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OPERATING INSTRUCTIONS Flexi Classic Gateways en Operating Instructions Flexi Classic 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 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Contents Flexi Classic Gateways Contents 8011834/YT28/2016-03-15 Subject to change without notice 1 About this document.........................................................................................................7 1.1 Function of this document....................................................................................7 1.2 Target group ..........................................................................................................7 1.3 Information depth .................................................................................................7 1.4 Scope .....................................................................................................................8 1.5 Symbols used ........................................................................................................8 2 On safety.............................................................................................................................9 2.1 Qualified safety personnel....................................................................................9 2.2 Correct use ............................................................................................................9 2.3 Environmental protection ...................................................................................10 2.3.1 Disposal .............................................................................................10 2.3.2 Separation of materials ....................................................................10 3 Flexi Classic gateways ...................................................................................................11 3.1 System information transmitted by the modules..............................................11 3.2 Status information of all Flexi Classic gateways (system bytes) ......................12 3.2.1 DIG-OUT .............................................................................................12 3.2.2 REQ-ID................................................................................................12 3.2.3 CRC1 and CRC2 ................................................................................13 3.2.4 BAS1 ..................................................................................................14 3.2.5 BAS2 ..................................................................................................14 3.2.6 BAS3 ..................................................................................................15 3.2.7 BAS4 ..................................................................................................15 3.2.8 RSP-ID ................................................................................................15 3.2.9 B1-B10 (REQ-ID 1-13/2133)............................................................16 3.2.10 B1-B10 (REQ-ID 255)........................................................................16 3.2.11 MED ...................................................................................................16 3.2.12 MQD ...................................................................................................17 3.2.13 MKD1.................................................................................................18 3.2.14 MKD2.................................................................................................18 3.2.15 MFD....................................................................................................19 3.2.16 MFCLASS1-MFCODE2.......................................................................19 3.2.17 MOD-ID...............................................................................................24 3.2.18 SW-VERSION_H and SW-VERSION_L ...............................................25 3.2.19 FUNCTION ..........................................................................................25 3.2.20 KONF..................................................................................................26 3.2.21 CRC_H CODE and CRC_L CODE .......................................................26 3.2.22 DIAG-VERSION_H and DIAG-VERSION_L..........................................26 3.2.23 System interface status (only UE410-EN3) .....................................26 4 PROFIBUS DP Gateway...................................................................................................27 4.1 Interfaces and operation ....................................................................................27 4.1.1 Controls and status indicators .........................................................27 4.1.2 Application diagnostic outputs UE410-PRO ....................................28 4.1.3 Plug assignment................................................................................28 4.1.4 Bus cable ...........................................................................................28 4.1.5 Cable parameters..............................................................................29 4.1.6 Data transmission rate .....................................................................29 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 3 Contents Operating Instructions Flexi Classic Gateways 4.2 4 Planning .............................................................................................................. 30 4.2.1 GSD file ............................................................................................. 30 4.2.2 Documenting with PROFIBUS-DP Master Simulator....................... 31 4.2.3 Diagnostics data UE410-PRO .......................................................... 31 5 CANopen Gateway .......................................................................................................... 32 5.1 Interfaces and operation.................................................................................... 32 5.1.1 Control and status indicators........................................................... 32 5.1.2 Application diagnostic outputs UE410-CAN.................................... 33 5.1.3 Plug assignment ............................................................................... 34 5.1.4 Bus cable .......................................................................................... 34 5.2 Planning .............................................................................................................. 35 5.2.1 EDS file.............................................................................................. 35 5.2.2 PCS .................................................................................................... 35 5.2.3 Format of diagnostics data .............................................................. 35 5.2.4 TxPDO1.............................................................................................. 36 5.2.5 TxPDO2.............................................................................................. 36 5.2.6 TxPDO3.............................................................................................. 37 5.2.7 TxPDO4.............................................................................................. 37 5.2.8 RxPDO1 ............................................................................................. 38 5.2.9 NMT Network Management ............................................................. 38 5.2.10 Pre-Operational................................................................................. 38 5.2.11 Operational ....................................................................................... 38 5.2.12 Prepared/Stopped............................................................................ 38 5.2.13 Reset node........................................................................................ 38 5.2.14 Reset communication ...................................................................... 39 5.2.15 SYNC.................................................................................................. 39 5.2.16 Node-guarding .................................................................................. 39 5.2.17 Emergency ........................................................................................ 40 5.2.18 SDO communication......................................................................... 40 5.2.19 SDO Download expedited (Write SDO) ............................................ 40 5.2.20 SDO Upload expedited (Read SDO) ................................................. 41 5.2.21 Object list SDO .................................................................................. 41 5.2.22 Configuration objects ....................................................................... 42 5.2.23 Input/output objects ........................................................................ 43 5.2.24 Module list objects ........................................................................... 43 5.2.25 Mapping/communication parameter objects ................................. 44 5.2.26 Flexi-Classic-ERROR list object ........................................................ 45 5.2.27 Status objects ................................................................................... 46 6 DeviceNet Gateway......................................................................................................... 47 6.1 Interfaces and operation.................................................................................... 47 6.1.1 Characteristics of the DeviceNet implementation.......................... 47 6.1.2 Controls and status indicators......................................................... 47 6.1.3 Application diagnostic outputs UE410-DEV .................................... 48 6.1.4 Plug assignment ............................................................................... 49 6.1.5 Bus cable .......................................................................................... 49 6.2 Planning .............................................................................................................. 50 6.2.1 EDS file.............................................................................................. 50 6.2.2 Diagnostics data UE410-DEV........................................................... 50 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Contents Flexi Classic Gateways 8011834/YT28/2016-03-15 Subject to change without notice 7 Modbus/TCP Ethernet Gateway ....................................................................................51 7.1 Interfaces and operation ....................................................................................51 7.2 Basic configuration — assigning an IP address .................................................52 Configuration of the interface to the PLC — how the data are 7.3 transferred...........................................................................................................54 7.3.1 Operating modes in the transfer mode RX (To PLC) .......................56 7.3.2 Operating modes in the transfer mode Tx (From PLC)....................58 7.3.3 Modbus commands and error messages ........................................58 7.4 Configuration of the gateway — which data are transferred.............................59 7.5 Status of the interface to the PLC......................................................................61 7.6 Resetting to factory settings...............................................................................64 7.7 Troubleshooting ..................................................................................................65 7.8 Description of the data sets ...............................................................................67 7.8.1 Data sets 1-5.....................................................................................67 7.8.2 Data set 6, can be compiled by the user.........................................69 8 Ethernet TCP/IP Gateway ..............................................................................................71 8.1 Interfaces and operation ....................................................................................71 8.2 Basic configuration — assigning an IP address .................................................72 8.3 Configuration of the TCP/IP interface — who establishes the connection.......74 8.4 Data transfer method — how the data are transferred.....................................76 8.4.1 General telegram structure ..............................................................76 8.4.2 Error response to invalid messages.................................................77 8.4.3 Auto Update Mode ............................................................................77 8.4.4 Polling Mode......................................................................................80 8.5 Ethernet TCP/IP interface status and statistics ................................................83 8.6 Resetting to factory settings...............................................................................85 8.7 Troubleshooting ..................................................................................................86 8.8 Description of the data sets ...............................................................................88 8.8.1 Data sets 1-5.....................................................................................88 8.8.2 Data set 6, can be compiled by the user.........................................90 9 EtherNet/IP Gateway......................................................................................................92 9.1 Interfaces and operation ....................................................................................92 9.2 Basic configuration — assigning an IP address .................................................93 9.3 Device name........................................................................................................94 9.4 Configuration of the interface to the PLC — how the data are transferred...........................................................................................................95 9.4.1 Operating modes in the transfer mode Rx (to PLC) ........................98 9.4.2 Operating modes in the transfer mode Tx (from PLC) ....................99 9.5 Configuration of the gateway — which data are transferred.......................... 100 9.6 Status of the interface to the PLC................................................................... 102 9.7 EtherNet/IP objects ......................................................................................... 105 9.7.1 Full Data Set Transfer Object (72hex — one instance per UE410FEN1 module) ...................................................................... 105 9.7.2 Individual Data Set Transfer object (73hex — one instance per data set) ................................................................................... 106 9.7.3 Discrete Output Point object definition (09hex — 4 instances; one instance per digital output) .................................. 113 9.8 Resetting to factory settings............................................................................ 115 9.9 Troubleshooting ............................................................................................... 116 9.10 Description of the data sets ............................................................................ 118 9.10.1 Data sets 1-5.................................................................................. 118 9.10.2 Data set 6, can be compiled by the user...................................... 120 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 5 Contents Operating Instructions Flexi Classic Gateways 10 PROFINET IO Gateway ..................................................................................................122 10.1 Interfaces and operation..................................................................................122 10.2 Basic configuration — assigning an IP address ..............................................123 Web server based...........................................................................123 10.2.1 10.2.2 PROFINET IO conform.....................................................................125 10.3 PROFINET configuration of the gateway — how the data are transferred .....125 10.3.1 STEP 1 — Install the generic station description file (GSD file) 125 10.3.2 STEP 2 — Add the gateway to the project......................................126 10.3.3 STEP 3 — Configure the properties of the gateway ......................126 10.3.4 STEP 4 — Assign the device name.................................................127 10.4 PROFINET configuration of the gateway — which data are transferred.........129 10.4.1 Cyclic data.......................................................................................129 10.4.2 Acyclic data — record read .............................................................130 10.4.3 Alarms .............................................................................................136 10.5 Status of the interfaces....................................................................................137 10.5.1 Status of the interface to the PLC .................................................137 10.5.2 Status of the Flexi system ..............................................................138 10.6 Resetting to factory settings ............................................................................140 10.7 Troubleshooting ................................................................................................141 10.8 Error type definitions in PROFINET IO..............................................................143 11 Technical specifications ..............................................................................................147 11.1 Technical specifications fieldbus.....................................................................147 11.1.1 PROFIBUS........................................................................................147 11.1.2 CANopen .........................................................................................147 11.1.3 DeviceNet........................................................................................148 11.1.4 Modbus/TCP, EtherNet/IP, PROFINET IO ......................................148 11.2 Technical specifications, supply circuit ...........................................................149 11.3 Technical specifications application diagnostic outputs................................149 11.4 General technical specifications......................................................................149 11.5 Dimensional drawing........................................................................................151 11.6 Device overview/part numbers........................................................................152 11.7 Accessories/spare parts ..................................................................................152 11.7.1 PROFIBUS master simulator ..........................................................152 11.7.2 CD-ROM Flexi Classic......................................................................152 6 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions About this document Chapter 1 Flexi Classic Gateways 1 About this document Please read this chapter carefully before working with these operating instructions and the Flexi Classic gateways. 1.1 Function of this document These operating instructions only apply in conjunction with the “Flexi Classic Modular Safety Controller” operating instructions and 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 Classic gateways. These operating instructions do not provide information on the operation of the machine in which a Flexi Classic safety controller with Flexi Classic gateways is integrated. Information on this is to be found in the appropriate operating instructions for the machine. 1.2 Target group These operating instructions are addressed to planning engineers, machine designers and the operators of systems in which a Flexi Classic modular safety controller is integrated and who want to transmit data to a fieldbus (a controller) via a gateway. They are also addressed to people who are placing a Flexi Classic gateway in operation for the first time or maintaining it. 1.3 Information depth These operating instructions contain information on Flexi Classic gateways on the following subjects: mounting status information on fieldbus, planning and related mapping part numbers Warning! Pay attention to the safety notes and safety measures on the Flexi Classic safety controller! WARNING Note We also refer you to our homepage on the Internet at http://www.ue410flexi.com There you will find the following files for download: EDS file GSD file flexi_config_list.xls (system requirements Excel 2000 or higher) 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 7 About this document Chapter 1 Operating Instructions Flexi Classic Gateways 1.4 Scope These operating instructions are original operating instructions. Note These operating instructions apply to all Flexi Classic gateway modules (UE410FPR03, FPR04, FCAN3, FCAN4, FDEV3, FDEV4, -EN1, -EN3, -EN4). In addition, follow the related concise operating instructions (see type label entry on the modules). 1.5 Notes Symbols used Refer to notes for special features of the device. 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! 8 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions On safety Chapter 2 Flexi Classic 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 Classic gateway. 2.1 Qualified safety personnel The Flexi Classic 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 “Flexi Classic Gateways” and “Flexi Classic Modular Safety Controller” and have read and familiarised themselves with them. 2.2 Correct use The Flexi Classic gateways can only be operated with a Flexi Classic system. The Flexi Classic 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. These modules may only be used by qualified personnel and only on the machine where they have been installed and initialised by qualified personnel in accordance with the operating instructions. Pay attention to the safety notes and safety measures on the Flexi Classic safety controller! WARNING 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 Classic safety controller, observe the standards and directives applicable in your country. The national/international rules and regulations apply to the installation, commissioning, use and periodic technical inspection of the Flexi Classic safety controller, in particular … – the Machinery Directive – the EMC directive – the Work Equipment Directive – the Low Voltage Directive – the work safety regulations/safety rules 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 9 On safety Chapter 2 Operating Instructions Flexi Classic Gateways The operating instructions must be made available to the operator of the machine where a Flexi Classic safety controller is used. The machine operator is to be instructed in the use of the device by specialist personnel and must be instructed to read the operating instructions. WARNING The Flexi Classic system complies, as per the “radiated emissions” generic standard, with the requirements of class A (industrial applications). the Flexi Classic system is therefore only suitable for use in an industrial environment. 2.3 Environmental protection The Flexi Classic 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 Note 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). 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 qualified safety 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 in the Flexi Classic 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 Electronic recycling pieces Packaging Cardboard, paper 10 Paper/cardboard recycling © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Flexi Classic gateways Chapter 3 Flexi Classic Gateways 3 Flexi Classic gateways The Flexi Classic gateways generate non-safety-related fieldbus data (status bytes) for control and diagnostics purposes. These status bytes contain the input and output states as well as fault and status information. The nature and scope of the diagnostic data are defined during planning and for the mapping. In addition, you can save status bytes and diagnostic data on a PC with the aid of the PROFIBUS-DP Master Simulator and the file flexi_config_list.xls, and document the settings for the entire system (see section 4.2.2 “Documenting with PROFIBUS-DP Master Simulator”. A Flexi Classic gateway has four short circuit-proof application diagnostic outputs for controlling non-safety functions. It is not allowed to connect any safety-related loads or inputs of the Flexi Classic system with a safety function to these four application diagnostic outputs. The operation of the safety-related functions of the Flexi Classic system is not affected by the bus coupling. There is no information flow from external fieldbus systems over the gateway to the safety system. The modules are not suitable for operation on a safety fieldbus. They do not monitor the functionality of the fieldbus or the digital application diagnostic outputs (X1-X4). A Flexi Classic gateway can only be operated on a Flexi Classic system. It does not have a dedicated voltage supply. It is only possible to use one Flexi Classic gateway per system. The gateways are fitted in a 22.5 mm wide housing for 35-mm rails in accordance with EN 50022. The devices have a removable screw terminal for each of the control outputs. 3.1 System information transmitted by the modules system configuration – input states on all Flexi Classic modules – state of all safety outputs (Q1-Q4 or OP, Q1, Q2 and ON) – control circuit configuration for all Flexi Classic modules – settings for all program and function switches on the Flexi Classic modules error and status information on all Flexi Classic modules – erroneous system configuration, feedback circuits – exceeding the synchronous monitoring time (closing a safety door) – process error on dual-channel applications (e.g. on opening/closing a safety door) – cross circuit on the inputs – cross-circuit on the safety outputs, internal error (error classes) 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 11 Chapter 3 Flexi Classic gateways Operating Instructions Flexi Classic Gateways 3.2 Status information of all Flexi Classic gateways (system bytes) The status information is contained in the system and status bytes described below. The significance of these bytes is independent of the fieldbus used and applies to all gateways. The grouping of the data bytes is described in the related chapters on the gateways in the “Planning” sections. 3.2.1 DIG-OUT 4 digital control outputs on the Flexi Classic gateways Tab. 2: DIG-OUT Bit 7 6 5 4 3 2 1 Bit 0 – – – – X4 X3 X2 X1 1 Bit 0 X4 Output X4 – X3 Output X3 – X2 Output X2 0 = Output switched off X1 Output X1 1 = Output switched on 3.2.2 REQ-ID Control byte for the content of bytes B1-B10. Tab. 3: REQ-ID Bit 7 6 5 4 3 2 REQ-ID REQ-ID 0 Space 1 Status data module 1 2 Status data module 2 3 Status data module 3 : : 13 Status data module 13 21 Configuration module 1 22 Configuration module 2 23 Configuration module 3 : 12 Assignment B1–B10 : 33 Configuration module 13 255 Internal diagnostics modules © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Flexi Classic gateways Operating Instructions Chapter 3 Flexi Classic Gateways 3.2.3 CRC1 and CRC2 High byte/low byte for the 16-bit checksum on the system configuration. The system configuration contains all function settings, the configuration jumpers, the number and order of the Flexi Classic modules inserted, the software versions etc. CRC1 and CRC2 together form the 16-bit checksum. Tab. 4: CRC and CRC2 Bit 7 6 5 4 3 2 1 Bit 0 CRC1 (High byte) CRC2 (Low byte) Note 8011834/YT28/2016-03-15 Subject to change without notice We recommend you to make a note of the slot list CRC and keep this information in the control cabinet. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 13 Chapter 3 Flexi Classic gateways Operating Instructions Flexi Classic Gateways 3.2.4 BAS1 Group error bits on the overall system and output data on the UE410-MU, UE410-MM and UE410-GU. Tab. 5: BAS1 Bit 7 UE410-MU UE410-MM IF 6 5 4 3 QS AF ZF RO – – – – UE410-GU IF Internal error 2 FM 1 Bit 0 X1/2 X3/4 Q1 Q2 0 = No internal errors 1 = An internal error has occurred on one of the Flexi Classic modules QS Cross circuit error (not on UE410-GU) 0 = No cross circuit error 1 = Cross circuit error detected on an input pair on the overall system AF ZF RO Process error 0 = No process error (not on UE410-GU) 1 = A process error has occurred on one of the Flexi Classic modules in a safety circuit Time error 0 = No time error (not on UE410-GU) 1 = An internal error has occurred on one of the Flexi Classic modules EDM contacts open (not on UE410-GU) 0 = No EDM error 1 = An error has occurred on the EDM contacts on one of the modules. EDM contact was open FM Program or function switch changed 0 = Switches have not been actuated 1 = Switches have been changed during operation X1/2 X3/4 Q1 Q2 3.2.5 Outputs Q1/Q2 0 = Q1/Q2 inactive UE410-MU/MM 1 = Q1/Q2 active Outputs Q3/Q4 0 = Q3/Q4 inactive UE410-MU/MM 1 = Q3/Q4 active Output Q1 0 = Q1 inactive UE410-GU 1 = Q1 active Output Q2 0 = Q2 inactive UE410-GU 1 = Q2 active BAS2 Output data from the A/B function groups on the UE410-XU main module, the UE410-8DI expansion modules and the UE410-XM, UE410-MDI muting modules. Tab. 6: BAS2 Bit 7 6 MOD2 14 5 4 3 MOD3 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 2 MOD4 1 Bit 0 MOD5 8011834/YT28/2016-03-15 Subject to change without notice Flexi Classic gateways Operating Instructions Chapter 3 Flexi Classic Gateways 3.2.6 BAS3 Output data from the A/B function groups on the UE410-XU main module, the UE410-8DI expansion modules and the UE410-XM, UE410-MDI muting modules. Tab. 7: BAS3 Bit 7 6 5 MOD6 3.2.7 4 3 MOD7 2 1 MOD8 Bit 0 MOD9 BAS4 Output data from the A/B function groups on the UE410-XU main module, the UE410-8DI expansion modules and the UE410-XM, UE410-MDI muting modules. Tab. 8: BAS4 Bit 7 6 5 MOD10 Note Tab. 9: Definitions for BAS2, BAS3, BAS4 4 3 MOD11 2 1 MOD12 Bit 0 MOD13 For BAS2, BAS3, BAS4 the following definitions apply: UE410-XU MODn 00 = Q1/Q2 inactive and Q4 inactive 01 = Q1/Q2 inactive and Q4 active 10 = Q1/Q2 active and Q4 inactive 11 = Q1/Q2 active and Q4 active X= Unused 00 = QA inactive and QB inactive 01 = QA inactive and QB active 10 = QA active and QB inactive 11 = QA active and QB active UE410-8DI MODn QA / QB are set if: • all inputs on the function group (A or B) are in the valid ON state • the OR function is valid • the bypass function is valid UE410-XM MODn 00 = Q1/2 and Q3/4 inactive 10 = Q1/2 active 00 = Always 0, as module has no outputs UE410-MDI MODn 3.2.8 RSP-ID Status byte for the assignment of the 10 bytes B1-B10. The RSP-ID is used to confirm that the required contents have been provided by the gateway in B1-B10. When the RSP-ID has the same value as the REQ-ID, the data transfer is complete. Note 8011834/YT28/2016-03-15 Subject to change without notice As PLC cycles, fieldbus cycles and diagnostics cycles are generally not synchronised, on a change in the REQ-ID the PLC should always wait for the RSP-ID prior to the evaluation of the bytes B1-B10. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 15 Chapter 3 Flexi Classic gateways Operating Instructions Flexi Classic Gateways 3.2.9 B1-B10 (REQ-ID 1-13/2133) The following assignment of configuration data to B1-B10 applies for the REQ-IDs 21-33: Tab. 10: B1-B10 (REQ0ID 21033) REQ-ID 1-13 REQ-ID 21-33 B1 MED MOD-ID B2 MQD SW-VERSION_H B3 MKD1 SW-VERSION_L B4 MKD2 FUNCTION B5 MFD KONF B6 MFCLASS1 CRC_H CODE B7 MFCODE1 CRC_L CODE B8 MFCLASS2 – B9 MFCODE2 – B10 RSP-ID RSP-ID 3.2.10 B1-B10 (REQ-ID 255) Control byte for PROFIBUS communication For the REQ-ID 255 the following assignment of configuration data to B1-B10 applies: Tab. 11: B1-B10 (REQ0ID 255) B1 DIAG-VERSION_H B2 DIAG-VERSION_L B3 BUS ADDR Contains the fieldbus address currently set (dynamic) B4 NOISE B5 FRAME 4 bytes that contain the number of transmission errors that have occurred on a bus system B6 BREAK B7 PARITY B8 – B9 – B10 RSP-ID 3.2.11 MED Module input data (input states) Tab. 12: MED Bit 7 6 5 4 3 2 1 Bit 0 S3 S2 S1 EN I4 I3 I2 I1 UE410-GU I4 I3 I2 I1 IN I6 I5 IP UE410-8DI I8 I7 I6 I5 I4 I3 I2 I1 UE410-MM UE410-XM I2 I1 S1 EN M4 M3 M2 M1 UE410-MDI 0 0 0 0 S4 OVR CS C1 UE410-MU UE410-XU Input states 0 = Input is inactive 1 = Input is active 16 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Flexi Classic gateways Chapter 3 Flexi Classic Gateways 3.2.12 MQD Module status and output data (output states/module output data) Tab. 13: MQD UE410-MU Bit 7 6 5 4 3 2 1 Bit 0 BYP MUTE StRq B StRq A Q4 Q3 Q2 Q1 OP ON StRq StRq Q2 Q2 Q1 Q1 local global UE410-XU UE410-GU UE410-8DI - - – – QB – QA – UE410-MM OVR MUTE OVReq StRq Q4 Q3 Q2 Q1 – – – – S4 OVR CS C1 UE410-XM UE410-MDI With the UE410-MU/XU, the functions StRq A and MUTE are output on Q3 in program 3. For this reason you would be better using the status bits 4 and 7 for the output of these states. Q1-Q4 Output states UE410-MU/ 0 = Output is inactive UE410FGU/UE410-XU/UE410-MM/ 1 = Output is active UE410-XM QA, QB Module output data UE410-8DI 0 = Output is inactive 1 = Output is active QA / QB are set if: • all inputs on the function group (A or B) are in the valid ON state • the OR function is valid • the bypass function is valid S4, OVR, CS, C1 Module output data UE410-MDI 0 = Output is inactive 1 = Output is active Module output data are the same as module input data. See module input data (input states) OVR Req (only UE410@MM/XM) Override request, waiting for override 0 = Not currently waiting 1 = The System is in the Override required state and is expecting the actuation of the restart button StRq A, Reset request, waiting for reset 0 = Not currently waiting StRq B input group A/B 1 = Waiting for a reset signal; is deleted, once the reset has been made StRq Reset request, waiting for reset 0 = Not currently waiting 1 = Waiting for a reset signal; is deleted, once the reset has been made StRq local, Reset request, waiting for local 0 = Not currently waiting StRq global (only UE410-GU) reset, waiting for global reset 1 = Waiting for a reset signal; is deleted, once the reset has been made 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 17 Chapter 3 Flexi Classic gateways Operating Instructions Flexi Classic Gateways OP, ON (only UE410-GU) MUTE Communication for global emergency stop to the previous or 0 = Global emergency stop is inactive next module 1 = Global emergency stop is active Status bit for Muting 0 = Muting is inactive 1 = Muting is active BYP Status bit for Bypass 0 = Bypass is inactive 1 = Bypass is active 3.2.13 MKD1 Module configuration data 1: Position of the program switch/function switch/time range (not UE410-GU) Tab. 14: MKD1 Bit 7 6 5 4 3 2 SW1 Bit 0 SW2 SW1 Top switch setting 0-9 SW2 Bottom switch setting 0-9 3.2.14 1 MKD2 Module configuration data 2: (UE410-MU/XU configuration on S1, S2, S3) (UE410-MM/XM: configuration on S1) (not UE410-GU) Tab. 15: MKD2 Bit 7 UE410-MU UE410-XU UE410-MM UE410-XM 6 5 4 3 2 1 Bit 0 – S3 S2 S1 – – – S1 S1 Configuration jumper on S1 00 = Open S2 Configuration jumper on S2 01 = On X1 S3 Configuration jumper on S3 10 = On X2 11 = Active at +UB 18 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Flexi Classic gateways Chapter 3 Flexi Classic Gateways 3.2.15 MFD Module error data: (external errors on all Flexi Classic modules) (not UE410-GU) Tab. 16: MFD UE410-MU UE410-XU Bit 7 6 5 4 S3 S2 S1 - 3 2 1 Bit 0 I3/I4 I1/I2 UE410-8DI I7/I8 I5/I6 I3/I4 I1/I2 UE410-MM – M3/4 M1/2 I1/2 I7/I8 I5/I6 I3/I4 I1/I2 UE410-XM UE410-MDI S1 S1 (feedback circuit) 0 = No error in the feedback circuit S2 S2 (feedback circuit) 1 = Feedback circuit open S3 S3 (feedback circuit) I1/2 Error code input pair I1/I2 00 = No error I3/4 Error code input pair I3/I4 01 = Time error I5/6 Error code input pair I5/I6 10 = Process error I7/8 Error code input pair I7/I8 11 = Cross circuit error 3.2.16 MFCLASS1-MFCODE2 The bytes MFCLASS1 and MFCLASS2 contain the error class, the bytes MFCODE1 and MFCODE2 the error codes on a system error that has occurred in processing channel 1 or 2. MFCLASS and MFCODE together provide a 16-bit error code that describes the error category and reason for the error, and the processing channel affected. Error code: XX - MFCLASS1 or MFCLASS2 (hex) ZZ - MFCODE1 or MFCODE2 (hex) Tab. 17: MFCLASS1 Bit 7 6 5 4 3 2 1 Bit 0 MFCLASS1 - ErrClass VK1 ErrClass VK1 contains the error class for a system error that has occurred in processing channel 1. Tab. 18: MFCLASS2 Bit 7 6 5 4 3 2 1 Bit 0 MFCLASS2 - ErrClass VK2 ErrClass VK2 contains the error class for a system error that has occurred in processing channel 2. Codes for ErrClass VK1 and ErrClass VK2: 01h= Flex bus error 02h= Resource error 03h= Program memory error 04h= Self diagnostics error 05h= Internal input test error 06h= External input test error 07h= Output test error 08h= Voltage monitoring error 09h= Configuration and diagnostics error 0Ah= Logical error 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 19 Flexi Classic gateways Chapter 3 Operating Instructions Flexi Classic Gateways Tab. 19: MFCODE1 Bit 7 6 5 4 3 2 1 Bit 0 MFCODE1 - ErrCode VK1 ErrCode VK1 contains the error code for a system error that has occurred in processing channel 1. Together with MFCLASS1 a 16-bit error code is produced: MFCLASS1 contains a code for the error category and MFCODE1 contains the detail code that describes the reason for the error. Tab. 20: MFCODE2 Bit 7 6 5 4 3 2 1 Bit 0 MFCODE2 - ErrCode VK2 ErrCode VK2 contains the error class for a system error that has occurred in processing channel 2. Together with MFCLASS2 a 16-bit error code is produced: MFCLASS2 contains a code for the error category and MFCODE2 contains the detail code that describes the reason for the error. ErrCode for ErrClass 01h: 06 Unknown SDO type (read, write) 07 Error on the reception of the data frame, parity, noise, etc. 08 No frame bytes received 09 Checksum error detected 0A No frame bytes received in the slave 10 Data frame could not be sent 11 Unknown error in RecFrameErrorCheck() 12 Invalid frame revision received 14 Continuous indexing check erroneous 15 TX error: hold-register not clear 16 Not all characters received within timeout 17 SDO.cnt Timeout 18 Error in frame counter ErrCode for ErrClass 02h: 01 Internal error in Delay () 02 Error on handling with T0 03 Error on deleting the flash page 04 Error in FlashWriteByte() 05 Timer management error in SAPL 06 Error on AdcStartSample() 07 Error on AdcDone() 08 Cross comparison SL-CRCs negative ErrCode for ErrClass 03h: 20 41 Flashtest error 42 RAMTest error © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Flexi Classic gateways Chapter 3 Flexi Classic Gateways ErrCode for ErrClass 04h: 01 System tick 1ms exceeded in HAL SystemTickhandler() 02 System tick 4 ms exceeded 03 System tick 4_1 ms exceeded 04 Self-test asynchronous 05 Error during cross comparison (Tx) 06 Error during cross comparison (Rx) 07 Error on watchdog relay (does not open) 08 Error on HAL_Synchronized 1B Error invalid bits in the output configuration ErrCode for ErrClass 05h: M 01 Internal test pulse not present on I1 M 02 Internal test pulse not present on I2 M 04 Internal test pulse not present on I3 M 08 Internal test pulse not present on I4 M 10 Internal test pulse not present on I5 M 20 Internal test pulse not present on I6 M 40 Internal test pulse not present on I7 M 80 Internal test pulse not present on I8 (M = Bit mask; several errors can occur simultaneously) ErrCode for ErrClass 06h: For base module M 01 External test pulse not present on I1 M 02 External test pulse not present on I2 M 04 External test pulse not present on I3 M 08 External test pulse not present on I4 M 10 External test pulse not present on I5 M 20 External test pulse not present on I6 M 40 External test pulse not present on I7 M 80 External test pulse not present on I8 For muting input extension: M 01 External test pulse not present on I1 M 02 External test pulse not present on I2 M 04 External test pulse not present on I3 M 08 External test pulse not present on I4 (M = Bit mask; several errors can occur simultaneously) 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 21 Chapter 3 Flexi Classic gateways Operating Instructions Flexi Classic Gateways ErrCode for ErrClass 07h: M 01 Output X1 not off (cross circuit) M 02 Output X2 not off (cross circuit) M 03 Cross-circuiting OSSD M 04 Output X3 not off (cross circuit) M 08 Output X4 not off (cross circuit) M 10 Output X1 not on (short circuit) M 20 Output X2 not on (short circuit) M 40 Output X3 not on (short circuit) M 80 Output X4 not on (short circuit) (M = Bit mask; several errors can occur simultaneously) ErrCode for ErrClass 08h: M 01 I/O undervoltage M 02 Power supply undervoltage M 03 Undervoltage power supply unit and undervoltage I/O M 04 I/O overvoltage M 08 Power supply overvoltage M 20 Error power supply monitoring (M = Bit mask; several errors can occur simultaneously) 22 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Flexi Classic gateways Chapter 3 Flexi Classic Gateways ErrCode for ErrClass 09h: 8011834/YT28/2016-03-15 Subject to change without notice 01 Modules incompatible 02 Configuration change detected 09 SDO client invalid state 0A Unknown SDO-cnf 0B Unused SDO index 0C SDO7 in slot list missing for at least 1 module 0D Index error in slot list 0E Invalid position switch 0 0F Invalid position switch 1 10 CRC monitoring module list 11 Monitoring time range constant 12 SALI monitoring event 14 Extension unit has emergency bit set 15 Main unit has high emergency bit set 16 Program execution error 17 Slot list in extension module is faulty 18 System tick exceeded 19 Slot index error 1A Enter key not released while LED was flashing 1C External error hardware reset 1D Illegal error Opcode Reset 1E Error Clock generator reset 1F Unexpected reset 20 Unknown mask revisions 21 Error Clock generator loss of lock 41 Cross comparison input configuration erroneous 42 Cross comparison output state erroneous 81 Too many modules found 82 Unknown module ID found 83 Invalid jumper S1 84 Invalid jumper S2 85 Invalid jumper S3 86 Erroneous module configuration 87 Rotary switch changed during operation 88 Incomplete data frame on IndexAssign © SICK AG • Industrial Safety Systems • Germany • All rights reserved 23 Flexi Classic gateways Chapter 3 Operating Instructions Flexi Classic Gateways ErrCode for ErrClass 0Ah: For base module M 01 Logical error in input group A M 10 Logical error in input group B M 11 Logical error in input groups A and B M 02 Logical error in the start function group A M 20 Logical error in the start function group B M 22 Logical error in the start function groups A and B M 08 Logical error in the bypass function group A M 80 Logical error in the bypass function group B M 88 Logical error in the bypass function groups A and B For muting master/slave: M 01 Logical error in input group A M 10 Logical error in input group B M 11 Logical error in input groups A and B M 02 Logical error in the start function group A M 20 Logical error in the start function group B M 22 Logical error in the start function groups A and B M 04 Logical error in the output function group A M 40 Logical error in the output function group B M 44 Logical error in the output function groups A and B M 08 Logical error in the bypass function group A M 80 Logical error in the bypass function group B M 88 Logical error in the bypass function groups A and B (M = Bit mask; several errors can occur at the same time) Note On the occurrence of error codes other than those listed here, please contact the SICK technical hotline. 3.2.17 MOD-ID Module identifier for the selected Flexi Classic module (not UE410-GU). Tab. 21: MOD-ID Bit 7 6 5 4 3 2 1 Bit 0 MOD-ID MOD-ID Module identifier 1 = UE410-MU 2 = UE410-XU 3 = UE410-8DI 4 = UE410-MM 5 = UE410-XM 6 = UE410-MDI 24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Flexi Classic gateways Chapter 3 Flexi Classic Gateways 3.2.18 SW-VERSION_H and SW-VERSION_L High byte/low byte for the software version for the selected Flexi Classic module. The software version is supplied as a 16-bit-hex number, e.g. 0624 = 2006, week 24. Tab. 22: SW-VERSION_H and SW-VERSION_L Bit 7 6 5 4 3 2 1 Bit 0 SW-VERSION H SW-VERSION L 3.2.19 FUNCTION FUNCTION describes the setting of the rotary switch on the selected Flexi Classic module (not UE410-GU). This byte is to be interpreted differently depending on the module type, e.g. as program switch, switch for off delay or function switch. Tab. 23: FUNCTION Bit 7 UE410-MU 6 5 4 3 2 1 FUNC TIME FUNC A FUNC B UE410-8DI INPUT A INPUT B UE410-MDI FUNC C – Bit 0 UE410-XU UE410-MM UE410-XM FUNC Program switch UE410FMU/UE410FXU 0 = Invalid 1-8 = Function 1 to 8 9 = Invalid FUNC A See description UE410-MM/UE410-XM FUNC B See description UE410-MM/UE410-XM FUNC C See description UE410-MDI TIME Reactivation delay UE410-MU/ 0 = Factor 0 UE410-XU. The value defines a factor that must be multiplied with 1 = Factor 0.5 2 = Factor 1 the time variant T from KONF to obtain the reactivation delay in sec. 3 = Factor 1.5 4 = Factor 2 5 = Factor 2.5 6 = Factor 3 7 = Factor 3.5 8 = Factor 4 9 = Factor 5 INPUT_A INPUT_B 8011834/YT28/2016-03-15 Subject to change without notice Input circuit function group A 0 = Not used UE410-8DI 1-9 = Function 1 to 9 Input circuit function group B 0 = Not used UE410-8DI 1-9 = Function 1 to 9 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 25 Flexi Classic gateways Chapter 3 Operating Instructions Flexi Classic Gateways 3.2.20 KONF Configuration setting for the selected Flexi Classic module (not UE410-GU). On a UE4108DI and UE410-MDI this byte is set to zero, as apart from the input circuit functions there are no other configuration options. Tab. 24: KONF Bit 7 UE410-MU 6 5 4 3 2 1 Bit 0 T S3 S2 S1 – – – S1 UE410-XU UE410-MM UE410-XM UE410-8DI – UE410-MDI T Time variant UE410-MU. UE410- 11 = Factor 1 s MU are supplied in three time variants. The time variant defines 10 = Factor 10 s the reactivation delay. 01 = Factor 1 min S1 Configuration jumper on S1 00 = Open S2 Configuration jumper on S2 01 = Connected to X1 S3 Configuration jumper on S3 10 = Connected to X2 11 = Connected to +UB 3.2.21 CRC_H CODE and CRC_L CODE High byte/low byte for the 16-bit checksum via the code area on the selected Flexi Classic module. Tab. 25: CRC_H CODE and CRC_L CODE Bit 7 6 5 4 3 2 1 Bit 0 CRC_H CODE CRC_L CODE 3.2.22 DIAG-VERSION_H and DIAG-VERSION_L High byte/low byte for the software version on the selected UE410-PRO/UE410-DEV. The software version is supplied as a 16-bit-hex number, e.g. 0624 = 2006, week 24. Tab. 26: DIAG-VERSION_H and DIAG-VERSION_L Bit 7 6 5 4 3 2 1 Bit 0 DIAG-VERSION_H DIAG-VERSION_L 3.2.23 Tab. 27: System interface status (only UE410-EN3) Bit 7 System interface status (only UE410-EN3) 6 5 4 3 2 1 Bit 0 0= Flex bus – communication OK 1= Flex bus communication faulty 26 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice PROFIBUS DP Gateway Operating Instructions Chapter 4 Flexi Classic Gateways 4 PROFIBUS DP Gateway The following Flexi Classic gateways can be used for PROFIBUS DP: • UE410-Pro3, UE410-Pro4 4.1 Interfaces and operation 4.1.1 Controls and status indicators Fig. 1: Controls and status indicators UE410-PRO Tab. 28: Indication LED UE410-PRO Tab. 29: Address switch UE410-PRO Display Meaning PWR (green) Supply voltage present BF (red) No bus connection, fieldbus cable break or master is not (or no longer) writing to the bus DIA (red) No function (not used) Switch/button 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 (units) Notes • The occurrence of random or systematic errors in the gateway or in its operation does not result in the degradation of the safety functions on the Flexi Classic system. • With the operating voltage switched on, no gateways are allowed to be disconnected from the Flexi Classic system or added by plugging in. • The PROFIBUS master cannot overwrite the address set. • A modified address setting only becomes effective after switching off and switching on the Flexi Classic system. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 27 PROFIBUS DP Gateway Chapter 4 Operating Instructions Flexi Classic Gateways 4.1.2 Tab. 30: Application diagnostic outputs Application diagnostic outputs UE410-PRO Assignment Description X1-X4 Short circuit and overload detecting control outputs (PNP) supplied via Flexi Classic system 4.1.3 Plug assignment The connection to the PROFIBUS-DP fieldbus is made using a 9-pin Sub-D socket. Fig. 2: D-Sub socket and plug pin assignments UE410-PRO Pin 4.1.4 Description 1 SHLD 2 NC 3 RxD/TxD-P 4 CNTR-P 5 GND-EXT 6 +5V-EXT 7 NC 8 RxD/TxD-N 9 CNTR-N (GND-EXT) Bus cable The bus topology for PROFIBUS-DP is a linear structure comprising a screened, twisted 2Fcore 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. 3: Bus cable UE410-PRO Tab. 31: Explanation bus cable UE410-PRO Position Description 1 PROFIBUS user grey 2 Screened bus cable 3 28 PROFIBUS termination yellow (with integrated terminating resistors) © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions PROFIBUS DP Gateway Chapter 4 Flexi Classic Gateways 4.1.5 Cable parameters The properties of the bus cable are specified in EN 50170 as cable type A. Tab. 32: Cable parameters UE410-PRO Property Value Characteristic impedance 135-165 Capacitance per unit length < 30 pF/m Loop resistance T 110 Core diameter > 0.64 mm Core cross-section > 0.34 mm (at a frequency of 3-20 MHz) /km 2 With these cable parameters, the following maximum physical sizes are possible for a bus segment: Tab. 33: Maximum cable lengths UE410-PRO 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 4.1.6 Data transmission rate The data transmission rate is set automatically. The maximum baud rate is 12 MBit/s. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 29 PROFIBUS DP Gateway Chapter 4 Operating Instructions Flexi Classic Gateways 4.2 Planning 4.2.1 GSD file In the normal case the UE410-PRO is used on a DP master that looks up the device characteristics in the so-called GSD file. You will find the GSD file for PLC interfacing with Profibus support in the Internet at www.ue410flexi.com. The UE410-PRO provides at least 4 bytes of input data and 4 bytes of output data (2 bytes of which are unused). The GSD identifier for this I/O module SCB1 Basic1 4 Byte in/out is 33h. If the DP master is configured with the aid of a GSD file, it is imperative this module is included in the planning. The UE410-PRO can provide further I/O modules as an option if included in the DP master during the planning by the user. For more detailed diagnostics, the I/O module SCB2 Basic2 2 Byte in with the GSD identifier 11h is available. A further optional I/O module is DIAG 10 Byte in with the GSD identifier 19h. Up to 4 units of this module can be included in the planning. There are therefore six possible ways of planning the UE410-PRO. Shown is the order of the GSD identifiers for each plan: Tab. 34: Possible planning UE410-PRO 30 Possible planning SCB1 Basic1 4 Byte in/out SCB2 Basic2 2 Byte in 1 33h 2 33h 11h 3 33h 11h 4 33h 11h 5 33h 11h © SICK AG • Industrial Safety Systems • Germany • All rights reserved DIAG 10 Byte in MED 13 Byte in 19h 1Ch 19h 1Ch 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions PROFIBUS DP Gateway Chapter 4 Flexi Classic Gateways Design variant 4 is shown in the following table. Tab. 35: Format of the diagnostics data UE410-PRO I/O modules GSD identifier SCB1 Basic1 4 Byte in/out ID: 33h (mandatory) Data direction Read Write CRC1 DIG-OUT CRC2 REQ-ID BAS1 Reserved BAS2 Reserved BAS3 – BAS4 – B1 – Depending on the REQ-ID this module contains 10 bytes diagnostics with varying B2 – : : content B10 – MED 13 Byte MED1 – Contains the input signals for all Flexi Classic modules fitted ID: 1Ch (optional) E.g. MED7 contains the input data for module 7 MED2 – : : MED13 – Contains configuration checksum and basic diagnostics SCB2 Basic2 2 Byte in ID: 11h (optional) Contains extended basic diagnostics DIAG 10 Byte in ID: 19h (optional) See also section 3.2 “Status information of all Flexi Classic gateways (system bytes)”. If a DP master is used that does not send any planning data to the UE410-PRO (e.g. PROFIBUS Master Simulator PR-MSV01 (6022458) from SICK in the “Start without GSD file” mode), the UE410-PRO supplies the diagnostic data as for plan 5 (see Tab. 34 on page 30). 4.2.2 Documenting with PROFIBUS-DP Master Simulator You can save diagnostics data on a PC with the aid of the PROFIBUS-DP Master Simulator (see section 11.7 “Accessories/spare parts”) and the file flexi_config_list.xls. For this purpose, connect a data cable between PC, PROFIBUS-DP Master Simulator and UE410-PRO (RS-232-D-Sub). Install the file “flexi_config_list.xls” on your PC, Excel 2000 or later must be installed on the PC. You can then save and document the diagnostics data and settings for the overall system with the aid of your PC. We also refer you to our homepage on the Internet at http://www.ue410flexi.com There you will find the following files for download: GSD file flexi_config_list.xls 4.2.3 Diagnostics data UE410-PRO You will find the description of the status bytes in the section “Status information of all Flexi Classic gateways (system bytes)”. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 31 CANopen Gateway Chapter 5 Operating Instructions Flexi Classic Gateways 5 CANopen Gateway The following Flexi Classic gateways can be used for CANopen: UE410-CAN3, -CAN4 5.1 Interfaces and operation 5.1.1 Control and status indicators Fig. 4: Controls and status indicators UE410-CAN Address switch 2 DIP switch CANopen connection Address switch 1 Baud rate kBit/s 32 125 250 500 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 800 1000 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions CANopen Gateway Chapter 5 Flexi Classic Gateways Tab. 36: Indication LED UE410-CAN Display Meaning PWR (green) Supply voltage present NS Green flashing CANopen status: Pre-Operational (SDO data exchange) Green CANopen status: Operational (PDO + SDO Data Exchange) Red flashing Node-guarding Time out (the NMT master is no longer monitoring the slave). MS Green flashing After cable break or node guarding failure Green CANopen is ready Red flashing fast CAN status: Bus Off No error-free access to the CAN-BUS possible Possible errors: • wrong baud rate selected • eiring error in the network • another CAN controller in the network has a hardware error • module faulty Tab. 37: Address switch UE410-CAN Switch/button 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 (units) The occurrence of random or systematic errors in the gateway or in its operation does not result in the degradation of the safety functions on the Flexi Classic system. With the operating voltage switched on, no gateways are allowed to be disconnected from the Flexi Classic system or added by plugging in. The CANopen master cannot overwrite the address set. A modified address setting only becomes effective after switching off and switching on the Flexi Classic system. 5.1.2 Tab. 38: Application diagnostic outputs Application diagnostic outputs UE410-CAN Assignment X1-X4 Description Short circuit and overload detecting control outputs (PNP) supplied via Flexi Classic system 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 33 CANopen Gateway Chapter 5 Operating Instructions Flexi Classic Gateways 5.1.3 Plug assignment The connection to the CANopen fieldbus is made using a 5-pin open style connector. Fig. 5: Open style connector and pin assignment UE4100CAN 5.1.4 Pin Description 5 V+ CAN_V+ Voltage supply 4 H CAN_H CAN High 3 DR (CAN_SHILD) 2 L CAN_L Screen connection (optional) CAN Low 1 V– CAN_GND Ground/0V 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 10 kBit/s (>1000 m) and 1 MBit/s (25 m). Fig. 6: Bus cable Node Note 34 Terminating resistance It is not necessary to connect a voltage supply (pin 1/5) to the UE410-CAN. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions CANopen Gateway Chapter 5 Flexi Classic Gateways 5.2 Planning 5.2.1 EDS file The device characteristics are described using the Electronic Data Sheet (EDS), which every standard bus configuration tool uses. 5.2.2 PCS With so-called PDO linking (the arbitrary assignment of CAN identifiers to the individual ProcessDataObjects), CANopen makes it possible to setup multi-master networks. However, if the CANopen devices are to be controlled from a central instance, the CAN identifiers to be used can be restricted to a pre-defined set, the Predefined Connection Set PCS. Then the CAN controller only accepts CAN messages addressed to the related device. A CANopen device (e.g. the UE410-CAN Gateway) makes its inputs and outputs available as “communication objects” that can be addressed or sent using the PCS identifiers. The PCS operating mode provides two crucial advantages: The CANopen-PCS protocol can be implemented on a controller or a PC without major effort. Planning is significantly simplified, as within the PCS all CAN identifiers are unique in relation to the node address. As a result, time and costs for setting up simple networks are reduced. Due to the PCS addressing, the UE410-CAN is insensitive particularly to high bus loads and ensures vary fast I/O communication. With synchronous communication, response times of approx. 300 Vs are achieved. All four reply PDOs are sent in a period < 1 ms after receipt of a Sync (baud rate = 1000 KBit/s). The PCS comprises 2 broadcast objects SYNC and NMT and a total of 12 peer-to-peer objects. Each of these objects has a unique 11-bit CAN identifier that comprises a function code and a device address. The device address for the broadcast objects is 0, for the other objects 1…127. 5.2.3 Tab. 39: Format of diagnostics data Format of diagnostics data Object CAN identifier Meaning NMT 00h Network management SYNC 80h Sync message EMERGENCY 081h..0FFh Status message TxPDO1 181h..1FFh Process data object 1 (see following page) RxPDO1 201h..27Fh Process data object 1 (see following page) TxPDO2 281h..2FFh Process data object 2 (see following page) RxPDO2 301h..37Fh Process data object 2 (see following page) TxPDO3 381h..3FFh Process data object 3 (see following page) RxPDO3 401h..47Fh Process data object 3 (see following page) TxPDO4 481h..4FFh Process data object 4 (see following page) RxPDO4 501h..57Fh Process data object 4 (see following page) TxSDO 581h..5FFh Sending service data RxSDO 601h..67Fh Receiving service data NMT-ErrorControl 701h..77Fh Node-guarding (from the viewpoint of the CANopen server: Tx=Transmit, Rx=Receive) 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 35 CANopen Gateway Chapter 5 Operating Instructions Flexi Classic Gateways 5.2.4 TxPDO1 Transmit PDO (process data object) 1. Tab. 40: Transmit PDO (process data object) 1 CAN-ID DLC 181..1FF DATA 8 Mapping BAS1 3100.2 MQD1 MED1 MED2 MED3 MED4 MED5 MED6 3101.2 3101.1 3102.1 3103.1 3104.1 3105.1 3106.1 BAS1 Group error bits MQD1 Output data module 1 (UE410-MU…) MED1 Input data module 1 (UE410-MU…) MED2 Input data module 2 MED3 Input data module 3 MSD4 Input data module 4 MED5 Input data module 5 MED6 Input data module 6 See also section 3.2 “Status information of all Flexi Classic gateways (system bytes)”. 5.2.5 TxPDO2 Transmit PDO (process data object) 2. Tab. 41: Transmit PDO (process data object) 2 CAN-ID DLC 281..2FF 7 Mapping DATA MED7 MED8 MED9 MED10 MED11 MED12 MED13 - 3107.1 3108.1 3109.1 310A,1 310B,1 310C,1 310D,1 - MED7 Input data module 7 MED8 Input data module 8 MED9 Input data module 9 MED10 Input data module 10 MED11 Input data module 11 MED12 Input data module 12 MED13 Input data module 13 - Unused See also section 3.2 “Status information of all Flexi Classic gateways (system bytes)”. 36 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions CANopen Gateway Chapter 5 Flexi Classic Gateways 5.2.6 TxPDO3 Transmit PDO (process data object) 3. Tab. 42: Transmit PDO (process data object) 3 CAN-ID DLC 381..3FF DATA 8 Mapping MQD2 MQD3 MQD4 MQD5 MQD6 MQD7 MQD8 3102.2 3103.2 3104.2 3105.2 3106.2 3107.2 3108.2 3109.2 MQD2 Output data module 2 MQD3 Output data module 3 MQD4 Output data module 4 MQD5 Output data module 5 MQD6 Output data module 6 MQD7 Output data module 7 MQD8 Output data module 8 MQD9 Output data module 9 MQD9 See also section 3.2 “Status information of all Flexi Classic gateways (system bytes)”. 5.2.7 TxPDO4 Transmit PDO (process data object) 4. Tab. 43: Transmit PDO (process data object) 4 CAN-ID DLC 481..4FF 4 Mapping DATA MQD10 MQD11 MQD12 MQD13 - - - - 310A,2 310B,2 310C,2 310D,2 - - - - MQD10 Output data module 10 MQD11 Output data module 11 MQD12 Output data module 12 MQD13 Output data module 13 - Unused - Unused - Unused - Unused See also section 3.2 “Status information of all Flexi Classic gateways (system bytes)”. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 37 CANopen Gateway Chapter 5 Operating Instructions Flexi Classic Gateways 5.2.8 RxPDO1 Receive PDO (process data object) 1 Tab. 44: Receive PDO (process data object) 1 CAN-ID DLC DATA 201..27F 1 DIG-OUT - - - - - - - Mapping 6200.1 - - - - - - - DIG-OUT Digital outputs on the diagnostics module - 5.2.9 Unused NMT Network Management The NMT objects are used to start, stop or initialise CANopen devices. For this purpose a device in the CANopen network must take over the role of the NMT master. All devices are regarded as NMT slaves. NMT services are broadcast services, i.e. the slaves do not generate a reply. For an NMT slave with address N: Tab. 45: Network management for one NMT slave with address N CAN-ID 00h DLC 2 DATA OP N For all NMT slaves: Tab. 46: Network management for all NMT slaves CAN-ID 00h OP DLC 2 DATA OP NMT Operation 0 80h = Change to “Pre-Operational” 01h = Change to “Operational” 02h = Change to “Prepare/Stopped” 81h = Change to “Reset Node” 82h = Change to “Reset Communication” 5.2.10 Pre-Operational After booting an NMT slave automatically enters the “Pre-Operational” state. In this state, communication is allowed with the SDO, but not with the PDO. The NMT slave can be changed from another state to this state. 5.2.11 Operational 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. Note TPDOs with the transmission mode 255 are sent once on the transition to the NMT status “Operational”, so that the NMT master is informed of the current input configuration. 5.2.12 Prepared/Stopped In this state, communication is not possible with SDO or PDO, there is also no reaction to SYNC. 5.2.13 Reset node This NMT service triggers a re-initialisation of the CANopen functionality in the NMT slave. 38 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions CANopen Gateway Chapter 5 Flexi Classic Gateways 5.2.14 Reset communication This NMT service triggers a re-initialisation of the CANopen functionality in the NMT slave; the toggle bit for the node guarding is set to 0. 5.2.15 SYNC The Sync object causes all TxPDOs for a CANopen slave to be sent. It is therefore possible to poll the inputs on the slave using Sync. Tab. 47: Polling inputs using SYNC CAN-ID DLC 80h DATA 0 The slave sends all input values when this message arrives. All TxPDOs are sent. Also the unused TxPDO1 to TxPDO4 are sent with the length 0 (DLC=0). To ensure the slave automatically sends the actual input values on the receipt of a Sync, the transmission type for the related PDOs must be set to 0 (acyclic, synchronous). This is the default. In addition, the operating mode must be set to “Operational”. For the TxPDO it is possible to change the transmission type using the SDOs 1800..1803 (PDO communication parameter) and the sub-object 2. Allowed are the types: acyclic/synchronous = 0 cyclic/synchronous = 1..240 acyclic by device profile = 255 (only for TPDO1-4, digital inputs) 5.2.16 Node-guarding An NMT master (e.g. a PLC with integrated CANopen master) uses the object NMT-ErrorControl to detect the failure of an NMT slave with the address N. The NMT slave replies within the node guarding time to the request from the NMT master. The node guarding time must be monitored by the NMT master. Request from NMT master: Tab. 48: Request from NMT master: CAN-ID 700h + N RTR DLC 1 0 DATA Response from slave: Tab. 49: Response from slave: CAN-ID DLC 700h + N 0 DATA BYTE1 The NMT master sends a CAN message with the identifier <700h + node-id> and RTR bit set (Remote Transmission Request). The slave then sends a status byte B1 with the following contents: Tab. 50: Remote Transmission Request Bit Meaning 7 Toggle bit, changes value between two sequential requests 6..0 NMT-Status 4 = Stopped 5 = Operational 127 = Pre-Operational 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 39 CANopen Gateway Chapter 5 Operating Instructions Flexi Classic Gateways 5.2.17 Emergency A CANopen slave with the address N sends an Emergency message to inform the other devices about an error state. Tab. 51: Emergency messages CAN-ID DLC 80h + N 8 DATA ErrL ErrL, ErrH ErrL Err-Reg Emergency error code, 16 bit low byte/high byte Err-Reg 8111h = CAN-Controller overrun (only if internal 64-byte hardware fifo overflows) 1001h = Generic error, if an error has occurred on the Flexi Classic. In this case the error list in object 1003h should be checked. Error register, CANopen object 1001h 5.2.18 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. In this CANopen-PCS implementation the following protocols are supported: SDO Download expedited (writing an SDO) SDO Upload expedited (reading an SDO) Upload SDO Segment Protocol (segmented reading of an SDO) 5.2.19 SDO Download expedited (Write SDO) The client sends Request message to server N. The 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. Write: Tab. 52: Write SDO CAN-ID DLC 600h + N 8 DATA 23h SDO_L SDO_H SUB B1 B2 B3 B4 BYTE 1 BYTE 2 BYTE 3 BYTE 4 Confirmation: Tab. 53: Confirmation SDO CAN-ID 580h + N 40 DLC DATA 8 60h SDO_L SDO_H SUB © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions CANopen Gateway Chapter 5 Flexi Classic Gateways 5.2.20 SDO Upload expedited (Read SDO) The client requests the contents of an SDO with a Request message to server N. The index and sub-index for the SDO to be read are coded in this message. Tab. 54: Write SDO CAN-ID DLC 600h + N DATA 8 40h SDO_L SDO_H SUB BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 2 BYTE 3 BYTE 4 Confirmation: Tab. 55: Confirmation SDO CAN-ID 580h + N 5.2.21 DLC DATA 43h SDO_L SDO_H SUB BYTE 1 Object list SDO Every CANopen device manages its SDOs in an object list. The complete object list 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, all objects for the UE410-CAN Gateway are shown combined into groups. Fig. 7: Standard objects SDO 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 41 CANopen Gateway Chapter 5 Operating Instructions Flexi Classic Gateways 5.2.22 Configuration objects The configuration data described in the data index are combined here to a data structure. The complete configuration information for each module fitted is available at any time without request via the REQ-ID. The SDO 3201 contains the configuration data for module 1 (e.g. UE410-MU). The SDO 3202 contains the data for the 2nd module etc. up to the SDO 320D, which contains the data for the 13th module. There are only as many modules in the object list for the diagnostics module as there are modules fitted. If less than 13 modules are fitted, the related SDOs do not exist. The individual bytes written to the data index are partially combined in the SDO 320x to words/double words (Little Endian mode). SW-VERSION = USIGN16 CRC CODE = USIGN32 MOD-ID/FUNCTION/KONF = USIGN8 Fig. 8: Configuration objects flexi flexi flexi flexi flexi flexi flexi flexi flexi flexi flexi flexi flexi 42 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions CANopen Gateway Chapter 5 Flexi Classic Gateways 5.2.23 Input/output objects On writing to the REQ-ID (SDO 6200,2), the reply data are made available in B1..B10, as described in the data index. The SDO 6200,1 contains the 4 digital outputs X1..X4. Fig. 9: Input/output objects flexi 5.2.24 Module list objects The module list objects are templates for the dynamic expansion of the SDO 1027. This SDO contains a list of the module identifiers for the modules fitted. Fig. 10: Module list objects UE410-MU/MM... UE410-MU/MM... UE410-XU/XM... UE410-XU/XM... UE410-8DI/MDI UE410-8DI/MDI Example of a module list: UE410-MU/MM... UE410-XU/XM... The module structure is 1x UE410-MU/MM + 1x UE410-XU/XM. A diagnostics device would first read in 1027,0. The result (=2) is used to read exactly 2 further SDOs from which then the module identifier and the arrangement of the modules is to be found. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 43 CANopen Gateway Chapter 5 Operating Instructions Flexi Classic Gateways 5.2.25 Mapping/communication parameter objects The communication characteristics and the default mappings for the RPDO1 and the TPDO1+4 are described in these SDOs. You will find more detailed information on these SDOs in DS301 V4.02. Variable mapping is not supported. For this reason the mapping SDOs are read-only. The static mapping for TxPDO1, TxPDO4 and RxPDO1 is described in the SDOs 1600, 1A00 and 1A03. Fig. 11: Mapping/Communication parameter objects 44 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions CANopen Gateway Chapter 5 Flexi Classic Gateways 5.2.26 Flexi-Classic-ERROR list object This SDO contains a list of the ERRORs that have occurred in the Flexi Classic system. The list has 13 entries. The number of entries corresponds to the maximum number of Flexi Classic modules in the system. Fig. 12: Flexi-Classic-ERROR list object Each entry contains a 4-byte error code for VK1 and VK2 for a module. The most significant 2 bytes contain the error code for VK1 (see MFCODE1). The least significant 2 bytes contain the error code for VK2 (see MFCODE2). 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 45 CANopen Gateway Chapter 5 Operating Instructions Flexi Classic Gateways 5.2.27 Status objects The diagnostics data written to the data index are combined here to form a data structure. The complete status information for each module fitted is available at any time without request via the REQ-ID. The SDO 3100 combines the diagnostics data CRC1, CRC2, BAS1..BAS4. The SDO 3101 contains the status data for module 1 (main unit). The SDO 3102 contains the data for the 2nd module etc. up to SDO 310D, which contains the data for the 13th module. There are only as many modules in the object list for the diagnostics module as there are modules fitted. If less than 13 modules are fitted, the related SDOs do not exist. The individual bytes written to the data index are partially combined in the SDO 310x to word/double word (Little Endian mode): MFCLASS1+MFCODE1 = USIGN16 MFCLASS2+MFCODE2 = USIGN16 Fig. 13: Status objects flexi flexi flexi flexi flexi flexi flexi flexi flexi flexi flexi flexi flexi flexi 46 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions DeviceNet Gateway Chapter 6 Flexi Classic Gateways 6 DeviceNet Gateway The following Flexi Classic gateways can be used for DeviceNet: UE410--DEV3, -DEV4, 6.1 Interfaces and operation 6.1.1 Characteristics of the DeviceNet implementation group 2 Only Server (fragmented) acknowledge Handling I/O messaging (polled, COS/CYCLIC) also fragmented baud rate can only be adjusted using DIP switch (125 KBit/s, 250 KBit/s, 500 KBit/s) 6.1.2 Controls and status indicators Fig. 14: Controls and status indicators UE410-DEV Address switch 1 DIP switch DIP switch Data transmission rates 125 kBit/s DeviceNet connection 250 kBit/s Address switch 2 500 kBit/s 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 47 DeviceNet Gateway Chapter 6 Operating Instructions Flexi Classic Gateways Tab. 56: Indication LED UE410-DEV Display Meaning PWR (green) Supply voltage present NS (off) “DUP MAC Check” not completed successfully. NS (green flashing) MS (green) UE410-DEV operating on the bus, but has not yet been detected by a master or no logical connection has been established to the UE410DEV. UE410-DEV has been detected by a master and a logical connection has been established to the UE410-DEV. During “DUP MAC Check”, UE410-DEV has found a different device with the same MAC ID. The fieldbus connection has been interrupted. The remote PLC is in the stop mode. The master is currently attempting to establish the connection to the UE410-DEV. The planned I/O size in the scan list is incorrect (Error 77 on the scanner). UE410-DEV is ready and the PLC is in the Run mode. MS (red flashing) The internal EEPROM has an error. Display Meaning X 10 Address switch 1 (possible bus addresses 0-63) 10-position rotary switch for setting the module address (tens) X1 Address switch 2 (possible bus addresses 0-63) 10-position rotary switch for setting the module address (units) DIP switch 4-pole DIP switch for setting the baud rate NS (green) NS (red) MS (green flashing) Tab. 57: Address switch UE410-DEV DIP 3 and 4 are not used. If a larger address is selected, address 63 is active. Notes The occurrence of random or systematic errors in the gateway or in its operation does not result in the degradation of the safety functions on the Flexi Classic system. With the operating voltage switched on, no gateways are allowed to be disconnected from the Flexi Classic system or added by plugging in. The DeviceNet master cannot overwrite the address set. A modified address setting only becomes effective after switching off and switching on the Flexi Classic system. 6.1.3 Tab. 58: Application diagnostic outputs 48 Application diagnostic outputs UE410-DEV Assignment Description X1-X4 Short circuit and overload detecting control outputs (PNP) supplied via Flexi Classic system © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions DeviceNet Gateway Chapter 6 Flexi Classic Gateways 6.1.4 Plug assignment The connection to the DeviceNet fieldbus is made using a 5-pole open style connector. Fig. 15: Open style connector and pin assignment UE410DEV 6.1.5 Pin Description 5 V+ +24VDC Voltage supply 4 H DeviceNet DeviceNet High 3 SHLID Screen connection (optional) 2 L DeviceNet DeviceNet Low 1 V– 0VDC GND/0V Bus cable The bus topology of the DeviceNet is linear, the connection of the up to 64 nodes is made using an un-branched bus cable (trunk line) with terminating resistor at both ends and short stubs (drop lines). A screened, twisted-pair 2-core cable is used. The cable length depends on the data transmission rate used and is from 100 m at 500 KBit/s to 500 m at 125 KBit/s. Fig. 16: Bus cable UE410DEV Node 8011834/YT28/2016-03-15 Subject to change without notice Termination © SICK AG • Industrial Safety Systems • Germany • All rights reserved 49 DeviceNet Gateway Chapter 6 Operating Instructions Flexi Classic Gateways 6.2 Planning 6.2.1 EDS file The EDS (Electronic Data Sheet) is read once into the device database for the DeviceNetTM Manager . For this purpose the menu command “Utilities/Read EDS Files” is to be used. TM For planning use the DeviceNetManager from Allen Bradley. You will find the EDS file in the Internet at www.ue410flexi.com. Tab. 59: Format of the diagnostics data UE410-DEV Byte Data direction Read Write 1 CRC1 DIG-OUT 2 CRC1 REQ-id 3 BAS1 - 4 BAS2 - 5 BAS3 - 6 BAS4 - 7 B1 - 8 B2 - 9 B3 - 10 B4 - 11 B5 - 12 B6 - 13 B7 - 14 B8 - 15 B9 - 16 B10 - 6.2.2 Diagnostics data UE410-DEV You will find the system and diagnostics data in the section 3.2 “Status information of all Flexi Classic gateways (system bytes)”. 50 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Modbus/TCP Ethernet Gateway Chapter 7 Flexi Classic Gateways 7 Modbus/TCP Ethernet Gateway The following Flexi Classic gateway can be used for Modbus/TCP: UE410-EN3 7.1 Interfaces and operation The UE410-EN is equipped with four digital control outputs X1–X4. The UE410-EN is equipped with an integrated 3-port switch for connection with the Ethernet network. Two RJ45 sockets are available for the connection. The switch functionality allows the UE410-EN 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. 17: Interfaces and display elements of the UE410-EN Terminals of digital control outputs X1–X4 RJ45 Ethernet socket LED power supply (green) LED network activity for Ethernet port 1 or 2 (green) LED Error (red/green) RJ45 Ethernet socket 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 51 Modbus/TCP Ethernet Gateway Chapter 7 Operating Instructions Flexi Classic Gateways Tab. 60: Meaning of the LED displays LED Meaning PWR No power supply Green LINK/ACT 1 LINK/ACT 2 Power supply switched on No Ethernet connection Green Green ERR Ethernet connection active, no data transmission Ethernet connection active, data transmission No power supply Green Gateway operating, no error message, at least one Ethernet connection exists Green Gateway operating, valid IP address assigned, configuration is valid, but no Ethernet connection established. All data sets are deactivated Red No flex bus communication Red Internal device error Red/Green Self-test of the gateway after switching on the power supply on the Flexi Classic system Symbol description: LED off Note Green: LED lights up green Red: LED flashes red Error elimination is described in section “Troubleshooting” below. 7.2 Basic configuration — assigning an IP address Configuration of the UE410-EN is performed browser-supported via the integrated web server of the gateway. Ensure that the UE410-EN is installed correctly, energised and connected with the Ethernet network. Open a web browser on a PC in the same network and go to the address of the UE410FEN. Upon delivery, the UE410-EN is configured for the following address: – IP address 192.168.250.250 – Subnet mask 255.255.0.0 – Default gateway 0.0.0.0 The following web page is displayed: 52 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Modbus/TCP Ethernet Gateway Operating Instructions Chapter 7 Flexi Classic Gateways To assign a suitable IP address within the network to the UE410-EN, click Configure Network. The following web page is displayed: The UE410-EN network address can be obtained automatically or configured manually. For automatic assignment of the network address, choose Use DHCP. Note A DHCP server must be active in the network so that these functions can be used. A new IP address will be assigned to the UE410-EN when the DHCP server or the UE410-EN is restarted. When the UE410-EN is operated in slave mode (see section “Configuration …” below) and the IP address changes due to a restart, the PLC can no longer communicate with the UE410-EN. If you use the Use DHCP function in combination with the slave mode of the UE410-EN, we recommend that you reserve a specific IP address for the UE410-EN (manual assignment on the basis of the MAC address of the UE410-EN). In order to set the network address manually, choose Use static configuration below and enter a valid free IP address, the subnet mask and the IP address of the network gateway. Finalise changes by clicking Save. The new network address is saved in the UE410-EN flash memory, but will only become effective after the gateway has been restarted. In order to restart the gateway, … either click the Reboot button on the homepage of the UE410-EN main page or interrupt the power supply of the Flexi Classic system and switch on again. Call up the new address of the UE410-EN in order to configure the UE410-EN in the web browser further. Note 8011834/YT28/2016-03-15 Subject to change without notice If a DHCP server is used to assign an IP address, the new address is unknown to the system administrator. It can be read out in the administration pages of the DHCP server. Alternatively the software tool Flexi Classic IP-Link can be used. This scans the network for Flexi Classic modules and registers their IP addresses. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 53 Modbus/TCP Ethernet Gateway Chapter 7 Operating Instructions Flexi Classic Gateways 7.3 Configuration of the interface to the PLC — how the data are transferred The configuration steps in this section specify how the data on the higher-level PLC are transferred. Different operating modes can be selected to this purpose. The number of possible connections to the PLC depends on whether the UE410-EN3 is operated as a master or slave. Depending on the setting, up to 32 PLCs can address the UE410-EN3 at the same time. Tab. 61: Number of possible connections Operating mode of the UE410-EN3 Maximum connections Rx (To PLC) Transfer Mode: Master Tx (From PLC) Transfer Mode: Master Rx and Tx: 1 Rx (To PLC) Transfer Mode: Master Tx (From PLC) Transfer Mode: Slave Rx: 1 Tx: 31 Rx (To PLC) Transfer Mode: Slave Tx (From PLC) Transfer Mode: Master Rx: 31 Tx: 1 Rx (To PLC) Transfer Mode: Slave Rx and Tx: 32 Tx (From PLC) Transfer Mode: Slave Open a web browser on a PC in the network and go to the address of the UE410-EN3. Click PLC Interface Configuration on the UE410-EN3 homepage. The following web page is displayed: The page shows the current settings of the interface to the PLC. Click Edit to change the settings. The following web page is displayed: 54 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Modbus/TCP Ethernet Gateway Chapter 7 Flexi Classic Gateways Decide which of the following 6 data sets are to be transferred to the PLC. For the exact description of the data sets please refer to section 7.8. Tab. 62: Data sets 1–6 of UE410-EN3 in overview Data set Description 1 Module-specific input data 2 Module-specific output data 3 Module-specific data of the UE410-EN3 gateway 4 General status and configuration data 5 Diagnostics data 6 Configuration data of the Flexi Classic system, user defined compilation Select the desired data sets. After the data sets have been selected, configure how they should be sent to the PLC. For this purpose certain parameters that depend on the operating mode have to be set. These are described below. Overview of the selection and entry fields: Tab. 63: Configuration of the interface to the PLC Selection/entry window Factory setting Description See section Rx (To PLC) Transfer Mode Slave (PLC Polls) Determines the type of data transfer from UE410EN3 to the PLC. 7.3.1 Slave (PLC Polls) — PLC requests the data. Master (Write to PLC) — UE410-EN3 writes the data to the PLC memory. Tx (From PLC) Slave (PLC Determines the type of data transfer from the PLC Transfer Mode Writes) to UE410-EN3. Slave (PLC Writes) — PLC writes to the UE410-EN3 7.3.2 memory. Master (Poll the PLC) — UE410-EN3 requests data continuously from the PLC. Settings for the operating modes Master RX and/or Master Tx PLC IP Address 0.0.0.0 Specifies the PLC address in standard format xxx.xxx.xxx.xxx. The selected data sets are transferred here. PLC Device ID 1 Specifies the PLC device ID (typically 1). Settings for the operating mode Master (Write to PLC): Maximum PLC Update Rate 40 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 msec. Maximum = 65535 msec. The default value of 40 msec. is suitable for most PLCs. Note: If this value is greater than the Heartbeat Update Interval, the Heartbeat Update Interval is increased (slowed down) to this value. Enable Heartbeat Message Deactivated Activates updating of the active data sets with the set Heartbeat Update Rate. Note: Either this option or Update Immediately on Status/Configuration Change must be activated, otherwise no data will be transferred! 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 55 Modbus/TCP Ethernet Gateway Chapter 7 Operating Instructions Flexi Classic Gateways Selection/entry window Factory setting Description See section Heartbeat Update Interval 5000 Specifies the Heartbeat Update Interval in milliseconds with which the data are updated in the PLC. Standard = 5000 msec., Minimum = 10 msec., Maximum = 65535 msec. Note: If the Maximum PLC Update Rate is larger than the Heartbeat Update Rate, the Heartbeat Update Rate is increased (slowed down) to this value. Update Immediately on Deactivated Status/Configuration Change Specifies whether the UE410-EN3 is to update the data in the PLC immediately when changes occur in the data sets. If not activated, the update is carried out with the next Heartbeat Interval. Note: Either this option or Enable Heartbeat Message must be activated, otherwise no data will be transferred! Rx Data Set N PLC 1 Address Specifies the start address of the PLC memory area to which the data sets are to be sent. The start address is entered in decimal form. The memory areas must be large enough to accept the respective data sets. The memory areas are not allowed to overlap. Data sets 1-5 have a fixed length, Data set 6 can have a variable length, depending on the setting (see section 7.8). Settings for the operating mode Master (Poll the PLC): Digital Output Deactivated Polling Enable Digital Output the digital outputs from the PLC. 1 Setting PLC Address Digital Output Setting Polling Rate 7.3.1 Specifies whether the UE410-EN3 is to request the status of Specifies the PLC memory address from which the UE410-EN3 requests status of the digital outputs. The address is entered in decimal form. 100 Specifies the interval in milliseconds in which the status of the digital outputs is requested. Minimum = 10 msec., Maximum = 65535 msec. Operating modes in the transfer mode RX (To PLC) Slave (PLC Polls) — PLC requests the data from UE410-EN3 In this operating mode the UE410-EN3 sends the data as slave upon request from the PLC. If this operating mode is desired: Chose the operating mode Slave (PLC Polls) in the RX (To PLC) Transfer Mode selection field. All further settings do not apply. Activate Save in Flash and click Submit to save the selection. Note Only if Save in Flash is checked, will the new configuration be stored in the UE410-EN3’s non-volatile memory and be available after a restart of the gateway. Submit without checking Save in Flash allows, for example, the testing of new configurations without overwriting the old configuration. The following table lists the address to read out the data sets. 56 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Modbus/TCP Ethernet Gateway Operating Instructions Chapter 7 Flexi Classic Gateways UE410-EN3 as receiver — data addressing: Tab. 64: Data addressing for UE410-EN3 as receiver Unit ID 1 Address Description Access (Base 1) Note Scope (words) 1100 Request data set 1 Get 8 1180 Input data set 1 Set/Get 1 1200 Request data set 2 Get 8 1280 Input data set 2 Set/Get 1 1300 Request data set 3 Get 2 1380 Input data set 3 Set/Get 1 1400 Request data set 4 Get 3 1480 Input data set 4 Set/Get 1 1500 Request data set 5 Get 10 1580 Input data set 5 Set/Get 1 1600 Request data set 6 Get 2–62 1680 Input data set 6 Set/Get 1 The first word (two bytes) of the returned data of each data set is the current input number which is incremented during each data update. The output value can be set by the PLC and then tracked. Master (Write To PLC) — UE410-EN3 writes the data to the PLC memory In this operating mode the UE410-EN3 as a master writes the data of all the activated data sets in the specified memory areas of the PLC. If this operating mode is desired: Chose the operating mode Master (Write to PLC) in the RX (To PLC) Transfer Mode selection field. Carry out the following settings on the same web page (see Tab. 63 on page 55): – PLC IP Address – PLC Device ID – PLC update rate – Enable Heartbeat Message (either this option or Update Immediately on Status/Configuration Change must be activated!) – Heartbeat Update Interval (if Heartbeat Message is activated) – Update Immediately on Status/Configuration Change (either this option or Enable Heartbeat Message must be activated!) – Rx Data Set N PLC Address — for all activated data records Activate Save in Flash and click Submit to save the selection. Note 8011834/YT28/2016-03-15 Subject to change without notice Only if Save in Flash is checked, will the new configuration be stored in the UE410-EN3’s non-volatile memory and be available after a restart of the gateway. Submit without checking Save in Flash allows, for example, the testing of new configurations without overwriting the old configuration. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 57 Modbus/TCP Ethernet Gateway Chapter 7 Operating Instructions Flexi Classic Gateways 7.3.2 Operating modes in the transfer mode Tx (From PLC) Slave (PLC writes) — PLC sends digital output data to the UE410-EN3 In this operating mode the PLC sends writing requirements as master to the UE410-EN3 in order to set the digital outputs. If this operating mode is desired: Chose the operating mode Slave (PLC Writes) in the Tx (From PLC) Transfer Mode selection field. All the further settings do not apply. Activate Save in Flash and click Submit to save the selection. Note Only if Save in Flash is checked, will the new configuration be stored in the UE410-EN3’s non-volatile memory and be available after a restart of the gateway. Submit without checking Save in Flash allows, for example, the testing of new configurations without overwriting the old configuration. UE410-EN3 as slave — addressing the digital outputs: Tab. 65: Data addressing of the UE410-EN3 digital outputs Unit ID 1 Address (Base 1) Description Access Scope (words) 1800 Digital outputs Set/Get 1 Master (Poll the PLC) — UE410-EN3 requests the data from the PLC. In this operating mode the UE410-EN3 as master requests the data continuously from the PLC in order to set the digital output settings. If this operating mode is desired: Select the operating mode Master (Poll the PLC) in the Tx (From PLC) Transfer Mode selection field. Carry out the following settings on the same web page (see Tab. 63 on page 55): – PLC IP Address – PLC Device ID – Digital Output Polling Enable – Digital Output Setting PLC Address – Digital Output Setting Polling Rate Activate Save in Flash and click Submit to save the selection. Note Only if Save in Flash is checked, will the new configuration be stored in the UE410-EN3’s non-volatile memory and be available after a restart of the gateway. Submit without checking Save in Flash allows, for example, the testing of new configurations without overwriting the old configuration. 7.3.3 Modbus commands and error messages The UE410-EN3 supports the following Modbus commands and error messages: Tab. 66: Modbus commands 58 Modbus command Value Read Holding Registers 3 Write Multiple Registers 16 (10hex) Read/Write Multiple Registers 23 (17hex) © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Modbus/TCP Ethernet Gateway Chapter 7 Flexi Classic Gateways Tab. 67: Modbus error messages 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 UE410-EN3 in master mode. 7.4 Configuration of the gateway — which data are transferred The UE410-EN3 processes the data of a UE410-EN3 Flexi Classic system and makes them available in different compilations, the data sets for the PLC. The configuration steps in this section are used to define which data sets are transferred to the higher-level PLC. There are 6 data sets available to this purpose: Data sets 1-5 contain fixed data compilations, Data set 6 can be configured by the user. The data sets that are to be transferred to the PLC must be activated. Open a web browser on a PC in the network and go to the address of the UE410-EN3. Click Flexi System Interface Configuration on the UE410-EN3 homepage. The following web page is displayed: 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 59 Modbus/TCP Ethernet Gateway Chapter 7 Operating Instructions Flexi Classic Gateways The installed Flexi Classic modules are recognised automatically and listed in the Flexi Chassis Configuration field. Modules of the next Flexi Classic generation that are not yet recognised by the UE410-EN3 are listed as “Unknown Module”. The corresponding front and the data structure of the module can be displayed by clicking a module. In the example, a click on Module 1 displays a new window with the corresponding information. The window can subsequently be closed again. Note After resetting the UE410-EN3 back to the factory settings, all modules are displayed as “Unknown Module” until a hardware reset of the entire Flexi Classic system has been carried out (see section 7.6). In order to use Data set 6, click Set 6. The following web page is displayed and shows the current compilation of Data set 6: Click Configure Set 6, to compile the user defined data record. The following web page is displayed: 60 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Modbus/TCP Ethernet Gateway Operating Instructions Chapter 7 Flexi Classic Gateways Select the desired data. For the exact description of the data sets please refer to section 7.8. In the standard setting, all parameters are sent to the higher level PLC when Data set 6 is active. If only specific parameters are to be sent: Select Return Only Enabled Data and click the desired parameters in the list. Note If Return Only Enabled Data is activated, the length of Data set 6 is variable. This must be taken into account when addressing the memory area in the PLC. In order to use these settings temporarily do not check Save in Flash and click Submit. In order to use these settings permanently, check Save in Flash and click Submit. The configuration is then saved in the non-volatile memory of the UE410-EN3 and is still available after the gateway has been restarted. The current configuration of Data set 6 can be displayed by clicking Display Set 6 Data Format. The following web page is displayed: Return to the previous page by using the browser’s Back button. 7.5 Status of the interface to the PLC The UE410-EN3 has its own page that makes statistical data and diagnostics data of the interface available to the PLC. On this page all the messages and responses from the PLC and UE410-EN3 are counted and errors including error messages for diagnostic purposes are displayed. The page is updated automatically every 10 seconds. Click PLC Interface Diagnostics. The following web page is displayed: 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 61 Modbus/TCP Ethernet Gateway Chapter 7 Operating Instructions Flexi Classic Gateways Tab. 68: Statistical data and diagnostic data of the interface to the PLC Entry Description Slave mode specific statistics Messages Received From Specifies the number of messages that were received from the PLC. PLC Responses Sent to PLC Specifies the number of responses to the PLC. Invalid Command Lengths Specifies the number of received messages with invalid command lengths. Invalid Message Data Specifies the number of received messages that led to an Invalid Errors Message Data Error. This error occurs when a message with invalid data is received. Unknown Request Destination IDs Specifies the number of received messages with unknown destination IDs (Request Destination IDs). Invalid Request Protocol Types Specifies the number of received messages that led to an Invalid Protocol Error. This error occurs when a message does not contain the value zero for the Modbus protocol. Unsupported Modbus Function Codes Specifies the number of received messages with an unsupported function code. Master mode specific statistics Messages Sent To PLC Specifies the number of messages that were sent to the PLC. Responses Received From Specifies the number of responses from the PLC. PLC Invalid Response Data Specifies the number of faulty response data that were sent to the Errors PLC upon request. Possible reasons include: No data returned upon request of the digital output settings Error responses Specifies the number of responses from the PLC that contain error messages. Possible reasons include: Invalid configuration of the PLC address Incorrect configuration of the PLC Unexpected Response Specifies the number of Unexpected Response Function Codes that Function Codes were received in a message in master receive mode or master send mode. This error occurs when a message without the expected function code is received. Unknown Response Specifies the number of received messages with unknown destina- Destination IDs tion IDs (Request Destination IDs). This error occurs when the PLC responds to a message with an unknown destination ID. Invalid Response Protocol Types Specifies the number of received messages that led to an Invalid Protocol Error. This error occurs when a response does not contain the value zero for the Modbus protocol. Failed Modbus/TCP Connection Attempts 62 Specifies the number of failed attempts to reach the specified PLC address via the Modbus/TCP connection. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Modbus/TCP Ethernet Gateway Chapter 7 Flexi Classic Gateways Entry Description Modbus/TCP Connection Specifies the number of problems that occurred during attempted Problems Modbus/TCP connections. This error occurs when the unit responds and the connection is established but the connection options cannot be configured. Possible reasons include: TCP connection set to TCP_NODELAY Socket connection set to SO_OOBINLINE Socket connection set to SO_KEEPALIVE. No Available Modbus/TCP Specifies the number of aborted connections due to unavailable Connection Errors Modbus/TCP connections. This error occurs when the maximum number of Modbus/TCP connections has been reached and the UE410-EN3 tries to establish a further Modbus/TCP connection. Non-mode specific statistics/diagnostics Improper Configuration Errors Specifies the number of determined configuration faults. System Resource Errors Specifies the number of System Resource Errors. This error occurs when, for example, writing to the flash memory fails. 8011834/YT28/2016-03-15 Subject to change without notice First Error Description Specifies the error message for the first determined error. Last Error Description Specifies the error message for the last determined error. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 63 Chapter 7 Modbus/TCP Ethernet Gateway Operating Instructions Flexi Classic Gateways 7.6 Resetting to factory settings The UE410-EN can be reset to the factory settings as follows: Open a web browser on a PC in the same network and go to the address of the UE410FEN. The following web page is displayed: Click the reboot button. The following web page is displayed: Activate Set configuration for PLC Interface and Data Sets to factory default settings. Click the button Yes: Reboot. The following web page is displayed: The UE410-EN is reset to the factory settings. The web server of the UE410-EN is called up again automatically. 64 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Modbus/TCP Ethernet Gateway Operating Instructions Chapter 7 Flexi Classic Gateways Notes The only exception is the UE410-EN IP address, which is not reset to factory settings with this action. After resetting to factory settings, the UE410-EN does not identify the connected Flexi Classic module again, but displays all modules as “Unknown Modules”. In addition the UE410-EN loses the system information MOD-ID, CRC1, CRC2, SWVERSION_H, SWVERSION_L, FUNCTION, KONF, CRC_H CODE and CRC_L CODE and transfers zeros into the corresponding data sets. Restarting the Flexi Classic system remedies this problem. Interrupt the power supply of the Flexi Classic system and switch on again. Tab. 69: Troubleshooting 7.7 Troubleshooting Error Cause Remedy The browser does not find the UE410-EN homepage UE410-EN has no power supply. Establish the power supply. during configuration. UE410-EN is not in the same physical network as the PC. network settings on the PC and correct if necessary. Check the Ethernet wiring and The PC is configured to another Set the subnet mask on the PC to 255.255.0.0 (factory setting of the subnet mask in the TCP/IP UE410-EN does not supply any data. LED PWR Green LED LINK/ACT / LED ERR UE410FEN). UE410-EN has already been The software tool Flexi Classic configured once and has a fixed set IP address or an IP IPFLink can be used to scan the network for connected Flexi Classic address assigned by a DHCP server that is not recognised. modules and to determine the network address. UE410-EN is configured to the operating mode Master (Write Activate one of the named functions. to PLC), but neither Heartbeat Green nor Update Immediately on Green Status/Configuration Change are activated. UE410-EN does not supply any data. LED PWR settings. No data set is activated. Activate at least one data set. UE410-EN is operated in slave mode, the IP address is as- Either assign a fixed IP address to the UE410FEN, or reserve a fixed IP Green LED LINK/ACT / LED ERR Green Green UE410-EN functioned correctly after configura- tion, but suddenly no longer signed from a DHCP server. After the UE410-EN or the supplies data. address for the UE410FEN in the DHCP server (manual assignment LED PWR Green LED LINK/ACT / by means of the MAC address of the UE410-EN). LED ERR Green DHCP server has been restarGreen ted, a different IP address that is unknown to the PLC has been assigned to the UE410FEN. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 65 Chapter 7 Modbus/TCP Ethernet Gateway Operating Instructions Flexi Classic Gateways Error Cause Remedy UE410-EN does not have a UE410-EN is not plugged Plug the UE410-EN in correctly, connection to the Flexi Classic system. properly into the other Flexi Classic module. clean the connecting socket/plug. LED PWR Green LED LINK/ACT / LED ERR Module connecting plug is Green soiled or damaged. Red UE410-EN does not supply any data and cannot be Internal device error accessed via the web browser. LED PWR Green LED LINK/ACT / LED ERR Switch off the power supply of the Flexi Classic system and switch it on again. If the error remains, replace the gateway. Green Red UE410-EN transfers only UE410-EN was reset to the Switch off the power supply of the zeros for the system information MOD-ID, CRC1, factory settings, but no hardware reset of the Flexi Classic Flexi Classic system and switch on again. CRC2, SWVERSION_H, SWVERSION_L, FUNCTION, systems was carried out. KONF, CRC_H CODE and CRC_L CODE; all connected Flexi Classic modules are only listed as “Unknown Modules” on the configuration pages. Symbol description: LED off 66 Green: LED lights up green © SICK AG • Industrial Safety Systems • Germany • All rights reserved Red: LED flashes red 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Modbus/TCP Ethernet Gateway Chapter 7 Flexi Classic Gateways 7.8 Description of the data sets 7.8.1 Data sets 1-5 The compilation of data sets 1-5 is fixed; these data sets can only be activated or deactivated as a whole. The length of these data sets is always the same. The data will be zeroed for modules that do not exist. Tab. 70: Data sets 1–5 of the UE410-EN Data set 1 Data set 2 Data set 3 Data set 4 Data set 5 Input data Output data Gatewayspecific General diagnostic Module-specific diagnostic data diagnostic data data Byte 1 MED1 MQD1 DIG_OUT1 BAS1 MFD1 Byte 2 MED2 MQD2 DIG_OUT2 Backplane Fault MFD2 Byte 3 MED3 MQD3 – CRC1 MFD3 Byte 4 MED4 MQD4 – CRC2 MFD4 Byte 5 MED5 MQD5 – – MFD5 Byte 6 MED6 MQD6 – – MFD6 Byte 7 MED7 MQD7 – – MFD7 Byte 8 MED8 MQD8 – – MFD8 Byte 9 MED9 MQD9 – – MFD9 Byte 10 MED10 MQD10 – – MFD10 Byte 11 MED11 MQD11 – – MFD11 Byte 12 MED12 MQD12 – – MFD12 Byte 13 MED13 MQD13 – – MFD13 Byte 14 0* 0* – – 0* Byte 15-18 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (1) Byte 19-22 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (2) Byte 23-26 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (3) Byte 27-30 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (4) Byte 31-34 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (5) 8011834/YT28/2016-03-15 Subject to change without notice Byte 35-38 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (6) Byte 39-42 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (7) Byte 43-46 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (8) © SICK AG • Industrial Safety Systems • Germany • All rights reserved 67 Chapter 7 Modbus/TCP Ethernet Gateway Operating Instructions Flexi Classic Gateways Data set 1 Data set 2 Data set 3 Data set 4 Data set 5 Input data Output data Gateway- General Module-specific specific diagnostic diagnostic data diagnostic data data Byte 47-50 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (9) Byte 51-54 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (10) Byte 55-58 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (11) Byte 59-62 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (12) Byte 63-66 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (13) Length 14 Bytes 14 Bytes 2 Bytes 4 Bytes 66 Bytes * Inserted for byte alignment 68 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Modbus/TCP Ethernet Gateway Operating Instructions Chapter 7 Flexi Classic Gateways 7.8.2 Data set 6, can be compiled by the user The contents of Data set 6 can be compiled by the user. If the option Return only enabled Data is activated in the configuration of the data set (see section “Configuration …” above), the data set can have a different length depending on the compilation. The maximum length is 124 bytes. The minimum length is 2 bytes. The selected data are transferred for all Flexi Classic modules respectively. The data are zeroed for modules that do not exist. Note If data is expected in 16-bit words and in the format Big Endian (e.g. Modbus/TCP), it is transferred with the more significant byte first. Tab. 71: Data set 6 of the UE410-EN Data set 6 Byte 1-124 CRC-H CRC-L MKD1.1 MKD2.1 MKD1.2 MKD2.2 MKD1.3 MKD2.3 MKD1.4 MKD2.4 MKD1.5 MKD2.5 MKD1.6 MKD2.6 MKD1.7 MKD2.7 MKD1.8 MKD2.8 MKD1.9 MKD2.9 MKD1.10 MKD2.10 MKD1.11 MKD2.11 MKD1.12 MKD2.12 MKD1.13 MKD2.13 MOD-ID1 MOD-ID2 MOD-ID3 MOD-ID4 MOD-ID5 MOD-ID6 MOD-ID7 MOD-ID8 MOD-ID9 MOD-ID10 MOD-ID11 MOD-D12 MOD-13 0 SW Version SW Version SW Version SW Version SW Version SW Version Byte 1, Module 1 Byte 2, Module 1 Byte 1, Module 2 Byte 2, Module 2 Byte 1, Module 3 Byte 2, Module 3 SW Version Byte 1, SW Version Byte 2, SW Version Byte 1, SW Version Byte 2, SW Version Byte 1, SW Version Byte 2, Module 4 Module 4 Module 5 Module 5 Module 6 Module 6 SW Version SW Version SW Version SW Version SW Version SW Version Byte 1, Module 7 Byte 2, Module 7 Byte 1, Module 8 Byte 2, Module 8 Byte 1, Module 9 Byte 2, Module 9 SW Version SW Version SW Version SW Version SW Version SW Version Byte 1, Module 10 Byte 2, Module 10 Byte 1, Module 11 Byte 2, Module 11 Byte 1, Module 12 Byte 2, Module 12 SW Version Byte 1, SW Version Byte 2, Module 13 Module 13 Function 1 Function 2 Function 3 Function 4 Function 5 Function 6 Function 7 Function 8 Function 9 Function 10 Function 11 Function 12 Function 13 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 0 69 Chapter 7 Modbus/TCP Ethernet Gateway Operating Instructions Flexi Classic Gateways Data set 6 Conf 1 Conf 2 Conf 3 Conf 4 Conf 5 Conf 6 Conf 7 Conf 8 Conf 9 Conf 10 Conf 11 Conf 12 Conf 13 70 0 CRC CRC CRC CRC CRC CRC Byte 1, Module 1 Byte 2, Module 1 Byte 1, Module 2 Byte 2, Module 2 Byte 1, Module 3 Byte 2, Module 3 CRC CRC CRC CRC CRC CRC Byte 2, Module 6 Byte 1, Module 4 Byte 2, Module 4 Byte 1, Module 5 Byte 2, Module 5 Byte 1, Module 6 CRC Byte 1, CRC Byte 2, CRC Byte 1, CRC Byte 2, CRC Byte 1, CRC Byte 2, Module 7 Module 7 Module 8 Module 8 Module 9 Module 9 CRC CRC CRC CRC CRC CRC Byte 1, Module 10 Byte 2, Module 10 Byte 1, Module 11 Byte 2, Module 11 Byte 1, Module 12 Byte 2, Module 12 CRC CRC Byte 1, Module 13 Byte 2, Module 13 DIAG Version DIAG Version Byte 1 Byte 2 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Ethernet TCP/IP Gateway Chapter 8 Flexi Classic Gateways 8 Ethernet TCP/IP Gateway The following Flexi Classic gateways can be used for Ethernet TCP/IP: UE410-EN3 UE410-EN1 8.1 Interfaces and operation The UE410-EN is equipped with four digital control outputs X1–X4. The UE410-EN is equipped with an integrated 3-port switch for connection with the Ethernet network. Two RJ45 sockets are available for the connection. The switch functionality allows the UE410-EN 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. 18: Interfaces and display elements of the UE410-EN Terminals of digital control outputs X1–X4 RJ45 Ethernet socket LED power supply (green) LED network activity for Ethernet port 1 or 2 (green) LED Error (red/green) RJ45 Ethernet socket 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 71 Ethernet TCP/IP Gateway Chapter 8 Operating Instructions Flexi Classic Gateways Tab. 72: Meaning of the LED displays LED Meaning PWR No power supply Green LINK/ACT 1 LINK/ACT 2 Power supply switched on No Ethernet connection Green Green ERR Ethernet connection active, no data transmission Ethernet connection active, data transmission No power supply Green Gateway operating, no error message, at least one Ethernet connection exists Green Gateway operating, valid IP address assigned, configuration is valid, but no Ethernet connection established. All data sets are deactivated Red No flex bus communication Red Internal device error Red/Green Self-test of the gateway after switching on the power supply on the Flexi Classic system Symbol description: LED off Note Green: LED lights up green Red: LED flashes red Error elimination is described in section “Troubleshooting” below. 8.2 Basic configuration — assigning an IP address Configuration of the UE410-EN is performed browser-supported via the integrated web server of the gateway. Ensure that the UE410-EN is installed correctly, energised and connected with the Ethernet network. Open a web browser on a PC in the same network and go to the address of the UE410FEN. Upon delivery, the UE410-EN is configured for the following address: – IP address 192.168.250.250 – Subnet mask 255.255.0.0 – Default gateway 0.0.0.0 The following web page is displayed: 72 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Ethernet TCP/IP Gateway Operating Instructions Chapter 8 Flexi Classic Gateways To assign a suitable IP address within the network to the UE410-EN, click Configure Network. The following web page is displayed: The UE410-EN network address can be obtained automatically or configured manually. For automatic assignment of the network address, choose Use DHCP. Note A DHCP server must be active in the network so that these functions can be used. A new IP address will be assigned to the UE410-EN when the DHCP server or the UE410-EN is restarted. When the UE410-EN is operated in slave mode (see section “Configuration …” below) and the IP address changes due to a restart, the PLC can no longer communicate with the UE410-EN. If you use the Use DHCP function in combination with the slave mode of the UE410-EN, we recommend that you reserve a specific IP address for the UE410-EN (manual assignment on the basis of the MAC address of the UE410-EN). In order to set the network address manually, choose Use static configuration below and enter a valid free IP address, the subnet mask and the IP address of the network gateway. Finalise changes by clicking Save. The new network address is saved in the UE410-EN flash memory, but will only become effective after the gateway has been restarted. In order to restart the gateway, … either click the Reboot button on the homepage of the UE410-EN main page or interrupt the power supply of the Flexi Classic system and switch on again. Call up the new address of the UE410-EN in order to configure the UE410-EN in the web browser further. Note 8011834/YT28/2016-03-15 Subject to change without notice If a DHCP server is used to assign an IP address, the new address is unknown to the system administrator. It can be read out in the administration pages of the DHCP server. Alternatively the software tool Flexi Classic IP-Link can be used. This scans the network for Flexi Classic modules and registers their IP addresses. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 73 Ethernet TCP/IP Gateway Chapter 8 Operating Instructions Flexi Classic Gateways 8.3 Configuration of the TCP/IP interface — who establishes the connection The UE410-EN supports a total number of four TCP/IP socket interfaces. This allows up to four different applications to communicate with the UE410-EN at the same time over Ethernet TCP/IP. Other UE410-EN network interfaces (e.g. Modbus/TCP or EtherNet/IP) run in parallel and their configuration or usage does not interact with the TCP/IP socket configuration as well as it happens independently on separate web pages. The UE410-EN processes the data of a Flexi Classic 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 “Description of the data sets” below. Note Through the TCP/IP socket interface data set 6 will always be returned with the maximum length of 124 bytes even though it may have been compiled to be less for the Modbus/TCP interface. Open a web browser on a PC in the network and go to the address of the UE410-EN. Click Ethernet TCP/IP Interface Configuration on the UE410-EN homepage. The following web page is displayed: The page shows the current settings of the Ethernet TCP/IP Interface. The default configuration for each socket interface allows an application running on another computer to connect to the UE410-EN module and send request messages. No automatic updates are configured in the default configuration (Polling Mode). If the default configuration is acceptable for the user application, then the application can connect to any of the socket interfaces and begin sending command messages and receiving responses. To change the Listen Port, have the UE410-EN module connect to your application, or enable the Auto Update Mode for any or all data sets, please follow the configuration steps below. 74 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Ethernet TCP/IP Gateway Operating Instructions Chapter 8 Flexi Classic Gateways Click Socket N to edit any of the four socket interfaces. The following web page is displayed: Enter the Listen Port number that is more appropriate to the user application. Note Port 9000 and port 9001 are reserved and shall not be configured. Set Connect To Mode to Never if the application shall connect to the UE410-EN. Activate Save in Flash and click Submit to save the selection or continue configuration. When a reserved port has been entered as Listen Port, a special web page will be displayed upon Submit. The following page will be displayed: Select Use default Listen Port of N to reset the Listen Port configuration to the valid default port number of the socket. If this checkbox remains unchecked, the invalid port number will remain entered when returning back to the configuration page and shall still be changed to another value. Click Submit to return to the Edit Socket N Configuration web page. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 75 Chapter 8 Ethernet TCP/IP Gateway Operating Instructions Flexi Classic Gateways Once the UE410-EN shall connect to the application, perform the following configuration steps: Uncheck the Listen checkbox. Set the Connect To Mode to Connect Always. Enter the port number of the application for Connect Port Set Connect IP Address to the IP Address of the computer the application is running on. Activate Save in Flash and click Submit to save the selection or continue configuration. Select Reset Port and click Submit if you would like to completely reset the socket port configuration. This will force any active TCP/IP connections to close and clear all statistics. 8.4 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 UE410-EN itself), there are two possible ways how the data sets can be transferred: The application requests the data set(s) per command message (Polling Mode) or the UE410-EN auto-updates the data sets as per configuration (Auto Update Mode). For both methods the following structure of messages applies. 8.4.1 General telegram structure The request/response message (e.g. telegram) is structured as shown below: WORD 0 Command 76 1 … … … … … … … … … … … Parameter(s) Seq. (content depends on type of command) num. © SICK AG • Industrial Safety Systems • Germany • All rights reserved … … n Data 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Ethernet TCP/IP Gateway Chapter 8 Flexi Classic Gateways Tab. 73: Telegram structure Parameter Length Description Command WORD 0hex = Undefined (no command) Polling mode specific 00F1hex = Data set(s) request message 001Fhex = Data set(s) response message Auto-update specific 00E1hex = Auto-Update Control 001Ehex = Auto-Update Control Response 002Ehex = Auto-Update Data set(s) message Digital outputs read/write 00F2hex = Write Digital Output settings 002Fhex = Response to write Digital Output settings 00F3hex = Request Current Digital Output settings 003Fhex = Read Digital Output settings response Parameter(s) (Length de- As defined in specific command termined by command) Sequential WORD Sequential number to be incremented with each new message. (Length de- As defined in specific command Number Data termined by command) 8.4.2 Error response to invalid messages The UE410-EN will set the most significant bit of the command word in the event that an invalid or improperly formatted message is received. Tab. 74: Error response message Parameter Length Description Command WORD Bit 15 of received command will be set. (i.e. Command of 00F2hex would become 80F2hex.) Following data (Length determined by Unchanged. Returned as it was received. command) 8.4.3 Auto Update Mode The UE410-EN can be configured to automatically update the data set information (e.g. the application does not need to send any request messages as it would do in polling mode, see section 8.4.4 for details) once the connection to the application has been made. The configuration settings are available via the UE410-EN Web Server or via the TCP/IP interface itself. Using one interface does not disable the other: The Auto Update Mode could be enabled via web server and disabled via TCP/IP command, for example. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 77 Ethernet TCP/IP Gateway Chapter 8 Operating Instructions Flexi Classic Gateways Configuration via web server In order to configure the Auto Update Mode via web server, perform the following configuration steps: Open a web browser on a PC in the network and go to the address of the UE410-EN. Click Ethernet TCP/IP Interface Configuration on the UE410-EN homepage. Click Socket N to edit any of the four socket interfaces. Select the data sets which shall be included in the TCP/IP message by checking the respective Checkbox Enable Data Set N. These data sets will be sent to the application whenever a change is detected and, if Enable Heartbeat Message is enabled, at least as often as the specified Heartbeat Update Rate. Select Enable Heartbeat Message if the selected data set(s) shall be constantly sent on a specified rate (whether the content has changed or not). Set the Heartbeat Update Rate to the required value. The Heartbeat Update Rate specifies the update interval in milliseconds with which the data sets are updated to the application. Standard = 5000 ms, Minimum = 200 ms, Maximum = 65535 ms. Any value entered less than 200 ms will be increased to 200 ms. Activate Save in Flash and click Submit to save the selection or continue configuration. Note 78 If Heartbeat Message has been enabled but no data set is selected (e.g. none of the Checkboxes Enable Data Set N is checked), the UE410-EN will not send any Auto Update TCP/IP messages and remain in Polling Mode. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Ethernet TCP/IP Gateway Chapter 8 Flexi Classic Gateways Configuration via TCP/IP interface This command message is sent by an application to the UE410-EN 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. 75: Auto Update Mode configuration command Parameter Length Value Command WORD 00E1Hex = Auto-Update Control Request Data Set 1 WORD 0 = Do not send Data Set 1 Request Data Set 2 WORD Request Data WORD 1 = Send Data Set 1 0 = Do not send Data Set 2 1 = Send Data Set 2 Set 3 0 = Do not send Data Set 3 1 = Send Data Set 3 Request Data WORD Set 4 0 = Do not send Data Set 4 1 = Send Data Set 4 Request Data WORD Set 5 0 = Do not send Data Set 5 1 = Send Data Set 5 Request Data Set 6 WORD 0 = Do not send Data Set 6 Sequential Number WORD Initial sequential number for Auto-Update messages. Heartbeat Mode Update Rate WORD 0 = Disable Heartbeat Messages 1 = Send Data Set 6 Non-zero = Enable Heartbeat Message at specified rate in ms. Minimum = 200 ms Save in Flash WORD 0 = Do not save in flash 1 = Save in flash The response message returned to the application by the UE410-EN: Tab. 76: Auto Update Mode configuration response Parameter Length Value Command WORD 001Ehex = Response to the Auto-Update control message Sequential WORD Response sequential number (same as sent in the command number Status message) WORD 0 = Success — Write to flash successful 1 = Error writing to flash 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 79 Ethernet TCP/IP Gateway Chapter 8 Operating Instructions Flexi Classic Gateways Normal Operation The following message is sent from the UE410-EN to the application while operating in Auto Update Mode. Tab. 77: Auto Update Mode normal operation message Parameter Length Value Command WORD 002Ehex = Auto-update data set(s) message Data set 1 WORD 0 = Data set not returned in data set(s) data field. length Non-zero = Length of data set Data set 2 WORD length 0 = Data set not returned in data set(s) data field. Non-zero = Length of data set Data set 3 length WORD Data set 4 length WORD Data set 5 length WORD Data set 6 WORD 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 length 0 = Data set not returned in data set(s) data field. Non-zero = Length of data set Sequential WORD Response sequential number Array of Data set(s) information number Data set(s) data Bytes 8.4.4 Polling Mode In Polling Mode the UE410-EN will only send any data upon request (e.g. polling). Therefore the application shall send request telegrams as per definition below and the UE410EN will respond with telegrams structured as per definition below. In order to enable Polling Mode Open a web browser on a PC in the network and go to the address of the UE410-EN. Click Ethernet TCP/IP Interface Configuration on the UE410-EN homepage. Click Socket N to edit any of the four socket interfaces. Ensure none of the Checkboxes Enable Data Set N is checked. Activate Save in Flash and click Submit to save the selection or continue configuration. Note 80 Polling Mode will be disabled and Auto Mode will be enabled as soon as any of the Checkboxes Enable Data Set N is checked. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Ethernet TCP/IP Gateway Chapter 8 Flexi Classic Gateways Get Data Set(s) The request message is sent by an application to the UE410-EN. The request message telegram shall be structured as shown below: Tab. 78: Get Data Set(s) request Parameter Length Value Command WORD 00F1hex = Data set(s) request message Request data WORD 0 = Do not send data set 1 set 1 1 = Send data set 1 Request data WORD set 2 0 = Do not send data set 2 1 = Send data set 2 Request data set 3 WORD Request data set 4 WORD Request data set 5 WORD Request data WORD 0 = Do not send data set 3 1 = Send data set 3 0 = Do not send data set 4 1 = Send data set 4 0 = Do not send data set 5 1 = Send data set 5 set 6 0 = Do not send data set 6 1 = Send data set 6 Sequential WORD Message sequential number — To be returned with the response number The response message is returned to the application by the UE410-EN. The response message telegram will be structured as shown below: Tab. 79: Get Data Set(s) response Parameter Length Value Command WORD 00F1hex = Data set(s) request message Data set 1 WORD 0 = Do not send data set 1 length 1 = Send data set 1 Data set 2 WORD length 0 = Data set not returned in data set(s) data field. Non-zero = Length of data set Data set 3 length WORD Data set 4 length WORD Data set 5 length WORD Data set 6 WORD 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 length 0 = Data set not returned in data set(s) data field. Non-zero = Length of data set Sequential WORD Response sequential number Array of Data set(s) information number Data set(s) data Bytes 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 81 Ethernet TCP/IP Gateway Chapter 8 Operating Instructions Flexi Classic Gateways Write Digital Output Settings The following request message is sent by the application to the UE410-EN to set the digital outputs: Tab. 80: Write Digital Output Setting command Parameter Length Value Command WORD 00F2hex = Write digital output settings Digital output 1 WORD 0 = Disable digital output 1 (OFF) setting Digital output 2 1 = Enable digital output 1 (ON) WORD setting 0 = Disable digital output 2 1 = Enable digital output 2 Digital output 3 setting WORD Digital output 4 setting WORD Sequential number WORD 0 = Disable digital output 3 1 = Enable digital output 3 0 = Disable digital output 4 1 = Enable digital output 4 Message sequential number — To be returned with the response. The response message is returned to the application by the UE410-EN: The response message telegram is structured as shown below: Tab. 81: Write Digital Output Setting — response Parameter Length Value Command WORD 2Fhex = Response to write digital output settings Sequential number WORD Response sequential number Status WORD 0 = Success. Digital outputs set correctly. 1 = Error — Cannot set digital outputs. Read Digital Output Settings The following command is sent by the application to the UE410-EN to read the current digital output settings: Tab. 82: Read Digital Output Settings Command Parameter Length Value Command WORD 00F3hex = Request current digital output settings Sequential WORD Message sequential number — To be returned with the response. number 82 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Ethernet TCP/IP Gateway Chapter 8 Flexi Classic Gateways The following response message is sent by UE410-EN to the application. Tab. 83: Read Digital Output Setting response Parameter Length Value Command WORD 003Fhex = Read digital output settings response Digital output 1 WORD 0 = Digital output 1 disabled setting 1 = Digital output 1 enabled Digital output 2 WORD setting 1 = Digital output 2 enabled Digital output 3 setting WORD Digital output 4 setting WORD Sequential number WORD 8.5 0 = Digital output 2 disabled 0 = Digital output 3 disabled 1 = Digital output 3 enabled 0 = Digital output 4 disabled 1 = Digital output 4 enabled Response sequential number Ethernet TCP/IP interface status and statistics Open a web browser on a PC in the network and go to the address of the UE410-EN. Click Ethernet TCP/IP Interface Status and Statistics on the UE410-EN homepage. The following web page will be displayed: 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 83 Ethernet TCP/IP Gateway Chapter 8 Operating Instructions Flexi Classic Gateways This page provides the ability to monitor the Socket Interface Communication Status and Statistics. This page updates automatically every 10 seconds. Tab. 84: Statistical data and diagnostic data of the TCP/IP Interface Entry Description Connection status Remote Connection Displays the status of the connection in the form of <ip address:port>. All zeros indicates no connection. Auto Update Mode status Auto Update Enabled Indicates Auto Update Mode is enabled on the socket port for one or more data sets. Heartbeat Message Enabled Indicates Heartbeat Messages are enabled on the socket port. Heartbeat Update Rate Indicates that Heartbeat Messages containing the enabled data set(s) will be transmitted at this rate. Data Set 1 Enabled Indicates whether data set 1 will be automatically updated. Data Set 2 Enabled Indicates whether data set 2 will be automatically updated. Data Set 3 Enabled Indicates whether data set 3 will be automatically updated. Data Set 4 Enabled Indicates whether data set 4 will be automatically updated. Data Set 5 Enabled Indicates whether data set 5 will be automatically updated. Data Set 6 Enabled Indicates whether data set 6 will be automatically updated. Ethernet Socket Connection Statistics Total Messages Received Displays the total number of messages received on the socket port. Total Messages/Responses Displays the total number of messages and responses transmitted Transmitted out the socket port. Digital Output Write Displays the number of digital output write messages received on the Messages Received socket port. Data Set Requests Received Displays the number of data set request messages received on the socket port. Data Set Auto-Updates Transmitted Displays the number of Auto Update data set messages transmitted out the socket port. Invalid Received Message Errors Displays the number of messages received with unknown message commands or improper formatting. Dropped Connections Displays the number of times the connection was unexpectedly dropped by the connecting device. 84 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Ethernet TCP/IP Gateway Chapter 8 Flexi Classic Gateways 8.6 Resetting to factory settings The UE410-EN can be reset to the factory settings as follows: Open a web browser on a PC in the same network and go to the address of the UE410FEN. The following web page is displayed: Click the reboot button. The following web page is displayed: Activate Set configuration for PLC Interface and Data Sets to factory default settings. Click the button Yes: Reboot. The following web page is displayed: The UE410-EN is reset to the factory settings. The web server of the UE410-EN is called up again automatically. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 85 Ethernet TCP/IP Gateway Chapter 8 Operating Instructions Flexi Classic Gateways Notes The only exception is the UE410-EN IP address, which is not reset to factory settings with this action. After resetting to factory settings, the UE410-EN does not identify the connected Flexi Classic module again, but displays all modules as “Unknown Modules”. In addition the UE410-EN loses the system information MOD-ID, CRC1, CRC2, SWVERSION_H, SWVERSION_L, FUNCTION, KONF, CRC_H CODE and CRC_L CODE and transfers zeros into the corresponding data sets. Restarting the Flexi Classic system remedies this problem. Interrupt the power supply of the Flexi Classic system and switch on again. Tab. 85: Troubleshooting 8.7 Troubleshooting Error Cause Remedy The browser does not find UE410-EN has no power Establish the power supply. the UE410-EN homepage during configuration. supply. UE410-EN is not in the same Check the Ethernet wiring and network settings on the PC and physical network as the PC. correct if necessary. The PC is configured to another Set the subnet mask on the PC to UE410-EN does not supply any data. LED PWR Green LED LINK/ACT / LED ERR UE410-EN has already been configured once and has a The software tool Flexi Classic IPFLink can be used to scan the fixed set IP address or an IP address assigned by a DHCP network for connected Flexi Classic modules and to determine the server that is not recognised. network address. UE410-EN is configured to the operating mode Master (Write Activate one of the named functions. Status/Configuration Change are activated. UE410-EN does not supply any data. LED ERR 255.255.0.0 (factory setting of the UE410FEN). to PLC), but neither Heartbeat Green nor Update Immediately on Green LED PWR Green LED LINK/ACT / subnet mask in the TCP/IP settings. No data set is activated. Activate at least one data set. UE410-EN is operated in slave Either assign a fixed IP address to Green Green UE410-EN functioned correctly after configuramode, the IP address is astion, but suddenly no longer signed from a DHCP server. the UE410FEN, or reserve a fixed IP address for the UE410FEN in the supplies data. LED PWR Green DHCP server (manual assignment by means of the MAC address of LED LINK/ACT / LED ERR Green After the UE410-EN or the DHCP server has been restarGreen ted, a different IP address that is unknown to the PLC has the UE410-EN). been assigned to the UE410FEN. 86 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Ethernet TCP/IP Gateway Chapter 8 Flexi Classic Gateways Error Cause Remedy UE410-EN does not have a UE410-EN is not plugged Plug the UE410-EN in correctly, connection to the Flexi Classic system. properly into the other Flexi Classic module. clean the connecting socket/plug. LED PWR Green LED LINK/ACT / LED ERR Module connecting plug is Green soiled or damaged. Red UE410-EN does not supply any data and cannot be Internal device error accessed via the web browser. LED PWR Green LED LINK/ACT / LED ERR Switch off the power supply of the Flexi Classic system and switch it on again. If the error remains, replace the gateway. Green Red UE410-EN transfers only UE410-EN was reset to the Switch off the power supply of the zeros for the system information MOD-ID, CRC1, factory settings, but no hardware reset of the Flexi Classic Flexi Classic system and switch on again. CRC2, SWVERSION_H, SWVERSION_L, FUNCTION, systems was carried out. KONF, CRC_H CODE and CRC_L CODE; all connected Flexi Classic modules are only listed as “Unknown Modules” on the configuration pages. Symbol description: LED off 8011834/YT28/2016-03-15 Subject to change without notice Green: LED lights up green Red: LED flashes red © SICK AG • Industrial Safety Systems • Germany • All rights reserved 87 Ethernet TCP/IP Gateway Chapter 8 Operating Instructions Flexi Classic Gateways 8.8 Description of the data sets 8.8.1 Data sets 1-5 The compilation of data sets 1-5 is fixed; these data sets can only be activated or deactivated as a whole. The length of these data sets is always the same. The data will be zeroed for modules that do not exist. Tab. 86: Data sets 1–5 of the UE410-EN Data set 1 Data set 2 Data set 3 Data set 4 Data set 5 Input data Output data Gatewayspecific General diagnostic Module-specific diagnostic data diagnostic data data Byte 1 MED1 MQD1 DIG_OUT1 BAS1 MFD1 Byte 2 MED2 MQD2 DIG_OUT2 Backplane Fault MFD2 Byte 3 MED3 MQD3 – CRC1 MFD3 Byte 4 MED4 MQD4 – CRC2 MFD4 Byte 5 MED5 MQD5 – – MFD5 Byte 6 MED6 MQD6 – – MFD6 Byte 7 MED7 MQD7 – – MFD7 Byte 8 MED8 MQD8 – – MFD8 Byte 9 MED9 MQD9 – – MFD9 Byte 10 MED10 MQD10 – – MFD10 Byte 11 MED11 MQD11 – – MFD11 Byte 12 MED12 MQD12 – – MFD12 Byte 13 MED13 MQD13 – – MFD13 Byte 14 0* 0* – – 0* Byte 15-18 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (1) Byte 19-22 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (2) Byte 23-26 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (3) Byte 27-30 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (4) Byte 31-34 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (5) 88 Byte 35-38 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (6) Byte 39-42 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (7) Byte 43-46 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (8) © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Ethernet TCP/IP Gateway Chapter 8 Flexi Classic Gateways Data set 1 Data set 2 Data set 3 Data set 4 Data set 5 Input data Output data Gateway- General Module-specific specific diagnostic diagnostic data diagnostic data data Byte 47-50 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (9) Byte 51-54 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (10) Byte 55-58 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (11) Byte 59-62 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (12) Byte 63-66 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (13) Length 14 Bytes 14 Bytes 2 Bytes 4 Bytes 66 Bytes * Inserted for byte alignment 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 89 Ethernet TCP/IP Gateway Chapter 8 Operating Instructions Flexi Classic Gateways 8.8.2 Data set 6, can be compiled by the user The contents of Data set 6 can be compiled by the user. If the option Return only enabled Data is activated in the configuration of the data set (see section “Configuration …” above), the data set can have a different length depending on the compilation. The maximum length is 124 bytes. The minimum length is 2 bytes. The selected data are transferred for all Flexi Classic modules respectively. The data are zeroed for modules that do not exist. Note If data is expected in 16-bit words and in the format Big Endian (e.g. Modbus/TCP), it is transferred with the more significant byte first. Tab. 87: Data set 6 of the UE410-EN Data set 6 Byte 1-124 CRC-H CRC-L MKD1.1 MKD2.1 MKD1.2 MKD2.2 MKD1.3 MKD2.3 MKD1.4 MKD2.4 MKD1.5 MKD2.5 MKD1.6 MKD2.6 MKD1.7 MKD2.7 MKD1.8 MKD2.8 MKD1.9 MKD2.9 MKD1.10 MKD2.10 MKD1.11 MKD2.11 MKD1.12 MKD2.12 MKD1.13 MKD2.13 MOD-ID1 MOD-ID2 MOD-ID3 MOD-ID4 MOD-ID5 MOD-ID6 MOD-ID7 MOD-ID8 MOD-ID9 MOD-ID10 MOD-ID11 MOD-D12 MOD-13 0 SW Version SW Version SW Version SW Version SW Version SW Version Byte 1, Module 1 Byte 2, Module 1 Byte 1, Module 2 Byte 2, Module 2 Byte 1, Module 3 Byte 2, Module 3 SW Version Byte 1, SW Version Byte 2, SW Version Byte 1, SW Version Byte 2, SW Version Byte 1, SW Version Byte 2, Module 4 Module 4 Module 5 Module 5 Module 6 Module 6 SW Version SW Version SW Version SW Version SW Version SW Version Byte 1, Module 7 Byte 2, Module 7 Byte 1, Module 8 Byte 2, Module 8 Byte 1, Module 9 Byte 2, Module 9 SW Version SW Version SW Version SW Version SW Version SW Version Byte 1, Module 10 Byte 2, Module 10 Byte 1, Module 11 Byte 2, Module 11 Byte 1, Module 12 Byte 2, Module 12 SW Version Byte 1, SW Version Byte 2, Module 13 Module 13 Function 1 Function 2 Function 3 Function 4 Function 5 Function 6 Function 7 Function 8 Function 9 Function 10 Function 11 Function 12 Function 13 90 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 0 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Ethernet TCP/IP Gateway Chapter 8 Flexi Classic Gateways Data set 6 Conf 1 Conf 2 Conf 3 Conf 4 Conf 5 Conf 6 Conf 7 Conf 8 Conf 9 Conf 10 Conf 11 Conf 12 Conf 13 8011834/YT28/2016-03-15 Subject to change without notice 0 CRC CRC CRC CRC CRC CRC Byte 1, Module 1 Byte 2, Module 1 Byte 1, Module 2 Byte 2, Module 2 Byte 1, Module 3 Byte 2, Module 3 CRC CRC CRC CRC CRC CRC Byte 2, Module 6 Byte 1, Module 4 Byte 2, Module 4 Byte 1, Module 5 Byte 2, Module 5 Byte 1, Module 6 CRC Byte 1, CRC Byte 2, CRC Byte 1, CRC Byte 2, CRC Byte 1, CRC Byte 2, Module 7 Module 7 Module 8 Module 8 Module 9 Module 9 CRC CRC CRC CRC CRC CRC Byte 1, Module 10 Byte 2, Module 10 Byte 1, Module 11 Byte 2, Module 11 Byte 1, Module 12 Byte 2, Module 12 CRC CRC Byte 1, Module 13 Byte 2, Module 13 DIAG Version DIAG Version Byte 1 Byte 2 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 91 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways 9 EtherNet/IP Gateway The following Flexi Classic gateway can be used for EtherNet/IP: UE410-EN1 The UE410-EN1 will support only EtherNet/IP explicit messaging. Class 1 messaging is not supported. The EDS file is available on www.sick.com. 9.1 Interfaces and operation The UE410-EN is equipped with four digital control outputs X1–X4. The UE410-EN is equipped with an integrated 3-port switch for connection with the Ethernet network. Two RJ45 sockets are available for the connection. The switch functionality allows the UE410-EN 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. 19: Interfaces and display elements of the UE410-EN Terminals of digital control outputs X1–X4 RJ45 Ethernet socket LED power supply (green) LED network activity for Ethernet port 1 or 2 (green) LED Error (red/green) RJ45 Ethernet socket 92 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice EtherNet/IP Gateway Operating Instructions Chapter 9 Flexi Classic Gateways Tab. 88: Meaning of the LED displays LED Meaning PWR No power supply Green LINK/ACT 1 LINK/ACT 2 Power supply switched on No Ethernet connection Green Green ERR Ethernet connection active, no data transmission Ethernet connection active, data transmission No power supply Green Gateway operating, no error message, at least one Ethernet connection exists Green Gateway operating, valid IP address assigned, configuration is valid, but no Ethernet connection established. All data sets are deactivated Red No flex bus communication Red Internal device error Red/Green Self-test of the gateway after switching on the power supply on the Flexi Classic system Symbol description: LED off Note Green: LED lights up green Red: LED flashes red Error elimination is described in section “Troubleshooting” below. 9.2 Basic configuration — assigning an IP address Configuration of the UE410-EN is performed browser-supported via the integrated web server of the gateway. Ensure that the UE410-EN is installed correctly, energised and connected with the Ethernet network. Open a web browser on a PC in the same network and go to the address of the UE410FEN. Upon delivery, the UE410-EN is configured for the following address: – IP address 192.168.250.250 – Subnet mask 255.255.0.0 – Default gateway 0.0.0.0 The following web page is displayed: 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 93 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways To assign a suitable IP address within the network to the UE410-EN, click Configure Network. The following web page is displayed: The UE410-EN network address can be obtained automatically or configured manually. For automatic assignment of the network address, choose Use DHCP. Note A DHCP server must be active in the network so that these functions can be used. A new IP address will be assigned to the UE410-EN when the DHCP server or the UE410-EN is restarted. When the UE410-EN is operated in slave mode (see section “Configuration …” below) and the IP address changes due to a restart, the PLC can no longer communicate with the UE410-EN. If you use the Use DHCP function in combination with the slave mode of the UE410-EN, we recommend that you reserve a specific IP address for the UE410-EN (manual assignment on the basis of the MAC address of the UE410-EN). In order to set the network address manually, choose Use static configuration below and enter a valid free IP address, the subnet mask and the IP address of the network gateway. Finalise changes by clicking Save. The new network address is saved in the UE410-EN flash memory, but will only become effective after the gateway has been restarted. In order to restart the gateway, … either click the Reboot button on the homepage of the UE410-EN main page or interrupt the power supply of the Flexi Classic system and switch on again. Call up the new address of the UE410-EN in order to configure the UE410-EN in the web browser further. Note If a DHCP server is used to assign an IP address, the new address is unknown to the system administrator. It can be read out in the administration pages of the DHCP server. Alternatively the software tool Flexi Classic IP-Link can be used. This scans the network for Flexi Classic modules and registers their IP addresses. 9.3 Device name Device serial number as well as the device MAC address allow unique identification of the device. However in some applications it is useful to assign a more significant device name for better device identification in the field. This is why the UE410-EN supports the configuration of an individual device name. Click Configure Device Name on the UE410-EN homepage. Enter the device name (maximum length 256 characters). Click Save. The device name will now appear next to “Device Name” on the UE410-EN homepage. 94 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways 9.4 Configuration of the interface to the PLC — how the data are transferred The configuration steps in this section specify how the data on the higher-level PLC are transferred. Different operating modes can be selected to this purpose. The number of possible connections to the PLC depends on whether the UE410-EN1 is operated as a master or slave. Depending on the setting, up to 128 PLCs can address the UE410-EN1 at the same time. Tab. 89: Number of possible connections Operating mode of the UE410-EN Maximum connections Rx (To PLC) Transfer Mode: Write-to-Tag/File Tx (From PLC) Transfer Mode: Read-from-Tag/File Rx and Tx: 1 Rx (To PLC) Transfer Mode: Write-to-Tag/File Tx (From PLC) Transfer Mode: PLC Writes Rx: 1 Tx: 127 Rx (To PLC) Transfer Mode: Polling Tx (From PLC) Transfer Mode: Read-from-Tag/File Rx: 127 Tx: 1 Rx (To PLC) Transfer Mode: Polling Rx and Tx: 128 Tx (From PLC) Transfer Mode: PLC Writes Open a web browser on a PC in the network and go to the address of the UE410-EN. Click PLC Interface Configuration on the UE410-EN homepage. The following web page is displayed: The page shows the current settings of the interface to the PLC. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 95 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways Click Edit to change the settings. The following web page is displayed: Decide, which of the following 6 data sets are to be transferred to the PLC. For the exact description of the data sets please refer to section “Description of the data sets” below. Tab. 90: Data sets 1–6 of UE410-EN1 in overview Data set Description 1 Module-specific input data 2 Module-specific output data 3 Module-specific data of the UE410-EN gateway 4 General status and configuration data 5 Diagnostics data 6 Configuration data of the Flexi Classic system, user defined compilation Select the desired data sets. After the data sets have been selected, configure how they should be sent to the PLC. For this purpose certain parameters that depend on the operating mode have to be set. These are described below. 96 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways Overview of the selection and entry fields: Tab. 91: Configuration of the interface to the PLC Selection/entry window Factory setting Description Rx (To PLC) Transfer Mode Polling Determines the type of data transfer from UE410FEN1 to the PLC. See section Polling — PLC requests the data. Write-to-Tag/File — UE410-EN1 writes the data to 9.4.1 the PLC memory. Off — PLC Interface disabled. Tx (From PLC) PLC Writes Transfer Mode Determines the type of data transfer from the PLC See to UE410-EN1. section 9.4.2 PLC Writes — PLC writes to the UE410-EN1 memory. Read-from-Tag/file — UE410-EN1 requests data continuously from the PLC. Off — PLC Interface disabled. Settings for the operating modes Write-to-Tag/File and/or Read-from-Tag/file: PLC IP Address 0.0.0.0 Specifies the PLC address in standard format xxx.xxx.xxx.xxx. The selected data sets are transferred to this IP Address. PLC Controller Slot 0 Number Specifies the PLC slot number of the controller (typically 0). Settings for the operating mode Write-to-Tag/File: Maximum PLC 40 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 = 65535 ms. The default value of 40 ms is suitable for most PLCs. Note: If this value is greater than the Heartbeat Update Interval, the Heartbeat Update Interval is increased (slowed down) to this value. Enable Heartbeat Message Deactivated Activates updating of the active data sets with the set Heartbeat Update Rate. Note: Either this option or Update Immediately on Status/Configuration Change must be activated, otherwise no data will be transferred! Heartbeat Update 5000 Interval Specifies the Heartbeat Update Interval in milliseconds with which the data are updated in the PLC. Standard = 5000 ms, Minimum = 10 ms, Maximum = 65535 ms. Note: If the Maximum PLC Update Rate is larger than the Heartbeat Update Rate, the Heartbeat Update Rate is increased (slowed down) to this value. Update Immediately on Status/Configuration Change Deactivated Specifies whether the UE410-EN is to update the data in the PLC immediately when changes occur in the data sets. If not activated, the update is carried out with the next Heartbeat Interval. Note: Either this option or Enable Heartbeat Message must be activated, otherwise no data will be transferred! 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 97 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways Selection/entry window Factory setting Description Write All Enabled Data Sets to Data Deactivated Specifies whether to write all enabled data sets to the Data Set 1 Tag/File address. If selected, the first 16 bit word will contain Set 1 Tag/File Rx Data Set an incrementing sequence number and all enabled data sets will follow in order. 1 Specifies the tag or file names on the PLC where the data sets Tag/File Names are to be sent to. For ControlLogix PLCs, the tag names must be controller wide and must be an array of type INT (16 bit word) large enough to hold the entire data set message. For SLC/PLC-5 PLCs, the file names must begin with a “$” (i.e. $N10:0). For MicroLogix PLCs, the file names must begin with a “#” (i.e. #N10:0). Settings for the operating mode Read-from-Tag/file: Digital Output Deactivated Specifies whether the UE410-EN1 is to request the value of the Polling Enable digital outputs from the PLC. Digital Output Tag/File Name Specifies the PLC tag or file name where the UE410-EN will request the Digital output values. For ControlLogix PLCs, the tag names must be controller wide and be of either SINT, INT, DINT, or BOOL[32] bit array. For SLC, PLC-5, or MicroLogix PLCs, the file data type must be either Integer (N) or Binary (B). The same file naming rules apply as for the Tag/File names. Digital Output Setting Polling Rate Note 200 Specifies the interval in milliseconds in which the value of the digital outputs is requested. Minimum = 10 ms., Maximum = 65535 ms. 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. 9.4.1 Operating modes in the transfer mode Rx (to PLC) Polling — PLC requests the data from UE410-EN In this operating mode the UE410-EN sends the data as slave upon request from the PLC. If this operating mode is desired: Chose the operating mode Polling in the Rx (To PLC) Ethernet Transfer Method selection field. All further settings do not apply. Activate Save in Flash and click Submit to save the selection. Note 98 Only if Save in Flash is checked will the new configuration be stored in the UE410-EN’s non-volatile memory and be available after a restart of the gateway. Submit without checking Save in Flash allows, for example, the testing of new configurations without overwriting the old configuration. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice EtherNet/IP Gateway Operating Instructions Chapter 9 Flexi Classic Gateways The UE410-EN1 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 as defined in section 9.7.1. There is one instance where each attribute represents a data set. The Individual Data Set Transfer Object allows to poll for the individual data set parameters as defined in section 9.7.2. There is one instance per data set and each attribute represents a data set parameter. Write-to-Tag/File — UE410-EN writes the data to the PLC memory In this operating mode the UE410-EN as a master writes the data of all the activated data sets in the specified memory areas of the PLC. If this operating mode is desired: Chose the operating mode Write-to-Tag/File in the Rx (To PLC) Ethernet Transfer Method selection field. Carry out the following settings on the same web page (see Tab. 91): – PLC IP Address – PLC controller Slot Number – Maximum PLC Update Rate – Enable Heartbeat Message (either this option or Update Immediately on Status/Configuration Change must be activated!) – Heartbeat Update Rate (if Enable Heartbeat Message is activated) – Update Immediately on Status/Configuration Change (either this option or Enable Heartbeat Message must be activated!) – Write all Enabled Data Sets to Data Set 1 Tag/File – Rx (To PLC) Data Set N PLC Tag/File Name — for all activated data sets Activate Save in Flash and click Submit to save the selection. Note Only if Save in Flash is checked, will the new configuration be stored in the UE410-EN’s non-volatile memory and be available after a restart of the gateway. Submit without checking Save in Flash allows, for example, the testing of new configurations without overwriting the old configuration. 9.4.2 Operating modes in the transfer mode Tx (from PLC) PLC writes — PLC sends digital output data to the UE410-EN In this operating mode the PLC sends writing requirements as master to the UE410-EN in order to set the digital outputs. If this operating mode is desired: Chose the operating mode PLC Writes in the Tx (from PLC) Transfer Mode selection field. All the further settings do not apply. Activate Save in Flash and click Submit to save the selection. Note Only if Save in Flash is checked, will the new configuration be stored in the UE410-EN’s non-volatile memory and be available after a restart of the gateway. Submit without checking Save in Flash allows, for example, the testing of new configurations without overwriting the old configuration. The UE410-EN1 supports one vendor specific object which can be used to control the digital outputs via explicit messaging: The Discrete Output Point Object allows to control the digital outputs. There is one instance per output where one attribute is used to control the output and one attribute represents the current setting of the output. For a detailed description of the Discrete Output Point Object please refer to section 9.7.3. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 99 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways Read-from-Tag/file — UE410-EN requests the data from the PLC. In this operating mode the UE410-EN as master requests the data continuously from the PLC in order to set the digital outputs. If this operating mode is desired: Select the operating mode Read-from-Tag/File in the Tx (from PLC) Transfer Mode selection field. Carry out the following settings on the same web page (see Tab. 91): – PLC IP Address – PLC Controller Slot Number – Digital Output Polling Enable – Digital Output Tag/File Name – Digital Output Setting Poll Rate Activate Save in Flash and click Submit to save the selection. Note Only if Save in Flash is checked, the new configuration will be stored in the UE410-EN’s non-volatile memory and be available after a restart of the gateway. Submit without checking Save in Flash allows, for example, the testing of new configurations without overwriting the old configuration. 9.5 Configuration of the gateway — which data are transferred The UE410-EN processes the data of a Flexi Classic system and makes them available in different compilations, the data sets for the PLC. There are 6 data sets available to this purpose: Data sets 1-5 contain fixed data compilations, Data set 6 can be configured by the user. The data sets that are to be transferred to the PLC must be activated (see section 7.8). Open a web browser on a PC in the network and go to the address of the UE410-EN. Click Flexi System Interface Configuration on the UE410-EN homepage. The following web page is displayed: The installed Flexi Classic modules are recognised automatically and listed in the Flexi Chassis Configuration field. Modules of the next Flexi Classic generation that are not yet recognised by the UE410-EN1 are listed as “Unknown Module”. The corresponding front and the data structure of the module can be displayed by clicking a module. In the example, a click on Module 1 displays a new window with the corresponding information. The window can subsequently be closed again. 100 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice EtherNet/IP Gateway Operating Instructions Chapter 9 Flexi Classic Gateways Note After resetting the UE410-EN back to the factory settings, all modules are displayed as “Unknown Module” until a hardware reset of the entire Flexi Classic system has been carried out (see section “Resetting to factory settings” below). In order to use Data set 6, click Set 6. The following web page is displayed and shows the current compilation of Data set 6: Click Configure Set 6, to compile the user defined data record. The following web page is displayed: Select the desired data. For the exact description of the data sets please refer to section 7.8. In the standard setting, all parameters are sent to the higher level PLC when Data set 6 is active. If only specific parameters are to be sent: Select Return Only Enabled Data and click the desired parameters in the list. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 101 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways Note If Return Only Enabled Data is activated, the length of Data set 6 is variable. This must be taken into account when addressing the memory area in the PLC. In order to use these settings temporarily do not check Save in Flash and click Submit. In order to use these settings permanently, check Save in Flash and click Submit. The configuration is then saved in the non-volatile memory of the UE410-EN and is still available after the gateway has been restarted. The current configuration of Data set 6 can be displayed by clicking Display Set 6 Data Format. The following web page is displayed: Return to the previous page by using the browser’s Back button. 9.6 Status of the interface to the PLC The UE410-EN has its own web page that makes statistical data and diagnostics data of the interface available to the user. On this page messages and responses from the PLC and UE410-EN1 are counted and errors including error messages for diagnostic purposes are displayed. The page is updated automatically every 10 seconds. Click PLC Interface Diagnostics. The following web page is displayed: 102 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways Tab. 92: Statistical data and diagnostic data of the interface to the PLC Entry Description Slave mode specific statistics Messages/Responses Received From PLC Displays the number of EtherNet/IP messages and responses received from the PLC(s). Messages/Responses Sent To PLC Displays the number of messages and responses sent to the PLC(s). Request Messages From Displays the number of request messages received from the PLC PLC(s). Broadcasts Received From PLC Displays the number of broadcast messages received from the PLC(s). Bad Responses To Messages Sent To PLC Displays the number of bad responses from messages sent to the PLC(s). Bad responses are typically returned for such errors as: Incorrect Tag or File names Incorrect Tag or File data types Incorrect Tag or File data sizes PLC is overloaded and cannot handle the amount of Ethernet traffic. PLC malfunction Invalid Network Path Errors Displays the number of network path errors on messages sent to the PLC(s). These are typically caused by incorrect IP address settings. No Response From PLC Errors Displays the number of no responses from messages sent to the PLC(s). No responses are typically returned for such errors as: Incorrect IP Address Incorrect PLC configuration PLC malfunction PLC is overloaded and cannot handle the amount of Ethernet traffic. Pending Request Limit Errors Displays the number of pending request limit errors. These errors occur when the PLC is sending a continuous stream of messages to the UE410-EN module faster than the UE410-EN can process them. Unexpected Event Errors Displays the number of unexpected event errors. Unexpected event errors occur when the UE410-EN module receives an unexpected message from the PLC such as an unexpected response or unknown message. 8011834/YT28/2016-03-15 Subject to change without notice Unsupported CIP Request Instance Errors Displays the number of unsupported CIP request instance errors. These errors occur when a message with an invalid instance is sent to the UE410-EN module. Unsupported CIP Request Service Errors Displays the number of unsupported CIP request service errors. These errors occur when a message with an invalid service is sent to the UE410-EN module. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 103 Chapter 9 EtherNet/IP Gateway Operating Instructions Flexi Classic Gateways Entry Description Unsupported CIP Request Class Errors Displays the number of unsupported CIP request class errors. These errors occur when a message with an invalid class is sent to the UE410-EN module. Unsupported CIP Request Attribute Errors Displays the number of unsupported CIP request attribute errors. These errors occur when a message with an invalid attribute is sent to the UE410-EN module. Improper Configuration Errors Number of messages errors that occur when a PLC sends a message requiring a configuration other than the current settings. Likely causes are: Incorrect Receive or Transmit mode settings Requested Data Set not enabled 104 Invalid Message Data Errors Displays the number of invalid message data errors. These errors occur when the UE410-EN module receives a message that cannot be performed due to invalid data. System Resource Errors Displays the number of errors that occurred due to overflowing the internal transmit queues (S-Bus+ specific). First Error Description Error description for the first error detected Last Error Description Error description for the last error detected © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways 9.7 EtherNet/IP objects The EtherNet/IP (CIP) object model is comprised of various articles that describe specific details of EtherNet/IP products. Each of these articles addresses increasingly more specific details regarding the product. These articles include the following: Tab. 93: Overview of articles describing the EtherNet/IP (CIP) object model Article Description Object A general term that describes some functions of an EtherNet/IP product. Class A subset of objects that behave in a similar manner but contain different data in their respective variables. Several objects that contain common characteristics may fall into a single class. Each object class has a unique hexadecimal identifier called a class code. Instance A specific occurrence of a given object. Since there can be several occurrences of the same object within a device model, each instance is designated with a numeric value. Attribute One of many possible data elements in a given object or class that can be written to or read from in an explicit message. Each attribute is assigned a unique identification number. Service Refers to a function that an object performs as a result of an explicit message request. Services are assigned a unique identifier in hexadecimal and vary from object to object. Knowledge of specific class, instance, attribute and service codes is necessary in order to format an explicit message. Explicit messages sent from an EtherNet/IP master to the UE410-EN1 can be used to read or write the data sets of the UE410-EN1. 9.7.1 Full Data Set Transfer Object (72hex — one instance per UE410@EN1 module) The vendor specific object Full Data Set Transfer Object defines the attributes by which the PLC can request the complete data set information from the UE410-EN1 module. Class attributes Tab. 94: Full Data Set Transfer Object (72hex) class attributes 8011834/YT28/2016-03-15 Subject to change without notice Attribute ID Name Data type Data value(s) Access rule 1 Revision UINT 1 Get 2 Max Instance UINT 1 Get 3 Num Instances UINT 1 Get © SICK AG • Industrial Safety Systems • Germany • All rights reserved 105 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways Instance attributes Tab. 95: Full Data Set Transfer Object (72hex) instance attributes Attribute ID Name Data type Data value(s) Access rule 1 Request Data Set 1 specific data Array of USINT 0-255 Get 2 Request Data Set 2 specific data Array of USINT 0-255 Get 3 Request Data Set 3 specific data Array of USINT 0-255 Get 4 Request Data Set 4 specific data Array of USINT 0-255 Get 5 Request Data Set 5 specific data Array of USINT 0-255 Get 6 Request Data Set 6 specific data Array of USINT 0-255 Get Common services Tab. 96: Full Data Set Transfer Object (72hex) common services Service code Implemented in class Implemented in instance Service name 01hex Yes Yes Get_Attributes_All 0Ehex Yes Yes Get_Attribute_Single Get Attribute Single requests for a specific data set and will return an incrementing 16 bit integer sequence number followed by the data set information. Get Attribute All requests will return a 16 bit integer incrementing sequence number followed by all enabled data sets. All data set information will be returned in integer (16 bit word) format. For byte data such as the MED values in data set 1, 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. Example: For Data Set 1, the data will be returned as follows: IntegerArray[0]: XXXX (hex) - XXXX = 16 bit Sequence Number IntegerArray[1]: AABB (hex) - AA = MED1; BB = MED2 IntegerArray[2]: CCDD (hex) - CC = MED3; DD = MED4 … IntegerArray[7]: MM00 (hex) - MM = MED13; 9.7.2 Individual Data Set Transfer object (73hex — one instance per data set) The vendor specific object Individual Data Set Transfer defines the attributes by which the PLC can get and set the sequence number for each data set and request either full data sets or individual parameters within a data set. Class attributes Tab. 97: Individual Data Set Transfer Object (73hex) class attributes 106 Attribute ID Name Data type Data value(s) Access rule 1 Revision UINT 1 Get 2 Max Instance UINT 6 Get 3 Num Instances UINT 6 Get © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways Instance attributes Tab. 98: Individual Data Set Transfer Object (73hex) instance attributes Attribute ID Name Data type Data value(s) Access rule 1 Receive Data Set Sequence Number UINT 0-65535 Get/Set 2 to n Request Data Set specific data Dependent on Data Set definition 0-255 Get (dependent on Data Set definition) Attribute 1 — Receive Data Set Sequence Number This is the sequence number returned in the first two bytes of the data set arrays. Access to these sequence numbers is instance specific and is provided primarily for initialisation purposes when the sequence numbers may need to be initialised. Attribute 2 to n — Request Data Set Specific Parameters These attributes return the data set specific data arrays. Get Attribute Single requests for a specific data set will return an incrementing sequence number followed by the data set parameter information. Get Attribute All requests will return an incrementing sequence number followed the entire data set. The data set attributes, numbered from 2 to n, refer to each individual attribute of each individual data set. Each instance refers to a unique data set and each data set has a unique attribute numbering scheme. Instance 1 - data set 1 attribute definitions Tab. 99: Individual Data Set Transfer Object (73hex) instance 1 attribute definitions 8011834/YT28/2016-03-15 Subject to change without notice Attribute number Data set parameter Size 2 MED1 SINT 3 MED2 SINT 4 MED3 SINT 5 MED4 SINT 6 MED5 SINT 7 MED6 SINT 8 MED7 SINT 9 MED8 SINT 10 MED9 SINT 11 MED10 SINT 12 MED11 SINT 13 MED12 SINT 14 MED13 SINT © SICK AG • Industrial Safety Systems • Germany • All rights reserved 107 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways Instance 2 - data set 2 attribute definitions Tab. 100: Individual Data Set Transfer Object (73hex) instance 2 attribute definitions Attribute number Data set parameter Size 2 MQD1 SINT 3 MQD2 SINT 4 MQD3 SINT 5 MQD4 SINT 6 MQD5 SINT 7 MQD6 SINT 8 MQD7 SINT 9 MQD8 SINT 10 MQD9 SINT 11 MQD10 SINT 12 MQD11 SINT 13 MQD12 SINT 14 MQD13 SINT Instance 3 - data set 3 attribute definitions Tab. 101: Individual Data Set Transfer Object (73hex) instance 3 attribute definitions Attribute number Data set parameter Size 2 DIG_OUT UINT Bit 0 (0x01) = Digital Output 1 Bit 1 (0x02) = Digital Output 2 Bit 2 (0x04) = Digital Output 4 Bit 3 (0x08) = Digital Output 8 Instance 4 - data set 4 attribute definitions Tab. 102: Individual Data Set Transfer Object (73hex) instance 4 attribute definitions Attribute number Data set parameter Size 2 BAS1 SINT 3 Backplane Fault SINT 4 CRC (System) UINT Instance 5 - data set 5 attribute definitions Tab. 103: Individual Data Set Transfer Object (73hex) instance 5 attribute definitions 108 Attribute number Data set parameter Size 2 MFD1 SINT 3 MFD2 SINT 4 MFD3 SINT 5 MFD4 SINT 6 MFD5 SINT 7 MFD6 SINT 8 MFD7 SINT © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways Attribute number Data set parameter Size 9 MFD8 SINT 10 MFD9 SINT 11 MFD10 SINT 12 MFD11 SINT 13 MFD12 SINT 14 MFD13 SINT 15 0 (Reserved) SINT 16 MS Byte=MFCLASS1, Module 1 UINT LS Byte=MFCODE1, Module 1 17 MS Byte=MFCLASS2, Module 1 UINT LS Byte=MFCODE2, Module 1 18 MS Byte=MFCLASS1, Module 2 UINT LS Byte=MFCODE1, , Module 2 19 MS Byte=MFCLASS2, Module 2 UINT LS Byte=MFCODE2, Module 2 20 MS Byte=MFCLASS1, Module 3 UINT LS Byte=MFCODE1, Module 3 21 MS Byte=MFCLASS2, Module 3 UINT LS Byte=MFCODE2, Module 3 22 MS Byte=MFCLASS1, Module 4 UINT LS Byte=MFCODE1, Module 4 23 MS Byte=MFCLASS2, Module 4 UINT LS Byte=MFCODE2, Module 4 24 MS Byte=MFCLASS1, Module 5 UINT LS Byte=MFCODE1, Module 5 25 MS Byte=MFCLASS2, Module 5 UINT LS Byte=MFCODE2, Module 5 26 MS Byte=MFCLASS1, Module 6 UINT LS Byte=MFCODE1, Module 6 27 MS Byte=MFCLASS2, Module 6 UINT LS Byte=MFCODE2, Module 6 28 MS Byte=MFCLASS1, Module 7 UINT LS Byte=MFCODE1, Module 7 29 MS Byte=MFCLASS2, Module 7 UINT LS Byte=MFCODE2, Module 7 30 MS Byte=MFCLASS1, Module 8 UINT LS Byte=MFCODE1, Module 8 31 MS Byte=MFCLASS2, Module 8 UINT LS Byte=MFCODE2, Module 8 32 MS Byte=MFCLASS1, Module 9 UINT LS Byte=MFCODE1, Module 9 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 109 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways Attribute number Data set parameter Size 33 MS Byte=MFCLASS2, Module 9 UINT LS Byte=MFCODE2, Module 9 34 MS Byte=MFCLASS1, Module 10 UINT LS Byte=MFCODE1, Module 10 35 MS Byte=MFCLASS2, Module 10 UINT LS Byte=MFCODE2, Module 10 36 MS Byte=MFCLASS1, Module 11 UINT LS Byte= MFCODE1, Module 11 37 MS Byte=MFCLASS2, Module 11 UINT LS Byte=MFCODE2, Module 11 38 MS Byte=MFCLASS1, Module 12 UINT LS Byte=MFCODE1, Module 12 39 MS Byte=MFCLASS2, Module 12 UINT LS Byte=MFCODE2, Module 12 40 MS Byte=MFCLASS1, Module 13 UINT LS Byte=MFCODE1, Module 13 41 MS Byte=MFCLASS2, Module 13 UINT LS Byte=MFCODE2, Module 13 Instance 6 - data set 6 attribute definitions Tab. 104: Individual Data Set Transfer Object (73hex) instance 6 attribute definitions 110 Attribute number Data set parameter Size 2 CRC (System) UINT 3 MKD1, Module 1 SINT 4 MKD2, Module 1 SINT 5 MKD1, Module 2 SINT 6 MKD2, Module 2 SINT 7 MKD1, Module 3 SINT 8 MKD2, Module 3 SINT 9 MKD1, Module 4 SINT 10 MKD2, Module 4 SINT 11 MKD1, Module 5 SINT 12 MKD2, Module 5 SINT 13 MKD1, Module 6 SINT 14 MKD2, Module 6 SINT 15 MKD1, Module 7 SINT 16 MKD2, Module 7 SINT © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways 8011834/YT28/2016-03-15 Subject to change without notice Attribute number Data set parameter Size 17 MKD1, Module 8 SINT 18 MKD2, Module 8 SINT 19 MKD1, Module 9 SINT 20 MKD2, Module 9 SINT 21 MKD1, Module 10 SINT 22 MKD2, Module 10 SINT 23 MKD1, Module 11 SINT 24 MKD2, Module 11 SINT 25 MKD1, Module 12 SINT 26 MKD2, Module 12 SINT 27 MKD1, Module 13 SINT 28 MKD2, Module 13 SINT 29 MOD-ID 1 SINT 30 MOD-ID 2 SINT 31 MOD-ID 3 SINT 32 MOD-ID 4 SINT 33 MOD-ID 5 SINT 34 MOD-ID 6 SINT 35 MOD-ID 7 SINT 36 MOD-ID 8 SINT 37 MOD-ID 9 SINT 38 MOD-ID 10 SINT 39 MOD-ID 11 SINT 40 MOD-ID 12 SINT 41 MOD-ID 13 SINT 42 0 (reserved) SINT 43 SW Version 1 UINT 44 SW Version 2 UINT 45 SW Version 3 UINT 46 SW Version 4 UINT 47 SW Version 5 UINT 48 SW Version 6 UINT 49 SW Version 7 UINT 50 SW Version 8 UINT 51 SW Version 9 UINT 52 SW Version 10 UINT 53 SW Version 11 UINT 54 SW Version 12 UINT 55 SW Version 13 UINT 56 Function 1 SINT © SICK AG • Industrial Safety Systems • Germany • All rights reserved 111 Chapter 9 EtherNet/IP Gateway Operating Instructions Flexi Classic Gateways 112 Attribute number Data set parameter Size 57 Function 2 SINT 58 Function 3 SINT 59 Function 4 SINT 60 Function 5 SINT 61 Function 6 SINT 62 Function 7 SINT 63 Function 8 SINT 64 Function 9 SINT 65 Function 10 SINT 66 Function 11 SINT 67 Function 12 SINT 68 Function 13 SINT 69 0 (reserved) SINT 70 Conf 1 SINT 71 Conf 2 SINT 72 Conf 3 SINT 73 Conf 4 SINT 74 Conf 5 SINT 75 Conf 6 SINT 76 Conf 7 SINT 77 Conf 8 SINT 78 Conf 9 SINT 79 Conf 10 SINT 80 Conf 11 SINT 81 Conf 12 SINT 82 Conf 13 SINT 83 0 (reserved) SINT 84 CRC 1 UINT 85 CRC 2 UINT 86 CRC 3 UINT 87 CRC,4 UINT 88 CRC 5 UINT © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways Attribute number Data set parameter Size 89 CRC 6 UINT 90 CRC 7 UINT 91 CRC 8 UINT 92 CRC 9 UINT 93 CRC 10 UINT 94 CRC 11 UINT 95 CRC 12 UINT 96 CRC 13 UINT 97 DIAG Version, UE410-EN Module UINT Common services Tab. 105: Individual Data Set Transfer Object (73hex) common services Service code Implemented in Implemented in class instance Service name 01hex Yes Yes Get_Attributes_All 0Ehex Yes Yes Get_Attribute_Single 10hex No Yes Set_Attribute_Single Get All Data Sets request All data set information will be returned in integer (16 bit word) format. For byte data such as the MED values in data set 1, 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. Example: For Data Set 1, the data will be returned as follows: IntegerArray[0]: XXXX (hex) - XXXX = 16 bit Sequence Number IntegerArray[1]: AABB (hex) - AA = MED1; BB = MED2 IntegerArray[2]: CCDD (hex) - CC = MED3; DD = MED4 … IntegerArray[7]: MM00 (hex) - MM = MED13; 9.7.3 Discrete Output Point object definition (09hex — 4 instances; one instance per digital output) The Discrete Output Point object defines the attributes by which the PLC can set the digital output settings. Class attributes Tab. 106: Discrete Output Point Object Definition (09hex) class attributes 8011834/YT28/2016-03-15 Subject to change without notice Attribute ID Name Data type Data value(s) Access rule 1 Revision UINT 1 Get 2 Max Instance UINT 4 Get 3 Num Instances UINT 4 Get © SICK AG • Industrial Safety Systems • Germany • All rights reserved 113 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways Instance attributes Tab. 107: Discrete Output Point Object Definition (09hex) instance attributes Attribute ID Name Data type Data value(s) Access rule 3 Set Digital Output SINT 0 = Off Set Get Digital Output Setting SINT 4 1 = On 0 = Off Get 1 = On Description of instance IDs Tab. 108: Discrete Output Point Object Definition (09hex) description of instance IDs Instance ID Description 1 Digital Output X1 2 Digital Output X2 3 Digital Output X3 4 Digital Output X4 Common services Tab. 109: Discrete Output Point Object definition (09hex) common services 114 Service code Implemented in class Implemented in Service name instance 0Ehex Yes Yes Get_Attribute_Single 10hex No Yes Set_Attribute_Single © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways 9.8 Resetting to factory settings The UE410-EN can be reset to the factory settings as follows: Open a web browser on a PC in the same network and go to the address of the UE410FEN. The following web page is displayed: Click the reboot button. The following web page is displayed: Activate Set configuration for PLC Interface and Data Sets to factory default settings. Click the button Yes: Reboot. The following web page is displayed: The UE410-EN is reset to the factory settings. The web server of the UE410-EN is called up again automatically. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 115 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways Notes The only exception is the UE410-EN IP address, which is not reset to factory settings with this action. After resetting to factory settings, the UE410-EN does not identify the connected Flexi Classic module again, but displays all modules as “Unknown Modules”. In addition the UE410-EN loses the system information MOD-ID, CRC1, CRC2, SWVERSION_H, SWVERSION_L, FUNCTION, KONF, CRC_H CODE and CRC_L CODE and transfers zeros into the corresponding data sets. Restarting the Flexi Classic system remedies this problem. Interrupt the power supply of the Flexi Classic system and switch on again. Tab. 110: Troubleshooting 9.9 Troubleshooting Error Cause Remedy The browser does not find UE410-EN has no power Establish the power supply. the UE410-EN homepage during configuration. supply. UE410-EN is not in the same Check the Ethernet wiring and network settings on the PC and physical network as the PC. correct if necessary. The PC is configured to another Set the subnet mask on the PC to UE410-EN does not supply any data. LED PWR Green LED LINK/ACT / LED ERR UE410-EN has already been configured once and has a The software tool Flexi Classic IPFLink can be used to scan the fixed set IP address or an IP address assigned by a DHCP network for connected Flexi Classic modules and to determine the server that is not recognised. network address. UE410-EN is configured to the operating mode Master (Write Activate one of the named functions. Status/Configuration Change are activated. UE410-EN does not supply any data. LED ERR 255.255.0.0 (factory setting of the UE410FEN). to PLC), but neither Heartbeat Green nor Update Immediately on Green LED PWR Green LED LINK/ACT / subnet mask in the TCP/IP settings. No data set is activated. Activate at least one data set. UE410-EN is operated in slave Either assign a fixed IP address to Green Green UE410-EN functioned correctly after configuramode, the IP address is astion, but suddenly no longer signed from a DHCP server. the UE410FEN, or reserve a fixed IP address for the UE410FEN in the supplies data. LED PWR Green DHCP server (manual assignment by means of the MAC address of LED LINK/ACT / LED ERR Green After the UE410-EN or the DHCP server has been restarGreen ted, a different IP address that is unknown to the PLC has the UE410-EN). been assigned to the UE410FEN. 116 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways Error Cause Remedy UE410-EN does not have a UE410-EN is not plugged Plug the UE410-EN in correctly, connection to the Flexi Classic system. properly into the other Flexi Classic module. clean the connecting socket/plug. LED PWR Green LED LINK/ACT / LED ERR Module connecting plug is Green soiled or damaged. Red UE410-EN does not supply any data and cannot be Internal device error accessed via the web browser. LED PWR Green LED LINK/ACT / LED ERR Switch off the power supply of the Flexi Classic system and switch it on again. If the error remains, replace the gateway. Green Red UE410-EN transfers only UE410-EN was reset to the Switch off the power supply of the zeros for the system information MOD-ID, CRC1, factory settings, but no hardware reset of the Flexi Classic Flexi Classic system and switch on again. CRC2, SWVERSION_H, SWVERSION_L, FUNCTION, systems was carried out. KONF, CRC_H CODE and CRC_L CODE; all connected Flexi Classic modules are only listed as “Unknown Modules” on the configuration pages. Symbol description: LED off 8011834/YT28/2016-03-15 Subject to change without notice Green: LED lights up green Red: LED flashes red © SICK AG • Industrial Safety Systems • Germany • All rights reserved 117 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways 9.10 Description of the data sets 9.10.1 Data sets 1-5 The compilation of data sets 1-5 is fixed; these data sets can only be activated or deactivated as a whole. The length of these data sets is always the same. The data will be zeroed for modules that do not exist. Tab. 111: Data sets 1–5 of the UE410-EN Data set 1 Data set 2 Data set 3 Data set 4 Data set 5 Input data Output data Gatewayspecific General diagnostic Module-specific diagnostic data diagnostic data data Byte 1 MED1 MQD1 DIG_OUT1 BAS1 MFD1 Byte 2 MED2 MQD2 DIG_OUT2 Backplane Fault MFD2 Byte 3 MED3 MQD3 – CRC1 MFD3 Byte 4 MED4 MQD4 – CRC2 MFD4 Byte 5 MED5 MQD5 – – MFD5 Byte 6 MED6 MQD6 – – MFD6 Byte 7 MED7 MQD7 – – MFD7 Byte 8 MED8 MQD8 – – MFD8 Byte 9 MED9 MQD9 – – MFD9 Byte 10 MED10 MQD10 – – MFD10 Byte 11 MED11 MQD11 – – MFD11 Byte 12 MED12 MQD12 – – MFD12 Byte 13 MED13 MQD13 – – MFD13 Byte 14 0* 0* – – 0* Byte 15-18 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (1) Byte 19-22 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (2) Byte 23-26 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (3) Byte 27-30 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (4) Byte 31-34 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (5) 118 Byte 35-38 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (6) Byte 39-42 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (7) Byte 43-46 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (8) © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways Data set 1 Data set 2 Data set 3 Data set 4 Data set 5 Input data Output data Gateway- General Module-specific specific diagnostic diagnostic data diagnostic data data Byte 47-50 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (9) Byte 51-54 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (10) Byte 55-58 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (11) Byte 59-62 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (12) Byte 63-66 – – – – MFCLASS1/ CODE1, MFCLASS2/CODE2 (13) Length 14 Bytes 14 Bytes 2 Bytes 4 Bytes 66 Bytes * Inserted for byte alignment 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 119 EtherNet/IP Gateway Chapter 9 Operating Instructions Flexi Classic Gateways 9.10.2 Data set 6, can be compiled by the user The contents of Data set 6 can be compiled by the user. If the option Return only enabled Data is activated in the configuration of the data set (see section “Configuration …” above), the data set can have a different length depending on the compilation. The maximum length is 124 bytes. The minimum length is 2 bytes. The selected data are transferred for all Flexi Classic modules respectively. The data are zeroed for modules that do not exist. Note If data is expected in 16-bit words and in the format Big Endian (e.g. Modbus/TCP), it is transferred with the more significant byte first. Tab. 112: Data set 6 of the UE410-EN Data set 6 Byte 1-124 CRC-H CRC-L MKD1.1 MKD2.1 MKD1.2 MKD2.2 MKD1.3 MKD2.3 MKD1.4 MKD2.4 MKD1.5 MKD2.5 MKD1.6 MKD2.6 MKD1.7 MKD2.7 MKD1.8 MKD2.8 MKD1.9 MKD2.9 MKD1.10 MKD2.10 MKD1.11 MKD2.11 MKD1.12 MKD2.12 MKD1.13 MKD2.13 MOD-ID1 MOD-ID2 MOD-ID3 MOD-ID4 MOD-ID5 MOD-ID6 MOD-ID7 MOD-ID8 MOD-ID9 MOD-ID10 MOD-ID11 MOD-D12 MOD-13 0 SW Version SW Version SW Version SW Version SW Version SW Version Byte 1, Module 1 Byte 2, Module 1 Byte 1, Module 2 Byte 2, Module 2 Byte 1, Module 3 Byte 2, Module 3 SW Version Byte 1, SW Version Byte 2, SW Version Byte 1, SW Version Byte 2, SW Version Byte 1, SW Version Byte 2, Module 4 Module 4 Module 5 Module 5 Module 6 Module 6 SW Version SW Version SW Version SW Version SW Version SW Version Byte 1, Module 7 Byte 2, Module 7 Byte 1, Module 8 Byte 2, Module 8 Byte 1, Module 9 Byte 2, Module 9 SW Version SW Version SW Version SW Version SW Version SW Version Byte 1, Module 10 Byte 2, Module 10 Byte 1, Module 11 Byte 2, Module 11 Byte 1, Module 12 Byte 2, Module 12 SW Version Byte 1, SW Version Byte 2, Module 13 Module 13 Function 1 Function 2 Function 3 Function 4 Function 5 Function 6 Function 7 Function 8 Function 9 Function 10 Function 11 Function 12 Function 13 120 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 0 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions EtherNet/IP Gateway Chapter 9 Flexi Classic Gateways Data set 6 Conf 1 Conf 2 Conf 3 Conf 4 Conf 5 Conf 6 Conf 7 Conf 8 Conf 9 Conf 10 Conf 11 Conf 12 Conf 13 8011834/YT28/2016-03-15 Subject to change without notice 0 CRC CRC CRC CRC CRC CRC Byte 1, Module 1 Byte 2, Module 1 Byte 1, Module 2 Byte 2, Module 2 Byte 1, Module 3 Byte 2, Module 3 CRC CRC CRC CRC CRC CRC Byte 2, Module 6 Byte 1, Module 4 Byte 2, Module 4 Byte 1, Module 5 Byte 2, Module 5 Byte 1, Module 6 CRC Byte 1, CRC Byte 2, CRC Byte 1, CRC Byte 2, CRC Byte 1, CRC Byte 2, Module 7 Module 7 Module 8 Module 8 Module 9 Module 9 CRC CRC CRC CRC CRC CRC Byte 1, Module 10 Byte 2, Module 10 Byte 1, Module 11 Byte 2, Module 11 Byte 1, Module 12 Byte 2, Module 12 CRC CRC Byte 1, Module 13 Byte 2, Module 13 DIAG Version DIAG Version Byte 1 Byte 2 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 121 PROFINET IO Gateway Chapter 10 Operating Instructions Flexi Classic Gateways 10 PROFINET IO Gateway The following Flexi Classic gateway can be used for PROFINET IO: UE410FEN4. The GSD file is available on www.sick.com. The UE410FEN4 supports: PROFINET IO conformance class A LLDP SNMP MIB II fast integrated switching auto-MDI auto negotiation cyclic IO communication acyclic communication diagnostic alarms 10.1 Interfaces and operation The UE410-EN is equipped with four digital control outputs X1–X4. The UE410-EN is equipped with an integrated 3-port switch for connection with the Ethernet network. Two RJ45 sockets are available for the connection. The switch functionality allows the UE410-EN 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. 20: Interfaces and display elements of the UE410-EN Terminals of digital control outputs X1–X4 RJ45 Ethernet socket LED power supply (green) LED network activity for Ethernet port 1 or 2 (green) LED Error (red/green) RJ45 Ethernet socket 122 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice PROFINET IO Gateway Operating Instructions Chapter 10 Flexi Classic Gateways Tab. 113: Meaning of the LED displays LED Meaning PWR No power supply Green LINK/ACT 1 LINK/ACT 2 Power supply switched on No Ethernet connection Green Green ERR Ethernet connection active, no data transmission Ethernet connection active, data transmission No power supply Green Gateway operating, no error message, at least one Ethernet connection exists Green Gateway operating, valid IP address assigned, configuration is valid, but no Ethernet connection established. All data sets are deactivated Red No flex bus communication Red Internal device error Red/Green Self-test of the gateway after switching on the power supply on the Flexi Classic system Symbol description: LED off Note Green: LED lights up green Red: LED flashes red Error elimination is described in section “Troubleshooting” below. 10.2 Basic configuration — assigning an IP address Configuration and diagnostic of the UE410FEN may be performed browser-supported via the integrated web server of the gateway or via the PROFINET standard. While a PROFINET network has not yet been installed or the communication to the PLC has not yet been established, the web server provides means to access the gateway via Ethernet TCP/IP. This access point calls for a valid IP address configured in the gateway. 10.2.1 Web server based Ensure that the UE410FEN is installed correctly, energised and connected with the Ethernet network. Open a web browser on a PC in the same network and go to the address of the UE410FEN. Upon delivery, the UE410FEN is configured for the following address: – IP address 192.168.250.250 – subnet mask 255.255.0.0 – default gateway 0.0.0.0 Note 8011834/YT28/2016-03-15 Subject to change without notice If the gateway IP address is unkown to the user or the IP address of the user’s PC shall not be changed, alternatively the software tool Flexi Classic IP-Link can be used to locate the gateway in the network and to configure the gateway’s IP address. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 123 PROFINET IO Gateway Chapter 10 Operating Instructions Flexi Classic Gateways To assign a suitable IP address within the network to the UE410FEN, click Configure Network. The following web page is displayed: The UE410FEN network address can be obtained automatically or configured manually. For automatic assignment of the network address, choose Use DHCP. – A DHCP server must be active in the network so that these functions can be used. A new IP address will be assigned to the UE410FEN when the DHCP server or the UE410FEN is restarted. Notes – If a DHCP server is used to assign an IP address, the new address is unknown to the system administrator. It can be read out in the administration pages of the DHCP server. Alternatively the software tool Flexi Classic IP-Link can be used. This scans the network for Flexi Classic modules and registers their IP addresses. In order to set the network address manually, choose Use static configuration below and enter a valid free IP address, the subnet mask and the IP address of the network gateway. Finalise changes by clicking Save. The new network address is saved in the UE410FEN flash memory, but will only become effective after the gateway has been restarted. You have two possibilities to restart the gateway: Either click the Reboot button on the homepage of the UE410FEN web page or interrupt the power supply of the Flexi Classic system and switch on again. 124 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice PROFINET IO Gateway Operating Instructions Chapter 10 Flexi Classic Gateways 10.2.2 PROFINET IO conform In the out-of-the-box configuration, each PROFINET IO field device, e.g. the UE410FEN4 has a MAC address and a symbolic name stored. The symbolic name for the gateway is UE410@EN4. This name is used by the IO controller (i.e. PLC) to assign the IP address to the field device. Address assignment is performed in two steps. 1. Assignment of a unique plant specific name to the gateway by using either the network configuration tool, e.g. SIEMENS SIMATIC Manager or the Web server. 2. Assignment of the IP address by the IO controller (i.e. PLC) before system boot based on the plant specific (unique) name. Note The UE410FEN4 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 10.3.4 “STEP 4 — Assign the device name” on page 127. Device name set via web server Open a web browser on a PC in the same network and go to the address of the UE410FEN. Click Configure Device Name on the UE410FEN homepage. Enter the device name. Click Save. The device name will now appear next to “Device Name” on the UE410FEN homepage. Note The device name format shall apply to the PROFINET standard specification. 10.3 PROFINET configuration of the gateway — how the data are transferred The following steps need to be made in order to have the communication between PLC and gateway configured. 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. 10.3.1 STEP 1 — Install the generic station description file (GSD file) Before the UE410FEN4 can be used as device in the network configuration tool, e.g. SIEMENS SIMATIC Manager, for the first time, the generic station description of the gateway must be installed into the hardware catalogue of the tool. Download the GSD file from www.ue410flexi.com. 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 > SICK. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 125 Chapter 10 PROFINET IO Gateway Operating Instructions Flexi Classic Gateways 10.3.2 STEP 2 — Add the gateway to the project In order to have the Flexi Classic 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 may be found in the hardware catalogue under >>PROFINET IO > Additional Field Devices > Gateway > SICK. Drag & drop the device into the Ethernet PROFINET IO network. Example figure see below. After adding the device into the automation network it is required to configure which of the cyclic data sets will be used and where they will be addressed in memory. For details refer to section 10.4. 10.3.3 STEP 3 — Configure the properties of the gateway Double click on the gateway hardware symbol. Configure the update time of the cyclic IO data exchange. To do this click on the IO Cycle tab and select the desired rate from the update time pull-down menu as shown below. 126 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions PROFINET IO Gateway Chapter 10 Flexi Classic Gateways 10.3.4 STEP 4 — Assign the device name In order for the PLC to communicate with the UE410FEN4, 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: Note 8011834/YT28/2016-03-15 Subject to change without notice The device name format shall apply to the PROFINET standard specification. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 127 PROFINET IO Gateway Chapter 10 Operating Instructions Flexi Classic Gateways 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. Note 128 You can make the device ERR LED flash, for visual confirmation, by clicking the Flashing on button. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice PROFINET IO Gateway Operating Instructions Chapter 10 Flexi Classic Gateways 10.4 PROFINET configuration of the gateway — which data are transferred 10.4.1 Cyclic data The physical Flexi Classic IO modules are not represented as typical hardware modules in the PROFINET IO hardware catalogue. Instead, the data available from the Flexi Classic system has been organized into data sets. Each data set represents a “hardware” module in the PROFINET IO hardware catalogue. The Flexi Classic PROFINET IO gateway device supports four slots where the modules can be placed into. This allows each data set to be mapped once. Tab. 114: Data set 1-4 of the UE4100EN Data set 1 Data set 2 Data set 3 Data set 4 Input data Input data Input/output data Input data WORD 1 SEQ SEQ SEQ SEQ Byte 3 MED1 MQD1 DIG_OUT1 BAS1 Byte 4 MED2 MQD2 DIG_OUT2 Backplane fault Byte 5 MED3 MQD3 CRC1 Byte 6 MED4 MQD4 CRC2 Byte 7 MED5 MQD5 Byte 8 MED6 MQD6 Byte 9 MED7 MQD7 Byte 10 MED8 MQD8 Byte 11 MED9 MQD9 Byte 12 MED10 MQD10 Byte 13 MED11 MQD11 Byte 14 MED12 MQD12 Byte 15 MED13 MQD13 Length 15 bytes 15 bytes 4 bytes 6 bytes Drag the modules from the SIEMENS SIMATIC Manager — HW Config hardware catalogue under >>PROFINET IO > Additional Field Devices > Gateway > SICK > Flexi Classic... > data sets into the slots of the UE410FEN4 shown in the SIEMENS SIMATIC Manager — HW Config configuration table. Fig. 21: Projecting the UE4100EN4 Notes The I and Q addresses reflect where in memory the cyclic data will be available. Each data set can only be placed in the slot of the same number. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 129 PROFINET IO Gateway Chapter 10 Operating Instructions Flexi Classic Gateways 10.4.2 Acyclic data — record read Flexi Classic system diagnostic data is available as data record to be read by the PLC. There are two data sets, data set 5 and data set 6, providing diagnostic information. For a detailed description refer to Tab. 116 and Tab. 117 below. To access the acyclic data sets, a record read must be performed on the appropriate address as shown in the following table: Tab. 115: Data set 5-6 of the UE4100EN Data set 5 Data set 6 Location 1000-1061 1100-1223 Size in Bytes 62 0-124 In the example below, RDREC block (SFB52) is used to read all 124 bytes from data set 6. The base address of 0x1BA is used to correspond to the input address in slot 1 (442 decimal). By changing the INDEX to 1000 and the MLEN and RECORD lines to the appropriate size, data set 5 could be read instead of data set 6. Fig. 22: SFB52 parameters for data set 6 DW#16 indicates a 16 bit value. #1BA is hex for the input address of the module (442). 130 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions PROFINET IO Gateway Chapter 10 Flexi Classic Gateways Tab. 116: Data set 5 of the UE4100EN Data set 5 Read record Location 1000-1061 Byte 1 MFD1 Byte 2 MFD2 Byte 3 MFD3 Byte 4 MFD4 Byte 5 MFD5 Byte 6 MFD6 Byte 7 MFD7 Byte 8 MFD8 Byte 9 MFD9 Byte 10 MFD10 Byte 11 MFD11 Byte 12 MFD12 Byte 13 MFD13 Byte 14 01) Byte 15-18 MFCLASS1/CODE1, MFCLASS2/CODE2 (1) Byte 19-22 MFCLASS1/CODE1, MFCLASS2/CODE2 (2) Byte 23-26 MFCLASS1/CODE1, MFCLASS2/CODE2 (3) Byte 27-30 MFCLASS1/CODE1, MFCLASS2/CODE2 (4) Byte 31-34 MFCLASS1/CODE1, MFCLASS2/CODE2 (5) Byte 35-38 MFCLASS1/CODE1, MFCLASS2/CODE2 (6) Byte 39-42 MFCLASS1/CODE1, MFCLASS2/CODE2 (8) Byte 43-46 MFCLASS1/CODE1, MFCLASS2/CODE2 (9) Byte 47-50 MFCLASS1/CODE1, MFCLASS2/CODE2 (10) Byte 51-54 MFCLASS1/CODE1, MFCLASS2/CODE2 (11) Byte 55-58 MFCLASS1/CODE1, MFCLASS2/CODE2 (12) Byte 59-62 MFCLASS1/CODE1, MFCLASS2/CODE2 (13) Length 62 Bytes 1) 8011834/YT28/2016-03-15 Subject to change without notice Inserted for byte alignment. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 131 PROFINET IO Gateway Chapter 10 Operating Instructions Flexi Classic Gateways Data set 6, can be compiled by the user The contents of data set 6 can be compiled by the user. This allows efficient PLC memory management for UE410FEN diagnostic data. Open a web browser on a PC in the network and go to the address of the UE410FEN. Click Flexi System Interface Configuration on the UE410FEN homepage. The following web page is displayed: The installed Flexi Classic modules are recognised automatically and listed in the Flexi Chassis Configuration field. Modules of the next Flexi Classic generation that are not yet recognised by the UE410FEN are listed as “Unknown Module”. The corresponding front and the data structure of the module can be displayed by clicking a module. In the example, a click on Module 1 displays a new window with the corresponding information. The window can subsequently be closed again. Note 132 After resetting the UE410FEN back to the factory settings, all modules are displayed as “Unknown Module” until a hardware reset of the entire Flexi Classic system has been carried out (see section “Resetting to factory settings” below). © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions PROFINET IO Gateway Chapter 10 Flexi Classic Gateways Click Configure Set 6 to compile the user defined data record. The following web page is displayed: Select the desired data by checking the checkboxes. For the exact description of the data set please refer to the table below. If Return Only Enabled Data is not checked, the data not selected will be set to zeros and the data set size will be 124 bytes. In the standard setting, all parameters are available to the higher level PLC. The current configuration of data set 6 can be displayed by clicking Display Set 6 Data Format. Return to the previous page by using the browser’s Back button. Example for the configuration and display: 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 133 PROFINET IO Gateway Chapter 10 Operating Instructions Flexi Classic Gateways Select Return Only Enabled Data and click the desired parameters in the list if the length of the data set shall be reduced to the effective data only. Example: In order to use these settings temporarily do not check Save in Flash and click Submit. In order to use these settings permanently, check Save in Flash and click Submit. The configuration is then saved in the non-volatile memory of the UE410FEN and is still available after the gateway has been restarted. Notes If the option Return Only Enabled Data is activated in the configuration of the data set, the data set can have a different length depending on the compilation. The maximum length is 124 bytes. The minimum length is 0 (no data selected). This must be taken into account in regards to the size of the record read in the PLC. The selected data are transferred for all Flexi Classic modules respectively. The data are zeroed for modules that do not exist. 134 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions PROFINET IO Gateway Chapter 10 Flexi Classic Gateways Tab. 117: Data set 6 of the UE4100EN Data set 6 Record read Location 1100-1223 Byte 1 to n CRC-H CRC-L MKD1.1 MKD2.1 MKD1.2 MKD2.2 MKD1.3 MKD2.3 MKD1.4 MKD2.4 MKD1.5 MKD2.5 MKD1.6 MKD2.6 MKD1.7 MKD2.7 MKD1.8 MKD2.8 MKD1.9 MKD2.9 MKD1.10 MKD2.10 MKD1.11 MKD2.1 MKD1.12 MKD2.12 MKD1.13 MKD2.13 MOD-ID1 MOD-ID2 MOD-ID3 MOD-ID4 MOD-ID5 MOD-ID6 MOD-ID7 MOD-ID8 MOD-ID9 MOD-ID10 MOD-ID11 MOD-D12 MOD-13 SW Version Byte 1, Module 1 SW Version Byte 1, Module 4 SW Version Byte 1, Module 7 SW Version Byte 1, Module 10 SW Version Byte 1, Module 13 Function 1 SW Version Byte 2, Module 1 SW Version Byte 2, Module 4 SW Version Byte 2, Module 7 SW Version Byte 2, Module 10 SW Version Byte 2, Module 13 Function 2 SW Version Byte 1, Module 2 SW Version Byte 1, Module 5 SW Version Byte 1, Module 8 SW Version Byte 1, Module 11 SW Version Byte 2, Module 2 SW Version Byte 2, Module 5 SW Version Byte 2, Module 8 SW Version Byte 2, Module 11 SW Version Byte 1, Module 3 SW Version Byte 1, Module 6 SW Version Byte 1, Module 9 SW Version Byte 1, Module 12 0 SW Version Byte 2, Module 3 SW Version Byte 2, Module 6 SW Version Byte 2, Module 9 SW Version Byte 2, Module 12 Function 3 Function 4 Function 5 Function 6 Function 7 Function 8 Function 9 Function 10 Function 11 Function 13 Conf 1 Conf 2 Conf 3 Conf 4 Conf 5 Conf 7 Conf 8 Conf 9 Conf 10 Conf 11 Conf 12 CRC Byte 1, Module 3 CRC Byte 1, Module 6 CRC Byte 1, Module 9 CRC Byte 1, Module 12 0 CRC Byte 2, Module 3 CRC Byte 2, Module 6 CRC Byte 2, Module 9 CRC Byte 2, Module 12 Conf 13 CRC Byte 1, Module 1 CRC Byte 1, Module 4 CRC Byte 1, Module 7 CRC Byte 1, Module 10 CRC Byte 1, Module 13 DIAG Version Byte 1 8011834/YT28/2016-03-15 Subject to change without notice Function 12 0 CRC Byte 2, Module 1 CRC Byte 2, Module 4 CRC Byte 2, Module 7 CRC Byte 2, Module 10 CRC Byte 2, Module 13 DIAG Version Byte 2 CRC Byte 1, Module 2 CRC Byte 1, Module 5 CRC Byte 1, Module 8 CRC Byte 1, Module 11 CRC Byte 2, Module 2 CRC Byte 2, Module 5 CRC Byte 2, Module 8 CRC Byte 2, Module 11 © SICK AG • Industrial Safety Systems • Germany • All rights reserved Conf 6 135 PROFINET IO Gateway Chapter 10 Operating Instructions Flexi Classic Gateways 10.4.3 Alarms Alarms can be read acyclically through the PROFINET IO alarms infrastructure. Once any Flexi Classic module faults, 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. The alarm type describes the class and code of the fault and the channel indicates which Flexi Classic module is experiencing the fault. Note The same diagnostic information is available through the web server of the gateway. Refer to section 10.5.2 for details. 136 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions PROFINET IO Gateway Chapter 10 Flexi Classic Gateways 10.5 Status of the interfaces 10.5.1 Status of the interface to the PLC Statistical and diagnostics data of the PLC interface is made available to the user via web server. On this page messages and responses from the PLC and UE410FEN4 are counted and errors including error messages for diagnostic purposes are displayed. The page is updated automatically every 10 seconds. Open a web browser on a PC in the same network and go to the address of the UE410FEN. Click on PLC Interface Diagnostics. The following web page is displayed: Tab. 118: Statistical data and diagnostic data of the interface to the PLC 8011834/YT28/2016-03-15 Subject to change without notice Entry Description Up time Days, hours, minutes and seconds the system has been up Configuration errors The number of times an agent has attempted setting an invalid configuration (for example, an illegal device name) System resource errors Number of errors encountered by system resources (e.g. flash memory, TCP socket) Invalid message data errors Number of messages received with invalid message data errors. These errors occur when the UE410 receives a message that cannot be processed due to improper message data. First error description Error description for the first error detected Last error description Error description for the last error detected © SICK AG • Industrial Safety Systems • Germany • All rights reserved 137 PROFINET IO Gateway Chapter 10 Operating Instructions Flexi Classic Gateways 10.5.2 Status of the Flexi system Via web server Open a web browser on a PC in the same network and go to the address of the UE410FEN. The gateway’s homepage will be displayed. Click on Flexi System Status. The following web page is displayed: The page shows diagnostics for one Flexi Classic module at a time. The initial load of the page shows diagnostics of module 1 in the system. Module Type indicates the type of the module. Click on the Next button to display the diagnostics for the module to the right and so on. Click on the Prev button to display the diagnostics for the module to the left and so on. Note 138 If the gateway IP address is unkown to the user or the IP address of the user’s PC shall not be changed, alternatively the software tool Flexi Classic IP-Link can be used to find the gateway. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice PROFINET IO Gateway Operating Instructions Chapter 10 Flexi Classic Gateways Via network tool The status of the Flexi Classic system can be verified from SIEMENS SIMATIC Manager, too. In order to do this follow the instructions below. Click Diagnostic/Setting in the PLC menu of the SIMATIC Manager tool bar. Click Hardware Diagnostics. The following dialog appears. Note The list of CPU/Faulty Modules depends on the customer project. Select the UE410FEN4. Click on the Module Information... button. Click on the IO Device Diagnostics tab. The following dialog appears. In this example, the switch setting for module 3 was adjusted during operation. This caused an alarm on channel 3 with the error message text “Rotary switch changed during operation...”. The full text can be seen in section 10.8. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 139 Chapter 10 PROFINET IO Gateway Operating Instructions Flexi Classic Gateways 10.6 Resetting to factory settings The UE410-EN can be reset to the factory settings as follows: Open a web browser on a PC in the same network and go to the address of the UE410FEN. The following web page is displayed: Click the reboot button. The following web page is displayed: Activate Set configuration for PLC Interface and Data Sets to factory default settings. Click the button Yes: Reboot. The following web page is displayed: The UE410-EN is reset to the factory settings. The web server of the UE410-EN is called up again automatically. 140 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice PROFINET IO Gateway Operating Instructions Chapter 10 Flexi Classic Gateways Notes The only exception is the UE410-EN IP address, which is not reset to factory settings with this action. After resetting to factory settings, the UE410-EN does not identify the connected Flexi Classic module again, but displays all modules as “Unknown Modules”. In addition the UE410-EN loses the system information MOD-ID, CRC1, CRC2, SWVERSION_H, SWVERSION_L, FUNCTION, KONF, CRC_H CODE and CRC_L CODE and transfers zeros into the corresponding data sets. Restarting the Flexi Classic system remedies this problem. Interrupt the power supply of the Flexi Classic system and switch on again. 10.7 Tab. 119: Troubleshooting Troubleshooting Error Cause Remedy The browser does not find the UE410-EN homepage UE410-EN has no power supply. Establish the power supply. during configuration. UE410-EN is not in the same physical network as the PC. network settings on the PC and correct if necessary. Check the Ethernet wiring and The PC is configured to another Set the subnet mask on the PC to subnet mask in the TCP/IP 255.255.0.0 (factory setting of the UE410-EN does not supply any data. LED PWR Green LED LINK/ACT / LED ERR UE410FEN). UE410-EN has already been The software tool Flexi Classic configured once and has a fixed set IP address or an IP IPFLink can be used to scan the network for connected Flexi Classic address assigned by a DHCP server that is not recognised. modules and to determine the network address. UE410-EN is configured to the operating mode Master (Write Activate one of the named functions. to PLC), but neither Heartbeat Green nor Update Immediately on Status/Configuration Change are activated. Green UE410-EN does not supply any data. LED PWR settings. No data set is activated. Activate at least one data set. UE410-EN is operated in slave mode, the IP address is as- Either assign a fixed IP address to the UE410FEN, or reserve a fixed IP Green LED LINK/ACT / LED ERR Green Green UE410-EN functioned correctly after configura- tion, but suddenly no longer signed from a DHCP server. After the UE410-EN or the supplies data. address for the UE410FEN in the DHCP server (manual assignment LED PWR Green LED LINK/ACT / by means of the MAC address of the UE410-EN). LED ERR Green DHCP server has been restarGreen ted, a different IP address that is unknown to the PLC has been assigned to the UE410FEN. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 141 Chapter 10 PROFINET IO Gateway Operating Instructions Flexi Classic Gateways Error Cause Remedy UE410-EN does not have a UE410-EN is not plugged Plug the UE410-EN in correctly, connection to the Flexi Classic system. properly into the other Flexi Classic module. clean the connecting socket/plug. LED PWR Green LED LINK/ACT / LED ERR Module connecting plug is Green soiled or damaged. Red UE410-EN does not supply any data and cannot be Internal device error accessed via the web browser. LED PWR Green LED LINK/ACT / LED ERR Switch off the power supply of the Flexi Classic system and switch it on again. If the error remains, replace the gateway. Green Red UE410-EN transfers only UE410-EN was reset to the Switch off the power supply of the zeros for the system information MOD-ID, CRC1, factory settings, but no hardware reset of the Flexi Classic Flexi Classic system and switch on again. CRC2, SWVERSION_H, SWVERSION_L, FUNCTION, systems was carried out. KONF, CRC_H CODE and CRC_L CODE; all connected Flexi Classic modules are only listed as “Unknown Modules” on the configuration pages. Symbol description: LED off 142 Green: LED lights up green © SICK AG • Industrial Safety Systems • Germany • All rights reserved Red: LED flashes red 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions PROFINET IO Gateway Chapter 10 Flexi Classic Gateways 10.8 Error type definitions in PROFINET IO The following table matches the PROFINET IO error type (as defined by the GSDML) to the appropriate message. Tab. 120: PROFINET IO error types Error type Message 0x106 0x402 Internal flex-bus error: Unknown SDO type (read, write). Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal flex-bus error: Error on the reception of the data frame. Check for EMC requirements. Contact SICK service if problem persists. Internal flex-bus error: No frame bytes received. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal flex-bus error: Checksum error detected. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal flex-bus error: No frame bytes received in the slave. Check connection between modules. Contact SICK service if problem persists. Internal flex-bus error: Data frame could not be sent. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal flex-bus error: Unknown error in RecFrameErrorCheck(). Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal flex-bus error: Invalid frame revision received. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal flex-bus error: Continuous indexing check erroneous. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal flex-bus error: TX error: hold-register not clear. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal flex-bus error: Not all characters received within timeout. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal flex-bus error: SDO.cnt timeout. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal flex-bus error: Error in frame counter. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal resource error: Internal error in Delay (). Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal resource error: Error on handling with T0. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal resource error: Error on deleting the flash page. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal resource error: Error in FlashWriteByte(). Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal resource error: Timer management error in SAPL. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal resource error: Error on AdcStartSample(). Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal resource error: Error on AdcDone(). Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal resource error: Cross comparison SL-CRCs negative. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal program memory error: Flashtest error. Power cycle Flexi Classic system. Contact SICK service if problem persists. Internal program memory error: RAMtest error. Power cycle Flexi Classic system. Contact SICK service if problem persists. Self diagnostics error: System tick 1 ms exceeded in HAL SystemTickhandler(). Contact SICK service. Self diagnostics error: System tick 4 ms exceeded. Contact SICK service. 0x403 Self diagnostics error: System tick 4.1 ms exceeded. Contact SICK service. 0x404 Self diagnostics error: Self test asynchronous. Contact SICK service. 0x405 Self diagnostics error: Error during cross comparison (Tx). Contact SICK service. 0x406 Self diagnostics error: Error during cross comparison (Rx). Contact SICK service. 0x407 0x408 Self diagnostics error: Error on watchdog relay (does not open). Contact SICK service. Self diagnostics error: Error on HAL_Synchronized. Contact SICK service. 0x409-0x41a Self diagnostics error: Contact SICK service. 0x107 0x108 0x109 0x10a 0x110 0x111 0x112 0x114 0x115 0x116 0x117 0x118 0x201 0x202 0x203 0x204 0x205 0x206 0x207 0x208 0x341 0x342 0x401 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 143 Chapter 10 PROFINET IO Gateway Operating Instructions Flexi Classic Gateways Error type Message 0x41b 0x41c-0x4ff Self diagnostics error: Error invalid bits in the output configuration. Contact SICK service. Self diagnostics error: Contact SICK service. 0x501-0x5ff Internal input test error: Internal test pulse not present on Ix. Contact SICK service. 0x601-0x6ff 0x701 External input test error: External test pulse not present on Ix. Check IO cabling. Contact SICK service if problem persists. Output test error: Output X1 not off. Check IO cabling for any cross circuits. 0x702 Output test error: Output X2 not off. Check IO cabling for any cross circuits. 0x703 Output test error: Cross-circuiting OSSD. Check IO cabling. 0x704 Output test error: Output X3 not off. Check IO cabling for any cross circuits. 0x705-0x707 Output test error: Short circuit on several outputs (bit mask). Check IO cabling. 0x708 Output test error: Output X4 not off. Check IO cabling for any cross circuits. 0x709-0x70f Output test error: Short circuit on several outputs (bit mask). Check IO cabling. 0x710 Output test error: Output X1 not on. Check IO cabling for any short circuits. 0x711-0x71f Output test error: Short circuit on several outputs (bit mask). Check IO cabling. 0x720 Output test error: Output X2 not on. Check IO cabling for any short circuits. 0x721-0x73f Output test error: Short circuit on several outputs (bit mask). Check IO cabling. 0x740 Output test error: Output X3 not on. Check IO cabling for any short circuits. 0x741-0x77f Output test error: Short circuit on several outputs (bit mask). Check IO cabling. 0x780 Output test error: Output X4 not on. Check IO cabling for any short circuits. 0x781-0x7ff Output test error: Short circuit on several outputs (bit mask). Check IO cabling. 0x801 Voltage monitoring error: Undervoltage I/O. Check power supply. 0x802 Voltage monitoring error: Undervoltage power supply unit. Check power supply. 0x803 Voltage monitoring error: Undervoltage power supply unit and undervoltage I/O. Check power supply. Voltage monitoring error: Overvoltage I/O. Check power supply. 0x804 0x805-0x807 0x808 0x809-0x81f 0x820 0x821-0x8ff 0x901 0x902 Voltage monitoring error: Refer to the user manual for further details on this error code. Voltage monitoring error: Error in power supply monitoring. Check power supply. Voltage monitoring error: Refer to the user manual for further details on this error code. Configuration/diagnostics error: Modules incompatability. Check Flexi Classic module revision and type for system requirements. Configuration/diagnostics error: Configuration modification detected. 0x909 Configuration/diagnostics error: Refer to the user manual for further details on this error code. Configuration/diagnostics error: SDO client has invalid state. Contact SICK service. 0x90a Configuration/diagnostics error: Unknown SDO-cnf. Contact SICK service. 0x90b Configuration/diagnostics error: Unused SDO index. Contact SICK service. 0x90c 0x90d Configuration/diagnostics error: SDO #7 in slot list missing for at least one module. Contact SICK service. Configuration/diagnostics error: Index error in slot list. Contact SICK service. 0x90e Configuration/diagnostics error: Invalid position switch 0. Check switch settings. 0x90f Configuration/diagnostics error: Invalid position switch 1. Check switch settings. 0x903-0x908 144 Voltage monitoring error: Refer to the user manual for further details on this error code. Voltage monitoring error: Overvoltage power supply unit. Check power supply. © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions PROFINET IO Gateway Chapter 10 Flexi Classic Gateways Error type Message 0x910 Configuration/diagnostics error: CRC monitoring module list. 0x911 Configuration/diagnostics error: Monitoring time range constant. 0x912 Configuration/diagnostics error: SALI monitoring event. 0x913 Configuration/diagnostics error: Refer to the user manual for further details on this error code. Configuration/diagnostics error: Flexi Classic extension module has set emergency bit. Check extension module’s error code for further details. Configuration/diagnostics error: Flexi Classic master has set high-emergency bit. Check master module’s error code for further details. Configuration/diagnostics error: Program execution error. Contact SICK service. 0x914 0x915 0x916 0x918 Configuration/diagnostics error: Slot list in extension module is faulty. Contact SICK service. Configuration/diagnostics error: System tick exceeded. Contact SICK service. 0x919 Configuration/diagnostics error: Slot index error. Contact SICK service. 0x91a 0x91d Configuration/diagnostics error: Enter key not released while LED was flashing. Repeat process. Configuration/diagnostics error: Refer to the user manual for further details on this error code. Configuration/diagnostics error: External error hardware reset. Contact SICK service. Configuration/diagnostics error: Illegal error opcode reset. Contact SICK service. 0x91e Configuration/diagnostics error: Error clock generator reset. Contact SICK service. 0x91f Configuration/diagnostics error: Unexpected reset. Contact SICK service. 0x920 Configuration/diagnostics error: Unknown mask revisions. Contact SICK service. 0x921 0x983 Configuration/diagnostics error: Error clock generator loss of lock. Contact SICK service. Configuration/diagnostics error: Refer to the user manual for further details on this error code. Configuration/diagnostics error: Cross comparison input configuration erroneous. Contact SICK service. Configuration/diagnostics error: Cross comparison output state erroneous. Contact SICK service. Configuration/diagnostics error: Refer to the user manual for further details on this error code. Configuration/diagnostics error: Too many modules found. Verify that your Flexi Classic system comprises not more than 12 modules (relay modules excluded). Configuration/diagnostics error: Unknown module ID found. Verify that your Flexi Classic system comprises modules types according to the user manual only. Configuration/diagnostics error: Invalid jumper on S1. Check installation. 0x984 Configuration/diagnostics error: Invalid jumper on S2. Check installation. 0x985 Configuration/diagnostics error: Invalid jumper on S3. Check installation. 0x986 0xa01 Configuration/diagnostics error: Erroneous module configuration. Check program switch settings, cabling and EDM settings. Configuration/diagnostics error: Rotary switch changed during operation. Restore correct setting and power cycle Flexi Classic system or teach-in new setting. Configuration/diagnostics error: Incomplete data frame on IndexAssign. Contact SICK service. Configuration/diagnostics error: Refer to the user manual for further details on this error code. Logical error: Logical error in input group A. 0xa02 Logical error: Logical error in the start function group A. 0xa03 Logical error: Refer to the user manual for further details on this error code. 0xa04 Logical error: Logical error in the output function group A. 0xa05-0xa07 Logical error: Refer to the user manual for further details on this error code. 0xa08 Logical error: Logical error in the bypass function group A. 0x917 0x91b 0x91c 0x922-0x940 0x941 0x942 0x943-0x980 0x981 0x982 0x987 0x988 0x989-0x9ff 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 145 Chapter 10 PROFINET IO Gateway Operating Instructions Flexi Classic Gateways 146 Error type Message 0xa09-0xa0f Logical error: Refer to the user manual for further details on this error code. 0xa10 Logical error: Logical error in input group B. 0xa11 Logical error: Logical error in input group A and B. 0xa12-0xa1f Logical error: Refer to the user manual for further details on this error code. 0xa20 Logical error: Logical error in the start function group B. 0xa21 Logical error: Refer to the user manual for further details on this error code. 0xa22 Logical error: Logical error in the start function group A and B. 0xa23-0xa3f Logical error: Refer to the user manual for further details on this error code. 0xa40 Logical error: Logical error in the output function group B. 0xa41-0xa43 Logical error: Refer to the user manual for further details on this error code. 0xa44 Logical error: Logical error in the output function group A and B. 0xa45-0xa7f Logical error: Refer to the user manual for further details on this error code. 0xa80 Logical error: Logical error in the bypass function group B. 0xa81-0xa87 Logical error: Refer to the user manual for further details on this error code. 0xa88 Logical error: Logical error in the bypass function group A and B. 0xa89-0xaff Logical error: Refer to the user manual for further details on this error code. 0x7f01 Error on inputs I1/2: Time error 0x7f02 Error on inputs I1/2: Process error 0x7f03 Error on inputs I1/2: Cross circuit error 0x7f04 Error on inputs I3/4: Time error 0x7f05 Error on inputs I3/4: Process error 0x7f06 Error on inputs I3/4: Cross circuit error 0x7f07 Error on inputs I5/6: Time error 0x7f08 Error on inputs I5/6: Process error 0x7f09 Error on inputs I5/6: Cross circuit error 0x7f0a Error on inputs I7/8: Time error 0x7f0b Error on inputs I7/8: Process error 0x7f0c Error on inputs I7/8: Cross circuit error 0x7f0d Error: Feedback circuit S1 0x7f0e Error: Feedback circuit S2 0x7f0f Error: Feedback circuit S3 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Technical specifications Chapter 11 Flexi Classic Gateways 11 Technical specifications 11.1 Technical specifications fieldbus 11.1.1 PROFIBUS Interface Min. Fieldbus Typ. Max. PROFIBUS-DP-V0 Interface level RS-485 Connector technology Slave address D-Sub socket 9-pin 0 99 Baud rate (adjustment automatic) 12 MBaud Baud rate (kBits/s with standard cable) Max. cable length 9.6 / 19.2 / 93.75 1200 m 187.5 1000 m 500 400 m 1500 200 m 12000 100 m Cable parameters see chapter 4 “PROFIBUS DP Gateway” from p. 27. 11.1.2 Tab. 121: Technical specifications CANopen Interface Min. Fieldbus Typ. Max. CANopen Interface level Connector technology Slave address ISO DIS 11898 Open style connector, 5-pin removable terminal Address range 1..99, Setting via rotary switch Baud rate 125, 250, 500, 800, 1000 Kbit/s, Setting via DIP switch Function Gateway Function indication 3 LEDs green/red 2 switches 10-position Controls 1 DIP switch, 4-pole Terminals Removable screw terminals Max. number of modules / status in the system 1 / interaction-free slave on the internal safety bus, slave on the fieldbus Cable parameters see chapter 5 “CANopen Gateway” from p. 32. 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 147 Chapter 11 Technical specifications Operating Instructions Flexi Classic Gateways 11.1.3 DeviceNet Interface Min. Fieldbus Typ. Max. DeviceNet (Group 2 Only Server) Interface level ISO DIS 11898 Open style connector, 5-pin removable terminal Connector technology Slave address Baud rate 0 63 125 kBit/s 250 kBit/s Function 500 kBit/s Gateway Function indication 3 LEDs green/red 2 switches 10-position Controls 1 DIP switch, 4-pole Terminals Removable screw terminals Max. number of modules / status in the system 1 / interaction-free slave on the internal safety bus, slave on the fieldbus Cable parameters see chapter 6 “DeviceNet Gateway” from p. 47. 11.1.4 Modbus/TCP, EtherNet/IP, PROFINET IO Interface Fieldbus Integrated switch Min. Typ. Max. Modbus/TCP, EtherNet/IP, PROFINET IO 3-Port layer-2 managed switch with Auto-MDI-X for automatic detection of crossed Ethernet cable Connection technique RJ45 socket Transfer rate 10 Mbit/sec (10Base-T) or 100 Mbit/sec (100Base-T), autosensing Cable length Max. 100 m per segment Addressing factory setting IP: 192.168.250.250 Subnet mask: 255.255.0.0 Default gateway: 0.0.0.0 148 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Technical specifications Chapter 11 Flexi Classic Gateways 11.2 Technical specifications, supply circuit These technical specifications apply to all gateways. Supply circuit (via e.g. UE410-MU) Supply voltage Min. Typ. Max. 19.2 V DC 24 V DC 30 V DC Power consumption 1.6 W only UE410-EN: 2.4 W 11.3 Technical specifications application diagnostic outputs These technical specifications apply to all gateways. Application diagnostic outputs (X1-X4) Min. Type of output Typ. Max. PNP semiconductors, short-circuit protected Number of outputs 4 Switching voltage 18 VDC – 30 V DC Switching current – – 100 mA Total switching current 100 mA Load capacity 100 nF Cable length (single, 1.5 mm²) 11.4 50 m General technical specifications These technical specifications apply to all gateways. Terminals X1, X2, X3, X4 Outputs, short circuit proof — supplied via Flexi Classic system Fieldbus See section 11.1 “Technical specifications fieldbus” FlexBus 10-pin connector for internal safety bus (plug) Climatic conditions Ambient operating temperature TA –25 to +70 °C Storage temperature –25 to +70 °C Relative humidity 10 to 95%, non-dewing Climatic conditions (EN 61131-2) Air pressure in operation 8011834/YT28/2016-03-15 Subject to change without notice 860 to 1060 hPa © SICK AG • Industrial Safety Systems • Germany • All rights reserved 149 Chapter 11 Technical specifications Operating Instructions Flexi Classic Gateways Mechanical strength Sinusoidal vibration (EN 60068-2-6) Frequency range 5 to 150 Hz Amplitude 3.5 mm (5 to < 9 Hz) Acceleration 1 g (9 to 150 Hz) Number of cycles 10 per axis (on 3 axes) Vibration wideband noise (EN 60068-2-64) Frequency range Acceleration 10 to 500 Hz 5g Half-sinusoidal shocks (EN 60068-2-27) Acceleration 15 g Duration 11 ms Electrical safety See UE410-MU Enclosure rating (EN 60529) IP 20 Protection class III Electromagnetic compatibility EN 61131-2 / EN 61000-6-2 / EN 55011 Class A Mechanical and assembly Housing material Polycarbonate Housing type Device for control cabinet installation Housing enclosure rating/terminals IP 40 / IP 20 Colour Gateways Light grey Terminals (X1-X4) Terminal number 4 Terminal type Removable terminals Double-layer spring terminals Connection cross-sections 150 Single wire / fine wire 1 × 0.14 to 2.5 mm² / 2 × 0.14 to 0.75 mm² Fine wire with ferrules 1 × 0.25 to 2.5 mm² / 2 × 0.25 to 0.5 mm² Insulation stripping length max. 8 mm Weight 0.16 kg © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Technical specifications Chapter 11 Flexi Classic Gateways Electrical safety See UE410-MU Maximum tightening torque 0.5 to 0.6 Nm For UL and CSA applications Connection cross-sections AWG 18-16 (use only Cu cables) Max. tightening torque 5.25 lbs-in Flex-Bus connection (internal bus) Number of poles 10 Number 1 Gateways 1 plug (left) Mounting rail Mounting rail acc. to EN 50022-35 11.5 Dimensional drawing Fig. 23: Dimensional drawing Flexi Classic gateways 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 151 Technical specifications Chapter 11 Operating Instructions Flexi Classic Gateways 11.6 Device overview/part numbers Type Fieldbus Terminals Part number UE410-PRO3 PROFIBUS-DP Removable screw terminals 6028407 Double-layer spring terminals 6032678 Removable screw 6033111 UE410-PRO4 UE410-CAN3 CANopen terminals Double-layer spring UE410-CAN4 6033112 terminals UE410-DEV3 DeviceNet Removable screw 6032469 terminals UE410-DEV4 Double-layer spring terminals 6032679 UE410-EN1 EtherNet/IP Removable screw terminals 1042964 UE410-EN3 Modbus/TCP Removable screw terminals 1042193 UE410-EN4 PROFINET IO Removable screw 1044078 terminals Tab. 122: Part numbers PROFIBUS master simulator 11.7 Accessories/spare parts 11.7.1 PROFIBUS master simulator Part Description PR-MSV01 Interface converter for data exchange Part number 6022458 PROFIBUS-V0 with RS-232-D-Sub data cable 11.7.2 Tab. 123: Part number CD0ROM Flexi Classic CD-ROM Flexi Classic Part CD-ROM Flexi Classic Description Part number CD-ROM with „Flexi Classic Modular safety 2040322 controller“ and „Flexi Classic Gateways“ operating instructions, configuration software Flexi Classic configurator, application examples and Flexi Classic IP-Link configuration software (locates Flexi Classic Ethernet gateways in the network) 152 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Technical specifications Chapter 11 Flexi Classic Gateways 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 153 Chapter 11 Technical specifications Operating Instructions Flexi Classic Gateways 154 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15 Subject to change without notice Operating Instructions Technical specifications Chapter 11 Flexi Classic Gateways 8011834/YT28/2016-03-15 Subject to change without notice © SICK AG • Industrial Safety Systems • Germany • All rights reserved 155 8011834/YT28/2016-03-15 ∙ REIPA/XX (2016-04) ∙ A4 sw int44 India Phone +91–22–4033 8333 E-Mail [email protected] South Korea Phone +82 2 786 6321 E-Mail [email protected] Israel Phone +972-4-6881000 E-Mail [email protected] Spain Phone +34 93 480 31 00 E-Mail [email protected] Italy Phone +39 02 27 43 41 E-Mail [email protected] Sweden Phone +46 10 110 10 00 E-Mail [email protected] Japan Phone +81 (0)3 5309 2112 E-Mail [email protected] Switzerland Phone +41 41 619 29 39 E-Mail [email protected] Malaysia Phone +603 808070425 E-Mail [email protected] 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