety Systems • Germany • All rights reserved 125 Chapter 6 Fieldbus gateways Operating Instructions Flexi Soft Gateways Module Diagnostics bit number [dec] [Octet Bit] 4 5 6 7 8 0C 0F 126 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 … 15.7 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 … 15.7 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 … 15.7 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 … 15.7 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 … 15.7 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 … 15.7 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 … 15.7 Error origin Error message Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved CANopen gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved DeviceNet gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved Modbus gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved EtherNet/IP gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved PROFINET gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved CC-Link gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved Sercos III gateway Configuration of this module is valid Communication from the network Communication to the network Reserved © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways Module Diagnostics bit number [dec] [Octet Bit] 10 20 21 14) 8012664/XR03/2013-11-19 Subject to change without notice 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 … 15.7 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 13.0 … 15.7 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 13.0 … 13.3 13.4 13.5 13.6 13.7 14.0 … 15.7 Error origin Error message Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved EtherCAT gateway Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved STIO Configuration of this module is valid Outputs power supply Reserved Output load (overcurrent) monitoring Reserved Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved Configuration of this module is valid Encoder 1 Encoder 2 MOCx Reserved Reserved User-defined status bit 114) User-defined status bit 214) User-defined status bit 314) User-defined status bit 414) Reserved The status of this bit can be defined to suit the specific application in the MOCx logic, e.g. to indicate inadmissible movements of an axis that have been detected by an MOCx function block. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 127 Chapter 6 Fieldbus gateways Operating Instructions Flexi Soft Gateways Module Diagnostics bit number [dec] [Octet Bit] 22 23 … 3F 128 12.0 12.1 12.2 12.3 12.4 12.5 12.6 12.7 13.0 13.1 13.2 13.3 13.4 … 13.7 14.0 14.1 14.2 14.3 14.4 14.5 14.6 14.7 15.0 … 15.7 12.0 12.1 12.2 12.3 12.4 12.5 … 15.7 Error origin XTDS Other module Error message Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved Configuration of this module is valid Outputs power supply Reserved Output load (overcurrent) monitoring Input 1-2 dual channel input evaluation Input 3-4 dual channel input evaluation Input 5-6 dual channel input evaluation Input 7-8 dual channel input evaluation Reserved External test signal Input 1 External test signal Input 2 External test signal Input 3 External test signal Input 4 External test signal Input 5 External test signal Input 6 External test signal Input 7 External test signal Input 8 Reserved Operating state Run Internal tests Summary of bits 12.5 to 12.7 Reserved Configuration of this module is valid Reserved © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways 6.1.4 Diagnostics and troubleshooting For information how to perform diagnostics on the Flexi Soft system please refer to the operating instructions for the Flexi Soft Designer software (SICK part no. 8012998). Tab. 93: Troubleshooting for the FX0-GPRO Symbol description: : LED is off Green: LED lights up green Red: LED flashes red 8012664/XR03/2013-11-19 Subject to change without notice Error Possible cause Possible remedy The Flexi Soft Designer tool does not connect to the Flexi Soft gateway module. FX0-GPRO has no power supply. FX0-GPRO does not supply any data. PWR Green BF Off MS Red (1 Hz) FX0-GPRO does not supply any data. PWR Green BF Off MS Green FX0-GPRO does not supply any data. PWR Green BF Off/ Red MS Green (1 Hz) FX0-GPRO does not supply any data. PWR Green BF Off MS Green FX0-GPRO functioned correctly after configuration, but suddenly no longer supplies data. PWR Green BF Red MS Red/green FX0-GPRO is in Critical fault mode. PWR Green BF Red MS Red (2 Hz) Configuration required. Configuration download is not completed. Establish the power supply. Check the communication settings in the Flexi Soft Designer. Configure the FX0-GPRO and download the configuration to the device. Wait until the configuration download has been completed. FX0-GPRO/Flexi Soft System is in Critical fault mode PWR Red BF Off MS Red FX0-GPRO is not plugged properly into the other Flexi Soft module. Module connecting plug is soiled or damaged. Other Flexi Soft module has internal critical error. No data set is activated. Activate at least one data set. FX0-GPRO is in Idle mode. CPU/application is stopped. Start CPU (change into Run state) PROFIBUS master is in stop mode. Set PROFIBUS master into Run state. FX0-GPRO PROFIBUS hardware address is changed. PROFIBUS cable is disconnected. Check PROFIBUS address setting at hardware address. Check PROFIBUS cable. Check PROFIBUS master. FX0-GPRO internal device error CPU firmware version does not support Flexi Soft gateways. Switch off the power supply of the Flexi Soft system and switch it on again. Check the diagnostics messages with Flexi Soft Designer. Use a FX3-CPUx with the required firmware version (see section 2.2 “Correct use” on page 10). If the error remains, replace the gateway. Plug the FX0-GPRO in correctly. Clean the connecting socket/plug. Repower the system. Check the other Flexi Soft modules. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 129 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways 6.2 CANopen gateway The following Flexi Soft gateway can be used for CANopen: FX0-GCAN. 6.2.1 Interfaces and operation Controls and status indicators Fig. 64: Controls and status indicators FX0-GCAN Network status LED (red/green) Address switch 1 Module status LED (red/green) Baud rate DIP switch CANopen connection LED Symbol description: : LED is off Green: LED lights up green Red: LED flashes red NS (Network Status) Tab. 94: Meaning of the status LEDs of the FX0-GCAN PWR (Power) Power LED (green) Address switch 2 Meaning No power supply Green Operational, power supply switched on Red System error CANopen status: Stopped (except node guarding and heartbeat, if active) Green Green Red Red (1 Hz) CANopen status: Operational (PDO + SDO data exchange) CANopen status: Pre-operational (SDO data exchange only) CAN bus off (hardware problem CAN physical layer) or Error passive Node guarding failed (NMT master does not monitor slave anymore) or Heartbeat consumer failure MS (Module Status) Power-up Green Executing, FLEXBUS+ and PDO status: all “Good” Green Idle (cable not attached or node guarding failed) Red/green Executing, FLEXBUS+ and PDO status: any is “Bad” Red Critical fault, caused by emergency bit Red (1 Hz) Configuration required or in progress Red (2 Hz) Critical fault, caused by gateway itself For diagnostics see section 6.2.14 “Diagnostics and troubleshooting” on page 159. 130 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways How to set the CANopen address via hardware address switches: Set the CANopen address using the hardware address switches on the device front. Then switch the Flexi Soft system off and back on again. Tab. 95: Address switch FX0>GCAN Switch Function Address switch 1 × 10 10 position rotary switch for setting the module address (tens) Address switch 2 ×1 10 position rotary switch for setting the module address (ones) How to set the baud rate via hardware DIP switches: Set the baud rate using the DIP switches on the device. Then switch the Flexi Soft system off and back on again. Fig. 65: DIP switch settings on the FX0-GCAN Tab. 96: DIP switch settings on the FX0-GCAN Notes Baud rate kbit/s 125 250 500 800 1000 Baud rate [kbit/s] DIP 1 DIP 2 DIP 3 DIP 4 125 On On On Off 250 Off On On Off 500 On Off On Off 800 Off Off On Off 1000 On On Off Off All other DIP switch settings will set the baud rate to 125 kbit/s. If the address switches on the device are set to “00”, the DIP switch settings are ignored and the baud rate setting in the Flexi Soft Designer is used. How to set the CANopen address and baud rate via software using the Flexi Soft Designer: Set the two hardware address switches on the device front to “00”. Open the Flexi Soft Designer and load the hardware configuration including the CANopen gateway. Ensure that your project is offline. Click on the Interfaces button above the main window and select the FX0-GCAN or double click the FX0-GCAN in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog appears: 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 131 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Fig. 66: Setting the CANopen address for the FX0-GCAN Select the CANopen address in the CANopen address field. Select the baud rate in the CANopen baud rate field. Click Connect to go online and transfer the configuration to the Flexi Soft system. Notes The address that can be set via the hardware address switch ranges from 1 … 99. The address that can be set via the Flexi Soft Designer software ranges from 1 … 127. The CANopen master cannot overwrite the address. If the CANopen address and the baud rate are set using the Flexi Soft Designer, the settings will become effective immediately after transferring the configuration (i.e. without switching off and switching on the Flexi Soft system). Exception: If the system is in bus off state, a power cycle is required. Plug assignment The connection to the CANopen fieldbus is made using a 5 pin open style connector. Fig. 67: Open style connector and assignment FX0-GCAN Pin Description 5 – – 4 H CAN_H CAN High 3 DR (CAN_SHLD) Screen connection (optional) 2 L CAN_L CAN Low 1 – – Bus cable CANopen is based on a linear topology with screened, twisted pair 2 core cable and terminating resistors at both ends of the bus. The screen is connected to ground at both ends. The transmission rate, depending on the network length, is between 125 kbit/s and 1000 kbit/s. The possible network lengths are 20 m at 1000 kbit/s up to 500 m at 125 kbit/s. 132 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways Fig. 68: CANopen bus cable Node Note 120 F terminating resistor It is not necessary to connect a voltage supply (pin 1/5) to the FX0-GCAN. The following maximum physical sizes are possible for the network: Tab. 97: Maximum cable lengths FX0-GCAN Baud rate [kbit/s] Max. cable length [m] 125 500 250 250 500 100 800 40 1000 20 EDS file The device characteristics are described using the Electronic Data Sheet (EDS), which every standard bus configuration tool uses. You will find the EDS file and device icon for PLC interfacing … in the Internet on the FX0-GCAN product page. in the Flexi Soft Designer program folder on your hard disk (default installation folder is “C:\programs\SICK\FlexiSoft\DeviceDescriptions\...”). 6.2.2 Note CANopen configuration of the gateway — How the data are transferred This document does not cover the creation of the CANopen network or the rest of the automation system project in the network configuration tool. It is assumed the CANopen project has already been set up in the configuration program, e.g. 3S Software CoDeSys 2.x. Examples refer to configurations performed with CoDeSys 2.3. The following steps need to be taken in order to configure the communication between PLC and gateway. Step 1: Install the electronic data sheet (EDS file) Before the FX0-GCAN can be used as device in the network configuration tool, e.g. CoDeSys 2.3, for the first time, the electronic data sheet (EDS file) of the gateway must be installed into the hardware catalogue of the tool. Download the EDS file and device icon from www.sick.com, on the FX0-GCAN product page. Follow the instructions in the online help or in the user manual of the CANopen network configuration tool for installing EDS files. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 133 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Example — How to install the EDS file using CoDeSys 2.3: Open the PLC Configuration editor window. Fig. 69: CoDeSys PLC Configuration editor window From the Extras menu choose the command Add configuration file.... A file selection dialog opens. Select the EDS file for the FX0-GCAN and click on the Open button. Step 2: Add the gateway to the controller In order to have the Flexi Soft system data available in the PLC process image, the gateway must be added to the hardware configuration first. The procedure associated with this depends on the hardware configuration program of the PLC being used. On this topic, please also read the documentation for the corresponding program. Example — How to add the FX0-GCAN using CoDeSys 2.3: Open the PLC Configuration editor window and select the controller. Right click on the controller to open the context menu or open the Insert menu. Fig. 70: Appending a CanMaster using CoDeSys 2.3 In either menu, under Append Subelement, choose CanMaster.... A CanMaster is added to the controller. Now select the CanMaster. Right click on the CanMaster to open the context menu or open the Insert menu. 134 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways Fig. 71: Appending the FX0GCAN using CoDeSys 2.3 In either menu, under Append Subelement, choose FX0-GCAN00000 (EDS)... to append the FX0-GCAN to the CanMaster. Step 3: Select and configure the process data objects (PDOs) After adding the device to the automation network it is required to configure which of the process data objects will be used and how they will be transmitted. Example — How to define the PDO transmission type using CoDeSys 2.3: In the PLC Configuration editor window select the FX0-GCAN. Then click on the Send PDO-Mapping tab on the right side. Fig. 72: PDO configuration using CoDeSys 2.3 Select one of the displayed PDOs (e.g. PDO 1) and click on the Properties button. The PDO properties dialog opens. Fig. 73: PDO properties dialog in CoDeSys 2.3 Select the desired Transmission Type for the PDO from the selection list, enter the Event-Time in ms and click OK. For more information please refer to section “TxPDO transmission types” on page 149 and to the manual for your CANopen system configuration software. Repeat this for the other Send-PDOs as well as for the Receive-PDOs. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 135 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways 6.2.3 CANopen configuration of the gateway — Which data are transferred Each CANopen device stores its data in objects that are listed in the object dictionary. Service data objects (SDOs) mainly contain the CANopen configuration data, while the process data are stored in process data objects (PDOs). Communication objects are used to read and write these SDOs and PDOs as well as to control the devices. A detailed description of the different objects will be given in the following sections. Predefined connection set (PCS) The predefined connection set provides a simple CAN identifier structure. The FX0-GCAN gateway provides communication objects that can be addressed or sent using these CAN identifiers. The PCS comprises 2 broadcast objects (NMT and SYNC) and a total of 12 peer-to-peer objects. Each of these objects has a unique 11 bit CAN identifier that consists of a function code and a device address. The device address for the broadcast objects is 0, for the other objects 1 … 127. Tab. 98: CAN identifier structure Bit number 10 9 8 7 Function code Tab. 99: PCS communication objects Object 6 5 4 3 2 1 0 Device address CAN identifier Meaning NMT 00h Network management SYNC 80h Sync message EMERGENCY 081h … 0FFh Status message TxPDO1 181h … 1FFh Send process data object 1 RxPDO1 201h … 27Fh Receive process data object 1 TxPDO2 281h … 2FFh Send process data object 2 RxPDO2 301h … 37Fh Receive process data object 2 TxPDO3 381h … 3FFh Send process data object 3 RxPDO3 401h … 47Fh Receive process data object 3 TxPDO4 481h … 4FFh Send process data object 4 RxPDO4 501h … 57Fh Receive process data object 4 TxSDO 581h … 5FFh Send service data object RxSDO 601h … 67Fh Receive service data object NMT-ErrorControl 701h … 77Fh Node guarding Broadcast objects Peer-to-peer objects Each object starts with its CAN identifier, followed by the RTR bit (Remote Transmission Request), followed by the Data Length Code (DLC), followed by 0 to 8 data bytes. The DLC (4 bits) indicates the number of data bytes. 136 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways 6.2.4 NMT — Network management The NMT broadcast object is used to start, stop or initialise CANopen devices. For this purpose one device in the CANopen network must take over the role of the NMT master. Usually this is the PLC. All other devices are regarded as NMT slaves. NMT services are broadcast services, for which the slaves do not generate a reply. All NMT objects start with the CAN ID 00h. Broadcast service for an NMT slave with address N: Tab. 100: Network management for one NMT slave with address N CAN ID 00h DLC 2 DATA OP N Broadcast service for all NMT slaves: Tab. 101: Network management for all NMT slaves CAN ID 00h DLC 2 DATA OP 0 OP NMT operation Explanation 80h Change to “Pre-Operational” 01h Change to “Operational” 02h Change to “Prepared/Stopped” 81h Change to “Reset Node” 82h Change to “Reset Communication” After booting an NMT slave automatically enters the PreOperational state. In this state, communication is allowed via SDO, but not via PDO. The NMT slave can be changed from another state to this state. The Operational state is reached from the Pre-Operational state. In this state communication via PDO is possible and the CANopen slave reacts to Sync commands. Note: On transition to NMT Operational state, each slave sends a TxPDO with the transmission type = 255, so that the NMT master is informed of the current input configuration. Communication via SDO or PDO is not possible in this state, and there is also no reaction to SYNC commands. Triggers a re-initialisation of the CANopen functionality in the NMT slave. Triggers a re-initialisation of the CANopen functionality in the NMT slave; the toggle bit for Node guarding is set to 0. Example for resetting all communication: The following NMT object (CAN ID = 00h) has 2 data bytes (DLC = 2). Data byte 1 contains the “Reset communication” command (82h) while data byte 2 addresses this command to all devices in the CANopen network (address = 0): Tab. 102: Example NMT object for resetting all communication 8012664/XR03/2013-11-19 Subject to change without notice CAN ID 00h DLC 2 DATA 82h 0 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 137 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways 6.2.5 SYNC The SYNC command causes all TxPDOs for a CANopen slave to be sent. It is therefore possible to poll the slave using SYNC. Tab. 103: Polling inputs using SYNC CAN ID 80h DLC DATA 0 The slave sends all input values when this message arrives. All TxPDOs are sent. To ensure the slave automatically sends the actual input values on the receipt of a SYNC command, the transmission type for the related PDOs must be set to 1 (cyclic, synchronous). In addition, the operating mode of the device must be “Operational”. It is possible to change the transmission type for the TxPDOs using the SDOs 1800 … 1803 (PDO communication parameter) and the sub-object 2. Allowed are the following types: acyclic/synchronous = 0 cyclic/synchronous = 1 … 240 acyclic by device profile = 255 (only for TxPDO 1 … 4, digital inputs) 6.2.6 Emergency A CANopen slave with the address N sends an emergency message to inform the other devices about an error state. Tab. 104: Emergency messages CAN ID DLC 80h + N 8 ErrL, ErrH DATA ErrL ErrH Err-Reg M1 M2 M3 M4 M5 Emergency error code, 16 bit low byte/high byte 7001h … 7003h: Generic error 138 Err-Reg Error register, CANopen object SDO 1001h M1 Module number of the module causing the error (see Tab. 105) M2 … M5 4 bytes module specific status bits (see Tab. 105). Active bits are high (=“1”) © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways The following table matches the module specific diagnostics data to the appropriate error message. Tab. 105: CANopen emergency messages Module no. Diagnostics bit (M1) (M2 … M5) 01 02 03 04 8012664/XR03/2013-11-19 Subject to change without notice 00 01 02 03 04 05 06 07 08 09 10 … 31 00 01 02 03 04 05 06 07 08 09 10 11 12 … 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 00 01 02 03 04 05 06 07 … 31 00 01 02 03 04 05 06 07 … 31 Emergency origin CPU XTIO/XTDI PROFIBUS gateway CANopen gateway Emergency message Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration Flexi Soft system Power supply EFI1 EFI2 Flexi Link stations in the system 1 All found Flexi Link stations suspended 1 N Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Outputs power supply Output Fast-Shut-Off Reserved Input 1-2 dual channel input evaluation Input 3-4 dual channel input evaluation Input 5-6 dual channel input evaluation Input 7-8 dual channel input evaluation Reserved External test signal Input 1 External test signal Input 2 External test signal Input 3 External test signal Input 4 External test signal Input 5 External test signal Input 6 External test signal Input 7 External test signal Input 8 Short-circuit monitoring output 1: short-circuit to high Short-circuit monitoring output 1: short-circuit to low Short-circuit monitoring output 2: short-circuit to high Short-circuit monitoring output 2: short-circuit to low Short-circuit monitoring output 3: short-circuit to high Short-circuit monitoring output 3: short-circuit to low Short-circuit monitoring output 4: short-circuit to high Short-circuit monitoring output 4: short-circuit to low Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved © SICK AG • Industrial Safety Systems • Germany • All rights reserved 139 Chapter 6 Fieldbus gateways Operating Instructions Flexi Soft Gateways Module no. Diagnostics bit (M1) 05 06 07 08 0C 0F 10 140 (M2 … M5) 00 01 02 03 04 05 06 07 … 31 00 01 02 03 04 05 06 07 … 31 00 01 02 03 04 05 06 07 … 31 00 01 02 03 04 05 06 07 … 31 00 01 02 03 04 05 06 07 … 31 00 01 02 03 04 05 06 07 … 31 00 01 02 03 04 05 06 07 … 31 Emergency Emergency message origin DeviceNet gateway Modbus gateway EtherNet/IP gateway PROFINET gateway CC-Link gateway Sercos III gateway EtherCAT gateway Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Communication from the network Communication to the network Reserved © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways Module no. Diagnostics bit (M1) 20 21 22 23 … 3F Note 15) Subject to change without notice 00 01 02 03 04 05 06 07 08 … 31 00 01 02 03 04 05 06 07 08 … 11 12 13 14 15 16 … 31 00 01 02 03 04 05 06 07 08 09 10 11 12 … 15 16 17 18 19 20 21 22 23 24 … 31 00 01 02 03 04 05 … 31 Emergency Emergency message origin STIO MOCx XTDS Other module Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Outputs power supply Reserved Output load (overcurrent) monitoring Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Encoder 1 Encoder 2 Reserved Reserved User-defined status bit 115) User-defined status bit 215) User-defined status bit 315) User-defined status bit 415) Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Outputs power supply Reserved Output load (overcurrent) monitoring Input 1-2 dual channel input evaluation Input 3-4 dual channel input evaluation Input 5-6 dual channel input evaluation Input 7-8 dual channel input evaluation Reserved External test signal Input 1 External test signal Input 2 External test signal Input 3 External test signal Input 4 External test signal Input 5 External test signal Input 6 External test signal Input 7 External test signal Input 8 Reserved Operating state Run Internal tests Summary of bits 05 to 07 Reserved Configuration of this module is valid Reserved The diagnostics bit assignment for M2 to M5 is as follows: Tab. 106: CANopen emergency, diagnostic bits M2 to M5 8012664/XR03/2013-11-19 (M2 … M5) Bit 0 Bit 1 … Bit 7 Bit 8 … Bit31 M5.0 M5.1 … M5.7 M4.0 … M2.7 The status of this bit can be defined to suit the specific application in the MOCx logic, e.g. to indicate inadmissible movements of an axis that have been detected by an MOCx function block. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 141 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways 6.2.7 Node guarding An NMT master (e.g. a PLC with integrated CANopen master) uses the NMT error control object to detect a failure of an NMT slave with the address N. The NMT slave must reply within the node guarding time to the request from the NMT master. The node guarding time must be monitored by the NMT master. The NMT master sends a CAN message with identifier <700h + node ID> and RTR bit (remote transmission request). NMT master request: Tab. 107: Request from NMT master CAN ID 700h + N RTR DLC 1 0 DATA The slave (e.g. the FX0-GCAN) then sends a status byte Byte1 with the following content: Slave response: Tab. 108: Response from slave CAN ID 700h + N Tab. 109: Remote transmission request Bit 7 6…0 DLC 1 DATA Byte1 Meaning Toggle bit, changes value between two sequential requests NMT status 4 = Stopped 5 = Operational 127 = Pre-operational Bootup On bootup, the gateway sends a bootup message with the CAN ID 700h+N, DLC = 1 and Byte 1 = 0. Heartbeat producer If the gateway is configured as heartbeat producer (i.e. if SDO 1017 contains a value for the producer heartbeat time, see Tab. 119 “Supported SDOs” on page 146), it sends a cyclic message with the CAN ID 700h+N, DLC = 1 and Byte 1 = 05h. The toggle bit (Bit 7) is always 0. Heartbeat consumer If the gateway is configured as heartbeat consumer (i.e. if SDO 1016.1 contains a value for the consumer heartbeat time, see Tab. 119 “Supported SDOs” on page 146), at least one node guarding message must be received within the configured consumer heartbeat time (typically from an NMT master). 142 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways 6.2.8 PDO communication Process data objects (PDOs) are the real time objects of the CANopen fieldbus. They are sent without protocol overhead, i.e. no confirmation is sent from the receiver. The FX0-GCAN provides four transmit process data objects (TxPDO) containing the operational data to be sent into the network and four receive process data objects (RxPDO) containing the operational data received from the network. CANopen objects are addressed via 11-bit CAN identifiers. As a default, the used CAN identifier for each object derives from the object type and the configured CANopen device address. The CAN identifiers used for the PDOs can be changed using the SDOs 1400 to 1403 for the RxPDOs and SDOs 1800 to 1803 for the TxPDOs (“PDO linking”). Notes Each process data object contains 8 bytes. The contents of the process data objects are freely selectable, but are preconfigured in the Flexi Soft Designer configuration software as follows: Tab. 110: Default content of the transmit process data objects (TxPDOs) of the FX0>GCAN PDO#1 PDO#2 PDO#3 PDO#4 Input data set 1 Input data set 2 Input data set 3 Input data set 4 Input values module 5 Input values module 6 Input values module 7 Input values module 8 Input values module 9 Input values module 10 Input values module 11 Input values module 12 Output values module 1 Output values module 2 Output values module 3 Output values module 4 Output values module 5 Output values module 6 Output values module 7 Output values module 8 Output values module 9 Output values module 10 Output values module 11 Output values module 12 Gateway direct output values 0 Gateway direct output values 1 Gateway direct output values 2 Gateway direct output values 3 Byte 0 Logic result 0 Byte 1 Logic result 1 Byte 2 Logic result 2 Byte 3 Logic result 3 Byte 4 Input values module 1 Input values module 2 Input values module 3 Input values module 4 Byte 5 Byte 6 Byte 7 For detailed information about the content of the process image please see section 3.3 “Data transmitted into the network (input data sets)” on page 14. For further information on how to configure the process image, see chapter 7 “Layout and content of the process image” on page 172 and the Flexi Soft Designer operating instructions (SICK part no. 8012998). Notes The process data can also be written and read using service data objects SDO 6000 and SDO 6200 (see section 6.2.9 “SDO communication” on page 145). The simple SDO access is recommended for diagnostic purposes. In normal operation the faster PDO communication should be used. After startup or after a configuration change has been performed (either via the CANopen master or via the Flexi Soft Designer), the CANopen gateway’s MS LED flashes Red/green until an initial transmit/receive PDO or SDO 6000/SDO 6200 data exchange on the CANopen network has happened. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 143 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways TxPDO 1…4 A transmit PDO transports data from the CANopen gateway to a CANopen device. Tab. 111: TxPDO 1…4 CAN ID DLC Data 181-1FF 8 B1 B2 B3 B4 B5 B6 B7 B8 281-2FF 8 B9 B10 B11 B12 B13 B14 B15 B16 381-3FF 8 B17 B18 B19 B20 B21 B22 B23 B24 481-4FF 8 B25 B26 B27 B28 B29 B30 B31 B32 B1…B32: CAN telegram bytes as mapped into the network input data using the Flexi Soft Designer software (see 7.3 “Customizing the operational data (Flexi Soft to Network)” on page 174). The gateway sends one or more TxPDOs if at least one of the following occurs: At least one input or output byte has changed its value and the transmission type for the TxPDO containing this byte has the value 255. At least one input or output byte has changed its value and the gateway receives a Sync command and at least one TxPDO has the transmission type 0. If the transmission type is n = 1…240, n Sync commands are required for the TxPDO to be sent. The transmission type for a TxPDO is 254 or 255 and the event timer (SDO 1800,5 for TxPDO1) has a value N > 0. In this case this TxPDO is sent every N ms. A TxPDO can also be polled via remote transmission request (RTR). This requires a CAN telegram to the gateway containing the CAN ID of the desired TxPDO with DLC = 0 and RTR = 1. For all transmission methods the device operating mode must be set to “Operational” (see Tab. 101 “Network management for all NMT slaves” on page 137). RxPDO 1…4 A receive PDO transports data from a CANopen device to the CANopen gateway. Tab. 112: RxPDO 1…4 CAN ID DLC Data 201-1FF 8 B1 B2 B3 B4 B5 B6 B7 B8 301-2FF 8 B9 B10 B11 B12 B13 B14 B15 B16 401-3FF 8 B17 B18 B19 B20 B21 B22 B23 B24 501-4FF 8 B25 B26 B27 B28 B29 B30 B31 B32 B1…B32: CAN telegram bytes as mapped into the gateway input data using the Flexi Soft Designer software. The transmission type 255 is pre-set for all RxPDOs. This means that the gateway forwards the received RxPDO data immediately to the main module. This setting cannot be changed. 144 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways 6.2.9 SDO communication SDOs are Service Data Objects. They contain a wide variety of data. These include, among other items, data on the planning or input and output data. Unlike the PDO communication, each reception of an SDO is answered at protocol level, i.e. the receiving device sends a confirmation. In this CANopen PCS implementation the following protocols are supported: SDO download expedited (write SDO) SDO upload expedited (read SDO) Upload SDO segment protocol (segmented reading of an SDO) SDO download expedited (write SDO) The client sends a request message to server N. The 16 bit index and the sub-index for the SDO to be written are coded in this message. In addition, the request also contains 4 data bytes with the data to be written. Tab. 113: Write SDO CAN ID DLC 600h + N 8 Data 23h SDO_L SDO_H SUB Byte 1 Byte 2 Byte 3 Byte 4 Byte 2 Byte 3 Byte 4 SDO_L = SDO index low byte SDO_H = SDO index high byte SUB = SDO sub-index The server then replies with a confirmation message: Tab. 114: Write SDO confirmation CAN ID 580h + N DLC 8 Data 60h SDO_L SDO_H SUB Byte 1 Byte 1 to 4 in the write confirmation message contain zeros. SDO upload expedited (Read SDO) The client requests the contents of an SDO with a request message to server N. The 16 bit index and the sub-index for the SDO to be read are coded in this message. Byte 1 to 4 in the read request message contain zeros. Tab. 115: Read SDO CAN ID 600h + N DLC 8 Data 40h SDO_L SDO_H SUB Byte 1 Byte 2 Byte 3 Byte 4 The server will reply with the following message. Byte 1 to 4 contain the value of the requested object. Tab. 116: Read SDO confirmation CAN ID 580h + N DLC 8 Data 43h SDO_L SDO_H SUB Byte 1 Byte 2 Byte 3 Byte 4 CANopen data types UDINT and UINT In order to transfer data types UDINT or UINT, the data must be in Intel format. E.g. the 32 bit value 12345678h must be transferred in the data bytes 5, 6, 7 and 8 in the following order: [5] = 78, [6] = 56, [7] = 34, [8] = 12. Note 8012664/XR03/2013-11-19 Subject to change without notice This applies also to the SDO index in data byte 2 and 3 which has the data type UINT. I.e. the low byte is transferred in data byte 2 and the high byte is transferred in data byte 3. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 145 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Example: The following messages are necessary to read the SDO 1003,1 of the CANopen device with device address 2. The data type of the data to be read is UDINT. The client sends: Tab. 117: Example — Read SDO CAN ID DLC 602h 8 Data 40h 03h 10h 01h 00h 00h 00h 00h 08h 00h 50h 02h The server responds: Tab. 118: Example — Read SDO confirmation CAN ID DLC 582h 8 Data 43h 03h 10h 01h The response data combine to the 32 bit word 02500008h. 6.2.10 SDO object directory Every CANopen device manages its SDOs in an object directory. The complete object directory is formally described in an EDS file. Many CANopen tools can read this EDS file and as a result know the object characteristics of the CANopen device. In the following table, all SDOs for the FX0-GCAN gateway are shown. Tab. 119: Supported SDOs SDO # Type 1000 Device type 1001 Error register 1003 Error list (error history) 1005 COB ID SYNC 1008 Device name 1009 Hardware version 100A Software version 100C Guard time 100D Life time factor 1014 COB ID EMCY (available version V1.30.0 or higher) 1016 Consumer heartbeat time 1017 Producer heartbeat time 1018 Identity record 1027 Module list 1400…1403 RxPDO 1…4 communication parameters 1600…1603 RxPDO 1…4 mapping parameters 1800…1803 TxPDO 1…4 communication parameters 1A00…1A03 TxPDO 1…4 mapping parameters 3100 Module status bits 3200 Config CRC array 3300 Module type code array 6000 Process data input objects 6200 Process data output objects You can find more detailed information on these SDOs in the CANopen draft standard DS 301 V4.02 (DSP 301 V4.1). 146 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways SDO 1001: Error register The error register (SINT) contains an error bit indicating whether an error is present. If bit 0 is set to 1, a “generic error” has been detected. SDO 1003: Error list (error history) SDO 1003 is an array containing the last 10 error codes that have been reported by the gateway via emergency message. Array index 0 contains the number of error codes that have been recorded in SDO 1003. A new error will be recorded in index 1, while older errors will be renumbered (increased by 1). The array index can be overwritten externally with a 0, which will clear the array completely. Notes Not all errors that are reported via emergency message will be recorded in SDO 1003, but only the errors listed in Tab. 105. Entries in SDO 1003 are UDINT and normally divided in 16 bit error code and 16 bit additional information. In case of an emergency, the module status diagnostics (4 byte) are entered here. SDO 1005: COB ID SYNC SDO 1005 contains the COB ID of the Sync object. As a default this value is 80h, but it can be changed. Note When you change the COB ID of the Sync object, keep in mind that the new ID must not be assigned to another communication object already. SDO 1008: Device name SD0 1008 contains a device name (VISIBLE STRING). Note This SDO can not be read using a simple “SDO upload expedited”. Instead, the “Upload SDO segment protocol” (client command specifier ccs = 3) must be used as described in the CANopen specification DS 301. SDO 1009: Hardware version SDO 1009 contains the current hardware version of the device (VISIBLE STRING). Note This SDO can not be read using a simple “SDO upload expedited”. Instead, the “Upload SDO segment protocol” (client command specifier ccs = 3) must be used as described in the CANopen specification DS 301. SDO 100A: Software version SDO 100A contains the current software version of the device (VISIBLE STRING). Note This SDO can not be read using a simple “SDO upload expedited”. Instead, the “Upload SDO segment protocol” (client command specifier ccs = 3) must be used as described in the CANopen specification DS 301. SDO 100C: Guard time The product of guard time (UINT) and life time factor (SINT) results in the life guarding time. Life guarding time (ms) = guard time (ms) × life time factor The master must send a node guarding message to the slave at least once during the life guarding time. If the life guarding time is exceeded (life-guarding error), the gateway generates a cable break error and sets all process data coming from the network to 0; the NS LED will start flashing Red. Life guarding is activated in the slave by the first node guarding message if the set life guarding time is not 0. If after activation of the life guarding the guard time or the life time factor is set to 0, life guarding is deactivated. See also section 6.2.11 “Guarding protocols” on page 153. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 147 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways SDO 100D: Life time factor SDO 100D contains the life time factor (SINT). See SDO 100C. Note The life time factor must be either = 0 (disabled) or O 1.5. SDO 1016: Consumer heartbeat time The gateway is configured as a heartbeat consumer if SDO 1016 contains a value higher than 0 for the consumer heartbeat time. The consumer heartbeat time is defined in ms. The NMT master must send at least one node guarding message to the slave within this time. If the consumer heartbeat time is exceeded (life-guarding error), the gateway generates a cable break error and sets all process data coming from the network to 0; the NS LED will start flashing Red. SDO 1017: Producer heartbeat time The gateway can also function as a heartbeat producer, i.e. send a heartbeat signal. This allows another device to detect whether the heartbeat producer (i.e. the gateway) is still working correctly. The producer heartbeat time is defined in ms. For internal processing it is rounded to the next higher multiple of 4. If the heartbeat time is set to 0, the heartbeat signal is deactivated. The heartbeat signal consists of a cyclic CAN message with the identifier 700h + device address. Note It is not possible to use heartbeat signals and life guarding messages at the same time because both functions use the same CAN identifier. See also section 6.2.11 “Guarding protocols” on page 153. SDO 1018: Identity record This SDO contains basic information about the gateway. Tab. 120: SDO 1018 contents Subindex Mapping Format Description 1 Vendor ID UDINT Unique identification of the manufacturer (e.g. SICK) 2 Product code UDINT Device variant 3 Revision number UDINT Software version of the device 4 Serial number UDINT Serial number of the device SDO 1027: Module list The module list contains the module type and the module ID of all Flexi Soft modules in the system. Tab. 121: SDO 1027 contents Subindex Module Format Main module (FX3-CPUx) SINT 2…13 Extension modules (XTIO, XTDI or MOCx) SINT 14, 15 Gateways SINT 1 You can find the module types and module IDs in Tab. 105. The return value for free module slots is 0. 148 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways SDO 1400…1403: RxPDO communication parameters Using SDO 1400 to 1403 the communication parameters for the RxPDOs 1 to 4 are configured. E.g. SD0 1400 defines the parameters for RxPDO 1 etc. Tab. 122: SDO 1400…1403 contents Subindex Mapping Format Description 1 COB ID UDINT CAN identifier for this PDO, read-only 2 Receive mode SINT Fix 255 (asynchronous mode) The receive mode (read-write) defines how the PDO shall be received. For the RxPDOs the receive mode is set to 255 (asynchronous mode). In this mode the data of a received RxPDO will be routed immediately to the outputs. Note If the receive mode is set to another value than 255, an error code is generated (abort code 0609 0030h, invalid parameter value). SDO 1600…1603: RxPDO mapping parameters This SDO can not be used since the RxPDO mapping is done using the Flexi Soft Designer. See also Tab. 110 and Tab. 112. SDO 1800…1803: TxPDO communication parameters Using SDO 1800 to 1803 the communication parameters for the TxPDOs 1 to 4 are configured. E.g. SD0 1800 defines the parameters for TxPDO 1 etc. Tab. 123: SDO 1800…1803 contents Subindex Mapping Format Description 1 COB ID UDINT CAN identifier for this PDO, read-only 2 Transmission type SINT Defines when the PDO is to be sent 5 Event timer UINT In ms The transmission type is set to 255 (asynchronous mode, event triggered) as a default for all TxPDOs. The event timer contains the rate in ms for the cyclic transmission of the TxPDO. TxPDO transmission types Tab. 124: TxPDO transmission types Note TxPDO Synchronous Asynchronous RTR 1, 2, 3, 4 0, 1…240 254, 255 253 If the transmission type is set to an invalid value, an error code is generated (abort code 0609 0030h, invalid parameter value). Synchronous: The synchronous transmission type 0 means that the TxPDO will be sent after the reception of a Sync message, but only if data has changed. The synchronous transmission types n = 1…240 define that the TxPDO will be sent after the reception of the th n Sync message. Asynchronous, event triggered on change of state: The asynchronous transmission type 255 (without configured event timer) means that the TxPDO will be sent each time if at least one input bit has changed that has been mapped on this PDO. Asynchronous, event triggered on timer event: The asynchronous transmission type 254/255 (with configured event timer) defines that the TxPDO will be sent each time the event timer has expired. E.g. a value of 500 for the event timer means that the gateway will send the corresponding TxPDO each 500 ms. RTR, on request: The transmission type 253 defines that the TxPDO can be polled via RTR (remote transmission request). This requires a CAN message with DLC = 0, RTR = 1 and the COB ID of the TxPDO to the gateway. The gateway will then respond with the requested TxPDO. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 149 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways SDO 1A00…1A03: TxPDO mapping parameters This SDO can not be used since the TxPDO mapping is done using the Flexi Soft Designer. See also Tab. 110 and Tab. 111. SDO 3100: Module status bits SDO 3100 contains the module status bits from the Flexi Soft system (see Tab. 105). Active bits are low (=“0”). Tab. 125: SDO 3100 contents Note SDO array Data set parameter Module Size 3100,1 Module status module 0 CPUx UDINT 3100,2 Module status module 1 Extension UDINT … … … … 3100,14 Module status module 13 Gateway UDINT 3100,15 Module status module 14 Gateway UDINT The module positions in the Flexi Soft Designer are numbered from 0 to 14. Therefore the subindex for SDO 3100 is = module position + 1. SDO 3100 is read-only. SDO 3200: Config CRC array SDO 3200 contains the Flexi Soft checksums in UDINT format. 150 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways SDO 3300: Module type code array SDO 3300 contains the type codes of the max. 15 modules in the Flexi Soft system in SINT format (8 bytes per module = 120 bytes). See the following table for details. Tab. 126: Module type codes in SDO 3300 Byte Bit Value 0 0-3 System 07h 4-7 1 2-6 8012664/XR03/2013-11-19 Subject to change without notice 0-7 0-7 Short Designation FX Flexi Soft controller Safety category 00h 0 None 01h 1 SIL1 02h 2 SIL2 03h 3 SIL3 Module type 00h CPU0 Main module of the Flexi Soft safety controller 01h CPU1 Main module of the Flexi Soft safety controller with EFI 02h CPU2 Main module of the Flexi Soft safety controller with EFI and ACR 03h CPU3 Main module of the Flexi Soft safety controller with EFI, ACR and Flexi Link 04h XTDI Input extension module 05h XTDS Input/output extension module with safe inputs and nonRsafe outputs 06h XTIO Input/output extension module 07h GPRO PROFIBUS DP gateway 08h GDEV DeviceNet gateway 09h GCAN CANopen gateway 0Ah GENT EtherNet/IP gateway 0Bh GMOD Modbus TCP gateway 0Ch GPNT PROFINET IO gateway 14h GCC1 CC-Link gateway 15h GS3S Sercos III gateway 16h GETC EtherCAT gateway 20h STIO Input/output extension module with non-safe inputs and non-safe outputs 21h MOC1 Drive Monitor 24h MOC0 Drive Monitor FFh Empty No module type (empty configuration) Internal use © SICK AG • Industrial Safety Systems • Germany • All rights reserved 151 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Byte Bit Value Short Designation 7 0-7 Module identification for diagnostic purposes 00h – – 01h FX3-CPUxxxxxx Main module of the Flexi Soft safety controller 02h FX3-XTDIxxxxx Flexi Soft extension module with safe inputs FX3-XTIOxxxxx Flexi Soft extension module with safe inputs and safe outputs 03h FX0-GPROxxxxx Flexi Soft PROFIBUS DP gateway 04h FX0-GCANxxxxx Flexi Soft CANopen gateway 05h FX0-GDEVxxxxx Flexi Soft DeviceNet gateway 06h FX0-GMODxxxxx Flexi Soft Modbus TCP gateway 07h FX0-GENTxxxxx Flexi Soft EtherNet/IP gateway 08h FX0-GPNTxxxxx Flexi Soft PROFINET IO gateway 0Ch FX0-GCC1xxxxx Flexi Soft CC-Link standard gateway 0Fh FX3-GS3Sxxxxx Flexi Soft Sercos III gateway 10h FX0-GETCxxxxx Flexi Soft EtherCAT standard gateway 20h FX0-STIOxxxxx Flexi Soft extension module with non-safe inputs and non-safe outputs 21h FX3-MOCxxxxx Flexi Soft Drive Monitor 22h FX3-XTDSxxxxx Flexi Soft extension module with safe inputs and non-safe outputs SDO 6000: Process data input objects The 32 byte process input data can be written in SDO array 6000. These are the same data as in RxPDO 1-4 (see section 6.2.8 “PDO communication” on page 143). The mapping is as follows: Tab. 127: Mapping table for SDO 6000 — RxPDO 1-4 SDO 6000 RxPDO 6000,1 RxPDO 1, Byte 1 … … 6000,8 RxPDO 1, Byte 8 6000,9-16 RxPDO 2, Byte 1-8 6000,17-24 RxPDO 3, Byte 1-8 6000,25-32 RxPDO 4, Byte 1-8 SDO 6000 is write-only. 152 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways SDO 6200: Process data output objects The 32 byte process output data can be read from SDO array 6200. These are the same data as in TxPDO 1-4 (see section 6.2.8 “PDO communication” on page 143). The mapping is as follows: Tab. 128: Mapping table for SDO 6200 — TxPDO 1-4 SDO 6200 TxPDO 6200,1 TxPDO 1, Byte 1 … … 6200,8 TxPDO 1, Byte 8 6200,9-16 TxPDO 2, Byte 1-8 6200,17-24 TxPDO 3, Byte 1-8 6200,25-32 TxPDO 4, Byte 1-8 SDO 6200 is read-only. 6.2.11 Guarding protocols CANopen provides several possibilities for actively monitoring the correct function of the fieldbus interface (e.g. cable break detection). Always use either node guarding or heartbeat! WARNING According to the CIA CANopen specification DS 301 guarding is mandatory. Please activate either node guarding or heartbeat. If no guarding is configured the Flexi Soft system can not detect an interruption of the CANopen communication, e.g. a broken network cable. In this case the CANopen gateway’s input and output data may be frozen. Heartbeat A heartbeat producer is a CANopen device that sends a cyclic heartbeat message. This enables all other CANopen devices to detect whether the heartbeat producer is still working correctly and what is its current status. Heartbeat messages are sent in a regular time interval, the producer heartbeat time, which can be configured using SDO 1017. The configured 16 bit value will be rounded to the next multiple of 4 ms. A heartbeat consumer is a CANopen device that expects a cyclic node guarding message within a certain time interval, the consumer heartbeat time, which can be configured using SDO 1016. If the heartbeat consumer receives no node guarding message within the configured consumer heartbeat time, it sends a life guarding emergency message and sets the incoming process data to 0. Additionally the gateway generates an internal “cable break” error that can be processed by the main module. Node guarding Node guarding is performed by an NMT master. This can be each CANopen device that is able to perform this function as a client. The NMT master sends a cyclic node guarding message to the monitored device which must respond within a defined period that is monitored by the NMT master. If the monitored device does not answer within the node life time, the NMT master regards this as a malfunction of the device and takes the appropriate measures. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 153 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Life guarding Life guarding is performed by the gateway itself. The node life time is calculated in the gateway from the values of SDO 100C (guard time) and SDO 100D (life time factor). If the gateway does not receive a node guarding message at least once within this node life time from an NMT master, the gateway generates an internal “cable break” error that can be processed by the CPU main module and the NS LED will start flashing Red. Notes Cable break detection is possible for the gateway either if life guarding is activated, i.e. if both objects SDO 100C and SDO 100D have a value other than 0. In this case life guarding starts when the first node guarding request is received from an NMT master and ends if the master sends a “Reset communication”. Alternatively, cable break detection is possible if the gateway is configured as a heartbeat consumer. In this case, the cable break detection is performed by the gateway itself. Heartbeat (producer) works without node guarding. In this case, the gateway can not detect a fieldbus cable break. Heartbeat and node guarding/life guarding can not be used simultaneously. If the configuration is changed from activated life guarding to no life guarding or vice versa a complete power reset of the Flexi Soft system is required to setup the CANopen network communication properly. The following table gives an overview of the supported guarding protocols depending on the configuration of SDO 1016 and SDO 1017 (heartbeat), SDO 100C (guard time) and SDO 100D (life time factor). Tab. 129: Guarding protocol overview and comparison SDO SDO SDO 1016 1017 100C × 100D 0 0 0 0 0 >0 >0 0 0 0 >0 0 Gateway heartbeat Gateway NMT master life guarding node guarding Not allowed: Always use either node guarding or heartbeat! Deactivated Cable break detection Required Cyclic heartbeat (consumer) Cable break detection Possible for other slaves Cyclic heartbeat Not possible Not possible, but guarding as heartbeat consumer is possible Cable break detection Not possible (producer) Note 154 >0 >0 0 >0 >0 >0 Cyclic heartbeat (producer and consumer) Not allowed It is not useful to use heartbeat and life guarding at the same time. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways 6.2.12 Error objects The FX0-GCAN reports CAN specific errors (e.g. initialisation errors, cable break, CAN communication errors) as FLEXBUS+ errors to the main module. Module specific errors as described in Tab. 105 are reported as extended diagnostics via the emergency object and SDO 1003. Emergency object The emergency producer (CANopen gateway) is triggered to send the emergency object to the emergency consumer (any CANopen device, normally the controller) by the occurence of CAN specific errors or an error condition as described in Tab. 105. The emergency object is being sent as described in DS 301 (section 9.2.5): Tab. 130: Emergency states and transitions Emergency state before Transition Module specific alarms Emergency state after Error free 1 Incoming error Error occured Error occured 2 Outgoing error, other errors present Error occured Error occured 3 Incoming error, other errors present Error occured Error occured 4 All errors cleared Error free The gateway is in one of two emergency states, either Error free or Error occured. Emergency objects are sent depending on the transitions between these two emergency states. The error code in the emergency object shows the emergency state the gateway is in. See also Tab. 131. Error objects overview CAN specific errors Error code FLEXBUS+ Error type Emergency error code Error register M1…M5 Error history SDO 1003 CAN data overrun CAN controller overrun in Rx Fifo 4501h Warning 8110h 11h 1, 0, 0, 0, 0 – CAN error passive CAN controller is in error passive state. 4503h Warning 8120h 11h 0, 0, 0, 0, 0 – CAN bus off CAN controller is in bus off state 4504h Warning – – CAN Tx Fifo overflow CAN controller has no transmit ressources 4506h Warning 8110h 11h 2, 0, 0, 0, 0 – CAN init failed The CAN controller could not be initialised CANopen life guarding CANopen life guarding has detected a cable break C507h Critical – – 4508h Warning 8130h 11h 0, 0, 0, 0, 0 – 8012664/XR03/2013-11-19 Subject to change without notice Result/possible remedy CAN messages have been lost. Bandwidth is limited. Check CAN settings, increase baud rate, reduce participants/traffic. The gateway sends only recessive bits, i.e. it sets its own messages to invalid. The reason is either a gateway hardware error or external data transmission interferences. Check cabling. Massive transmission errors. CAN controller has disconnected from the bus. Possible hardware defect. Power cycle the Flexi Soft system. CAN messages that were to be sent by the gateway have been lost. The number of events triggering the gateway to send CAN messages is too high for the set baud rate. Increase the baud rate or change the gateway configuration. The CAN controller/transceiver is possibly defect. Replace the FX0-GCAN with a new device. Life guarding error message generated by the gateway: Either a failure of the node guarding or heartbeat NMT master has occurred or the CAN cable is broken. Check the CANopen master. Check cabling. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 155 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Module specific Error code Transition Emergency error code Error alarms FLEXBUS+ emergency state chart Error register M1…M5 history SDO 1003 Gateway detected incoming error as per trigger conditions – 1 M2, M3, M4, M5 See Tab. 105. Gateway detected outgoing error, other errors are present – 2 M2, M3, M4, M5 See Tab. 105. Gateway detected incoming error, other errors are present – 3 M2, M3, M4, M5 See Tab. 105. All errors cleared – 4 FF01h 81h M1 = Module index M2…M5 = Module diagnostics data FF02h 81h M1 = Module index M2…M5 = Module diagnostics data FF03h 81h M1 = Module index M2…M5 = Module diagnostics data 0000h 00h M1 = 0 M2…M5 = 0 – Tab. 131: Error objects overview 6.2.13 CANopen diagnostics examples Example 1: XTIO module on position 1, output Q4 stuck at high The gateway sends an emergency message (see Tab. 104). CAN ID DLC 08C 8 DATA 03 FF 01 01 40 00 00 00 The gateway’s CANopen address is 12 (= C hex). The XTIO module has the position 1 in the Flexi Soft system. 08C: Identifier (80 + C) 8: Data length code: 8 bytes follow. 03FF: Error code FF03: device specific error 01: Error register 01 of SDO 1001H 01: Module index M1: module in position 1 40: Module status bit 30 (bit 6 of byte M2) = 1: output 4 stuck at high (see Tab. 105) Reading the current error from SDO 3100: PLC request: CAN ID 60C DLC 8 DATA 40 00 31 60C: Identifier (600 + C) 8: Data length code: 8 bytes follow. 40: Expedited upload request 02 00 00 00 00 00 31: Index 3100 02: 156 Subindex 02: module in position 1 (see Tab. 125) © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways Gateway response: CAN ID DLC 58C 8 DATA 42 00 31 02 58C: Identifier (580 + C) 8: Data length code: 8 bytes follow. 42: Upload response, data set size is not indicated BF FF FF FB 00 31: Index 3100 02: Subindex 02: module in position 1 (see Tab. 125) FB: Error byte M5, bit 2 = 0: external error BF: Error byte M2, bit 30 = 0: output 4 stuck-at-high error Reading the error from the error history in SDO 1003: PLC request: CAN ID 60C DLC 8 DATA 40 03 10 60C: Identifier (600 + C) 8: Data length code: 8 bytes follow. 40: Expedited upload request 01 00 00 00 00 01 40 00 00 00 03 10: Index 1003 01: Subindex 01: last error Gateway response: CAN ID 58C DLC 8 DATA 42 03 10 58C: Identifier (580 + C) 8: Data length code: 8 bytes follow. 42: Upload response, data set size is not indicated 03 10: Index 1003 8012664/XR03/2013-11-19 Subject to change without notice 01: Subindex 01: last error 40: Module status bit 30 (bit 6 of byte M2 = 0: output 4 stuck at high © SICK AG • Industrial Safety Systems • Germany • All rights reserved 157 Chapter 6 Fieldbus gateways Operating Instructions Flexi Soft Gateways Example 2: XTDI module dual channel input error on I1/I2 The gateway sends an emergency message (see Tab. 104). CAN ID DLC 08C 8 DATA 03 FF 01 0C 00 00 01 00 The gateway’s CANopen address is 12 (= C hex). The XTDI module has position 12 in the Flexi Soft system. 08C: Identifier (80 + C) 8: Data length code: 8 bytes follow. 03FF: Error code FF03: device specific error 01: Error register 01 of SDO 1001H 0C: Module index M1: module in position 12 (C hex) 01: Module status bit 8 (bit 0 of byte M4) = 1: input 1-2 dual channel input evaluation: error detected (see Tab. 105) Reading the current error using SDO 3100: PLC request: CAN ID 60C DLC 8 DATA 40 00 31 60C: Identifier (600 + C) 8: Data length code: 8 bytes follow. 40: Expedited upload request 0D 00 00 00 00 00 31: Index 3100 0D: Subindex 0D = module in position 12 (module position = subindex – 1, see also Tab. 125) Gateway response: CAN ID 58C DLC 8 DATA 42 00 31 0D 58C: Identifier (580 + C) 8: Data length code: 8 bytes follow. 42: Upload response, data set size is not indicated FF FF FE FB 00 31: Index 3100 158 0D: Subindex 0D: module in position 12 (see Tab. 125) FB: Error byte M5, bit 2 = 0: external error FE: Error byte M4, bit 0 = 0: input 1-2 dual channel input evaluation: error detected (see Tab. 105) © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways Reading the error from the error history in SDO 1003: PLC request: CAN ID 60C DLC 8 DATA 40 03 10 60C: Identifier (600 + C) 8: Data length code: 8 bytes follow. 40: Expedited upload request 01 00 00 00 00 01 00 00 01 00 03 10: Index 1003 01: Subindex 01: last error Gateway response: CAN ID 58C DLC 8 DATA 42 03 10 58C: Identifier (580 + C) 8: Data length code: 8 bytes follow. 42: Upload response, data set size is not indicated 03 10: Index 1003 01: Subindex 01: last error 01: Module status bit 8 (bit 0 of byte M4) = 0: input 1-2 dual channel input evaluation: error detected 6.2.14 Diagnostics and troubleshooting For information on how to perform diagnostics on the Flexi Soft system please refer to the operating instructions for the Flexi Soft Designer software (SICK part no. 8012998). Tab. 132: Troubleshooting for the FX0-GCAN Symbol description: : LED is off Green: LED lights up green Red: LED flashes red 8012664/XR03/2013-11-19 Subject to change without notice Error Possible cause Possible remedy FX0-GCAN does not supply any data. PWR Green NS Off MS Red (1 Hz) FX0-GCAN does not supply any data. PWR Green NS Green MS Red (1 Hz) FX0-GCAN does not supply any data. PWR Green NS Green MS Red/green FX0-GCAN does not supply any data. PWR Green NS Green MS Red/green Configuration required, node guard or heartbeat message have not been sent. Configuration download is not completed. Configuration download is not completed. Configure the FX0-GCAN and download the configuration to the device. Wait until the configuration download has been completed. No PDO transfer since power-up. Start PDO transfer. Transfer PDO via SDO 6000 or 6200. No PDO Transfer since power-up. False baud rate (CAN transceiver could be in passive error). False Node ID/CANopen address. CAN cable has been disconnected. FX0-GCAN does not supply PDO data. PWR Green NS Off/ Red/ Green MS Green (1 Hz) FX0-GCAN does not supply PDO data. PWR Green NS Green MS Off FX0-GCAN is in Idle mode. Node guard or heartbeat messages will be sent. Flexi Soft configuration is not verified and CPU module is stopped. Supply voltage too low. Start PDO transfer. Transfer PDO via SDO 6000 or 6200. Check and correct the baud rate. Check and correct the address. Check CANopen cabling. CPU/application is stopped. Start CPU (change into Run state). Verify the configuration with Flexi Soft Designer and start the CPU module. Wait until the configuration download has been completed. Check supply voltage. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 159 Chapter 6 Fieldbus gateways Operating Instructions Flexi Soft Gateways Error Possible cause Possible remedy FX0-GCAN does not supply any data. PWR Red NS Red MS Red FX0-GCAN does not supply any data. PWR Green NS Green (1 Hz) MS Green (1 Hz) FX0-GCAN does not supply any data. PWR Green NS Red MS Red/green FX0-GCAN does not supply any data. PWR Green NS Green (1 Hz) MS Green Supply voltage dip. Check supply voltage. Reset Flexi Soft system False Node ID/CANopen address. False baud rate (CAN transceiver could be in passive error), FX0GCAN is in Idle mode. Check and correct the address. Check and correct the baud rate. False baud rate and FX0-GCAN transceiver is in bus off state (hardware problem at CAN physical layer). CAN cable has been disconnected. CANopen master is in stop or preoperational mode. During initialization of the bus system, another slave could not be initialized. CANopen state of FX0-GCAN is preoperational. False Node ID/CANopen address. Check and correct the baud rate. Check CANopen cabling. Reset Flexi Soft system. FX0-GCAN does not supply any data. PWR Green NS Red MS Green FX0-GCAN does not supply any data. PWR Green NS Red (1 Hz) MS Red/green FX0-GCAN transceiver is in error passive. CAN cable has been disconnected. FX0-GCAN is in Critical fault mode. PWR Green NS Red MS Red (2 Hz) FX0-GCAN internal device error. CPU firmware version does not support Flexi Soft gateways. FX0-GCAN/Flexi Soft system is in Critical fault mode PWR Red NS Off MS Red FX0-GCAN is not plugged properly into the other Flexi Soft module. Module connecting plug is soiled or damaged. Other Flexi Soft module has internal critical error. 6.3 Node guarding or heartbeat consumer failure. Guarding configuration has been changed. Set CANopen master into Run state (CANopen state Operational). Check whether all slaves on the bus are “On”. Check CANopen cabling. Check whether CAN master starts automatically. Check and correct the CANopen address. Check CANopen cabling. Check the diagnostics messages with Flexi Soft Designer. Reset Flexi Soft system. Check CANopen cabling. Check life guarding time (life time factor O 1) Check heartbeat consumer time (should be O 1.5 × heartbeat producer time) Check the diagnostics messages with Flexi Soft Designer. Reset Flexi Soft system. Switch off the power supply of the Flexi Soft system and switch it on again. Check the diagnostics messages with Flexi Soft Designer. Use a FX3-CPUx with the required firmware version (see section 2.2 “Correct use” on page 10). If the error remains, replace the gateway. Plug the FX0-GCAN in correctly. Clean the connecting socket/plug. Repower the system. Check the other Flexi Soft modules. DeviceNet gateway The following Flexi Soft gateway can be used for DeviceNet: FX0-GDEV. 6.3.1 Characteristic of the DeviceNet implementation group 2 server (fragmented) acknowledge handling I/O Messaging (Polled or Change of State/Cyclic) also fragmented baud rate adjustable via DIP switch (125 kbit/s, 250 kbit/s, 500 kbit/s) 160 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways 6.3.2 Interfaces and operation Controls and status indicators Fig. 74: Controls and status indicators FX0-GDEV Network status LED (red/green) Address switch 1 Module status LED (red/green) Baud rate DIP switch DeviceNet connection LED Symbol description: : LED is off Green: LED lights up green Red: LED flashes red NS (Network Status) Tab. 133: Meaning of the status LEDs of the FX0-GDEV PWR (power) Power LED (green) Address switch 2 Meaning No voltage supply Green Operational, voltage supply switched on Red System error Duplicate MAC ID check in progress Green Green Red Red (1 Hz) Operational No connection to the master Duplicate MAC ID check failed Connection timeout MS (Module Status) Power-up Green Executing, FLEXBUS+ and process data status: all “Good” Green Idle (cable not attached) Red/green Executing; FLEXBUS+ and process data status: at least one status “Bad” Red Critical fault, caused by emergency bit Red (1 Hz) Configuration required or in progress Red (2 Hz) Critical fault, caused by gateway itself For diagnostics see section 6.3.7 “Diagnostics and troubleshooting” on page 170. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 161 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways How to set the DeviceNet address via hardware address switches: Set the DeviceNet address using the hardware address switches on the device front. Then switch the Flexi Soft system off and back on again. Tab. 134: Address switches on the FX0-GDEV Switch × 10 ×1 Notes Function Address switch 1 10 position rotary switch for setting the module address (ones) Address switch 2 10 position rotary switch for setting the module address (ones) The module addresses that can be selected using the address switches are in the range 1-63. If both address switches on the device are set to 0, then the address configured in Flexi Soft Designer is used. There the address can be set in the range 0-63. If a higher address is selected, address 63 is active. How to set the baud rate via hardware DIP switches: Set the baud rate using the DIP switches on the device. Then switch the Flexi Soft system off and back on again. Fig. 75: DIP switch settings on the FX0-GDEV Tab. 135: DIP switch settings on the FX0-GDEV Notes Baud rate (kbit/s) 125 250 500 Baud rate [kbit/s] DIP 1 DIP 2 DIP 3 DIP 4 125 On On On Off 250 Off On On Off 500 On Off On Off If all DIP switches are set to Off, then the setting for the baud rate in Flexi Soft Designer is used. All other DIP switch settings will set the baud rate to 125 kbit/s. How to set the DeviceNet address and baud rate via software using the Flexi Soft Designer: Set both address switches to 0. Set all DIP switches to Off. Open the Flexi Soft Designer and load the hardware configuration including the DeviceNet gateway. Ensure that your project is offline. Click on the Interfaces button above the main window and select the FX0-GDEV or double click the FX0-GDEV in the hardware configuration view to open the gateway configuration dialog. Click on Gateway configuration on the left hand menu. The following dialog will be displayed: 162 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways Fig. 76: Setting the DeviceNet address of the FX0-GDEV Select the DeviceNet address in the DeviceNet address field. Select the baud rate in the DeviceNet baud rate field. Click Connect to go online and transfer the configuration to the Flexi Soft system. Notes The address that can be set via the hardware address switch ranges from 1-63. The address that can be set via the Flexi Soft Designer software ranges from 0-63. The DeviceNet master cannot overwrite the address. If the DeviceNet address and the baud rate are set using the Flexi Soft Designer, the settings will become effective immediately after transferring the configuration (i.e. withut switching off and switching on the Flexi Soft system). Exception: If the system is in the Bus Off state, then you must switch off and on again the device for the changes to become effective. Plug assignment The connection to the DeviceNet fieldbus is made using a 5-pin open style connector. Fig. 77: Open style connector and assignment FX0-GDEV Pin Description 5 V+ (24 V) Voltage supply 4 H CAN_H DeviceNet High 3 DR (CAN_SHLD) Screen connection (optional) 2 L CAN_L DeviceNet Low 1 V– (GND) GND/0V Bus cable DeviceNet is based on CAN and is therefore a 2-wire bus system to which all bus users are connected in parallel. Short stubs are also possible. The signal wires H and L must be terminated at both ends of the bus using a 120 a resistor. The screen must be continuous over the entire length of the bus and earthed at one point. It is recommended to use a twisted-pair cable with two twisted, screened pairs of cores. The 24 V supply voltage is connected to the second pair of cores. The transmission rate, depending on the network length, is between 125 kbit/s and 500 kbit/s. The possible network lengths are 100 m at 500 kbit/s up to 500 m at 125 kbit/s. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 163 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Fig. 78: DeviceNet bus cable Node 120 F terminator Depending on the cable used and the baud rate set, the following maximum physical values are possible: Tab. 136: Maximum cable lengths FX0-GDEV Cable length 125 kbit/s 250 kbit/s 500 kbit/s Overall length with thick cable (O 0,34 mm²) 500 m 250 m 100 m Overall length with thin cable 100 m 100 m 100 m Overall length with ribbon cable 380 m 200 m 75 m Maximum stub length 6m 6m 6m Maximum length of all stubs 156 m 78 m 39 m 6.3.3 Setting up DeviceNet communication To setup the DeviceNet communication between the gateway and the higher level functional logic, the following steps must be taken: Install EDS file. Define type of communication. Define contents of the communication. Select and use data mapping. Step 1: Install the electronic data sheet (EDS file) The device characteristics are described using the Electronic Data Sheet (EDS), which every standard bus configuration tool uses. Before the FX0-GDEV can be used as device in the network configuration tool for the first time, the EDS file of the gateway must be installed into the hardware catalogue of the tool. You will find the EDS file and device icon for PLC interfacing … in the Internet on the FX0-GDEV product page. in the Flexi Soft Designer program folder on your hard disk (default installation folder is “C:\programs\SICK\FlexiSoft\DeviceDescriptions\...”). Download the EDS file and device icon from www.sick.com, on the FX0-GDEV product page. Follow the instructions in the online help or in the user manual of the DeviceNet configuration tool for installing EDS files. Step 2: Define the type of communication Choose the type of communication that is to be used between the gateway and the higher level functional logic (Polled or Change of state/Cyclic). 164 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways Fig. 79: Configuration of the type of communication based on the example of the DeviceNetManager™ from Allen Bradley Step 3: Define the contents of the communication Choose the input and output data sets that are to be transmitted between the gateway and the functional logic. Fig. 80: Selection of input data set 1 and output data set 1 using DeviceNetManager™ from Allen Bradley Fig. 81: Selection of input data set 3 and output data set 1-5 using DeviceNetManager™ from Allen Bradley 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 165 Chapter 6 Fieldbus gateways Operating Instructions Flexi Soft Gateways Step 4: Configure data mapping For information how to define and customize the content and tag names of the input and output data sets please see chapter 7 “Layout and content of the process image” on page 172 and the operating instructions for the Flexi Soft Designer software (SICK part no. 8012998). 6.3.4 Supported DeviceNet features The FX0-GDEV supports the following functions of a DeviceNet Group 2 slave (server): Explicit Messaging (fragmented) Implicit Messaging (I/O messages) – Poll I/O (fragmented) – Change of state I/O (fragmented) – Cyclic I/O (fragmented) Unconnected Explicit Request Messages (pre-defined master/slave connection set) Device heartbeat and shutdown messages UCMM port (Unconnected Message Manager) Duplicate MAC ID messages Offline Connection Set Pre-defined master/slave connection set The FX0-GDEV supports a pre-defined master/slave connection set that makes it possible to establish a DeviceNet connection that requires fewer network and device resources. This set contains an explicit messaging connection and makes possible several different I/O connections, including Poll, COS and Cyclic. Poll I/O messages The Poll command is sent by the master. A Poll command is directed at a single, specific slave (point-to-point connection). A master must send a dedicated Poll command to each slave that is to be polled. On the receipt of the Poll command the slave replies to the master with an I/O message. Change of state I/O and Cyclic I/O messages A Change of state message is sent by either the master or the slave. Change of state and Cyclic messages are directed at an individual, specific slave (point-to-point connection). They can be answered with a confirmation. Explicit messages Explicit message requests are used to read or write attributes. The result of such a request is signaled with an explicit message reply. Unconnected Messages Unconnected messages (UCMM messages) are used to establish or close explicit connections between two devices. They are processed by the Unconnected Message Manager (also termed a UCMM port). It is possible to establish a maximum of three simultaneous connections via UCMM. Group 2 Only Unconnected Explicit Request Messages Group 2 Only Unconnected Explicit Request messages are used to allocate or close the pre-defined master/slave connection set. They are only available on devices that do not support a UCMM port and are used as an alternative method to establish a connection. However only one connection with a single partner is possible, specifically the master. 166 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Fieldbus gateways Operating Instructions Chapter 6 Flexi Soft Gateways Duplicate MAC ID messages These messages are used to open the network access state machine that prevents two or more nodes having an identical MAC ID in the same network. 6.3.5 DeviceNet protocol settings Assembly object Tab. 137: Assembly object Parameter name Meaning SUPPORT_ASSEMBLY_ATTRIB_1N2 0 = Attributes 1 and 2 of the assembly object are not supported 0 = Attributes 1 and 2 of the assembly object are supported 0 = Attribute 4 of the assembly object is not supported 0 = Attribute 4 of the assembly object is supported Number of assembly instances SUPPORT_ASSEMBLY_ATTRIB_4 ASMOBJ_NUM_OF_INSTANCES 6.3.6 Value 1 1 9 Assemblies Assembly objects are used to exchange input or output data that comprise more than one attribute via a single connection. Here a data package is prepared that can be referenced as attribute 3 of the Assembly object class (class 4). The information on which attributes are combined into an assembly object is called assembly mapping. Produced Assembly Instance (Target—Originator) Tab. 138: Produced Assembly Instance Instance ID Notes Description 1 Input data set 1-4 2 Input data set 2-4 3 Input data set 3-4 4 Input data set 4 Size [bytes] Received data 50 82 142 202 32 92 152 60 120 60 Input data set 1 Input data set 1-2 Input data set 1-3 Input data set 1-4 Input data set 2 Input data set 2-3 Input data set 2-4 Input data set 3 Input data set 3-4 Input data set 4 All values are data type Array of USINT. Therefore the possible values range from 0R255. The access rule for all instances is GET. All these assemblies can be accessed via Implicit Message or via Explicit Message. Consumed Assembly Instance (Originator—Target) Tab. 139: Consumed Assembly Instance 8012664/XR03/2013-11-19 Subject to change without notice Instance ID Description 5 Output data sets 1-5 6 Output data sets 2-5 7 Output data sets 3-5 8 Output data sets 4-5 9 Output data set 5 Size [bytes] 10 20 30 40 50 10 20 30 40 10 20 30 10 20 10 Sent Data One output data set Two output data sets Three output data sets Four output data sets Five output data sets One output data set Two output data sets Three output data sets Four output data sets One output data set Two output data sets Three output data sets One output data set Two output data sets One output data set © SICK AG • Industrial Safety Systems • Germany • All rights reserved 167 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways Notes All values are data type Array of USINT. Therefore the possible values range from 0R255. The access rule for all instances is GET/SET. All these assemblies can be accessed via Implicit Message or via Explicit Message. Individual Input Data Set Transfer object (73h — one instance per data set) The vendor specific Individual Input Data Set Transfer object defines the attributes by which the PLC can request either full input data sets or individual parameters within an input data set. Class attributes Tab. 140: Class attributes for the Individual Input Data Set Transfer object (73h) Attribute ID Name Data type Data value(s) Access rule 1 Revision UINT 1 Reading 2 Max. instance UINT 4 Reading 3 Number of instances UINT 4 Reading Attribute ID Name Data type Data value(s) Access rule 1 to n (dependent on data set definition) Request input data set specific data Dependent on data set definition 0-255 Reading Instance attributes Tab. 141: Instance attributes for the Individual Input Data Set Transfer object (73h) General services Tab. 142: Individual Input Data Set Transfer object (73h) general services Service code Implemented in Class Implemented in Instance Service name 01h Yes Yes Get_Attributes_All 0Eh Yes Yes Get_Attribute_Single Instance attribute definitions Attribute 1 to n — Request input data set specific parameters These attributes return the input data set specific data arrays. Get Attribute Single requests for a specific input data set only return the parameter information for the requested data set. Get Attributes All requests return the entire data set. The data set attributes, numbered from 1 to N, refer to each individual attribute of each individual input data set. Each instance relates to a unique input data set and each input data set has a unique attribute numbering scheme. The following tables reflect the attribute definitions for each input data set. Get All Data Set Attributes request All data set information will be returned in integer (16 bit word) format. For byte data, the first byte will be placed in the least significant or rightmost byte of the integer and the second byte will be placed in the most significant or leftmost byte of the integer. Example: For an input data set, the data will be returned as follows: – IntegerArray[0]: BBAAh — AA = BYTE1; BB = BYTE2 – IntegerArray[1]: DDCCh — CC = BYTE3; DD = BYTE4 – … – IntegerArray[6]: NNMMh 168 — MM = BYTE13; NN = BYTE14 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways Instance 1 — Input data set 1 attribute definitions Tab. 143: Individual Input Data Set Transfer object (73h) instance 1 attribute definitions Attribute number Data set parameter Size 1 Byte 0 SINT 2 Byte 1 SINT … … … 50 Byte 49 SINT Instance 2 — Input data set 2 attribute definitions Tab. 144: Individual Input Data Set Transfer object (73h) instance 2 attribute definitions Attribute number Data set parameter Size 1 Total checksum UDINT 2 Flexi Soft checksum UDINT 3 CPU0 and CPU1: Reserved UDINT CPU2 and CPU3: ACR checksum 4 Reserved UDINT 5 Reserved UDINT 6 Reserved UDINT 7 Reserved UDINT 8 Reserved UDINT Instance 3 — Input data set 3 attribute definitions Tab. 145: Individual Input Data Set Transfer object (73h) instance 3 attribute definitions Attribute number Data set parameter Size 1 Module status module 0 UINT[2] 2 Module status module 1 UINT[2] … … … 15 Module status module 14 UINT[2] Instance 4 — Input data set 4 attribute definitions Tab. 146: Individual Input Data Set Transfer object (73h) instance 4 attribute definitions 8012664/XR03/2013-11-19 Subject to change without notice Attribute number Data set parameter Size 1 Reserved UINT[2] 2 Reserved UINT[2] … … … 15 Reserved UINT[2] © SICK AG • Industrial Safety Systems • Germany • All rights reserved 169 Fieldbus gateways Chapter 6 Operating Instructions Flexi Soft Gateways 6.3.7 Diagnostics and troubleshooting For information on how to perform diagnostics on the Flexi Soft system please refer to the operating instructions for the Flexi Soft Designer software (SICK part no. 8012998). Tab. 147: Troubleshooting for the FX0-GDEV Symbol description: : LED is off Green: LED lights up green Red: LED flashes red Error Possible cause Possible remedy FX0-GDEV does not supply any data. PWR Green NS Off MS Red (1 Hz) FX0-GDEV does not supply any data. PWR Green NS Green MS Red (1 Hz) FX0-GDEV does not supply any data. PWR Green NS Green MS Red/green FX0-GDEV does not supply any data. PWR Green NS Green MS Red/green Configuration required, node guard or heartbeat message have not been sent. Configuration download is not completed. Configuration download is not completed. Configure the FX0-GDEV and download the configuration to the device. Wait until the configuration download has been completed. No data transmission since powerRup Start the data transmission. No data transmission since powerRup False baud rate False Node ID/DeviceNet address The cable has been disconnected. FX0-GDEV does not supply PDO FX0-GDEV is in Idle mode. Node guard or heartbeat messages will data. be sent. PWR Green Flexi Soft configuration is not NS Off/ Red/ Green MS Green (1 Hz) verified and main module is stopped. FX0-GDEV does not supply PDO Supply voltage too low. data. PWR Green NS Green MS Off FX0-GDEV does not supply any Supply voltage dip. data. PWR Red NS Red MS Red FX0-GDEV does not supply any False Node ID/DeviceNet address. data. False baud rate, PWR Green FX0-GDEV is in Idle mode. NS Green (1 Hz) MS Green (1 Hz) FX0-GDEV does not supply any False baud rate and FX0-GDEV data. transceiver is in bus off state (hardware problem at DeviceNet PWR Green physical layer). NS Red The cable has been disconnected. MS Red/green FX0-GDEV does not supply any DeviceNet master is in stop or preoperational state. data. During initialization of the bus PWR Green system, another slave could not be NS Green (1 Hz) initialized. MS Green DeviceNet state of the FX0-GDEV is pre-operational. False Node ID/DeviceNet address FX0-GDEV does not supply any data. PWR Green NS Red MS Green 170 FX0-GDEV transceiver is in error passive. The cable has been disconnected. © SICK AG • Industrial Safety Systems • Germany • All rights reserved Wait until the configuration download has been completed. Start the data transmission. Check and correct the baud rate. Check and correct the Node ID and DeviceNet address. Check cabling. CPU/application is stopped. Start CPU (change into Run state). Verify the configuration with Flexi Soft Designer and start the main module. Check supply voltage. Check supply voltage. Reset Flexi Soft system. Check and correct the Node ID and DeviceNet address. Check and correct the baud rate. Check and correct the baud rate. Check cabling. Reset Flexi Soft system. Set DeviceNet master into Run state (DeviceNet state Operational). Check whether all slaves on the bus are “On”. Check cabling. Check whether DeviceNet master starts automatically. Check and correct the DeviceNet address. Check cabling. Check the diagnostics messages with the Flexi Soft Designer. Reset Flexi Soft system. 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Fieldbus gateways Chapter 6 Flexi Soft Gateways 8012664/XR03/2013-11-19 Subject to change without notice Error Possible cause Possible remedy FX0-GDEV does not supply any data. PWR Green NS Red (1 Hz) MS Red/green Node guarding or heartbeat consumer failure Guarding configuration has been changed. FX0-GDEV is in Critical fault mode. PWR Green NS Red MS Red (2 Hz) FX0-GDEV internal device error CPU firmware version does not support Flexi Soft gateways. FX0-GDEV/Flexi Soft system is in Critical fault mode. PWR Red NS Off MS Red FX0-GDEV is not plugged properly into the other Flexi Soft modules. Module connecting plug is soiled or damaged. Other Flexi Soft module has internal critical error. Check cabling. Check life guarding time (life time factor O 1). Check heartbeat consumer time (should be O 1.5 × heartbeat producer time). Check the diagnostics messages with the Flexi Soft Designer. Reset Flexi Soft system. Switch off the power supply of the Flexi Soft system and switch it on again. Check the diagnostics messages with the Flexi Soft Designer. Use a FX3-CPUx with the required firmware version (see section 2.2 “Correct use” on page 10). If the error remains, replace the gateway. Plug the FX0-GDEV in correctly. Clean the connecting socket/plug. Repower the system. Check the other Flexi Soft modules. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 171 Layout and content of the process image Chapter 7 Operating Instructions Flexi Soft Gateways 7 Layout and content of the process image 7.1 Routing The process image transmitted by the Flexi Soft gateways into the network consists of the operational data (e.g. logic results, input and output states) and the diagnostics data (e.g. module status, checksums). These data are organised in 4 data sets. Tab. 148: Content of the data sets 1-4 Data set Content Size Can be customized 16) 1 Operational data Max 50 bytes Yes 2 Checksums 32 bytes No 3 Status and diagnostics 60 bytes No 4 Reserved 60 bytes No The operational data in data set 1 are organized into one or several data blocks, dependent of the network protocol. For detailed information about the modularisation of the data sent into the network please see Tab. 149 and read the chapter on the related gateway. The content of data set 1 can be freely customized with a granularity of 1 byte but is preconfigured in the delivery status (see section 7.2 “Default settings for the operational data” on page 173 and section 7.3 “Customizing the operational data (Flexi Soft to Network)” on page 174). The diagnostics data in data sets 2-4 depend on the network protocol used and are described in the chapter on the related gateway. 16) 172 FX0-GCAN: 32 Bytes. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Layout and content of the process image Chapter 7 Flexi Soft Gateways 7.2 Default settings for the operational data In the delivery status, the operational data are pre-configured. Depending on the gateway used, these data are subdivided in several data blocks. The following table gives an overview which bytes are assigned to the default configuration and how the data are modularised for the different gateways. Tab. 149: Default configuration for the operational data transmitted into the network EtherNet/IP, Modbus TCP, Ethernet TCP/IP PROFINET IO, PROFIBUS DP Byte Default assignment Default assignment 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 32-35 36-47 Logic result 0 Logic result 1 Logic result 2 Logic result 3 Module 1 input Module 2 input Module 3 input Module 4 input Module 5 input Module 6 input Module 7 input Module 8 input Module 9 input Module 10 input Module 11 input Module 12 input Module 1 output Module 2 output Module 3 output Module 4 output Module 5 output Module 6 output Module 7 output Module 8 output Module 9 output Module 10 output Module 11 output Module 12 output Gateway direct output values 0 Gateway direct output values 1 Gateway direct output values 2 Gateway direct output values 3 Not assigned Not assigned 48-49 Not assigned 29 30 31 Input data set #1 (50 bytes) Input data block Module 1 input Module 2 input Module 3 input Module 4 input Module 5 input Module 6 input Module 7 input Module 8 input Module 9 input Module 10 input Module 11 input Module 12 input Module 1 output Module 2 output Module 3 output Module 4 output Module 5 output Module 6 output Module 7 output Module 8 output Module 9 output Module 10 output Module 11 output Module 12 output Logic result 0 Logic result 1 Logic result 2 Logic result 3 Gateway direct output values 0 Gateway direct output values 1 Gateway direct output values 2 Gateway direct output values 3 Not assigned Not assigned Not assigned #1 (12 bytes) #2 (12 bytes) #3 (12 bytes) #4 (12 bytes) #5 (2 bytes) For the FX0-GETC please see Tab. 75 on page 107. For the FX0-GCAN please see Tab. 110 on page 143. The default byte assignment can be freely customized as described in the following section. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 173 Layout and content of the process image Chapter 7 Operating Instructions Flexi Soft Gateways 7.3 Customizing the operational data (Flexi Soft to Network) This section outlines briefly how you can customize the operational data that the Flexi Soft gateway transmits to the network. You will find more detailed information in the Flexi Soft Designer software operating instructions (SICK part no. 8012998). In the delivery status, the data routing configuration of the Flexi Soft gateways is shown in the gateway configuration dialog. Click on the Interfaces button above the main window and select the respective gateway or double click the desired gateway in the hardware configuration view to open the gateway configuration dialog. Click on the CPU to network tab on the left hand menu to display the routing configuration dialog. The default setting is as follows (example for Modbus TCP): Fig. 82: Default configuration for the operational data transmitted into the network 4 1 2 3 Basically this dialog is divided into three areas: Available data [1], Gateway data set to network [2] and Tag names [3]. The upper left corner of the dialog holds the toolbar [4]. 174 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Layout and content of the process image Operating Instructions Chapter 7 Flexi Soft Gateways 7.3.1 The toolbar Fig. 83: Toolbar for the routing configuration The toolbar contains buttons for the following actions (from left to right): The Load user configuration and Save user configuration buttons allow you to load and/or save a configuration including the used tag names in XML format. If you load a configuration, all previously made changes that have not been saved will be lost. You can not undo this action. With the Import and Export buttons you can import and export the used tag names as a CSV file or in a network specific file format, e.g. SIEMENS .seq for PROFIBUS or PROFINET. This allows you to import and use the assigned tag names in a PLC program. The Import button is only available for the Network to gateway routing configuration. Note Reset to default restores the default routing configuration. You will be prompted for confirmation. If you click Yes, all previously made changes that have not been saved will be lost. You can not undo this action. Clear all clears the configuration, i.e. deletes all assigned bytes in the Gateway data set to network area. You will be prompted for confirmation. Delete routing deletes the selected byte from the Gateway data set to network area. The Undo and Redo buttons allow you to undo or redo changes you made to your configuration. 7.3.2 Available data area This area offers all sources from which data may be routed into the network. It is divided in two views holding the available Input types and Output data. You can switch between these views using the file cards at the bottom. The Input types view contains the input values for the connected Flexi Soft modules and EFI devices. If your Flexi Soft system contains a second gateway, the input data of this gateway (i.e. data received from the network the second gateway is connected to) will be available here as well. The Output view offers the output values for the connected Flexi Soft modules and EFI devices as well as the Logic results from the logic editor. All sources supported by the current configuration are displayed in black: connected Flexi Soft modules connected EFI devices configured logic results 17) gateway input data available from another gateway in the system Sources currently not configured will be displayed in grey. Activating the Show only available data checkbox in the upper left corner hides the unused sources from the view. Sources that offer “live” data are marked with a little icon next to the text. 17) 8012664/XR03/2013-11-19 Subject to change without notice In the default configuration, only the first logic result byte (Logic result 0) is active and available. You can activate more logic result output bits in the logic editor (see the Flexi Soft software operating instructions, SICK part no. 8012998). © SICK AG • Industrial Safety Systems • Germany • All rights reserved 175 Layout and content of the process image Chapter 7 Operating Instructions Flexi Soft Gateways How to add a data byte to the routing table: Drag and drop an element (i.e. byte) from the Available data area to a free slot in the Gateway data set to network area. If the desired position is not free, you will have to clear it first by deleting or moving the byte currently assigned to it. Note It is possible to use the same byte several times in the routing table. 7.3.3 Gateway data set to network area This area contains the routing table. It shows the current content of the Flexi Soft gateway’s input data modules, bytes and bits highlighted blue will hold “live” data from the system since the hardware configuration does support the source. Bytes highlighted grey actually do not have data associated with them since the hardware configuration does not support the sources. How to delete a data byte from the routing table: Drag and drop the byte you want to delete to the trashcan icon in the bottom left corner of the Gateway data set to network area. Or: Select the byte you want to delete by clicking it with the left mouse button. Then, click on the Delete routing button in the toolbar. Or: Call up the context menu by clicking the respective byte with the right mouse button. In the context menu, select the Delete routing command. How to move a data byte to another place in the routing table: Drag and drop the byte you want to move to the desired position. If the desired position is not free, you will have to clear it first by deleting or moving the byte currently assigned to it. 7.3.4 Tag names area This area shows the tag names associated with each bit of the byte currently selected in the Available data or the Gateway data set to network area. You can enter these tag names in the logic editor and in the hardware configuration dialog (e.g. for extension modules). In the Tag names area of the Flexi Soft to Network configuration dialog, it is not possible to edit tag names, with the exception of the gateway direct outputs (see the following section). 176 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Layout and content of the process image Operating Instructions Chapter 7 Flexi Soft Gateways 7.3.5 Gateway direct output values It is possible to write values directly from the logic editor into a gateway. In the default process image, four bytes are reserved for these gateway direct output values which can be found in the logic editor in the Outputs file card. Note In order to use gateway direct output values, a CPU with firmware V2.00.0 or higher is required. Fig. 84: Gateway direct output values in the default process image If required, you can configure any byte as gateway direct output value. In order to do this, you need to assign tag names for the bits you want to use. How to define additional gateway direct output values: Click on a free byte in the Gateway data set to network area to select it. Activate the Use direct editing checkbox in the upper left corner of the Tag names area. You will now be able to edit the tag names for this byte. If desired, enter a tag name for the selected byte. Enter tag names for the individual bits of the selected byte that you want to use as gateway direct output values. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 177 Layout and content of the process image Chapter 7 Operating Instructions Flexi Soft Gateways Fig. 85: Defining additional gateway direct output values in the process image All bits of the selected byte with a tag name will now appear in the logic editor in the Outputs file card. Note 178 You can edit the predefined gateway direct output values in the same way. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Layout and content of the process image Chapter 7 Flexi Soft Gateways 7.3.6 Output data configuration (Network to Flexi Soft) In order to enable incoming data bits: Click on Network to CPU on the left hand menu. The following dialog appears: Fig. 86: Network to Flexi Soft dialog of the FX0-GMOD 1 2 Basically this dialog is divided into two areas: Gateway data set from network [1] and Tag names [2]: The Gateway data set from network area shows the current configuration of the output modules. The Tag names area shows the tag names associated to the byte selected in the Gateway data set from network area. Select a byte in the Gateway data set from network area. For each bit of the selected byte that you wish to use, enter a tag name in the Tag names area. 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 179 Layout and content of the process image Chapter 7 Operating Instructions Flexi Soft Gateways Each bit you enter a tag name for here will be available within the logic editor or for the process image of a second gateway: Fig. 87: Tag names of incoming bits in the logic editor dialog of the FX3-CPUx 7.3.7 Saving and loading a configuration Using the buttons Load user configuration and Save user configuration you can save and load your configuration in XML format. If you load a configuration, all previously made changes that have not been saved will be lost. You can not undo this action. 7.3.8 Importing and exporting a configuration With the Import and Export buttons you can import and export a configuration including the tag names used as a CSV file or in a network specific file format, e.g. SIEMENS .seq for PROFIBUS or PROFINET. This allows you to import and use tag names you have assigned in the Flexi Soft project in the PLC program and vice versa. If you import a configuration, all previously made changes that have not been saved will be lost. You can not undo this action. Note 180 The Import button is only available for the Network to gateway routing configuration. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Layout and content of the process image Operating Instructions Chapter 7 Flexi Soft Gateways 7.4 Monitoring the operational data online When the Flexi Soft system is online and running, you can monitor the operational data online in the gateway configuration window. Click on the Interfaces button above the main window and select the respective gateway or double click the desired gateway in the hardware configuration view to open the gateway configuration dialog. Click on the Flexi Soft to Network or the Network to Flexi Soft tab on the left hand menu to display the routing view for the input or output data you want to monitor. For both directions, Flexi Soft to Network as well as Network to Flexi Soft, inactive bits are displayed grey while active bits are highlighted green: Fig. 88: Active and inactive bits in the online process image In the Flexi Soft to Network view, bits that are inactive due to an error are displayed red. This could be the case e.g. for the outputs of an FX3RXTIO module if the power supply of this module is faulty: Fig. 89: Inactive Network input bits as a result of an error. In the Network to Flexi Soft view, bits that have no tag name assigned (so that they can not be used in the logic editor) but which are included in the process image that the Flexi Soft gateway receives from the PLC, are highlighted yellow: Fig. 90: Network output bits with no tag names assigned in the online process image Note 8012664/XR03/2013-11-19 Subject to change without notice The Flexi Soft gateways always reflect the actual physical status of the inputs and outputs on the connected modules and devices. This means that even when Force mode is active and inputs that are physically Low are forced High (or vice versa) the actual physical status of these inputs will be transmitted to the PLC instead of the (virtual) forced status. If, however, as a result of forcing of one or several inputs, one or several outputs change their status, the changed status of these outputs will be transmitted to the PLC since the actual physical status of the outputs on the devices has changed. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 181 Technical specifications Chapter 8 Operating Instructions Flexi Soft Gateways 8 Technical specifications Tab. 150: Technical specifications FX0-GENT, FX0GMOD and FX0-GPNT 8.1 Technical specifications gateways 8.1.1 EtherNet/IP, Modbus TCP, PROFINET IO Interface Fieldbus EtherNet/IP, Modbus TCP, PROFINET IO Integrated switch 3-port layer-2 managed switch with AutoMDI-X for automatic detection of crossed Ethernet cable Connection technique RJ-45 socket Transfer rate 10 Mbit/s (10 Base-T) or 100 Mbit/s (100 Base-TX), autosensing Update rate (heartbeat rate) Configurable from 40 … 65,535 ms Change of state (COS) update rate 10 ms Addressing factory setting IP: 192.168.250.250 Subnet mask: 255.255.0.0 Default gateway: 0.0.0.0 MAC address Printed on type label, example: 00:06:77:02:00:A7 8.1.2 Tab. 151: Technical specifications FX0-GETC 182 EtherCAT Interface Fieldbus EtherCAT Connection technique RJ-45 socket EtherCAT application cycle time 4 ms Watchdog Time Process Data O 5 ms Watchdog Time Process Data Interface (PDI) O 55 ms © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Technical specifications Chapter 8 Flexi Soft Gateways 8.1.3 Tab. 152: Technical specifications FX0-GPRO PROFIBUS DP Interface Minimum Typical Maximum Fieldbus PROFIBUS DP-V0 Interface level RS-485 Connector technology D-Sub socket 9-pin Slave address (set via rotary switches) 0 99 Slave address (set via 18) Flexi Soft Designer) 3 125 Baud rate (automatic adjustment) 12 MBaud Baud rate (kbit/s with standard cable) Max. cable length 9.6/19.2/93.75 1200 m 187.5 1000 m 500 400 m 1 500 200 m 12 000 100 m Cable parameters see section 6.1 “PROFIBUS DP gateway” from page 116. 8.1.4 Tab. 153: Technical specifications FX0-GCAN CANopen Interface Minimum Typical Maximum Fieldbus CANopen DS-301 Interface level RS-485 Connector technology 5 pin open style connector Slave address (set via rotary switches) 0 99 Slave address (set via 19) Flexi Soft Designer) 1 127 Baud rate (kbit/s with standard cable) Max. cable length 125 500 m 250 250 m 500 100 m 800 40 m 1 000 20 m Cable parameters see chapter 6.2 “CANopen gateway” from page 130. 18) 19) 8012664/XR03/2013-11-19 Subject to change without notice In order to set the slave address via software, the hardware setting for the address must be “00”. In order to set the slave address via software, the hardware setting for the address must be “00”. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 183 Technical specifications Chapter 8 Operating Instructions Flexi Soft Gateways 8.1.5 Tab. 154: Technical specifications FX0-GDEV DeviceNet Interface Minimum Typical Maximum Fieldbus DeviceNet Interface level RS-485 Connector technology 5-pin open style connector Slave address (via rotary switch) 0 63 Slave address (via Flexi 1 20) Soft Designer) 63 Baud rate (kbits/s with standard cable) Max. cable length 125 500 m 250 250 m 500 100 m Cable parameters see section 6.3 “DeviceNet gateway” on page 160. 8.2 Technical specifications, supply circuit These technical specifications apply to all gateways. Tab. 155: Technical specifications supply circuit Supply circuit (e.g. via FLEXBUS+) Minimum Typical Maximum 16.8 V DC 24 V DC 30 V DC FX0-GPRO, FX0-GCAN, FX0-GDEV – – 1.6 W FX0-GENT, FX0-GMOD, FX0-GPNT – – 2.4 W FX0-GETC – – 3W Supply voltage Power consumption 20) 184 In order to set the slave address via software, the hardware setting for the address must be “00”. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Technical specifications Chapter 8 Flexi Soft Gateways 8.3 General technical specifications These technical specifications apply to all gateways. Tab. 156: General technical specifications Terminals Fieldbus See section 8.1 “Technical specifications gateways” FLEXBUS+ 10-pin connector for internal safety bus (plug) Climatic conditions Ambient operating temperature TA –25 to +55 °C Storage temperature –25 to +70 °C Relative humidity 10 % to 95 %, non-condensing Climatic conditions Air pressure in operation 860 to 1060 hPa (EN 61 131R2) Mechanical strength Vibration resistance 10-500 Hz/5g (EN 60 068R2R6) Shock resistance Continuous shock 10 g, 16 ms (EN 60 068R2R29) Single shock 30 g, 11 ms (EN 60 068R2R27) Electrical safety (see FX3-CPUx) Enclosure rating IP 20 (EN 60 529) Protection class III (EN 61 140) Electromagnetic compatibility Class A (EN 61 000R6R2/EN 55 011) Mechanical and assembly Housing Material Polycarbonate Type Device for control cabinet installation Enclosure rating IP 20 (EN 60 529) Colour Gateways Light grey Weight FX0-GENT, FX0-GMOD, FX0-GPNT 125 g (± 10 %) FX0-GPRO, FX0-GETC, FX0-GCAN, FX0RGDEV 150 g (± 10 %) FLEXBUS+ connection (internal bus) Number of poles 10 Connectors 1 plug left, 1 socket right Mounting rail 8012664/XR03/2013-11-19 Subject to change without notice DIN mounting rail acc. to EN 60 715 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 185 Technical specifications Chapter 8 Operating Instructions Flexi Soft Gateways 8.4 Dimensional drawings 8.4.1 Dimensional drawing FX0-GENT, FX0-GMOD, FX0-GPNT and FX0-GETC Fig. 91: Dimensional drawing FX0-GENT, FX0-GMOD, FX0>GPNT and FX0-GETC (mm) 78 58 109 96.5 93.7 114.3 120.6 11.8 4.3 93.3 96.5 186 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 29.1 22.5 15.8 86.5 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Technical specifications Chapter 8 Flexi Soft Gateways 8.4.2 Dimensional drawing FX0-GPRO, FX0-GCAN and FX0-GDEV Fig. 92: Dimensional drawing FX0-GPRO, FX0-GCAN and FX0-GDEV (mm) 78 126 120.6 109 93.7 114.3 131 58 93.3 22.5 29.1 29.1 22.5 96.5 FX0-GCAN and FX0-GDEV only FX0-GPRO only FX0-GCAN and FX0-GDEV only 8.5 Tab. 157: Ordering information Flexi Soft gateways 8012664/XR03/2013-11-19 Subject to change without notice Ordering information Flexi Soft gateways Type Gateway Part number FX0-GENT EtherNet/IP 1044072 FX0-GMOD Modbus TCP 1044073 FX0-GPNT PROFINET IO 1044074 FX0-GPRO PROFIBUS DP 1044075 FX0-GCAN CANopen 1044076 FX0-GDEV DeviceNet 1044077 FX0-GETC EtherCAT 1051432 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 187 Annex Chapter 9 Operating Instructions Flexi Soft Gateways 9 Annex 9.1 EC declaration of conformity Fig. 93: EC declaration of conformity (page 1) 188 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Annex Chapter 9 Flexi Soft Gateways Fig. 94: EC declaration of conformity (page 2) 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 189 Chapter 9 Annex Operating Instructions Flexi Soft Gateways 190 9.2 List of tables Tab. 1: Overview on disposal by components................................................................... 11 Tab. 2: Device variants and features overview................................................................. 13 Tab. 3: Firmware versions of the Ethernet gateways ....................................................... 13 Tab. 4: Availability of data set 1-4 ..................................................................................... 15 Tab. 5: Overview input data sets 1-3 (default settings for EtherNet/IP, Modbus TCP and TCP/IP) ...................................................................................... 16 Tab. 6: Module status ........................................................................................................ 17 Tab. 7: Usage of the more significant bits on dual-channel evaluation on I/O modules FX3-XTIO............................................................................................ 18 Tab. 8: Module status bits of the FX3-CPUx main modules............................................. 20 Tab. 9: Module status bits of the I/O modules FX3-XTIO and FX3-XTDI.......................... 20 Tab. 10: Module status bits of the I/O modules FX3-XTDS................................................ 21 Tab. 11: Module status bits of the I/O modules FX0-STIO................................................. 21 Tab. 12: Module status bits of the Drive Monitor FX3-MOCx modules.............................. 21 Tab. 13: Module status bits of the gateways ...................................................................... 22 Tab. 14: Example module status in data set 3 ................................................................... 22 Tab. 15: Example module status byte 0 of module 2......................................................... 22 Tab. 16: Example module status byte 3 of module 2......................................................... 22 Tab. 17: Output data blocks 1-5 for the different gateways .............................................. 23 Tab. 18: Number of possible TCP/IP connections .............................................................. 37 Tab. 19: Telegram structure................................................................................................. 40 Tab. 20: Error response message........................................................................................ 40 Tab. 21: Get data set(s) request.......................................................................................... 42 Tab. 22: Get data set(s) response ....................................................................................... 42 Tab. 23: Write output data set setting command............................................................... 43 Tab. 24: Write output data set setting response ................................................................ 43 Tab. 25: Auto update mode configuration command......................................................... 44 Tab. 26: Auto update mode configuration response .......................................................... 44 Tab. 27: Auto update mode normal operation message.................................................... 46 Tab. 28: TCP/IP process image example ............................................................................ 46 Tab. 29: Meaning of the LED displays of the FX0-GENT..................................................... 53 Tab. 30: Examples for the packet update interval.............................................................. 56 Tab. 31: Recommended bandwidths for Class 1 messages.............................................. 56 Tab. 32: Class 1 read access points to input data sets ..................................................... 57 Tab. 33: Class 1 write access points to output data sets .................................................. 58 Tab. 34: Assembly object class attributes .......................................................................... 58 Tab. 35: Assembly object instance definitions ................................................................... 59 Tab. 36: Assembly object instance attributes..................................................................... 60 Tab. 37: Assembly object common services ....................................................................... 60 Tab. 38: Number of possible connections .......................................................................... 61 Tab. 39: Configuration guideline — Gateway as master ..................................................... 61 Tab. 40: Configuration guideline — Gateway as slave ........................................................ 61 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Annex Chapter 9 Flexi Soft Gateways 8012664/XR03/2013-11-19 Subject to change without notice Tab. 41: Full Data Set Transfer object (72h) class attribute (instance 0) .........................65 Tab. 42: Full Data Set Transfer object (72h) instance attribute (instance 1)....................65 Tab. 43: Full Data Set Transfer object (72h) common services.........................................66 Tab. 44: Individual Input Data Set Transfer object (73h) class attributes ........................66 Tab. 45: Individual Input Data Set Transfer object (73h) instance attributes...................66 Tab. 46: Individual Input Data Set Transfer object (73h) common services .....................66 Tab. 47: Individual Input Data Set Transfer object (73h) instance 1 attribute definitions ...............................................................................................................67 Tab. 48: Individual Input Data Set Transfer object (73h) instance 2 attribute definitions ...............................................................................................................67 Tab. 49: Individual Input Data Set Transfer object (73h) instance 3 attribute definitions ...............................................................................................................67 Tab. 50: Individual Input Data Set Transfer object (73h) instance 4 attribute definitions ...............................................................................................................67 Tab. 51: Supported PCCC messages for the PLC-5, SLC and MicroLogix PLCs.................69 Tab. 52: Addressing for the PLC-5/SLC messages .............................................................70 Tab. 53: PCCC object (67h) common services ....................................................................70 Tab. 54: PCCC object (67h) request message ....................................................................71 Tab. 55: PCCC object (67h) response message..................................................................71 Tab. 56: PCCC object (67h) supported PCCC command types...........................................71 Tab. 57: Troubleshooting for the FX0-GENT ........................................................................74 Tab. 58: Meaning of the LED displays .................................................................................75 Tab. 59: Number of possible connections...........................................................................77 Tab. 60: Configuration guideline — Gateway as master .....................................................78 Tab. 61: Configuration guideline — Gateway as slave.........................................................78 Tab. 62: Data addressing for FX0-GMOD as receiver .........................................................82 Tab. 63: Modbus commands................................................................................................83 Tab. 64: Modbus error messages ........................................................................................83 Tab. 65: Troubleshooting for the FX0-GMOD.......................................................................83 Tab. 66: Meaning of the LED displays of the FX0-GPNT .....................................................85 Tab. 67: Default content of input data block 1-5 of the FX0RGPNT....................................92 Tab. 68: Memory location for data set 2, 3 and 4 ..............................................................93 Tab. 69: Default content of input data set 2-4 of the FX0RGPNT. ......................................94 Tab. 70: I&M information of the FX0-GPNT .........................................................................95 Tab. 71: PROFINET IO error type definitions........................................................................96 Tab. 72: Troubleshooting for the FX0-GPNT ..................................................................... 100 Tab. 73: Meaning of the status LEDs of the FX0-GETC.................................................... 102 Tab. 74: Process data objects of the FX0-GETC ............................................................... 106 Tab. 75: Default content of input data set 1-5 of the FX0RGETC..................................... 107 Tab. 76: FX0-GETC Input Process Data CoE object 2000h ............................................. 112 Tab. 77: FX0-GETC Output Process Data CoE object 2001h........................................... 112 Tab. 78: FX0-GETC checksums in CoE object 2002h ...................................................... 112 Tab. 79: FX0-GETC Status and Diagnosis CoE object 2003h.......................................... 112 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 191 Chapter 9 Annex Operating Instructions Flexi Soft Gateways Tab. 80: Structure of the Diagnosis history object ...........................................................113 Tab. 81: Module status bits of the FX0-GETC ...................................................................114 Tab. 82: Troubleshooting for the FX0-GETC ......................................................................115 Tab. 83: Meaning of the status LEDs of the FX0-GPRO ...................................................116 Tab. 84: Address switch FX0RGPRO ...................................................................................117 Tab. 85: Explanation bus cable FX0-GPRO .......................................................................118 Tab. 86: Cable parameters FX0RGPRO ..............................................................................118 Tab. 87: Maximum cable lengths FX0-GPRO ....................................................................119 Tab. 88: GSD file versions for the FX0-GPRO....................................................................119 Tab. 89: Default content of input data block 1-5 of the FX0RGPRO.................................121 Tab. 90: Content of the PROFIBUS diagnostics messages ..............................................124 Tab. 91: Flexi Soft module numbers..................................................................................124 Tab. 92: PROFIBUS error messages ..................................................................................125 Tab. 93: Troubleshooting for the FX0-GPRO .....................................................................129 Tab. 94: Meaning of the status LEDs of the FX0-GCAN ...................................................130 Tab. 95: Address switch FX0RGCAN ...................................................................................131 Tab. 96: DIP switch settings on the FX0-GCAN .................................................................131 Tab. 97: Maximum cable lengths FX0-GCAN ....................................................................133 Tab. 98: CAN identifier structure .......................................................................................136 Tab. 99: PCS communication objects................................................................................136 Tab. 100: Network management for one NMT slave with address N ................................137 Tab. 101: Network management for all NMT slaves ..........................................................137 Tab. 102: Example NMT object for resetting all communication .......................................137 Tab. 103: Polling inputs using SYNC....................................................................................138 Tab. 104: Emergency messages ..........................................................................................138 Tab. 105: CANopen emergency messages..........................................................................139 Tab. 106: CANopen emergency, diagnostic bits M2 to M5................................................141 Tab. 107: Request from NMT master ..................................................................................142 Tab. 108: Response from slave ...........................................................................................142 Tab. 109: Remote transmission request .............................................................................142 Tab. 110: Default content of the transmit process data objects (TxPDOs) of the FX0RGCAN .............................................................................................................143 Tab. 111: TxPDO 1…4...........................................................................................................144 Tab. 112: RxPDO 1…4 ..........................................................................................................144 Tab. 113: Write SDO .............................................................................................................145 Tab. 114: Write SDO confirmation .......................................................................................145 Tab. 115: Read SDO .............................................................................................................145 Tab. 116: Read SDO confirmation .......................................................................................145 Tab. 117: Example — Read SDO ..........................................................................................146 Tab. 118: Example — Read SDO confirmation ....................................................................146 Tab. 119: Supported SDOs...................................................................................................146 Tab. 120: SDO 1018 contents .............................................................................................148 Tab. 121: SDO 1027 contents .............................................................................................148 192 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Annex Chapter 9 Flexi Soft Gateways Tab. 122: SDO 1400…1403 contents ................................................................................ 149 Tab. 123: SDO 1800…1803 contents ................................................................................ 149 Tab. 124: TxPDO transmission types .................................................................................. 149 Tab. 125: SDO 3100 contents............................................................................................. 150 Tab. 126: Module type codes in SDO 3300........................................................................ 151 Tab. 127: Mapping table for SDO 6000 — RxPDO 1-4 ....................................................... 152 Tab. 128: Mapping table for SDO 6200 — TxPDO 1-4 ....................................................... 153 Tab. 129: Guarding protocol overview and comparison .................................................... 154 Tab. 130: Emergency states and transitions ...................................................................... 155 Tab. 131: Error objects overview ......................................................................................... 156 Tab. 132: Troubleshooting for the FX0-GCAN..................................................................... 159 Tab. 133: Meaning of the status LEDs of the FX0-GDEV ................................................... 161 Tab. 134: Address switches on the FX0-GDEV ................................................................... 162 Tab. 135: DIP switch settings on the FX0-GDEV................................................................. 162 Tab. 136: Maximum cable lengths FX0-GDEV .................................................................... 164 Tab. 137: Assembly object................................................................................................... 167 Tab. 138: Produced Assembly Instance.............................................................................. 167 Tab. 139: Consumed Assembly Instance............................................................................ 167 Tab. 140: Class attributes for the Individual Input Data Set Transfer object (73h) ......... 168 Tab. 141: Instance attributes for the Individual Input Data Set Transfer object (73h).... 168 Tab. 142: Individual Input Data Set Transfer object (73h) general services .................... 168 Tab. 143: Individual Input Data Set Transfer object (73h) instance 1 attribute definitions ............................................................................................................ 169 Tab. 144: Individual Input Data Set Transfer object (73h) instance 2 attribute definitions ............................................................................................................ 169 Tab. 145: Individual Input Data Set Transfer object (73h) instance 3 attribute definitions ............................................................................................................ 169 Tab. 146: Individual Input Data Set Transfer object (73h) instance 4 attribute definitions ............................................................................................................ 169 Tab. 147: Troubleshooting for the FX0-GDEV ..................................................................... 170 Tab. 148: Content of the data sets 1-4............................................................................... 172 Tab. 149: Default configuration for the operational data transmitted into the network ................................................................................................................ 173 Tab. 150: Technical specifications FX0-GENT, FX0-GMOD and FX0-GPNT....................... 182 Tab. 151: Technical specifications FX0-GETC..................................................................... 182 Tab. 152: Technical specifications FX0-GPRO.................................................................... 183 Tab. 153: Technical specifications FX0-GCAN.................................................................... 183 Tab. 154: Technical specifications FX0-GDEV .................................................................... 184 Tab. 155: Technical specifications supply circuit ............................................................... 184 Tab. 156: General technical specifications ........................................................................ 185 Tab. 157: Ordering information Flexi Soft gateways .......................................................... 187 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 193 Chapter 9 Annex Operating Instructions Flexi Soft Gateways 194 9.3 List of illustrations Fig. 1: Mounting the module onto the DIN mounting rail ............................................... 25 Fig. 2: Installing the end clips........................................................................................... 25 Fig. 3: Removing the removable terminals ...................................................................... 26 Fig. 4: Disconnecting the plug connections..................................................................... 26 Fig. 5: Removing modules from the DIN mounting rail ................................................... 26 Fig. 6: Connection settings dialog .................................................................................... 28 Fig. 7: Modify profile dialog............................................................................................... 28 Fig. 8: Hardware configuration dialog .............................................................................. 29 Fig. 9: Ethernet gateway configuration dialog ................................................................. 33 Fig. 10: Connection settings dialog .................................................................................... 34 Fig. 11: Create new TCP/IP profile dialog .......................................................................... 34 Fig. 12: Create new TCP/IP profile dialog after scan has been performed...................... 35 Fig. 13: Connection settings dialog with new TCP/IP profile ............................................ 36 Fig. 14: Connection settings dialog with new TCP/IP profile activated ............................ 36 Fig. 15: Found gateways in the Network scan dialog........................................................ 37 Fig. 16: TCP/IP configuration dialog................................................................................... 38 Fig. 17: TCP/IP configuration for Application requests (Polling) mode ............................ 41 Fig. 18: TCP/IP configuration for auto update ................................................................... 45 Fig. 19: Socket monitor window ......................................................................................... 48 Fig. 20: PC is TCP Client area — Gateway is configured to listen...................................... 49 Fig. 21: PC is TCP Server area — Gateway is configured to connect ................................ 49 Fig. 22: Write data to device — Read input data sets ....................................................... 50 Fig. 23: Write data to device — Write output data sets ..................................................... 50 Fig. 24: Write data to device — Configure input data sets ................................................ 51 Fig. 25: Read automatic data from device......................................................................... 52 Fig. 26: Interfaces and display elements of the FX0RGENT............................................... 53 Fig. 27: EtherNet/IP gateway configuration dialog............................................................ 54 Fig. 28: EtherNet/IP gateway configuration as master ..................................................... 62 Fig. 29: Example of tag names in a PLC program ............................................................. 63 Fig. 30: EtherNet/IP gateway configuration as slave ........................................................ 64 Fig. 31: Creating tags for explicit messaging ..................................................................... 72 Fig. 32: Main routine programming for explicit messaging............................................... 72 Fig. 33: Explicit messaging — Message configuration....................................................... 73 Fig. 34: Explicit messaging — Communication configuration............................................ 73 Fig. 35: Interfaces and display elements of the FX0RGMOD ............................................. 75 Fig. 36: Modbus TCP gateway configuration dialog........................................................... 76 Fig. 37: Modbus TCP gateway configuration as master .................................................... 79 Fig. 38: Modbus TCP gateway configuration as slave ....................................................... 81 Fig. 39: Interfaces and display elements of the FX0RGPNT............................................... 85 Fig. 40: Disabling the STATUS LED of the FX0-GPNT ........................................................ 86 Fig. 41: PROFINET IO gateway configuration dialog .......................................................... 87 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Annex Chapter 9 Flexi Soft Gateways 8012664/XR03/2013-11-19 Subject to change without notice Fig. 42: PROFINET IO gateway in the PROFINET IO HW Config..........................................89 Fig. 43: Configuration of the update time of the FX0-GPNT ..............................................90 Fig. 44: Properties dialog of the FX0-GPNT ........................................................................91 Fig. 45: Assign device name dialog for the FX0-GPNT.......................................................91 Fig. 46: Projecting the FX0RGPNT ........................................................................................93 Fig. 47: Controls and status indicators FX0-GETC .......................................................... 101 Fig. 48: Gateway configuration dialog for the FX0-GETC ................................................ 104 Fig. 49: Example for inserting the FX0-GETC into an EtherCAT network ....................... 105 Fig. 50: PDO configuration in the EtherCAT network configuration tool ........................ 106 Fig. 51: EtherCAT gateway configuration dialog.............................................................. 109 Fig. 52: Edit the data block start address ....................................................................... 109 Fig. 53: EoE activation for the FX0-GETC in TwinCAT...................................................... 110 Fig. 54: Enabling TCP/IP routing for the FX0-GETC in the Flexi Soft Designer .............. 111 Fig. 55: CoE object catalogue of the FX0-GETC in TwinCAT............................................ 111 Fig. 56: Controls and status indicators FX0-GPRO.......................................................... 116 Fig. 57: Setting the PROFIBUS address for the FX0RGPRO............................................. 117 Fig. 58: D-Sub socket and plug pin assignments FX0RGPRO.......................................... 118 Fig. 59: Bus cable FX0-GPRO ........................................................................................... 118 Fig. 60: PROFIBUS DP configuration example in Siemens SIMATIC Manager .............. 120 Fig. 61: PROFIBUS DP gateway configuration dialog ...................................................... 122 Fig. 62: Edit the data block start address ....................................................................... 122 Fig. 63: PROFIBUS DP gateway in the PROFIBUS HW Config ......................................... 123 Fig. 64: Controls and status indicators FX0-GCAN.......................................................... 130 Fig. 65: DIP switch settings on the FX0-GCAN ................................................................ 131 Fig. 66: Setting the CANopen address for the FX0-GCAN............................................... 132 Fig. 67: Open style connector and assignment FX0-GCAN............................................. 132 Fig. 68: CANopen bus cable ............................................................................................. 133 Fig. 69: CoDeSys PLC Configuration editor window ........................................................ 134 Fig. 70: Appending a CanMaster using CoDeSys 2.3 ..................................................... 134 Fig. 71: Appending the FX0-GCAN using CoDeSys 2.3 ................................................... 135 Fig. 72: PDO configuration using CoDeSys 2.3 ............................................................... 135 Fig. 73: PDO properties dialog in CoDeSys 2.3 ............................................................... 135 Fig. 74: Controls and status indicators FX0-GDEV.......................................................... 161 Fig. 75: DIP switch settings on the FX0-GDEV................................................................. 162 Fig. 76: Setting the DeviceNet address of the FX0-GDEV............................................... 163 Fig. 77: Open style connector and assignment FX0-GDEV ............................................. 163 Fig. 78: DeviceNet bus cable ........................................................................................... 164 Fig. 79: Configuration of the type of communication based on the example of the DeviceNetManager™ from Allen Bradley ........................................................... 165 Fig. 80: Selection of input data set 1 and output data set 1 using DeviceNetManager™ from Allen Bradley ........................................................... 165 Fig. 81: Selection of input data set 3 and output data set 1-5 using DeviceNetManager™ from Allen Bradley ........................................................... 165 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 195 Chapter 9 Annex Operating Instructions Flexi Soft Gateways 196 Fig. 82: Default configuration for the operational data transmitted into the network .................................................................................................................174 Fig. 83: Toolbar for the routing configuration ..................................................................175 Fig. 84: Gateway direct output values in the default process image .............................177 Fig. 85: Defining additional gateway direct output values in the process image ..........178 Fig. 86: Network to Flexi Soft dialog of the FX0-GMOD...................................................179 Fig. 87: Tag names of incoming bits in the logic editor dialog of the FX3-CPUx............180 Fig. 88: Active and inactive bits in the online process image.........................................181 Fig. 89: Inactive Network input bits as a result of an error.............................................181 Fig. 90: Network output bits with no tag names assigned in the online process image ....................................................................................................................181 Fig. 91: Dimensional drawing FX0-GENT, FX0-GMOD, FX0RGPNT and FX0-GETC (mm)......................................................................................................................186 Fig. 92: Dimensional drawing FX0-GPRO, FX0-GCAN and FX0-GDEV (mm) ...................187 Fig. 93: EC declaration of conformity (page 1) ................................................................188 Fig. 94: EC declaration of conformity (page 2) ................................................................189 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Annex Chapter 9 Flexi Soft Gateways 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 197 Chapter 9 Annex Operating Instructions Flexi Soft Gateways 198 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8012664/XR03/2013-11-19 Subject to change without notice Operating Instructions Annex Chapter 9 Flexi Soft Gateways 8012664/XR03/2013-11-19 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 199 8012664/XR03/2013-11-19 ∙ RV/XX (2013-12) ∙ A4 sw int41 Australia Phone+61 3 9457 0600 1800 334 802 – tollfree [email protected] Belgium/Luxembourg Phone +32 (0)2 466 55 66 E-Mail [email protected] Brasil Phone+55 11 3215-4900 E-Mail [email protected] Canada Phone+1 905 771 14 44 E-Mail [email protected] Česká republika Phone+420 2 57 91 18 50 E-Mail [email protected] China Phone +86 4000 121 000 E-Mail [email protected] Phone +852-2153 6300 [email protected] Danmark Phone+45 45 82 64 00 E-Mail [email protected] Deutschland Phone+49 211 5301-301 E-Mail [email protected] España Phone+34 93 480 31 00 E-Mail [email protected] France Phone+33 1 64 62 35 00 E-Mail [email protected] Great Britain Phone+44 (0)1727 831121 E-Mail [email protected] India Phone+91–22–4033 8333 E-Mail [email protected] Israel Phone+972-4-6881000 E-Mail [email protected] 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Key Features
- Support multiple fieldbus protocols
- Send and receive non-safety related data
- Mounted on 35 mm DIN Rail
- Provide status and diagnostics information
- Configured using Flexi Soft Designer
- Can be used with a Flexi Soft system
- Data sets configurable
- Compact design
- Easy to install and configure