AXL Sercos 3 BK Manual

AXL Sercos 3 BK Manual
User manual
UM EN SERCOS SYS
sercos System Manual for I/O Devices
User manual
sercos System Manual for I/O Devices
2011-11-21
Designation:
UM EN SERCOS SYS
Revision:
00
This user manual is valid for I/O devices with sercos interface.
8336_en_00
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Please observe the following notes
User group of this manual
The use of products described in this manual is oriented exclusively to qualified electricians
or persons instructed by them, who are familiar with applicable standards and other regulations regarding electrical engineering and, in particular, the relevant safety concepts.
Explanation of symbols used and signal words
This is the safety alert symbol. It is used to alert you to potential personal injury
hazards. Obey all safety measures that follow this symbol to avoid possible injury or death.
There are three different categories of personal injury that are indicated with a
signal word.
DANGER
This indicates a hazardous situation which, if not avoided, will result in death or serious injury.
WARNING
This indicates a hazardous situation which, if not avoided, could
result in death or serious injury.
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This indicates a hazardous situation which, if not avoided, could
result in minor or moderate injury.
This symbol together with the signal word NOTE and the accompanying text
alert the reader to a situation which may cause damage or malfunction to the
device, hardware/software, or surrounding property.
This symbol and the accompanying text provide the reader with additional information or refer to detailed sources of information.
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Table of contents
1
2
3
4
Introduction .............................................................................................................................1-1
1.1
General Information on sercos............................................................................ 1-1
1.2
Development of the sercos Automation Bus....................................................... 1-1
1.3
Ethernet in Industrial Communications with sercos ............................................ 1-1
Overview and Architecture ......................................................................................................2-1
2.1
Topology ............................................................................................................ 2-1
2.1.1
The Ring Structure .............................................................................. 2-1
2.1.2
The Linear Structure ........................................................................... 2-3
2.1.3
Advanced Topologies ......................................................................... 2-3
2.2
Installation .......................................................................................................... 2-4
2.3
Technical Properties of sercos ........................................................................... 2-4
2.4
Overview of Transmission Performance ............................................................. 2-5
2.5
Communication Model........................................................................................ 2-6
2.6
Basic Communication Profiles ............................................................................ 2-8
2.7
Device Model ..................................................................................................... 2-9
2.8
sercos Parameter Model .................................................................................. 2-11
2.9
Grouping of ID Numbers................................................................................... 2-14
2.9.1
SCP (sercos Communication Profile) ................................................ 2-15
2.9.2
GDP (Generic Device Profile) ........................................................... 2-16
2.9.3
FSP_IO (Function-Specific Profile for I/O Devices) ........................... 2-18
sercos Communication ...........................................................................................................3-1
3.1
Telegrams and Their Basic Structure ................................................................. 3-1
3.2
The Data Link Layer ........................................................................................... 3-5
3.2.1
The Service Channel .......................................................................... 3-5
3.2.2
The Hot-Plug Service .......................................................................... 3-5
3.2.3
The Realtime Channel (RTC) .............................................................. 3-6
3.3
Synchronization with sercos ............................................................................... 3-7
Planning ..................................................................................................................................4-1
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4.1
(Assembly) Directives and Standards................................................................. 4-1
4.1.1
Wiring ................................................................................................. 4-1
4.1.2
Plug Connector ................................................................................. 4-11
4.1.3
Grounding ......................................................................................... 4-11
4.2
Central and Distributed System Concepts........................................................ 4-16
4.3
Fast and Slow Connections .............................................................................. 4-16
4.3.1
Realtime Ethernet and Standard Ethernet ......................................... 4-16
4.3.2
Different Producer Cycle Times ........................................................ 4-16
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5
6
7
8
ii
Parameterization .....................................................................................................................5-1
5.1
Scope of Functions of the sercos I/O Master ...................................................... 5-1
5.2
Assignment/Definition Producer/Consumer........................................................ 5-1
5.3
Determining Cycle Times ................................................................................... 5-2
5.4
Parameterization Options ................................................................................... 5-2
5.4.1
Parameterization Phase CP2 .............................................................. 5-2
5.4.2
Parameterization Level (PL) ................................................................ 5-2
5.5
Creating sercos I/Os........................................................................................... 5-4
5.5.1
Creating a sercos Slave ...................................................................... 5-4
5.5.2
sercos I/O Settings .............................................................................. 5-5
5.5.3
sercos I/O Module ............................................................................... 5-6
Startup ....................................................................................................................................6-1
6.1
General Information on Initialization and the Six Communication Phases .......... 6-1
6.2
Phase Startup With Check of the Configured Data ............................................. 6-2
6.2.1
Communication Phase NRT (Non-Realtime Phase) ........................... 6-2
6.2.2
Communication Phase CP0 (Start Phase) .......................................... 6-2
6.2.3
Communication Phase CP1 (Configuration Phase) ............................ 6-2
6.2.4
Communication Phase CP2 (Parameterization Phase) ....................... 6-3
6.2.5
Communication Phase CP3 (Extended Parameterization Phase) ....... 6-3
6.2.6
Communication Phase CP4 (Operating Phase) .................................. 6-4
6.3
Loading, Storing and Saving of Parameters ....................................................... 6-5
Diagnostics .............................................................................................................................7-1
7.1
The Bus Diagnosis Function Group .................................................................... 7-1
7.2
The Diagnosis Function Group ........................................................................... 7-1
7.2.1
Diagnostic Messages of S-0-0390 ...................................................... 7-2
7.2.2
sercos LED ......................................................................................... 7-4
7.3
The I/O Diagnosis Function Group ..................................................................... 7-5
7.3.1
Diagnostic Messages of S-0-1500 ...................................................... 7-5
7.3.2
Diagnostics Messages of "S-0-15xx.y.17 DIAGIN" ............................. 7-9
7.4
General errors .................................................................................................. 7-10
Parameters .............................................................................................................................8-1
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8.1
General............................................................................................................... 8-1
8.2
Overview of GDP and SCP Parameters.............................................................. 8-2
8.3
Description of GDP and SCP Parameters .......................................................... 8-4
8.3.1
S-0-0014 Interface status .................................................................... 8-4
8.3.2
S-0-0017 IDN list of all operation data ................................................. 8-5
8.3.3
S-0-0021 IDN list of invalid operation data for CP2 ............................. 8-5
8.3.4
S-0-0022 IDN list of invalid operation data for CP3 ............................. 8-5
8.3.5
S-0-0025 IDN list of all procedure commands ..................................... 8-6
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Table of contents
8.3.6
8.3.7
8.3.8
8.3.9
8.3.10
8.3.11
8.3.12
8.3.13
8.3.14
8.3.15
8.3.16
8.3.17
8.3.18
8.3.19
8.3.20
8.3.21
8.3.22
8.3.23
8.3.24
8.3.25
8.3.26
8.3.27
8.3.28
8.3.29
8.3.30
8.3.31
8.3.32
8.3.33
8.3.34
8.3.35
8.3.36
8.3.37
8.3.38
8.3.39
8.3.40
8.3.41
8.3.42
8.3.43
8.3.44
8.3.45
8.3.46
8.3.47
8.3.48
8.3.49
8.3.50
8.3.51
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S-0-0095 Diagnostic message ............................................................ 8-6
S-0-0099 Reset class 1 diagnostic ...................................................... 8-7
S-0-0127 CP3 transition check ........................................................... 8-7
S-0-0128 CP4 transition check ........................................................... 8-7
S-0-0187 IDN list of configurable data as producer ............................. 8-8
S-0-0188 IDN list of configurable data as consumer ........................... 8-8
S-0-0192 IDN list of all backup operation data .................................... 8-8
S-0-0264 Backup working memory procedure command ................... 8-9
S-0-0265 Language selection ............................................................. 8-9
S-0-0266 List of available languages .................................................. 8-9
S-0-0267 Password .......................................................................... 8-11
S-0-0279 IDN list of password protected data ................................... 8-12
S-0-0390 Diagnostic number ............................................................ 8-12
S-0-0420 Activate parameterization level procedure command (PL) 8-13
S-0-0422 Exit parameterization level procedure command (PL) ....... 8-13
S-0-0423 IDN list of invalid data for parameterization level ............... 8-14
S-0-1000 List of SCP types & versions ............................................. 8-14
S-0-1002 Communication cycle time (tS-cyc) ................................... 8-16
S-0-1003 Allowed MST losses in CP3/CP4 ...................................... 8-16
S-0-1005 Minimum feedback processing time (t5) ............................ 8-16
S-0-1006 AT0 transmission starting time (t1) .................................... 8-17
S-0-1007 Feedback acquisition capture point (t4) ............................ 8-18
S-0-1008 Command value valid time (t3) .......................................... 8-18
S-0-1009 Device control (C-Dev) offset in MDT ................................ 8-19
S-0-1010 Length of MDTs ................................................................. 8-19
S-0-1011 Device status (S-Dev) offset in AT ..................................... 8-20
S-0-1012 Length of ATs .................................................................... 8-20
S-0-1013 SVC offset in MDT ............................................................. 8-21
S-0-1014 SVC offset in AT ................................................................ 8-21
S-0-1015 Ring delay ......................................................................... 8-22
S-0-1016 Slave delay (P/S) ............................................................... 8-22
S-0-1017 NRT transmission time ...................................................... 8-23
S-0-1019 MAC address .................................................................... 8-24
S-0-1020 IP address ......................................................................... 8-24
S-0-1021 Subnet mask ..................................................................... 8-25
S-0-1022 Gateway address .............................................................. 8-26
S-0-1023 SYNC jitter ........................................................................ 8-26
S-0-1024 SYNC delay measuring procedure command ................... 8-27
S-0-1026 Version of communication hardware ................................. 8-27
S-0-1027 MTU .................................................................................. 8-27
S-0-1027.x.02 Effective MTU ............................................................ 8-29
S-0-1028 Error counter MST-P/S ...................................................... 8-29
S-0-1031 Test pin assignment port 1 and port 2 ............................... 8-30
S-0-1035 Error counter port 1 and port 2 .......................................... 8-31
S-0-1040 sercos address .................................................................. 8-31
S-0-1041 AT Command value valid time (t9) .................................... 8-31
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8.3.52
8.3.53
8.3.54
8.3.55
8.3.56
8.3.57
8.3.58
8.3.59
8.3.60
9
S-0-1044 Device control (C-Dev) ...................................................... 8-32
S-0-1045 Device status (S-Dev) ....................................................... 8-33
S-0-1050 sercos connections ........................................................... 8-35
S-0-1051 Image of connection setups .............................................. 8-41
S-0-1300 Electronic label .................................................................. 8-41
S-0-1301 List of GDP classes & version ........................................... 8-44
S-0-1302 Resource structures of sub-device .................................... 8-44
S-0-1303 Diagnosis trace ................................................................. 8-46
S-0-1305.0.01 sercos current time .................................................... 8-48
8.4
Overview of the Parameters in FSP_I/O ........................................................... 8-49
8.5
Description of the Parameters in FSP_I/O ........................................................ 8-50
8.5.1
S-0-1500 I/O Bus coupler .................................................................. 8-50
8.5.2
S-0-15xx I/O function groups ............................................................ 8-59
Function Groups .....................................................................................................................9-1
9.1
Function Groups of the SCP (sercos Communication Profile) ............................ 9-1
9.1.1
FG SCP Identification .......................................................................... 9-1
9.1.2
FG Timing ........................................................................................... 9-1
9.1.3
FG Telegram Setup ............................................................................ 9-1
9.1.4
FG Control .......................................................................................... 9-2
9.1.5
FG Bus Diagnosis ............................................................................... 9-2
9.1.6
FG Connection .................................................................................... 9-2
9.1.7
FG NRT .............................................................................................. 9-3
9.2
Function Groups of the GDP (Generic Device Profile) ........................................ 9-3
9.2.1
FG Diagnosis ...................................................................................... 9-3
9.2.2
FG Archiving ....................................................................................... 9-4
9.2.3
FG Administration ............................................................................... 9-4
9.2.4
FG Identification .................................................................................. 9-4
9.2.5
FG State Machine ............................................................................... 9-4
9.2.6
FG Time .............................................................................................. 9-4
9.3
Function Groups of the FSP_IO (Function-Specific Profile) ................................ 9-5
9.3.1
S-0-1500 I/O Bus coupler .................................................................... 9-5
10 Glossary ................................................................................................................................10-1
A
iv
Index....................................................................................................................................... A-1
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Introduction
1
Introduction
1.1
General Information on sercos
sercos (serial realtime communication system) is an open, digital interface, which, based
on standard Ethernet, serves as a communication interface between controllers, drives,
I/Os (input and/or output devices) and combinations of drives and I/Os.
sercos is in the third generation of the automation bus series according to IEC/EN 61491.
Further development, standardization and certification of this interface are performed by
around 80 predominantly international companies involved in automation technology which
are members of the "sercos international e. V." (SI) user organization. The organization's
headquarters are based in Süßen near Stuttgart, Germany, with subsidiaries in North
America and Asia (see http://www.sercos.de).
1.2
Development of the sercos Automation Bus
In the mid 1980's, the Zentralverband Elektrotechnik- und Elektronikindustrie e. V. (ZVEI)
and the Verein Deutscher Werkzeugmaschinenfabriken e. V. (VDW) drew up the
specifications for an open, digital interface.
The rapid development of the sercos interface is clear to see from the transmission speeds
it supports. The first generation had a transmission speed of 2 and 4 Mbps, the second a
speed of 8 and 16 Mbps and the third generation can reach transmission speeds of up to
100 Mbps.
The second generation sercos was recognized as the international standard IEC 61491 in
1995 and as the European standard EN 61491 in 1998. The third and current generation
was developed on the basis of standard Ethernet, whereby tried-and-tested mechanisms
such as Motion Control Profile, the telegram structure and hardware synchronization were
retained. In order to meet realtime requirements, a collision-free realitime (RT) channel was
created, which runs parallel to an optional non-realtime (NRT) channel, in which random
Ethernet telegrams can be transmitted.
1.3
Ethernet in Industrial Communications with sercos
The increasing amount of control components, actuators and sensors in industrial
automation is resulting in increasingly complex control networks. sercos can provide a costeffective networking of these automation components with the Ethernet standard, adapted
to the requirements of industrial automation.
sercos increases both the profitability and efficiency of machines and systems. With highly
synchronized and high-performance realtime Ethernet communication and a wide range of
profiles, sercos can increase productivity while lowering development and startup costs.
Ethernet, which is well known in office environments, and its mechanisms such as TCP/IP
and UDP, are used directly in a sercos network, enabling vertical integration, from the office
to the field.
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The distinction between a high-performance drive bus and a classic fieldbus for the
coupling of remote peripheral devices will thus no longer exist in the future and will be
replaced by a universal communication network. This network will have to combine the
features of a high-performance motion bus with the features of the classic fieldbus and
support peripheral devices as well as central system structures. This development will be
made possible by the continuously increasing performance capabilities of computer
platforms and the increased power of communication technology between the devices.
1-2
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Overview and Architecture
2
Overview and Architecture
2.1
Topology
sercos works with the producer/consumer model, whereby the typical master/slave
principle and the slave/slave principle can be used. In addition to the ring structure, which
was used by sercos I and II, a linear structure can also be used. Furthermore, hierarchical,
cascaded network structures are also possible.
Special switches can be used to integrate standard Ethernet devices either individually or
in a star topology. The network structure can thus be perfectly adapted to meet the
requirements of the respective system.
2.1.1
The Ring Structure
In connection with the Ethernet physics, the ring structure offers the advantages of a double
ring structure with the ability to transmit data redundantly (ring redundancy). The master
sends data to the ring in opposite directions from the two ports; the data which is traveling
in each direction can be analyzed (primary and secondary channel / P-Channel and SChannel). This ensures full connectivity in the event of a cable break or interruption in any
part of the ring. Here the high-performance controllers of the slaves immediately switch to
two separate lines at the point of interruption. The system thus continues to run without
errors while the integrated diagnostics signal the defective cable connection.
The reconfiguration time in the event of such an error is a maximum of 25 µs, ensuring that
only the data from one cycle can be lost. The point of interruption can be located accurately
and, if necessary, the defective cables can be replaced during operation. This redundancy
also allows devices to be coupled in or decoupled during servicing or when connecting
additional devices. First the ring is split into two lines and afterwards it is combined into one
ring.
There is also redundancy when there is parallel communication between two devices. If the
two devices are on the same line the data is transmitted in the same sercos cycle. If the two
devices are on different lines the controller copies the data from the controller to the other
line; this causes a sercos cycle offset. This is marked in the "Data field delay" field of
"S-0-1050.x.08 Connection control (C-Con)".
In the event of redundancy the synchronization remains at the relative quality level.
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P-Channel/
P-Telegram
S-Channel/
S-Telegram
Figure 2-1
2-2
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Ring structure (double ring)
8336_en_00
Overview and Architecture
2.1.2
The Linear Structure
All sercos devices are arranged in a serial way. The master is located at the start of a line or
between two lines. Data passes through the slaves and is returned by the last device (loop
back). All devices analyze the data that is passing in both directions, and this guarantees
that all data reaches every device during one cycle.
Advantage: Simple and low-cost networking of devices over long distances, e.g., assembly
lines. The linear structure eliminates the need for a cable connection, which can be
advantageous for systems covering a wide area. However, it does not offer the advantage
of redundancy.
With sercos, runtimes and jitters are reduced to a minimum, since realtime data is
processed by the nodes during the cycle ("on the fly").
Figure 2-2
2.1.3
Linear structure (single ring)
Advanced Topologies
The traditional lines between control and drive technology and between central and
peripheral devices are becoming increasingly blurred. On the one hand, drives and I/O
devices with integrated control and technology functions are used in decentral, distributed
system architectures. On the other hand, there exist central solutions, such as a central
device with integrated controller, technology and drive controller, which communicates with
an intelligent power level. The most suitable system structure depends on the topology of
the machine system. This has resulted in the emergence of hybrid devices, which are
suitable not only for individual applications, but combine several different applications in
one device.
sercos also supports hierarchical, cascaded network structures. Here the individual
network segments are networked via defined mechanisms. This offers the following
advantages:
– The individual network segments can be operated with different cycle times.
For example 250 µs for the networking of various drives and fast I/Os and 2 ms for the
networking of the individual controllers.
– The interconnection of the individual network segments forms a realtime-coupled and
fully synchronized structure.
– The synchronization of all devices in the entire network is guaranteed.
– Devices throughout the network can communicate with one another in realtime.
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2.2
Installation
The installation of a sercos network is simple and requires no special network configuration.
All devices are connected to one another by means of patch or crossover cables, whereby
the Ethernet ports (P1 and P2) of the devices can be freely exchanged and can also be used
to connect standard Ethernet devices (e.g. notebooks) to a sercos realtime domain. This
means that any Ethernet or IP protocols can be used to access sercos devices, without
affecting the realtime behavior of the sercos realtime domain.
sercos is based on the 100 Mbps Ethernet standard and as such corresponds to
ISO/IEC 8802-3 (IEEE 802.3) for the hardware interface. The only hardware requirement in
the sercos specification is that when twisted pair cables are used, auto crossover is
supported and that CAT5 cables or better are used. The cables should also be suitably
shielded (FTP, SFTP or STP) in order to ensure adherence to legal specifications (EMVG,
Low-Voltage Directive).
2.3
Technical Properties of sercos
The most important properties of sercos at a glance:
– sercos connectors (P1 and P2 as two RJ45 sockets), each with auto negation and auto
crossover
– 100 Mbps transmission speed
– Full-duplex Ethernet (bidirectional), copper or fiber optics
– sercos diagnostic LED
– FSP-IO (Function Specific Profile-IO) for modular I/O devices
– Various realtime data connections are possible (master/slave communication and
cross communication)
– The communication cycle can be varied between minimum 31.25 µs and maximum
65 ms
– Standard Ethernet protocol (integration of any Ethernet protocols such as UDP/IP and
TCP/IP)
– Direct connection of IP devices
– Cyclic realtime data traffic (clocked data traffic without risk of collision due to
apportioned time slot)
– Hot-plug function
– Realtime precision (jitter of the sercos master is ±10 ns)
– Synchronization of several motion controls
– Fault tolerance for cable breaks when a ring topology is used
– Safety functions can be implemented in accordance with IEC 61508 to SIL3
2-4
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Overview and Architecture
2.4
Overview of Transmission Performance
sercos's transmission performance meets a wide range of requirements. The following table
shows examples of possible performance values.
Table 2-1
Cycle time, realtime data and device ratios
Cycle time in µs
31.25
31.25
62.5
125
250
250
500
1000
1000
1000
Cyclic data per device in bytes
116 (928 bits)
6
12
12
12
32
12
50
32
12
Max. devices
2
8
16
30
66
34
130
100
140
254
You can also consider the update time.
– 424 bytes are required to transmit 1000 digital I/Os,
8 µs are required to transmit 100 bytes with 100 Mbps,
that means 34 µs for 424 bytes.
– With ring cabling the transfer time through 8 devices is
8 x 0.6 µs = 4.8 µs.
This leads to an update time of 38.4 µs for 1000 digital I/Os.
For example 12750 digital I/Os can be transmitted with a sercos cycle time of 250 µs.
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2.5
Communication Model
All communication-relevant relationships between sercos devices can be divided into three
layers:
– Communication layer
– Data link layer
– Application layer
Each layer has specific, non-overlapping tasks and features separate parameters (IDNs),
separate control/status words and a specific error handling procedure. It is only ever the
same layers that communicate with each other between the various nodes of a sercos
network. The communication layer and data link layer are specified via the SCP (sercos
Communication Profile), while the application layer is divided into a generic device profile
(GDP) and a function-specific profile (FSP) for I/Os, drives and encoders.
Figure 2-3
Communication layer
Communication model for the various layers
The properties and tasks of the communication layer are:
– Handling of the communication phases
– Synchronization, timer control
– Telegram handling
– Topology status and control
– Service channel (SVC)
The MDTs (Master Data Telegrams) are used by the sercos master for the transmission of
control data (phase, synchronization, commanded topology, identification, service channel,
etc.) to the slaves. The ATs (Acknowledge Telegrams) are used by the slaves for the
transmission of status information to the master (topology address, active topology, error
flags, service channel). For this reason there exists a peer-to-peer relationship between the
communication layers of the sercos master device and the slave devices. Here the master
uses the MDT telegrams for its specifications and the slave uses the AT telegrams for its
status.
The communication layer is a 1:1 relationship between master and slave. This relationship
exists in all sercos phases and always with this telegram assignment, even if the position
and telegram number in the phases may change.
2-6
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Overview and Architecture
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.<=%688,'*%4(%>#
-./0/101C2
"'345'%,*@*A,%688,'*%4(%!"#
-./0/10112
>#%&'()*+,%-./0/101?2
Figure 2-4
Data link layer
Telegram structure of the communication layer
MDT
Master data telegram
SVC
Service channel
C-Dev
Device control word
AT
Acknowledge telegram
S-Dev
Device status
The properties and tasks of the data link layer in sercos are:
– Control and monitoring of the connections
– Configuration of realtime data
– Error handling for the connection
For this purpose there exists a single and multicast relationship between the data link layers
of a producer and a consumer. All slaves and the master can be both producers and
consumers.
Application layer
8336_en_00
The function-specific data of the devices (master and slaves) is produced or consumed in
the application layer. Data is exchanged via the communication and data link layers.
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2.6
Basic Communication Profiles
sercos defines two basic communication profiles which can be specified for slaves. These
relate to the basic communication and are mutually exclusive. The communication profile
implemented in the device is stored in the "www.phoenixcontact.com" parameter. The
profiles feature the following properties:
SCP_FixCFG
sercos Communication profile fix configuration
– Features a full service channel
– Has one master-slave connection
– Has telegram contents which are not configurable but are defined via the respective
FSP (Function-specific profile)
– Cannot be used for cross communication (CC)
SCP_VarCFG
sercos Communication profile variable configuration
– Features a full service channel
– 0 ... n connections
– Master-slave or cross-communication connections possible
– Telegram contents configurable or of type "Container"
– Additional function packages possible, e.g.,
– SCP_Sync: Clock-synchronous
– SCP_NRT: NRT channel
– SCP_Diag: Support for all error counters
"S-0-1000 List of SCP
types & versions" bit
assignment:
2-8
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Table 2-2
S-0-1000 bit assignment:
Bit
Designation/Function
3-0
Version of the SCP class
7-4
Reserved
15-8
SCP class
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Overview and Architecture
2.7
Device Model
The following typical functions are implemented in individual or multiple instances of a
complex sercos device:
– Drive with command value processing, operating module control, axis control, encoder
function, motor control depending on actuator design for electric or hydraulic servos
– Virtual master axis
– Measuring transducer
– Encoder emulator
– Cam-operated switch
– PLC system
– Digital and analog inputs/outputs
The general term "resource" is defined for functions which are essentially independent of
each other. A resource contains one or more function groups in order to fulfill its purpose.
The "Real axis" resource, for example, contains several function groups such as positioning
control, status machine control, operating mode, positioning mode, motor encoder
evaluation or scaling.
The resources are implemented in a device designated as a sub device, which offers the
required administrative mechanisms. Multiple sub devices can be available for each device.
The advantage of this is that, if necessary, these resources can be used independently in a
more complex device with several integrated resources. Each sub device has an
independent parameter address area. The sub device itself contains several function
groups in order to fulfill the required administrative functions, such as sub-device
initialization, parameter protection or error handling. One or more resources are integrated
in each sub device.
For communication, the sercos device requires a sercos interface. The interface provides
physical access to the sercos network. The sercos interface is used by one or more sercos
slaves, which contain the logical realtime channels and also the specific conditions and
communication-related administrative mechanisms. As a result of this fragmentation and as
is the case during the introduction of several sub devices into one device, independent
communication units can be managed.
Each sub device is assigned to exactly one sercos slave. The sercos slave contains
communication-related function groups, such as the configuration of realtime
communication.
The physical structure of a sercos device consists of one or more components. Each
component can usually be set up independently. In a system such as a modular I/O device,
these components are usually organized into separate modules which correspond to its
slots.
The physical structure can be fully independent of the logical sequence of a device. This
means that the complete device model for sercos devices consists of the two independent
logical and physical dimensions (see Figure 2-5).
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Figure 2-5
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Structure diagram of a sercos slave with physical sequence
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Overview and Architecture
2.8
sercos Parameter Model
All parameters are assigned identification numbers (IDNs). Each parameter consists of
various elements, which are used to transport additional information. This information is
required in order to be able to detect and control any devices (slaves) in the system. The
IDN range was extended to 32 bits in sercos for this purpose (EIDN). This ensures that an
independent parameter range is available to each device, regardless of whether it is a
function group for a slave, a device, a sub device or a resource.
The symbolic structure of EIDNs in sercos is defined as follows:
<IDN>. <SI>. <SE>
EIDN
SI
31
SE
24 23
IDN
16 15 14
0
12 11
Bit 11-0: Data block number
Bit 14-12: Parameter set (PS)
Bit 15:
S/P parameter (S/P)
Bit 23-16: Structure element (SE)
Bit 31-24: Structure instance (SI)
Figure 2-6
sercos parameter model
S-0-0014.0.0
Bit
15
Bit
14-12
Figure 2-7
Bit
11-0
Bit
Bit
31-24 23-16
IDN structure
Data block number
Bits 11-0: (E)IDN number
– Data block number (SI = SE = 0)
– Function group (SI or SE unequal 0)
Parameter set
Bits 14-12: Parameter record
S/P parameter
Bit 15: Indicates whether it is standard data (S) or product-specific data (P).
Structure instance (SI)
Bits 31-24: The structure instance is used to address the same type of structure within a
device. As a result, 255 instances of the same structure are possible in a device. In a
modular I/O station the structure instance corresponds to the slot number after the bus
coupler.
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Structure element (SE)
The structure element is used to address the elements. As a result, up to 256 elements are
possible. The structure elements 1 to 127 are specified; the remainder up to 255 are
producer-specific.
The following figure shows an example structure of a modular I/O station.
S-0-15XX.SI.SE
Module 0
Module 1
=SI(0)
=SI(1)
sercos
S-0-1503
.
bus coupler
.
.
S-0-1500
.
.
SE1
SE1
SE2
SE2
SE3
SE3
.
.
Figure 2-8
Module 2
=SI(2)
S-0-1503
.
.
.
.
.
SE1
SE2
SE3
.
Module 3
=SI(3)
S-0-1504
S-0-1505
.
.
.
.
SE1
SE2
SE3
.
Module 4
=SI(4)
S-0-1502
.
.
.
.
.
SE1
SE2
SE3
.
Structure element SE
Structure instance SI
Modular I/O station
In the above example, structure instance 1503 has two function groups.
The modular I/O station consists of the following modules:
– Module 0: Bus coupler
– Module 1: Digital inputs
– Module 2: Digital inputs
– Module 3: Analog inputs, analog outputs
– Module 4: Digital outputs
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Overview and Architecture
The sub device has a closed, independent parameter range. This means that all parameters
are available in the context of the sub device, whether the function group belongs to the
sercos slave, the sercos device, the sub device or the resource. The cyclic parameter
access services are addressed via the sercos address of the sercos slave assigned to the
sub device.
Devices and sercos interface-specific parameters can be addressed by all sercos
addresses of this device, but it is always the same value that is addressed. Such parameters
are known as "global parameters" (see Figure 2-9). Here are a few typical examples of
global parameters:
– S-0-1002, cycle time (tScyc) –
a sercos interface-specific global parameter
– S-0-1300, electronic device identification – a device-specific global parameter
P-x-4095
local Parameters
global Parameters
S-x-0001
SubDevice 1
SubDevice 2
SubDevice (n)
Parameter of the Device
Figure 2-9
Parameter addressing of global and local parameters
Slave- and sub-device-specific parameters can only be addressed by the specific slave.
These parameters are known as "local parameters". Most parameters in a device are of this
type.
Example: S-0-1040
The sercos address is a slave-related and subsequently a local parameter.
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2.9
Grouping of ID Numbers
Each identification number (IDN) is assigned to precisely one function group. A function
group is a functional grouping of IDNs. Each function group exists within a so-called profile
range. These profile ranges are:
– SCP (sercos Communication profile)
– GDP (Generic device profile)
– FSP (Function specific profile such as FSP_Drive or FSP_I/O)
An application expects certain functions from a device. This can be called Application
Profiling. Application Profiling uses classes to group functionalities and technical
specifications.
Each of the various profiles (SCP, GDP, FSP) has an IDN, which indicates the classes
implemented in a device.
SCP: IDN S-0-1000 List of SCP types & versions
GDP: IDN S-0-1301 List of GDP classes & version
FSP: IDN S-0-1302 Resource structures of sub-device
The structure diagram of a sercos device illustrates the segmentation and structure of the
various sub areas. The sercos interfaces and the sercos slaves belong to the sercos
communication profile (SCP) and are defined for all sercos slave devices. Device and sub
device belong to the GDP (Generic device profile). The individual resource is described by
different function groups (FG).
Figure 2-10
2-14
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Structure diagram of a sercos slave device
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Overview and Architecture
2.9.1
SCP (sercos Communication Profile)
All sercos devices, that is also drives, cameras, scales in addition to I/Os use these function
groups and parameters.
The SDP (sercos communication profile) is divided into the following function groups:
– FG SCP identification
– FG Timing
– FG Telegram setup
– FG Control
– FG Bus diagnosis
– FG Connection
– FG NRT
FG SCP identification
The SCP identification function group comprises all IDNs for classification of a slave on the
SCP level.
FG Timing
The Timing function group comprises all IDNs for timing.
FG Telegram setup
The Telegram setup function group comprises all IDNs for the telegram setup.
FG Control
The Control function group comprises all IDNs for the control of the communication state
machine of the slave.
FG Bus diagnosis
The Bus diagnosis function group comprises all IDNs for bus diagnostics.
FG Connection
The Connection function group comprises all IDNs connection configuration.
FG NRT
The NRT (non-realtime) function group comprises all IDNs for communication over the NRT
channel.
Please refer to Section “Function Groups of the SCP (sercos Communication Profile)” on
page 9-1 for a detailed list of the associated IDNs.
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2.9.2
GDP (Generic Device Profile)
The objective of the Generic Device Profile (GDP) is to provide a view of the sub device
which is independent of the implemented function profile (FSP).
The GDP (General Device Profile) contains the sub-class GDP_Basic, whose parameters
must be implemented in all sercos devices.
There are also LED displays for diagnostic and status functions, which are not part of the
GDP_Basic class, but which are nonetheless expressly recommended for all devices (see
Chapter 7.2 on page 7-1).
All sercos devices, that is also drives, cameras, scales in addition to I/Os use these function
groups and parameters.
The IDN S-0-1301 List of GDP classes & version contains a list of the functions of the sub
device.
"S-0-1301 List of GDP classes & version" bit assignment
Table 2-3
S-0-1301 bit assignement
Bit
Designation/Function
3-0
Version of the GDP class
7-4
Reserved
15-8
GDP class
The GDP is part of the application layer of a sercos device. It represents the part of the
application layer which is not used for a pre-specified function, such as FSP-Drive or
FSP-IO.
The GDP is divided into function groups:
– FG Diagnosis
– FG Archiving
– FG Administration
– FG Identification
– FG StateMachine
– FG Time
FG Diagnosis
The Diagnosis function group has the task of providing the sercos master with a defined
connection for diagnostic tasks.
These include
– Access to diagnostic numbers and messages and the corresponding time stamps
– The resetting of this information
– sercos LED
FG Archiving
The Archiving function group has the task of providing the sercos master with a defined
connection for archiving tasks.
These include
– Access to data lists which must be saved in order to create a backup
– Access to the checksums of this data and process commands in order to create a
backup and restore these
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Overview and Architecture
FG Administration
The Administration function group has the task of providing the sercos master with a defined
connection for administrative tasks.
These include
– Language settings in the sub devices
– Assignment of passwords required to change data
FG Identification
The Identification function group has the task of providing the sercos master with a defined
connection for identification tasks.
These include
– Access to all electronic identifications for all available components of the device. Here
each component is represented by a structure instance (SI) of the electronic
identification parameter (S-0-1300).
– Specifications for the function-related view of the sub device.
FG State machine
As an extension to the communication state machine, each sub device must feature a state
machine sub device, which indicates the operation status of the application.
FG Time
The Time function group describes transmission and activation of the sercos time in the
slave in relation to the current time of the master.
Please refer to Section “Function Groups of the GDP (Generic Device Profile)” on
page 9-3 for a detailed list of the associated IDNs.
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2.9.3
FSP_IO (Function-Specific Profile for I/O Devices)
The FSP (Function specific profile) contains device- and application specific parameters.
FG bus coupler
–
S-0-1500 I/O Bus coupler
Device-specific function
groups
The following device-specific function groups are included in this application description:
– S-0-1502 I/O function group digital output
for devices with digital outputs
– S-0-1503 I/O function group digital input
for devices with digital inputs
– S-0-1504 I/O function group analog output
for devices with analog outputs (current, voltage)
– S-0-1505 I/O function group analog input
for devices with analog inputs (current, voltage, temperature, strain gauge)
– S-0-1506 I/O function group counter
for devices with a counter
The device registers and processes quick pulse trains from sensors. It has a counter
input, a control input and a switching output for free parameterization. In this way it is
possible to have high system availability and fast response times. The device is suitable
for frequency measurement, event counting, time measurement and pulse generation
(pulse generator).
– S-0-1507 I/O function group complex protocol
for devices with, for example, RS-232 or RS-485 interface
– S-0-1508 I/O function group sub bus master
for devices with a lower-level bus master,
for example, I/O link, Profibus, CAN bus, DALI, etc.
– S-0-1509 I/O function group sub bus slave
for devices attached to a lower-level bus master,
for example, I/O link, Profibus, CAN bus, DALI, etc.
– S-0-1513 I/O function group motor starter
for devices with servo amplifier with position, speed, or torque controller for motors
– S-0-1514 I/O function group PWM
for devices with PWM mode (pulse width modulation), frequency generators, single
shot (single pulse generator), pulse direction signals
– S-0-1515 I/O function group positioning
for devices used for detection of positions (length) or angles via connected incremental
encoders
.
Please refer to Section “Function Groups of the FSP_IO (Function-Specific Profile)” on
page 9-5 for a detailed list of the associated IDNs.
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sercos Communication
3
sercos Communication
3.1
Telegrams and Their Basic Structure
sercos uses Ethernet as a physical and transport layer for a cyclic communication cycle in
a range between 31.25 µs and 65 ms. In each communication cycle and for each sercosrelated exchange of data, two to eight sercos Ethernet frames are available.
S III Ethernet type = 0x88CD
Media Layer
MAC Layer
IDLE
SSD
> 11+1 byte
Preamble
SFD
7+1 byte
Target
address
Source
address
Ethernet
MST
type (S III-Header)
6 bytes
6 bytes
2 bytes
6 bytes
Data field
FCS
ESD
40-1494 bytes
4 bytes
1 byte
S III data length
Check via FCS
Telegram length: 72 ... 1526 (Overhead: 26 + 6 = 32 bytes)
Telegram time: 5.8 µs ... 122.1 µs
Telegram length: 84 ... 1538 (Overhead: 38 + 6 = 44 bytes)
Telegram time: 6.8 µs ... 123.1 µs
Figure 3-1
Realtime channel
General telegram structure for sercos MDT and AT telegrams
The telegrams defined by sercos (Ethertype 0x88CD) are transmitted in a collision-free
realtime channel.
sercos enables the exchange both of realtime data with a fixed length and of messages with
a variable length between a master and the associated slaves. A direct realtime data
exchange between slaves (cross communication) is also possible via the realtime channel
(RTC) in each communication cycle. The exchange of realtime data is fully synchronized
and based on the configuration and is not affected by the volume of messages.
sercos recognizes two types of telegrams:
– Master Data Telegram (MDT)
– Acknowledge Telegram (AT)
MDTs and ATs are sent from the master and checked via an FCS (frame check sequence).
The telegrams can be arranged in the communication cycle with various methods (see
Figure 3-2 on page 3-2), whereby Method 1 is preferable, since the IP channel time can be
used as the calculating time in the controller (e.g., time for evaluating the actual values and
for calculating new desired values).
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MDT0
H M
D S
R T
MDT1
H M
D S
R T
MDT2
H M
D S
R T
MDT3
H M
D S
R T
AT0
H M
D S
R T
AT1
H M
D S
R T
AT2
H M
D S
R T
AT3
ETH telegrams
MDT0
H M
D S
R T
H M
D S
R T
RT channel
NRT channel
Method 1
Communication cycle
MDT0
H M
D S
R T
MDT1
H M
D S
R T
MDT2
H M
D S
R T
MDT3
ETH telegrams
AT0
H M
D S
R T
RT channel
AT1
H M
D S
R T
H M
D S
R T
AT2
H M
D S
R T
AT3
H M
D S
R T
MDT0
H M
D S
R T
RT channel
NRT channel
Method 2
Communication cycle
Figure 3-2
Master Data Telegram
(MDT)
Two methods for configuring a communication cycle
MDTs are reserved for the transmission of realtime data from the sercos master to the
slaves. The slaves can only read the contents of these MDTs. sercos specifies four MDTs
(MDT0 to MDT3). The MDTs contain all of the information (e.g. synchronization, command
values, etc.) that is sent from the master to the slaves via the realtime channel.
MDT0 is always transmitted. MDT1 to MDT3 are only transmitted when necessary,
depending on the total quantity of data to be transmitted from the master to all slaves. The
master always sends the same number of MDTs in each communication cycle. The end of
the MST (sercos header of MDT0) in MDT0 is used for synchronization and starts the
communication cycle of the slaves.
MDT0
AT0
H M
D S
R T
H M
D S
R T
IP telegrams
MDT0
H M
D S
R T
RT channel
NRT channel
Communication cycle
Synchronization trigger
(once per cycle)
Figure 3-3
Acknowledge Telegram
(AT)
Synchronization via MDT0.
ATs are used primarily to transfer the realtime data of the slaves to the master, and, in rare
cases, from the master to the slaves (e.g., to transfer the same information from the master
to multiple slaves). Cross communication (CC) in realtime is channeled exclusively via ATs
and can take place between various controllers, also known as C2C (Controller to
Controller), or as cross communication between peripherals (e.g., I/O devices or drives).
ATs can be read and written by all sercos nodes. sercos specifies four ATs (AT0 to AT3).
The number of ATs is dependent on the total quantity of data to be transmitted.
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sercos Communication
Preamble
SERCOS type
= MDT0-P/S
Target
address
SFD
CP0
CRC
Source
address
0x88CD
Communication
version; 4 bytes
MST
Data field
FCS
36 bytes
padding
1024 bytes
SERCOS type
= AT0-P/S
CP0
CRC
SEQCNT
2 bytes
TADR
#1
2 bytes
...
Figure 3-4
Structure of the MDT and AT array
Table 3-1
sercos type structure
Bit
Description
7
Primary or secondary telegram
6
TADR
#510
2 bytes
TADR
#511
2 bytes
Comment
0: Telegram on the primary channel
P-Telegram
1: Telegram on the secondary channel
S-Telegram
MDT or AT
sercos telegram type
0: MDT
1: AT
5
Cycle CNT
Is required to set the sercos time
0: Cycle CNT deactivated
Is defined in the MDT
1: Cycle CNT activated
4
Reserved
3-2
Telegram number (4 -15)
1-0
Telegram number
From MDT and AT
00: Telegram number 0
01: Telegram number 1
10: Telegram number 2
11: Telegram number 3
Telegram configuration
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The assignment of the service channel (SVC) and the realtime data arrays (RTD) in the
MDT and AT is configured using parameters. The length of the realtime data arrays in the
MDT and AT is dependent upon the application and can vary for the individual slaves
depending on the configuration.
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The number of MDTs and ATs may also vary. The configuration must meet the following
requirements:
– All service channels must be configured directly downstream of the hot-plug field.
– All realtime data arrays must be configured directly downstream of the last service
channel.
– All SVCs of a slave device must be transmitted in an MDT and an AT. The telegrams
must contain as many SVCs as possible before the next MDT or AT is used.
– All realtime data (RTD) of a slave device must be transmitted in an MDT and an AT. The
telegrams must contain as much realtime data as possible before the next MDT or AT
is used.
Non-realtime channel
(NRT)
A further component of sercos communication is a non-realtime channel (NRT), in which the
exchange of random standard Ethernet frames between sercos devices and other
connected Ethernet network nodes is possible.
The time slot reserved for this purpose is determined by the following time parameters:
– t6 (S-0-1017, List element 0) and
– t7 (S-0-1017, List element 1)
MDT0
H M
D S
R T
MDT1
H M
D S
R T
MDT2
H M
D S
R T
MDT3
H M
D S
R T
AT0
H M
D S
R T
AT1
H M
D S
R T
AT2
H M
D S
R T
RT channel
t6
AT3
ETH telegrams
H M
D S
R T
MDT0
H M
D S
R T
NRT channel
(MTU)
t7
tScyc
Figure 3-5
3-4
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Time parameters of the NRT channel
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sercos Communication
3.2
The Data Link Layer
The data link layer specifies various sercos services for reading and writing the data within
the sercos network.
Use of these services depends on the identification number (IDN) used by sercos.
There are three types of services:
– Service channel (acknowledged, not cyclic)
– Hot-plug service (acknowledged and not acknowledged, not cyclic)
– Realtime channel (not acknowledged, cyclic)
3.2.1
The Service Channel
Communication settings as well as parameter and diagnostic data can be exchanged
between the controller master and the individual slaves via the sercos service channel.
With this service, the master reads or writes the IDN elements of a slave.
3.2.2
The Hot-Plug Service
The sercos hot-plug service enables devices that have not been involved in a scheduled
phase startup (communication phases CP0 - CP4) to be subsequently incorporated into
Phase CP4. The remaining devices are retained in CP4.
Hot-plug only works in a linear or double-line topology. The mechanism is based on the
changes to the topology during the hot-plug phases, which are detected on the last slave in
the line. This means that each sercos slave must fully support the topology bits.
A hot-plug slave must be recognized by the master in terms of its sercos address and
parameterization. The service channel as well as the connections produced by the hot-plug
slave must already be configured in the telegrams during a scheduled phase startup.
There are thus two different options for incorporating a sercos slave into the cyclic
communication in CP4:
– Via communication phases CP0 - CP4 or
– Via hot-plug phases HP0 - HP2.
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3.2.3
The Realtime Channel (RTC)
The services of the realtime channel (RTC) activate cyclic communication, allowing master
and slave devices to read or write cyclic data. The master uses the ICC service (initiate
cyclic communication) to incorporate cyclic communication with the slave devices into a
sercos network.
Table 3-2
Initiate cyclic communication (ICC)
Parameter
Query
Response/confirmation
Argument
–
–
–
–
Cycle time
List of sercos addresses
List of connections for each device
Topology
–
–
–
–
Mandatory
Mandatory
Mandatory
Mandatory
Result
–
–
–
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List of sercos addresses
List of offset of all connections for all
devices
Error code
–
–
Mandatory
Mandatory
–
Mandatory
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sercos Communication
3.3
Synchronization with sercos
sercos is a clock-synchronous bus that also supports asynchronous devices. The
information on what is supported by a device is given in the "S-0-1050.x.01 Connection
setup" parameters or implicitly in "S-0-1000 List of SCP types & versions".
This results in various transmission methods:
Asynchronous
Asynchronous means that a device freezes the input data and sets the output data
independently of the bus. The input/output data is not synchronized with the bus, that
means it has a defined maximum processing time in the desired point direction as well as in
the direction of the actual value. The processing cannot be set but the device indicates the
times required. Thus, the master can calculate turnaround times.
Synchronous
Synchronous means that the device operates synchronously with the bus. The detection of
actual values as well as the validation of desired values takes place a defined times related
to the bus timing. The communicative dead time between the generation of actual values
and the provision of these values on the bus or the reception of desired values and their
validation in the device is exactly defined. Thus, a cycle time can be defined for a connection
which involves only clock-synchronous devices. New data is produced and consumed in
exactly this time slot. New data is transmitted on the bus in the slot defined by the cycle time.
Synchronization can be used for both ring and linear topology. The function can be
activated from CP2 in the slave. The following actions are necessary for this:
– The master determines the runtime of the topology and transmits this runtime to the
slaves requiring synchronization.
– Using the "Synchronize" command, the master activates the determination of the
synchronization time in the slaves.
– The slaves have one synchronization counter per port and use this to determine their
internal synchronization time.
– Once the slave has been synchronized, it positively acknowledges the command.
In CP0, the master determines the runtime of the topology across several communication
cycles (> 50). The master calculates the average value of the measured runtimes and
determines a safety margin as the ring runtime.
In CP2, the master transmits the ring runtime to the slaves requiring synchronization. The
master then starts the "Synchronize" command. If the topology is changed to CP4, the
master can execute the "Synchronize" command again.
If the command is positively acknowledged, the master clears the "Synchronize" command
in the relevant slave.
If the command is negatively acknowledged (error), the master reads the diagnosis (S-00390) before clearing the "Synchronize" command. Either the master eliminates the error
itself or the error must be removed by startup personnel. Once the error has been
eliminated, the "Synchronize" command must be reactivated for all slaves requiring
synchronization.
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4
Planning
As described in Section “Topology” on page 2-1, ring structures or linear structures can be
used for sercos networks, whereby routers and switches can be completely dispensed with.
Here the individual devices are linked via their Ethernet ports. The Ethernet ports (P1 and
P2) of the individual devices can be freely exchanged and can also be used, for example,
to connect standard Ethernet devices (e.g., a notebook) to a sercos realtime domain. This
means that any Ethernet or IP protocols can be used to access sercos devices, without
affecting the realtime behavior of the sercos realtime domain.
4.1
(Assembly) Directives and Standards
4.1.1
Wiring
The Physical Layer is implemented via an Ethernet standard connection in accordance with
ISO/IEC 8802-3 with a data rate of 100 Mbps, whereby any combination, such as full duplex,
100Base-TX with autocrossover function (two cables with twisted wire pairs) as well as
100Base-FX (Ethernet via glass fiber) can be used. The cables must be designed in
accordance with CAT5 or higher and must also be sufficiently shielded in accordance with
EMC requirements.
4.1.1.1
General
Because of its simple planning possibilities, a building installation is often used as a
reference installation model. It stipulates that a certain quality is attained by the
arrangement and use of certain components. For example, category 5 components for
symmetrical cabling result in a class–D channel that is suitable for transmission of Fast
Ethernet.
EQP C
EQP C
Figure 4-1
Device
cable
C
C
Horizontal cable
Patch
cable
C
C
C
Device
cable
C
TO
C TE
C
C TE
Structure of the channel
Key:
EQP:
Equipment
TO:
Terminal outlet
TE:
Termination device
C:
Plug-in connection
In this case, the flexible lines – also known as cords - can have a maximum length of 10 m
and permanently installed lines a maximum of 90 m which means that the total maximum
length of the channel is 100 m. Since the transmission properties of flexible lines are inferior
to those of installed cables, length ratios must be complied with. The use of higher-quality
components, for example category 6, or the reduction of channel length for compensating
the longer more flexible lines is theoretically possible, but more difficult to calculate in
practice.
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For this reason, experts of at the sercos international e. V. user organization have
developed an installation model that allows the user to build his network using selected
components and with the help of simple rules without calculations. All channel lengths can
be attained with permanently laid and flexible cables in any combination and partial lengths
using the defined cable types. Plug-in connections within the channel can be implemented
in a variety of ways according to industrial operating conditions, as long as the limit value of
four plug-in connectors is not exceeded (see Figure 4-1“Structure of the channel”). If the
planning requires more than four connections, additional calculation are required and
measurements of the channel performance have to be carried out to ensure that the channel
meets the requirements of the application.
In the case of sercos, symmetrical data transmission is designed to ensure that one channel
is always set up with an AWG 22 wire cross section. Any combination of solid (type A),
stranded (type B) or even special cables (type C) is possible. Furthermore, plug-in
connectors, panel feed-throughs, couplers and installation boxes can be added as desired.
Individual connector/socket transitions can be used such as those in outlet boxes of
structured building cabling. In addition, panel feed-throughs with two sockets - otherwise
known as bulkheads- can also be implemented. They are considered as two plug-in socket
transitions as long as the manufacturer has not classified them as components. In contrast
to generic cabling with eight wires in twisted–pair layout, sercos uses a star quad optimized
for 100Base-T, in which all four wires are twisted together. All cables are shielded and
optimally adapted to the sercos defined connectors for immunity to interference. EMI plays
an important role in the industrial environment. High coupling loss of 80 dB for lines and
connectors are specified to ensure a high level of immunity from interference.
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Table 4-1
Cable properties
Parameter
sercos type A
sercos type B
sercos type C
Solid cables
Stranded cables
Special cables
Nominal impedance of the
cable
100
Cable material
Copper
Wire resistance
according to IEC 61156-5
115
/km
Coupling loss
> 80 dB, according to IEC 62153-4-9
Number of wires
4
Shield
Copper braid or aluminum foil for cable shield, wire pairs may be unshielded or shielded with
copper braid or aluminum foil
Wire colors
White, blue/yellow, orange
Required sheath color
Red (RAL 3020)
Sheath material
Not specified, differs according to the manufacturer
Resistance in harsh environments (e.g., UV, oil,
LSOH)
Not specified, differs according to the manufacturer
Transfer resistance
Red (RAL 3020)
Depends on the application
25 m /m at 10 MHz
Installation
Stationary, no movement
after the installation
Flexible, occasional movement or vibration
Special application (e.g., permanent movement)
Outer cable diameter
5.5 mm - 8 mm
5.5 mm - 8 mm
Depending on the application
Wire cross section
AWG22/1
AWG22/7
AWG22/x (x = 7 or x = 19) *
Wire diameter
1.5 mm
-
The link length can be limited
to meet mechanical requirements.
Delay
Deviation of link length
0.1 mm
20 ns/100 m
-
* For cables other than AWG22/7 conformance with the insulation displacement connection
of the connector is mandatory.
Fiber-optic or glass fiber cables are more suitable than copper cables for some
requirements, such as long distances, high EMC, safety and lightning protection, see
Table 4-2“Notes for cable selection”. For this purpose there are media converters that can
be used to change from copper to fiber-optic or glass fiber.
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Table 4-2
Notes for cable selection
Copper cable
Fiber-optic cable
Glass fiber cable
+
+
++
Channel length
EMC
100 m
POF:
50 m
MM:
2000 m
PCF:
100 m
SM:
14000 m
+
++
++
-
+
+
Interdependencies
Independent
Independent
Equipotential bonding
Field installation
++
++
-
Mating cycles
+
+
+
Network availability
++
++
++
Safety aspects
+
++
++
Costs
Mechanical strain
+
-
++
++
-
--
-
++
Lightning protection required
Short distances
--
++
++
Required for channels
between buildings
Not required
Not required
Channels between buildings
Lightning protection
++
+
--
very suitable
suitable
not suitable
to be avoided
Note
Single- and multi-mode fibers are not recommended since they are usually not required.
However, if copper or POF/PCF cables do not meet the requirements (e.g., due to the
channel length), you may select SM/MM glass-fiber connections.
Table 4-3
Network properties of copper cables
Properties
sercos
Supported data rates
100 Mbps
Supported channel length
100 m
Number of connections in the channel
4, maximum
Length of connecting cable
100 m (AWG 22)
Channel class according to ISO/IEC 24702
D, min.
Cable category according to ISO/IEC 24702
S, min.
Connection category according to ISO/IEC 24702
S, min.
Cable types
sercos type A sercos type B sercos type C*
* See the manufacturer's information regarding restrictions in the link length
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4.1.1.2
Covering Long Distances
The maximum cable length between two devices is 100 m. The distance can be elongated
by 100 m per switch using special switches with cut-through method or non-realtime sercos
switches which take over the repeater function. There is no upper limit. You have to consider
that the runtime of the sercos telegrams is approximately 0.6 s/100 m. The runtime through
a device is approx. 0.6 s/device. Ring cabling may be of advantage for long runtimes,
since the runtime has to be taken into consideration only once. The controller sends data
simultaneously to the ring and in opposite directions from the two ports. However, with line
cabling the sercos telegram must be sent twice in succession through all devices.
Distances of several kilometers can be covered with copper/fiber-optic converters.
4.1.1.3
Using Fiber Optics with Copper/Fiber-Optic Converters
Optical channels can be used for applications for which copper cable is not suitable.
The 1 mm polymer (POF), polymer-cladded silica (PCS, also referred to as HCS), glass
fiber multimode (GOF-MM) as well as glass fiber singlemode (GOF-SM) fiber types used in
industrial applications are all suitable for sercos networks. Possible channel lengths range
from 50 m (POF), 100 m (PCF, 2000 m (GOF-MM) up to 14,000 m (GOF-SM). The
transition from copper to optical fiber and from optical fiber to copper is counted as one plugin point each, whereby up to four per channel are permitted. In the case of the POF channel,
a reduction in length of 7.5 m per connection in the channel must be considered due to
attenuation.
4.1.1.4
Distance Between sercos Cable and Power Cable
The requirements for separation of the sercos cable and the power cable depend on the
following:
– Electromagnetic immunity to interference of the sercos cable depending on the shield
– Design of the power cables
– Amount and type of electrical current through the power cables
– Installation of isolators between the sercos cables and the power cables
The minimum isolation to be kept between sercos cable and power cable must be kept at
all points between the connecting points.
The minimum distance "A" is calculated as follows:
Minimum distance "A"
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Table 4-4
Minimum isolation "S" for isolation class "d"
Encapsulation provided between sercos cable and power cable
Isolation through clearance
(e.g., without electromagnetic
shielding)
Open metal
encapsulation 1)
Perforated metal
encapsulation 2), 3)
Fixed metal
encapsulation 4)
10 mm
8 mm
5 mm
0 mm
1
2
3
4
Shielding quality (DC 100 MHz) equivalent to welded metal cage braid with a mesh size
of 50 mm x 100 mm. This shielding is also achieved with a steel duct (cable channel
with cover) that is less than 1 mm thick and more than 20% of evenly distributed
perforated area.
Shielding quality equivalent to a steel duct (cable channel with cover) that is less than
1 mm thick and not more than 20% of evenly distributed perforated area. This shielding
quality is also achieved with shielded power cables that do not reach the performance
defined in 4).
The surface of the installed cable must be at least 10 mm below the isolator.
Shielding quality (DC 100 MHz) equivalent to a steel-conduit connection with a wall
thickness of 1.5 mm. This specified isolation is to be seen in addition to that of an
isolator or a barrier.
Table 4-5
Circuit1), 2), 3)
No. of circuits
Power cable factor "P" 4)
20 A 230 V single-phase
1-3
0.2
4-6
0.4
7-9
0.6
10-12
0.8
13-15
1.0
16-30
2
31-45
3
46-60
4
61-75
5
>75
6
1
2
3
4
The power cable factor must be used as a multiplier to calculate the distance "A" of
Table 4-4“Minimum isolation "S" for isolation class "d"”.
3-phase cables must be handled the same way as 3 times 1-phase cables
More than 20 A must be handled as multiples of 20 A
Low-voltage AC or DC power cables must be handled on the basis of their current
values, e.g., 100 A 50 V DC cable = 5 times 20 A cable (P = 0.4)
4.1.1.5
Storage and installation
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Power cable factor "P"
Cable installation
Cables must be transported, stored and installed according to the manufacturer's
specifications.
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Planning
Protect sercos cables
against possible
mechanical damage
sercos cable must not be subject to mechanical strain that exceeds the manufacturer's
specifications. The cable routing must be such that it is ensured that the cable is protected
against damage. The manufacturer's specifications for bending radii, tensile strength,
compressive strength, and temperature range must be observed.
The cable paths must be designed such that the demands of the cable manufacturer are
taken into consideration.
The cable paths must be selected such that sharp corners or edges which might damage
the cable are avoided. Corner protection should be used (see Figure 4-2). Where required
the cable ducts should protect against water or other harmful fluids.
Prior to installation of the cables the cable ducts must be clean and free of sharp edges. This
particularly applies to transitions and terminations. Access points must be accessible.
Figure 4-2
Use edge protection
Where the cable is laid in shared cable channels, precautionary measures must be taken to
avoid damaging the new and already installed cables.
Redundant cables should always be installed in separate cable channels to avoid
simultaneous damage by the same event.
Avoid loops
If the cable is placed into the cable ducts, make sure that the cable drum is handled properly
to avoid damage caused by torsion or loops.
Figure 4-3
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Use of a proper unwinding method and avoiding of loops
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Torsion
Torsion may result from a displacement of individual cable elements. This may result in a
negative influence on the electric properties of the cable. This is the reason why sercos
cables must not be twisted, provided that they are not special cables for torsional loads
(e.g., for robot applications).
Figure 4-4
Tensile strength
(for installed cables)
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Avoiding torsion
If additional cables are to be laid in the cable ducts, use proper installation methods which
guarantee that the maximum tensile strength limits are not exceeded.
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Bending radius
The minimum bending radius of the cable must match the values given in the manufacturer's
data sheet. At no point must be bending radius fall below the value given in the
specifications.
Notes
– Failure to meet this requirement may result in a permanent reduction of the electric or
optical performance values.
– The bending radius of a cable depends on the following:
– The bending radius is larger when the cable is under tensile strength than in a state
of rest and when installed.
– The bending radius only applies to the flat side when flat-ribbon cable is bended.
Bending around the round side requires much larger radii.
It is recommended to protect the cable with cable clamps and to provide strain relief if it is
installed at right angles.
Do not overtighten the clamps. The clamps can squeeze and break the cable.
Figure 4-5
Tensile force
Observe the minimum bending radius
The permitted tensile force of a cable can be taken from the manufacturer's data sheet. The
tensile force acting on the cable must not exceed the maximum tensile strength of the cable
when handling it (e.g., when unrolling it) or after installation. The individual wires or fibers of
a cable must not be pulled at.
For pulling the cable install a pulling handle at the end of it. It is used to reduce the strain of
the cable when it is laid in the cable duct. Use cable reels to reduce strain of the cable when
it is laid.
Figure 4-6
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Do not pull at the individual wires
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Proper strain relief
Provide a strain relief at a distance of 1 m from the connection point to compensate tensile
forces. Cable clamps at the sheath do not suffice for strain relief.
The cables must have a good strain relief when they are hanging down from the ceiling, for
example in hanging applications.
Clamp screw fittings should be used to secure the cables in the switch cabinets. Do not
overtighten the clamps. The clamps can squeeze and break the cable.
The cables should be secured with velcro strips or plastic fasteners with a large surface to
prevent their deformation. The fasteners should have a width of at least 5 mm, and it should
be possible to fasten them without electric power tools.
Figure 4-7
Installation of cables in
switch cabinets and
housings
Use cable glands with bending protection or other suitable methods to avoid damage to the
cable caused by too low bending radii.
Figure 4-8
Installation on moving
parts
PHOENIX CONTACT
Cable screw connections with bending protection
Everywhere, the cable is installed on or between moving parts (e.g., doors in industrial
housings/switch cabinets) it should be protected by suitable connecting pieces. This is to
avoid negative effects on the bending radius.
Figure 4-9
4-10
Use cable clamps with large (wide) surface
Spiral tube
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Broken cable
Cables must be protected against breakage. The cables must be placed properly or
protected mechanically.
Installation of
permanently moving cable
If the cables are installed on moving "C tracks", they must be installed straight and in parallel
to the movement. In addition, separation from other circuits must be observed. Suitable
highly flexible cable must be used in moving "C tracks" applications.
4.1.2
Plug Connector
Please refer to the following table for the pin assignment:
Table 4-6
Connector pin assignment
Signal
Function
Color
TD+
TDRD+
RD-
Transmission data +
Transmission data Receiver data +
Receiver data -
Yellow
Orange
White
Blue
Assignment
RJ45
M12
1
1
2
3
3
2
6
4
sercos uses 1:1 cable only. Since sercos devices also support autocrossing, crossover
cables may also be used, for example for servicing.
4.1.3
General
Grounding
If shielded cables are used, the housing of the device and the switch cabinet in which the
device is installed must have the same ground potential. There must be a large-area
metallic ground contact for this (use copper, for example, to ensure good contact).
It is important that the shielding of the sercos cable does not create compensating current
caused by a ground offset or incorrect grounding of the devices and housings.
The following subsections show grounding techniques. They help to reduce communication
errors due to grounding offsets when shield terminations are to be used.
Parallel RC
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Parallel RC grounding of the shield according to Figure 4-10
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sercos device
Figure 4-10
sercos device
Parallel RC shield grounding
The following graphics show some examples of how the shield grounding is used together
with switch cabinets.
Switch cabinet
Switch cabinet
sercos device
sercos device
Figure 4-11
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First example of a parallel RC shield grounding version
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Switch cabinet
Switch cabinet
sercos device
sercos device
Figure 4-12
Switch cabinet
Second example of a parallel RC shield grounding version
Switch cabinet
sercos device
sercos device
Figure 4-13
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Third example of a parallel RC shield grounding version
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Switch cabinet
sercos device
Switch cabinet
sercos device
Figure 4-14
Fourth example of a parallel RC shield grounding version
Direct grounding
Direct grounding should only be used together with RC grounding (see next section).
Direct and parallel RC
grounding versions
Examples of direct and parallel RC grounding versions are shown in the following figures.
sercos device
Figure 4-15
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E.g., Notebook
Example 1
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sercos device
Figure 4-16
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E.g., PC or
automation
component
Example 2
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4.2
Central and Distributed System Concepts
Cross communication between I/O devices allows for a cyclic, fast and direct data
exchange between several devices. One device sends the data and several devices can
read the data. This makes it possible to have very fast axis couplings, I/O connections and
connections between I/O and drive without the controller being directly involved.
4.3
4.3.1
Fast and Slow Connections
Realtime Ethernet and Standard Ethernet
Integrating Standard Ethernet Devices via sercos Non-Realtime Switches
Such a switch has two sercos realtime Ethernet connections and at least one standard
Ethernet connection. Thus, several standard Ethernet devices can be integrated in a
realtime Ethernet line or a realtime Ethernet ring with such a switch.
If sercos devices are at the end of a line, a standard Ethernet device can be connected as
well. This is a device-specific property. Data for the standard Ethernet devices is transmitted
in the NRT channel to the standard Ethernet devices or even to the sercos devices. This
data is usually TCP/IP or UDP/IP telegrams.
Standard Ethernet devices are often HMI devices, modems for remote access or
engineering PCs.
The NRT channel of a device also helps, for example, with firmware downloads or
transmission of many parameters for backup and restore measures via the tftp protocol.
4.3.2
Different Producer Cycle Times
Through the use of connections with different producer cycle times, you can transmit both
data requiring short cycle times as well as data requiring a shorter scanning rate.
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Parameterization
5
Parameterization
5.1
Scope of Functions of the sercos I/O Master
The various sercos I/O masters have similar functional features which differ in the specific
parameters:
– Number of supported sercos I/O devices (511, maximum)
– Number of supported modules per device (62, maximum)
– Number of modules supported in the system
(a maximum of 511 devices with 255 modules = 130,305 modules)
– Minimum cycle time (between 31.25 µs and 65 ms)
– Cyclic data traffic (a maximum of 6000 cyclic input data plus a maximum of 6000 cycle
output data)
– SDDML file import in the device data base
– Bus scan of sercos devices
– Remote address assignment
– Automatic configuration of the devices in the device tree (offline/online comparison of
the devices in the project)
– sercos device-related connection status in the interface
– Diagnostics of the sercos master and the slaves using function blocks
– Acyclic data transmission (service channel or NRT channel) using function blocks)
– Number of cyclic producer and consumer connections
– Number of controllers that can be networked via controller cross communication (511,
maximum)
– Time when parameterizations are transferred into the PLC (online or after a new login
of the PLC)
– Parameterization of the operating phase (CP4) via the parameterization level or only in
the parameterization phase (CP2)
5.2
Assignment/Definition Producer/Consumer
The connections must be configured for devices with several connections (identification
numbers IDN 1050.x.y with x>2 present). The master-slave connections between controller
and the devices are created by default. If two devices are to exchange data directly this must
be configured separately. This allows to set up homogeneous connections that have the
same characteristics for each device. The same process data is transferred with the same
producer cycle time. Of course, these values can vary from device to device and must be
configured device-specifically.
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5.3
Determining Cycle Times
For some controllers and some devices a distinction can be made between the sercos cycle
time (S-0-1002) and the producer cycle time (S-0-1050.x.10).
– For a system consisting of a master and the connected devices the sercos cycle time
is the same everywhere.
– The producer cycle time can vary from device to device and may also be longer than
the sercos cycle time.
5.4
Parameterization Options
5.4.1
Parameterization Phase CP2
The master can switch to parameterization phase CP2 to change the device parameters.
The result is that all devices are in the parameterization phase. Cycle realtime data is not
exchanged.
5.4.2
Parameterization Level (PL)
The master can activate the parameterization level (PL) with the "S-0-0420 Activate
parameterization level procedure command (PL)" command in CP2, CP3 or CP4. This
allows for parameterization of individual devices while others remain in operating phase
CP4 and exchange cyclic realtime data.
Monitoring of the connected modules is deactivates so that modules can be replaced. All
parameters, except for the communication parameters and the time parameters can be
modified. The "S-0-0422 Exit parameterization level procedure command (PL)" command
is used to leave the parameter level and to change to the operating level.
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Parameterization
The state machine for the communication phases and device levels (see Figure 5-1“sercos
communication state machine”) shows the interaction of the various IDNs.
Figure 5-1
sercos communication state machine
This function group contains the following IDNs:
– S-0-0420 Activate parameterization level procedure command (PL))
– S-0-0422 Exit parameterization level procedure command (PL)
– S-0-0423 IDN list of invalid data for parameterization level
It also contains the following control and status bits:
– S-Dev/Parameterization level
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5.5
5.5.1
Creating sercos I/Os
Creating a sercos Slave
The project must be adapted to the real system. The devices are located in the library of
your engineering system. If the device required is not available in the library by default it can
be integrated into the library by importing its SDDML file.
sercos distinguishes between two types of devices for the connection of I/O modules:
1. Compact
The module structure is defined for compact devices. After a device has been inserted into
the project explorer, the modules under the device object node are already available for the
compact design. The modules are not visible in the library.
2. Modular
The module design of the device is variable. Further modules can be added in addition to a
fixed part, e.g. 8 digital inputs and 4 digital outputs. The modules can be arranged
individually but must follow the equipment rules of the device.
The modules that fit for the respective device can be found in the Periphery library in the
sercos folder under the respective device.
I/O modules can be inserted in modular devices only.
Drag and drop the required module from the library to the device object. New modules can
also be inserted between already existing modules in the project explorer.
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Parameterization
5.5.2
sercos I/O Settings
With online configuration the device is physically connected to the controller and processed
via the configuration tool. The configuration tool accesses the device, SDDML device
description file and the system information. There are controllers that must have an SDDML
file. Other controllers use only the device information that is available online.
For some settings it depends on the device description whether any of them can be edited
and which values are preset and which are possible.
Identification
Changing the sercos
address in the project
The "Identification" area contains specific information on the sercos slave which clearly
identifies the slave.
sercos address
Bus-specific address of the sercos slave
Device number
Logical address of the sercos slave
Topological sercos address
Topological address of the sercos slave
Manufacturer ID:
Manufacturer ID of the sercos slave
Manufacturer:
Manufacturer name of the sercos slave, e.g.,
Phoenix Contact
Manufacturer device ID:
Identification number assigned to the sercos slave by the
manufacturer.
Device name:
Name given to the sercos slave by the manufacturer.
FSP type
This number defines device-specific functions of the sercos
slave, e.g., properties of the device.
The sercos address of a device can be changed in the project via the "Configuration of
sercos devices" dialog box. This dialog box can be opened by right-clicking on the sercos
master node.
If several devices with the same sercos address are connected, a distinction can be made
via the topology address and further information can be displayed. Thus you can change the
sercos addresses specifically so that there are no more duplicate addresses. In CP0 the
topology address is determined on the basis of the cabling. It represents the physical order
or the slaves in the topology.
A device can also be replaced and the sercos address set automatically by comparing the
old and new values of the topology address and the electronic rating plate. In this way you
can replace a device via the controller without engineering tool.
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sercos Configuration
This area is used for the display and modification of device-specific parameters.
Status
The "Status" area displays status information (e.g., "Running", "Stopped") and specific
diagnostic messages from the device.
Information
The "Information" area displays the following general information about the device, where
this information is present in the device description file:
– Name (module designation, e.g., ILB S3 24 DI16 DIO16)
– Manufacturer (e.g., Phoenix Contact)
– Category (e.g., slave)
– Version (e.g., Revision=16#4)
– Order No. (e.g., 2897570)
– Description (name of the device description file, e.g., ILB S3 24 DI16 DIO16.xml)
– Image (image of the module)
5.5.3
sercos I/O Module
sercos Module
This area informs you about the configuration of the module and you can modify it, if
necessary. The settings in all subareas are specified in the SDDML device description file
of the module. It is defined in this file with which values the setting is pre-assigned and
whether it is editable.
For some devices and controllers, these settings can be carried out in the operating phase
CP4. The parameterization level in the device to be processed is activated for a short time,
the data is modified, and afterwards, the operating level is activated again, see "S-0-0420
Activate parameterization level procedure command (PL)" or "S-0-0422 Exit
parameterization level procedure command (PL)".
Depending on the controller used, the changes will become effective immediately in the
PLC or only after a new login of the data into the PLC.
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Module type code
Each module has a unique module type code assigned by
the manufacturer. Depending on the manufacturer, this
number can be a hexadecimal number or a job number.
Input length/bytes
Specifies the input length of the module in bytes
Output length/bytes
Specifies the output length of the module in bytes.
8336_en_00
Parameterization
Function Group
The "Function groups" area provides information about the inputs and outputs of the
function group.
None of the settings in this dialog can be edited.
Name
Name of the channel, not editable
Number of channels
Number of supported channels for the module
Width of the channel (bits)
Bit size of the individual channels, not editable.
Type
Number of structure elements (SE) of the I/O function
groups. Depends on the I/O functions.
IDN.SI.SE
–
IDN
Identification number, e.g., 15xx
–
SI (structure
instance)
The SI number is identical to the slot number of the modules.
Module 1 has SI number 1. In the case of fixed modules,
module 1 has SI number 0.
–
SE (structure
element)
Number of structure elements (SE) of the I/O function
groups, depending on the I/O functions.
User-Defined Parameters
Symbolic values
If symbolic names for the parameters are also specified in
the device description file (SDDML file), this option can be
activated here to have these symbolic values displayed in
the "Value" column instead of the real values.
Defaults
This button is used to restore the values displayed in the
table to the default setting.
Name
Parameter name, not editable
Value
The default value of the parameter is displayed here first, either directly or as a value of the corresponding symbol
name. If the parameter can be edited, the user can doubleclick or use the <space bar> to open a selection list in the
table field, in which the value can be modified.
Type
Parameter data, not editable
Default value
Default value defined by the device description, not editable
sercos Module Configuration
This area is used for the display and modification of device-specific parameters.
sercos Module I/O Map
This area is used to map the inputs and outputs of the module to project variables.
The current value of the variables is displayed in online mode.
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Status
The "Status" area displays status information (e.g., "Running", "Stopped") and specific
diagnostic messages from the device.
Information
The "Information" area displays the following general information about the device, where
this information is present in the device description file:
– Name (module designation, e.g., analog input/output)
– Manufacturer (e.g., Phoenix Contact)
– Categories
– Version (e.g., Revision=16#4)
– Order No. (e.g., 2897570)
– Description (name of the device description file, e.g., ILB S3 AI4 AO2.xml)
– Image (image of the module)
The "S-0-1500.0.20 Parameter channel transmit" parameter channel is an asynchronous
communication mechanism for the manufacturer-specific configuration and
parameterization of the bus coupler or the I/O modules.
The parameter channel handles the data transparently in the form of a list (1 byte, hex).
The maximum sercos length depends on the size of the memory.
Data from 1 byte up to the maximum data length is transmitted (via the service channel) to
the parameter channel (Parameter Channel Transmit). The service channel works with
fragmentation.
The successful transfer via the service channel is the trigger for the command in the I/O
modules and the bus coupler. Write access to the service channel is only confirmed to the
master once the process is complete. No further control signal (handshake) is required for
this. The response is retrieved via the receive channel (Parameter Channel Receive). Since
this takes place via the service channel, no special control signal (handshake) is required
here either. The bus coupler and the modules respond with variable data lengths.
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Startup
6
Startup
6.1
General Information on Initialization and the Six
Communication Phases
The initialization of sercos communication consists of five states known as "communication
phases" (CP0 - CP4) and a starting state known as NRT, which are achieved independently
of each other after the master and the slaves have started up. In this phase, all devices act
as store-and-forward switches when they support standard Ethernet communication.
Once a system has started up and the internal tests have been performed without errors,
the system starts in non-realtime phase (NRT). In the non-realtime phase, three types of
telegrams can be sent:
– sercos telegram (Ethernet type = 0x88CD)
– Non-sercos telegram (own MAC address or broadcast)
– Non-sercos telegram (not own MAC address)
Initialization of a sercos network always begins with the communication phase CP0, which
is initiated at the request of the ICC (initiate cyclic communication) service. If, in NRT mode,
a slave receives an MDT0 with CP0, the sending of standard Ethernet telegrams is aborted
immediately and the MDT0 is sent instead. The slave then activates CP0 and loopbackwith-forward at the port at which it received the MDT0.
Fast forward
Figure 6-1
Loopback on primary
channel with forward
Loopback on secondary
channel with forward
Possible slave settings
The following main tasks are linked to the individual communication phases:
– In CP0, the participating slaves are detected.
– In CP1, the slave devices are configured for acyclic communication.
– In CP2, the slave devices are configured for cyclic communication and for
parameterization via acyclic communication (service channel).
– In CP3, the slave devices are configured extendedly; cyclic communication is already
running but is not used.
– In CP4, the initialization process is completed, and the sercos network is put into
operation.
The DL user can switch down phases by means of the DCC (disable cyclic communication)
request.
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6.2
Phase Startup With Check of the Configured Data
Depending on the implemented master, the phases can be different or sometimes even
invisible for the user.
6.2.1
Communication Phase NRT (Non-Realtime Phase)
Directly after the switching on the master and all slave immediately activate the NRT phase.
In this phase they respond like a store-and-forward switch. Standard Ethernet
communication is active if it is supported by the device. If the slave receives a request to
switch to phase CP0, transmission of a standard Ethernet telegram is aborted immediately.
6.2.2
Communication Phase CP0 (Start Phase)
The master initiates communication and checks which slaves are available in which order.
When a ring is to be set up the master also checks whether the ring is closed. The devices
are assigned topology addresses in accordance with the order of installation at the master.
The master receives the currently set sercos addresses of the slaves. There may be several
devices with the same sercos address, since communication takes place on the basis of the
topology address. The NRT channel is active. Standard Ethernet communication is active if
this is supported by the device. The physical telegram runtimes and delays in the network
are measured.
In communication phases CP0, CP1 and CP2, the NRT channel works with the following
preset values:
Starting point t6 = 650 µs
Endpoint t7 = 950 µs
6.2.3
Communication Phase CP1 (Configuration Phase)
Depending on the configuration and when changing from CP0 to CP1, the master can
compare the found sercos addresses with the configured sercos addresses and output a
warning, for example. Also, the master can check the sercos address for correctness (0 <
sercos address < 512), not-supported addresses or addresses occurring several times.
In CP1, the slave devices are configured for acyclic communication over the service
channel. The topology addresses defined in communication phase CP0 are used here in
CP1 to address the service channels. The master initializes the service channels of all of the
slaves used. The NRT channel may be activated.
Once the master has identified the slaves in the sercos network, it initiates a switch to CP2.
If the identification time is exceeded, the initialization is interrupted. Depending on the
configuration, the master responds with an error message and switches to CP0. If a slave
does not receive an MDT0 in CP1 within 130 ms, it switches to NRT mode.
All slaves used behave as described here - even those with sercos address = 0.
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Startup
6.2.4
Communication Phase CP2 (Parameterization Phase)
Phase CP2 is used to configure devices for cyclic communication and to parameterize the
devices via acyclic communication of the service channel.
In CP2 and the higher phases, the slaves support the full functionality of the service channel.
The master transmits the following as a minimum to all available slaves:
– The communication parameters required for CP3 and CP4
– The length of all MDTs and ATs
– The offsets of their service channel and realtime data
For synchronization purposes, the master transmits the ring delays to all slaves. These are
synchronized by the slaves, which adapt the synchronization time to match the ring delays.
The master identifies the devices. The NRT channel can be deactivated and configured.
After the user has completed parameterization, the master starts checking the parameters
in the slave using the "S-0-0127 CP3 transition check" command. The slaves check,
whether all parameters required for CP3 are available and correct. Invalid parameters are
entered in the "S-0-0021 IDN list of invalid operation data for CP2" IDN list. The system
remains in phase CP2 and missing or invalid parameters must be changed. If there are no
errors the master switches to phase CP3.
During the slave's validity check of the parameters, only general criteria (e.g., minimum
and maximum values) are checked. The slave does not check whether all of the
parameters transmitted by the master are correct in relation to the master data and the
overall installation.
S-0-0127 CP3 transition checkThis means that even if a slave positively acknowledges
"CP3 transition check", there may still be communication parameters that are incorrect in
terms of the overall installation, which can lead to a communication error.
6.2.5
Communication Phase CP3 (Extended Parameterization
Phase)
Further parameterizations of the devices are possible in CP3.
The complete service channel functions are supported. The NRT channel is supported if it
has not been deactivated in CP2. Cyclic data communication is activated, but not used.
Parameterization takes place via the acyclic service channel. The function-specific profiles
(e.g., I/O, drive) are activated.
After the user has completed parameterization, the master starts a check of the parameters
in the slaves with the "S-0-0128 CP4 transition check" command. The slaves check whether
all parameters required for CP4 are available and correct. Invalid parameters are entered in
the "S-0-0021 IDN list of invalid operation data for CP2" IDN list. The system remains in
phase CP3 and the missing or incorrect parameters must be changed. If no errors have
occurred, the slave concludes processing of the parameters required for device operation.
The slave then activates synchronization. The master switches to phase CP4 afterwards.
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6.2.6
Communication Phase CP4 (Operating Phase)
With the switching to CP4, the initialization is complete.
The complete service channel functions are supported. The NRT channel is supported if it
has not been deactivated in CP2. Cyclic data communication is activated. Parameterization
takes place via the parameter level. The function-specific profiles (e.g., I/O, drive) are
activated.
The only way to leave CP4 is to switch back to CP0. The reason for this is possible
communication errors or user interventions.
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Figure 6-2
Timing of the communication layer
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Figure 6-3
6-4
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Telegram structure of the communication layer
8336_en_00
Startup
6.3
Loading, Storing and Saving of Parameters
All relevant operating data is mapped to parameters and is stored in the device (S-0-0017
IDN list of all operation data, S-0-0192 IDN list of all backup operation data).
Save
Saving of application-specific parameters (S-0-0264 Backup working memory procedure
command, C2200 Save main memory command) may be required in the following cases:
– After initial startup
– Before the device is replaced for servicing (if possible)
Saving of the parameter values by the controller is supported by the device through the
listing of parameter ID numbers (IDN). When these lists are used it is guaranteed that the
application-specific parameter values are saved completely. The customer may also define
IDN lists.
Load
Loading of parameters may be required in the following cases:
– Initial startup (loading of the basic parameter values and the application-specific
parameter values)
– Series startup of machines (loading of the parameter values saved after the initial
startup)
– Restoring of a defined output state (loading the parameter values again that have been
saved after the initial startup)
– Replacing the control device for servicing (loading the current parameter values saved
prior to servicing)
By comparing the checksums the controller master can determine whether the values of the
application-specific parameter values, currently active in the drive, correspond to the values
saved on the master side.
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Diagnostics
7
Diagnostics
In sercos the various diagnostic options are divided into three function groups:
– FG Bus diagnosis
– FG Diagnosis
– FG I/O diagnosis
7.1
The Bus Diagnosis Function Group
With the IDNs of this function group, error and status messages regarding sercos
communication can be displayed.
The Bus Diagnosis function group contains the following IDNs:
– S-0-0014 Interface status
– S-0-1003 Allowed MST losses in CP3/CP4
– S-0-1026 Version of communication hardware
– S-0-1028 Error counter MST-P/S
– S-0-1031 Test pin assignment port 1 and port 2
– S-0-1035 Error counter port 1 and port 2
– S-0-1040 sercos address
– S-0-1044 Device control (C-Dev)
– S-0-1045 Device status (S-Dev)
7.2
The Diagnosis Function Group
With the IDNs of this function group, error, warning or status messages can be read out as
code (S-0-0390) or as text message (S-0-0095) or errors can be acknowledged (S-0-0099).
Moreover, the log function (S-0-1303) provides the option of storing in a ring memory a
selectable IDN including a time stamp each time the "S-0-0390 Diagnostic number" IDN is
changed.
The Diagnosis function group contains the following IDNs:
– S-0-0095 Diagnostic message
– S-0-0099 Reset class 1 diagnostic
– S-0-0390 Diagnostic number
– S-0-1303 Diagnosis trace
– S-0-1303.0.02 Diagnosis trace control
– S-0-1303.0.03 Diagnosis trace state
– S-0-1303.0.10 Diagnosis trace buffer no. 1
– S-0-1303.0.11 Diagnosis trace buffer no. 2
In addition to the various IDNs, the sercos LED is also a part of this function group.
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7.2.1
Diagnostic Messages of S-0-0390
The diagnostic messages of the IDN S-0-0390 are structured as follows:
Table 7-1
Structure of S-0-0390
Source Diagnostic
type
class
Source types
The source type is entered in bits 29-24 of the "S-0-0390 Diagnostic number" and may look
as follows:
Table 7-2
S-0-0390 source type
29-24
0x01
0x02
0x03
Diagnostic classes
Status
code
Source type
FSP_I/O
GDP
SCP
A distinction is made between the following diagnostic classes:
– 0x9Reserved
– 0xAOperating state (lowest priority 4)
– 0xBReserved
– 0xCProcess-command-specific status (priority 3)
– 0xDReserved
– 0xEWarning (priority 2)
– 0xFError (C1D) (highest priority 1)
The diagnostic classes 0x9 and 0xE (information, warning) are removed when they are no
longer relevant.
Diagnostic class 0xF (error), however, can only be cleared with the "S-0-0099 Reset class
1 diagnostic" process command. Sending this process command clears all active errors
(diagnostic class 0xF) of a device.
Status codes
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The following status codes of the SCP and GDP specified according to sercos are shown in
the "S-0-0390 Diagnostic number" IDN:
8336_en_00
Diagnostics
Status codes of the SCP
Table 7-3
Bits
31-20
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
C30
8336_en_00
Bits
19-16
A
A
A
A
A
C
C
C
C
C
C
C
C
C
C
C
C
C
C
C
C
E
E
E
E
E
F
F
F
F
F
F
F
F
F
Bits
15-0
0000
0001
0002
0003
008
0100
0104
0105
0106
0107
0108
0170
0171
0172
0173
0174
0175
5200
5300
5301
5302
4002
4007
4008
4009
4020
4001
4002
4003
4004
4005
4006
4017
4020
4021
Status codes of the SCP
Description
Communication phase CP0
Communication phase CP1
Communication phase CP2
Communication phase CP3
NRT phase
"S-0-0127 CP3 transition check"
Configured IDN for MDT, not configurable
Maximum MDT length exceeded
Configured IDNs for AT not configurable
Maximum AT length exceeded
Time slot > sercos cycle time (tScyc)
Configured IDNs for the connection not configurable
Maximum connection length exceeded
"S-0-1024 SYNC delay measuring procedure command" not executed
Connections not configurable
Configuration of the connection not possible
Producer cycle time (tPcyc) of a connection not correct
"S-0-0128 CP4 transition check"
"S-0-1024 SYNC delay measuring procedure command"
"S-0-1024 SYNC delay measuring procedure command" failed
Error "S-0-1024 SYNC delay measuring procedure command"
RTD failure shutdown
Consumer connection failed
Invalid addressing command value data container A
Invalid addressing current value data container A
Topology status changes from fast forward (FF) to loopback with forward (L&F)
Error in SYNC telegram
Connection losses
Invalid communication phase
Incorrect phase upshift, e.g., from CP2 directly to CP4
Incorrect phase downshift, e.g., from CP4 directly to CP2
Phase shift and ready signal (CPS)
Timeout during phase shift
Topology status changes from loopback with forward to NRT, e.g., open circuit at active ports
Slave does not support the announced communication version for CP1 and CP2
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Status codes of the GDP
Table 7-4
Bits
31-20
C20
C20
C20
C20
C20
C20
C20
C20
C20
C20
C20
Bits
19-16
A
A
A
A
A
A
A
A
C
C
C
C20
C20
C20
C20
C20
C20
C20
C20
C20
C20
C
C
C
C
C
C
C
C
C
C
Bits
15-0
A010
A100
A110
A120
A200
A210
A220
A300
0100
0200
0201
0202
0203
0400
0401
0540
0C00
0C01
0C02
0C03
0C04
Status codes of the GDP
Description
Device was restarted (power on)
Incorrect password
Password protection deactivated
Password changed
Diagnostic trace started
Diagnostic trace stopped
Diagnostic trace list exceeded
Test IDN written
"S-0-0099 Reset class 1 diagnostic"
"S-0-0422 Exit parameterization level procedure command (PL)"
Incorrect or incomplete parameter record (see
"S-0-0423 IDN list of invalid data for parameterization level")
Parameter limit violation (see "S-0-0423 IDN list of invalid data for parameterization level")
Parameter conversion error (see "S-0-0423 IDN list of invalid data for parameterization level")
"S-0-0420 Activate parameterization level procedure command (PL)"
Cannot switch to parameterization level
"S-0-0264 Backup working memory procedure command"
sercos energy: Start Pause
sercos energy: Start Pause undefined parameter
sercos energy: Selected energy mode not available
sercos energy: Selected energy mode currently not available
sercos energy: End Pause
7.2.2
sercos LED
The sercos LED indicates the following error states:
Table 7-5
Color 1
Green
Green
Red
Red
Orange
Orange
Dark
7-4
Color 2 Status
Green
ON
Dark
Flashing
4 Hz
Green
Flashing
4 Hz
Red
ON
Orange
ON
Dark
Flashing
4 Hz
Dark
OFF
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sercos LED
Description
CP4
Loopback
Comment
Communication phase CP4 active
Status change of the sercos ports from fast forward to loopback
Communication
error
SIII C1D
CP0 ... CP3
Identification
Depends on S-0-1003 (Flashes red/green)
NRT phase
(Diagnostic class 1)
Device is in one of the communication phases CP0 ... CP3
(Bit 15 in the device control) used for address allocation, Configuration
error or other identification purposes
No sercos communication, device is in the NRT phase
8336_en_00
Diagnostics
7.3
The I/O Diagnosis Function Group
With the IDNs of this function group, error and status messages of the I/O devices can be
displayed.
The Diagnosis function group contains the following IDNs:
– S-0-1500.0.02 I/O status
– Indicates the current status of the inputs and outputs of the entire device
– S-0-1500.0.32 I/O diagnosis message
– Indicates the I/O diagnostic message with the highest priority
– S-0-1500.0.33 Current I/O diagnosis message
– Indicates the current I/O diagnostic message
– S-0-15xx.y.17 DIAGIN
– Indicates the function-group-specific behavior, e.g. status
7.3.1
Diagnostic Messages of S-0-1500
The diagnostic messages of the IDNs "S-0-1500.0.32" and "S-0-1500.0.33" are structured
as follows:
Table 7-6
Diagnostic
class
Structure of S-0-1500.0.32 and S-0-1500.033
Status code
Function
group
Slot number
Sub bus
slave
Channel
number
The value ranges of the individual contents are shown in the tables below.
Diagnostic classes
A distinction is made between the following diagnostic classes:
– 0x9Reserved
– 0xAOperating state (lowest priority 4)
– 0xBReserved
– 0xCProcess-command-specific status (priority 3)
– 0xDReserved
– 0xEWarning (priority 2)
– 0xFError (C1D) (highest priority 1)
The diagnostic classes 0x9 and 0xE (information, warning) are removed when they are no
longer relevant.
Diagnostic class 0xF (error), however, can only be cleared with the "S-0-0099 Reset class
1 diagnostic" process command. Sending this process command clears all active errors
(diagnostic class 0xF) of a device.
Status codes
8336_en_00
The following status codes specified according to sercos are shown in the IDNs
S-0-1500.0.32 and S-0-1500.0.33:
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Table 7-7
Status
code
0000
Meaning
2000
2100
2110
2120
2130
2131
2200
2300
Current
Current on the device input side
Short circuit/ground fault
Ground fault
Short circuit
Short circuit at VCC
Current within the device
Current on the device
output side
Continuous overcurrent
Short circuit/ground fault
Ground fault
Short circuit
Short circuit at VCC
Short circuit at ground
Output overloaded
Sensor supply overloaded
Short circuit
Open circuit
Temperature
Ambient temperature
Device temperature
External temperature
(e.g. of the drive)
Connection temperature
2310
2320
2330
2340
2341
2342
2344
2345
2350
2360
4000
4100
4200
4300
4400
7-6
No error
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Status codes of FSP_I/O
Status
code
1000
1800 ...
1FFF
3000
3100
3110
3120
3134
3140
3200
3210
Meaning
Voltage
Mains voltage
Mains overvoltage
Mains undervoltage
Phase sequence
Mains frequency
Voltage within the device
Overvoltage within the device
3220
3300
3310
3320
3400
3410
3420
Undervoltage within the device
Output voltage
Output overvoltage
Output undervoltage
Supply voltage
Sensor supply
Actuator supply
5000
5010
5100
5110
Device hardware
Component error
Supply
Low voltage supply
5120
5150
5160
5200
5210
5220
5230
5300
5400
5410
5420
5430
5440
5450
5500
Air supply
Initiator supply
Supply of I/O devices
Measuring circuit
Measuring circuits
Computer circuits
Communication
Operator interface
Power section
Output levels
Choppers
Input stages
Contactors
Fuses
Communication with extension modules
General error
General error, manufacturer-specific
8336_en_00
Diagnostics
Status
code
6000
6010
6100
6200
6300
6310
6320
6330
8000
8100
8110
8120
8200
8210
8211
8220
8221
8900
8910
8920
8A00
8B00
A000
A001
A002
A003
A004
A010
A012
A013
A020
A021
A022
A023
A024
A030
A031
A040
A041
A042
A043
8336_en_00
Meaning
Device software
Software reset (watchdog)
Internal software (firmware)
Application software
Faulty data record
Missing parameter
Parameter error
Parameter not yet initialized
Monitoring
Communication
Process data monitoring
Host monitoring
Closed-loop control
High system deviation
Maximum manipulated variable reached
System deviation
Maximum manipulated variable reached
Sensors
Measured value above the value range
Measured value below the value range
Actuator
Preventive maintenance required
Sub bus slave
Sub bus slave missing
Wrong sub bus slave present
Compatible replacement
Error in number of sub bus devices
Device error
Application on sub bus slave not ready
Sub bus device reset
Communication error
Sub bus error - timeout (break)
Multiple transmission error on the sub bus
Sub bus I/O data communication error
Data communication error during sub bus management
Sub bus configuration error
I/O data configuration mapped twice
General error
Sub bus hardware error
Sub bus firmware error
Sub bus runs asynchronously
Status
code
7000
7100
7200
7300
7400
7500
7600
7700
9000
B000
B001
B002
B003
B004
B010
B012
B013
B020
B021
B022
B023
B024
B030
B031
B040
B041
B042
B043
Meaning
Extension module(s) defective
Power
Measuring circuit
Sensor
Computer circuit
Communication
Data memory
Open circuit/cable error
External error
Local bus
Local bus slave missing
Wrong local bus connected
Compatible replacement
Error in the number of local bus devices
Device error
Application on local bus slave not ready
Local bus device reset
Communication error
Local bus error - timeout (break)
Multiple transmission error on the local bus
Local bus I/O data communication error
Data communication error during local bus management
Local bus configuration error
I/O data configuration mapped twice
General error
Hardware error on the local bus
Firmware error on the local bus
Local bus runs asynchronously
PHOENIX CONTACT
7-7
UM EN SERCOS SYS
Function groups
The modules connected to the bus coupler are acquired via function groups. The following
table lists possible function groups of I/O modules:
Table 7-8
Function groups of I/O modules
Function group
S-0-1502
S-0-1503
S-0-1504
S-0-1505
S-0-1506
S-0-1507
S-0-1508
S-0-1509
S-0-1513
S-0-1514
S-0-1515
Name
Digital output
Digital input
Analog output
Analog input
Counter
Complex protocol
Sub bus master
Sub bus slave
Motor starter
PWM (pulse width modulation)
Positioning
Slot number
Slot number of the module to which the function group is assigned (structure instance).
Sub bus slave
Sub bus slave that caused the diagnostic message (see I/O_FG.x.25 Slave Index). Only
used with I/O function group S-0-1509 Sub bus slave.
Channel number
Channel that caused the diagnostic message
A channel number between 0 and 255 points to a specific channel of the function group
(channel-related diagnostic events, e.g., open circuit).
Channel number 0 point to the function group itself (function-group related diagnostic
messages, e.g. sub bus error - timeout).
7-8
PHOENIX CONTACT
8336_en_00
Diagnostics
Example
There is a short circuit at an 8-channel digital output module in a modular I/O station. The
module is the fourth module after the bus coupler. The following diagnostic messages will
be displayed in this case:
– Message in IDN "S-0-1500.0.02 I/O status": D000hex
D
–
–
Outputs active, input values valid, warning
Message in IDN "S-0-0390 Diagnostic number": C10E2344hex
C10
Interpretation of bits 29 to 0 according to the sercos standard, source
type FSP I/O
E
Diagnostic class, warning
2344
Status code for "Output overloaded"
Message in IDN "S-0-1500.0.33 Current I/O diagnosis message":
0E234405DE040000hex
0
Status code according to the sercos standard
E
Diagnostic class, warning
2344
Status code for "Output overloaded"
05DE
Functions group 1502 (digital output)
04
Slot number 4 (fourth module after the bus coupler)
00
Module is not a sub bus slave
00
No channel-specific diagnostics
If no I/O diagnostic message with diagnostic class F (error) has occurred, the
IDN "S-0-1500.0.32 I/O diagnosis message" contains the same message
(0E234405DE040000hex).
7.3.2
Diagnostics Messages of "S-0-15xx.y.17 DIAGIN"
The current status of a lower-level module on a device is shown in
IDN "S-0-15xx.y.17 DIAGIN".
8336_en_00
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7-9
UM EN SERCOS SYS
7.4
General errors
General errors in the cabling can be detected with cable testers, Ethernet analysis programs
(such as Wireshark), protocol interpreters and TAPs (Test Access Ports).
Table 7-9
Errors and their removal
Error
Cause
Communication failed and/or
high error rates
Poor connector or terminal point con- Localize and rectify connection
tacts
EMI by other devices, poor grounding, unsufficient distance from devices or cables emitting EMI
Removal
Localize and rectify grounding
Check cabling and shielding
Use fiber optics
Corrosion of the shielding contacts
Localize and replace damaged components
Mechanical strain of cables and con- Install a strain relief
nectors
Communication briefly interrupted and/or exploding error
rates
EMI from other devices
Relate communication problem with physical or
environmental incidents
Localize and rectify them, e.g. increase distances
Poor connector or terminal point con- Localize and replace damaged components
tacts, due to vibrations or temperature influence
Corrosion of the shielding contacts
Localize and replace damaged components
Mechanical strain of cables and con- Install a strain relief
nectors
Condensation between electrical
contacts
Clean plug-in connections
Replace damaged components
Diagnostic message of the cable
tester: Reflection loss too high
Cable with incorrect impedance used Use the correct components
Diagnostic message of the cable
tester: cable too long, attenuation
resistance or resistance too high
Cables/wire cross section too small,
cable or wire too long, or damaged
Use proper cables with the correct length
Diagnostic message of the cable
tester: NEXT, PSNEXT, ACR,
PSACR, ELFEXT, PSELFEXT
Connectors/cables/wires of insufficient quality used or they are damaged
Use proper cables with the correct length
7-10
PHOENIX CONTACT
Replace the cable
Replace the cable
8336_en_00
Parameters
8
Parameters
8.1
General
The most important parameters (S-Parameter) are listed in the following in the ascending
order of their identification number (IDN). Please refer to the device-specific data sheet for
information about which parameters are available in a particular device.
Each parameter has a data block that consists of the following elements and subelements:
A range of 216 or 232 characters is used for the numbering of the IDNs that is split up as
follows:
Table 8-1
Numbering of the IDNs
Bit no.
31-24
23-16
Value
0-255
0-127 (Bit 23 = 0)
128-255
(Bit 23 = 1)
15
1
0
14-12
11-0
0-7
0-4095
Description
Structure instance (SI)
Structure element (SE)
Standard SE (normative)
Product-specific SE
(determined by the manufacturer)
Standard or product-specific data (S/P)
Standard data (S, normative)
Product-specific data (P, determined by
the manufacturer)
Parameter record
Data block number (if SI = SE = 0)
Function group
(if SI or SE unequal 0)
S-0-0014.0.0
Bit
15
Bit
14-12
Figure 8-1
Bit
11-0
Bit
Bit
31-24 23-16
IDN structure
For example, an IDN can have the following attributes:
– Length
– Format
– Function
– Unit
– Changeability
The parameter list in Chapter 8.2 is divided as follows:
– Basic parameters, see Chapter 8.3
– Parameters of the FSP_I/O, see Chapter 8.5
8336_en_00
PHOENIX CONTACT
8-1
UM EN SERCOS SYS
8.2
Table 8-2
8-2
PHOENIX CONTACT
Overview of GDP and SCP Parameters
Overview of GDP and SCP parameters
IDN
See
S-0-0014 Interface status
page 8-4
S-0-0017 IDN list of all operation data
page 8-5
S-0-0021 IDN list of invalid operation data for CP2
page 8-5
S-0-0022 IDN list of invalid operation data for CP3
page 8-5
S-0-0025 IDN list of all procedure commands
page 8-6
S-0-0095 Diagnostic message
page 8-6
S-0-0099 Reset class 1 diagnostic
page 8-7
S-0-0127 CP3 transition check
page 8-7
S-0-0128 CP4 transition check
page 8-7
S-0-0187 IDN list of configurable data as producer
page 8-8
S-0-0188 IDN list of configurable data as consumer
page 8-8
S-0-0192 IDN list of all backup operation data
page 8-8
S-0-0264 Backup working memory procedure command
page 8-9
S-0-0265 Language selection
page 8-9
S-0-0266 List of available languages
page 8-9
S-0-0267 Password
page 8-11
S-0-0279 IDN list of password protected data
page 8-12
S-0-0390 Diagnostic number
page 8-12
S-0-0420 Activate parameterization level procedure command (PL)
page 8-13
S-0-0422 Exit parameterization level procedure command (PL)
page 8-13
S-0-0423 IDN list of invalid data for parameterization level
page 8-14
S-0-1000 List of SCP types & versions
page 8-14
S-0-1002 Communication cycle time (tS-cyc)
page 8-16
S-0-1003 Allowed MST losses in CP3/CP4
page 8-16
S-0-1005 Minimum feedback processing time (t5)
page 8-16
S-0-1006 AT0 transmission starting time (t1)
page 8-17
S-0-1007 Feedback acquisition capture point (t4)
page 8-18
S-0-1008 Command value valid time (t3)
page 8-18
S-0-1009 Device control (C-Dev) offset in MDT
page 8-19
S-0-1010 Length of MDTs
page 8-19
S-0-1011 Device status (S-Dev) offset in AT
page 8-20
S-0-1012 Length of ATs
page 8-20
S-0-1013 SVC offset in MDT
page 8-21
S-0-1014 SVC offset in AT
page 8-21
S-0-1015 Ring delay
page 8-22
8336_en_00
Parameters
Table 8-2
8336_en_00
Overview of GDP and SCP parameters
IDN
See
S-0-1016 Slave delay (P/S)
page 8-22
S-0-1017 NRT transmission time
page 8-23
S-0-1019 MAC address
page 8-24
S-0-1020 IP address
page 8-24
S-0-1021 Subnet mask
page 8-25
S-0-1022 Gateway address
page 8-26
S-0-1023 SYNC jitter
page 8-26
S-0-1024 SYNC delay measuring procedure command
page 8-27
S-0-1026 Version of communication hardware
page 8-27
S-0-1027 MTU
page 8-27
S-0-1028 Error counter MST-P/S
page 8-29
S-0-1031 Test pin assignment port 1 and port 2
page 8-30
S-0-1035 Error counter port 1 and port 2
page 8-31
S-0-1040 sercos address
page 8-31
S-0-1041 AT Command value valid time (t9)
page 8-31
S-0-1044 Device control (C-Dev)
page 8-32
S-0-1045 Device status (S-Dev)
page 8-33
S-0-1050 sercos connections
page 8-35
S-0-1051 Image of connection setups
page 8-41
S-0-1300 Electronic label
page 8-41
S-0-1301 List of GDP classes & version
page 8-44
S-0-1302 Resource structures of sub-device
page 8-44
S-0-1303 Diagnosis trace
page 8-46
S-0-1305.0.01 sercos current time
page 8-48
PHOENIX CONTACT
8-3
UM EN SERCOS SYS
8.3
8.3.1
Function
Description of GDP and SCP Parameters
S-0-0014 Interface status
The parameter contains important status bits regarding the communication phases.
Structure
Table 8-3
Relevant bits of S-0-0014, Interface status
Bit
Designation/Function
2-0
Communication phase
000 = CP0
001 = CP1
010 = CP2
011 = CP3
100 = CP4
Use
3
2-times MST failure
4
2-times MDT failure
5
Invalid phase (Phase > 4)
6
Error during the phase upshift (order)
7
Error during the phase downshift (not to phase 0)
8
Phase shift without ready indication
9-10
Reserved
12
Incorrect phase shift sequence, timeout during phase shift
13
Incorrect phase shift sequence, phase default without phase shift
15-14
Reserved
Current communication phase
The current communication phase (binary encoded) can be read with the lower three bits
(0, 1, 2):
– 000b: Slave is in phase 0 (start phase)
– 001b: Slave is in phase 1 (configuration phase)
– 010b: Slave is in phase 2 (parameterization phase)
– 011b: Slave is in phase 3 (extended parameterization phase)
– 100b: Slave is in phase 4 (operating phase)
Communication error bits according to sercos
If an interface error occurs, one of bits 3 - 13 in "S-0-0014 Interface status" os set.
The communication error bits are only cleared by the device when the corresponding
interface error is no longer present and the "S-0-0099 Reset class 1 diagnostic" command
was started.
Attributes
8-4
PHOENIX CONTACT
Length
Format
Function
Changeability
2 bytes
Binary
Parameter
No
8336_en_00
Parameters
8.3.2
S-0-0017 IDN list of all operation data
Function
This parameter stores the IDNs of all commands and parameters of the device.
Attributes
Length
Format
Function
Changeability
8.3.3
List with IDNs of 4 bytes each
Number of elements is device-specific
IDN
Parameter
No
S-0-0021 IDN list of invalid operation data for CP2
Function
Before the device does the upshift from phase 2 to phase 3 with the "S-0-0127 CP3
transition check" command it checks whether all communication parameters are complete
and correct.
Use
If the device detects one or several identification numbers as invalid it writes the still require
or invalid process data into this IDN list. The device displays this with the "C0101 Parameter
record incomplete (-> S-0-0021)" error diagnostic message. Even for other error diagnostic
messages will the corresponding parameters be written in "S-0-0021 IDN list of invalid
operation data for CP2".
Attributes
Length
Format
Function
Changeability
8.3.4
List with IDNs of 4 bytes each
Maximum number of elements is device-specific
Current length is variable
IDN
Parameter
No
S-0-0022 IDN list of invalid operation data for CP3
Function
Before the device does a phase upshift from phase 3 to phase 4 according to the "S-0-0128
CP4 transition check" command, it checks the parameters for the following:
– Validity of the parameter
– Parameter is within the possible input range
– Compatibility with other parameters
Use
If the check is negative for a parameter, the device writes the process data concerned into
this IDN list.
The device confirms the switch command with the following messages in
"S-0-0423 IDN list of invalid data for parameterization level":
– C0201 Parameter record invalid
– C0202 Parameter limit value error
– C0203 Parameter conversion error
– C0242 Multiple configuration of a parameter
Attributes
Length
Format
Function
Changeability
8336_en_00
List with IDNs of 4 bytes each, Maximum number of elements
is device-specific, Current length is variable
IDN
Parameter
No
PHOENIX CONTACT
8-5
UM EN SERCOS SYS
8.3.5
S-0-0025 IDN list of all procedure commands
Function
The IDNs of all process command are stored in this list.
Example
For a bus coupler the following IDNs are stored in this list:
– S-0-0099 Reset class 1 diagnostic
– S-0-0127 CP3 transition check
– S-0-0128 CP4 transition check
– S-0-1024 SYNC delay measuring procedure command
Attributes
Length
Format
Function
Changeability
8.3.6
List with IDNs of 4 bytes each
Maximum number of elements is device-specific
IDN
Parameter
No
S-0-0095 Diagnostic message
Function
The current operating state of the slave is monitored with diagnostic messages that are
generated in the form of text messages by the bus coupler or bus head (with compact
devices) and are stored in this IDN.
Examples
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
Attributes
Length
Format
Function
Changeability
8-6
PHOENIX CONTACT
„IP channel is active: tScyc must be >= 1000us“
„Invalid connection length“
„->no valid producer connection“
„->no valid consumer connection“
„-Changing phase to CP1 started“
„(i)No Sub-Dev addressed, act. NRT-mode“
„-Changing phase to CP2 started“
„-Changing phase to CP3 started“
„-Changing phase to CP4 started“
„Change to comm. phase [3] Finished“
„CP4, (sub)-device in real time mode“
„->Initialization finished, slave started“
„error: t6 > t7“
„New E/W diagnose message received“
„Short circuit/overload of bus coupler outputs“
„UM voltage is missing“
„US voltage is missing“
„Diag.test over S-0-1399.0.1 (Code:0x…)“
„IB PF-Error. (TN:…, Dev.state:0x…)“
60 bytes
Text
Parameter
No
8336_en_00
Parameters
8.3.7
Function
S-0-0099 Reset class 1 diagnostic
The command for resetting error messages can be started with this parameter. If the error
causes have been removed, all pending error messages are reset and the device changes
to the error-free state.
If the error cause has not been eliminated, the error cannot be cleared. The command does
not provide a command error. The error bits in "S-0-1045 Device status (S-Dev)" are not
cleared. "S-0-1045 Device status (S-Dev), bit 1" shows whether the current error can be
cleared.
Attributes
Length
Format
Function
Executability
8.3.8
2 bytes
Binary
Command
Parameterization phase, operating phase
S-0-0127 CP3 transition check
Function
When the "S-0-0127, C0100 CP3 transition check" command is executed all interface
parameters are checked for their validity.
Use
If there are invalid interface parameters:
– The device will complete the command with an error message.
– The invalid parameters are entered in the "S-0-0021 IDN list of invalid operation data
for CP2" parameter.
The following commands can be used to switch from the parameterization phase to the
operating phase:
– "S-0-0127 CP3 transition check" and
– "S-0-0128 CP4 transition check"
Attributes
Length
Format
Function
Executability
8.3.9
2 bytes
Binary
Command
Communication phase CP2
S-0-0128 CP4 transition check
Function
When the "S-0-0128 CP4 transition check" command is executed all parameters are
checked for validity and for possible limit value violations.
Use
If there are invalid parameters or limit value violations, the device will complete the
command with an error message and enter the invalid parameters in "S-0-0022 IDN list of
invalid operation data for CP3". Moreover, several device functions are initialized.
The following commands can be used to switch from the parameterization phase to the
operating phase:
– "S-0-0127 CP3 transition check" and
– "S-0-0128 CP4 transition check"
8336_en_00
PHOENIX CONTACT
8-7
UM EN SERCOS SYS
Attributes
Length
Format
Function
Executability
8.3.10
2 bytes
Binary
Command
Communication phase CP3
S-0-0187 IDN list of configurable data as producer
Function
This parameter contains an IDN list of all parameters that the device can write cyclically in
the Acknowledge Telegram (AT).
Attributes
Length
Format
Function
Changeability
8.3.11
List with IDNs of 4 bytes each
Maximum number of elements is device-specific
Current length is variable
IDN
Parameter
No
S-0-0188 IDN list of configurable data as consumer
Function
This list contains the identification numbers of the parameters or process data that the
device can receive.
Attributes
Length
Format
Function
Changeability
8.3.12
List with IDNs of 4 bytes each
Maximum number of elements is device-specific
Current length is variable
IDN
Parameter
No
S-0-0192 IDN list of all backup operation data
Function
This IDN list contains all device parameters that have to be loaded into the device to ensure
correct operation.
Use
The master uses this list to create a backup copy of the device parameters.
Attributes
Length
Format
Function
Changeability
8-8
PHOENIX CONTACT
List with IDNs of 4 bytes each
Maximum number of elements is device-specific
Current length is variable
IDN
Parameter
No
8336_en_00
Parameters
8.3.13
Function
S-0-0264 Backup working memory procedure command
If the master activates "Backup working memory procedure command" all data required for
operation is loaded into the non-volatile memory (see "S-0-0192 IDN list of all backup
operation data").
All previously stored data will be overwritten.
Attributes
Length
Format
Function
Executability
8.3.14
Function
2 bytes
Binary
Command
Always
S-0-0265 Language selection
The languages available on the device can be selected with this parameter.
Device text will be displayed in the selected language, for example
– Name
– Unit
– All parameters with format = text, e.g., "S-0-0095 Diagnostic message"
The language encoding is as described in "S-0-0266 List of available languages".
Attributes
Length
Format
Function
Changeability
8.3.15
Function
2 bytes
Binary
Parameter
Yes
S-0-0266 List of available languages
This list contains the codes of all device languages currently available for language
selection (see "S-0-0265 Language selection").
Only English is currently implemented in the devices.
Structure
The available languages are encoded as follows:
Table 8-4
Bit
15-5
8336_en_00
Language selection
Value
Designation/Function
Reserved
PHOENIX CONTACT
8-9
UM EN SERCOS SYS
Table 8-4
Bit
Language selection
Value
4-0
Attributes
00000
German
00001
English
00010
French
00011
Spanish
00100
Italian
00101
Portuguese
00111
Hungarian
01000
Russian
01001
Swedish
01010
Danish
01011
Norwegian
01100-01111
Reserved
Length
Format
Function
Changeability
8-10
PHOENIX CONTACT
Designation/Function
Language selection
List with numbers of 2 bytes each
Maximum number of elements is device-specific
Decimal, without sign bit
Parameter
No
8336_en_00
Parameters
8.3.16
S-0-0267 Password
Function
This parameter can be used to activate a customer password.
Use
The password is used to protect the values of the parameter contained in "S-0-0279 IDN list
of password protected data" against unintentional or unauthorized changes. In the default
setting some module parameters are write-protected with a password. The list of passwordprotected parameters can be found in the "S-0-0279 IDN list of password protected data"
parameter.
If you try to edit a parameter with write protection you will receive the following message
from the module over the service channel: "Error code 0x7009: Operation data is password
write-protected". You can change the password and enable or disable write protection with
the "S-0-0267 Password" parameter. The password should have 3-10 characters and no
spaces and is stored in non-volatile memory. The following characters are permitted:
"0…9", "a…z" and "A…Z".
If the password is read over the service channel, the module will send the password not in
plain text but as a string with 10 characters
(UTF8 code 0x2A = *).
Changing the password
The devices are supplied with a default password.
For the default password, please refer to the corresponding data sheet.
To change the password, send the currently active password, the new password and for
confirmation the new password again over the service channel to the module, each
separated by a space. Changing the password automatically activates write protection for
all password-protected parameters.
Activating write protection
You can activate the password write protection as follows:
– Switch on the power supply for the corresponding device on and off again.
Or
– Overwrite the password parameter with something other than the password.
Deactivating write protection
Password write protection is deactivated by writing the current password to this parameter.
Write access error
With every write access that is not used for changing the password or activating or
deactivating the write protection, the module returns the error message "Error code 0x7008:
Invalid data" via the service channel.
Attributes
8336_en_00
Length
Format
Function
Executability
Variable (min = 3 characters, max = 10 characters)
Text
Parameter
Parameterization phase, operating phase
PHOENIX CONTACT
8-11
UM EN SERCOS SYS
8.3.17
S-0-0279 IDN list of password protected data
Function
The values contained in this list can be protected by a customer password ("S-0-0267
Password") against unintentional or unauthorized changes. There is an empty list in the
default state of this parameter. Users can adapt this list to their own needs by entering IDNs.
Please note that the "S-0-0279 IDN list of password protected data" IDN must be in this list
so that the entire list is protected.
Attributes
Length
List with IDNs of 4 bytes each
Maximum number of elements is device-specific
Current length is variable
IDN
Parameter
Parameterization phase, operating phase
Format
Function
Executability
8.3.18
Function
S-0-0390 Diagnostic number
A status code which corresponds to the respective error or the warning is stored in this
parameter. In this way the controller can generate its own diagnostic messages with these
number, for example in languages for which diagnostic text is not stored in the device.
Structure
Table 8-5
Bit
Structure of S-0-0390
Designation/Function
15-0
Status code
19-16
Class
0x0-0x9: Reserved
0xA: Operating state (lowest priority 4)
0xB: Reserved
0xC: Process-command-specific status (priority 3)
0xD: Reserved
0xE: Warning (priority 2)
0xF: Error (C1D) (highest priority 1)
23-20
Reserved
27-24
Source type
0x1: FSP_I/O
0x2: GDP
0x3: SCP
31-28
Interpretation of bits 29-0
0x0: Manufacturer-specific status code
0xC: Status code according to sercos standard
Attributes
8-12
PHOENIX CONTACT
Length
Format
Function
Changeability
4 bytes
Hexadecimal
Parameter
No
8336_en_00
Parameters
8.3.19
Function
S-0-0420 Activate parameterization level procedure
command (PL)
When this command is activated all monitoring systems with the associated hardware
components are switched off. As long as the command is active the sub device does not
report the error C1D. The sub device resets the associated status bits.
While the command is active, the device can change all parameters except for the
communication and time parameters.
Deactivation of the command
–
–
Automatically by the device in CP0
Via "S-0-0422 Exit parameterization level procedure command (PL)"
Confirmation of the command
The command is confirmed positively in CP2, CP3 or CP4, when the following is true
– The device is deactivated (status word, bit 14 = 0 or bit 15 = 0)
– The monitoring system is deactivated
– "Device Status (S-Dev) bit parameterization level active" = 1
Otherwise the sub device generated a negative confirmation or an error message (error
code 0x7012) via the service channel
Attributes
Length
Format
Function
Executability
8.3.20
Function
2 bytes
Binary
Command
Communication phases CP2, CP3, CP4
S-0-0422 Exit parameterization level procedure command
(PL)
When this command is activated, all parameters are checked and all monitoring systems
are booted with the associated hardware components.The device should reestablish
required references.
When this command is activated the parameterization level is exited.
Confirmation of the command
The command is confirmed positively if the following is true:
– The parameters concerned are checked and without errors.
– The monitoring system is switched on again.
– "Device status (S-Dev) bit parameterization level active" = 0
Or
– The device is already in the operating phase.
The command is confirmed negatively if an error was detected during the check. The IDNs
that caused the error will be stored in the "S-0-0423 IDN list of invalid data for
parameterization level" parameter. The sub device remains on the parameterization level.
8336_en_00
PHOENIX CONTACT
8-13
UM EN SERCOS SYS
Attributes
Length
Format
Function
Executability
8.3.21
Function
2 bytes
Binary
Command
Communication phases CP2, CP3, CP4
S-0-0423 IDN list of invalid data for parameterization level
IDNs which have been detected invalid by the device will be stored in this list as long as "S0-0422 Exit parameterization level procedure command (PL)" has not been executed.
Scenario 1
"S-0-0422 Exit parameterization level procedure command (PL)" executed correctly
-> No IDNs in this list
Scenario 2
"S-0-0422 Exit parameterization level procedure command (PL)" with errors
-> All invalid parameters are stored in this list
Attributes
Length
Format
Function
Changeability
8.3.22
List with IDNs of 4 bytes each
Maximum number of elements is device-specific
Current length is variable
IDN
Parameter
No
S-0-1000 List of SCP types & versions
Function
A bus slave is identified with this parameter. The parameter consists of a 16-bit list in which
each element describes a parameter package (a communication class) and its version.
Structure
This parameter is structured as follows:
Table 8-6
8-14
PHOENIX CONTACT
Basic structure of S-0-1000
Bits 15-8
Bits 7-4
Bits 3-0
Code of the communication class
Reserved (0x0)
sercos version number
8336_en_00
Parameters
Table 8-7
Contents of S-0-1000
Bits 158
Bits
3-0
Short designation of the
communication class
sercos
version
Meaning of the communication class
0x01
0x1
SCP_FixCFG
V1.1.1
Fix configuration of connections
0x2
SCP_FixCFG_0x02
V1.3
Fix configuration of connections & connection stop
0x1
SCP_VarCFG
V1.1.1
Variable configuration of homogenous connections
0x2
SCP_VarCFG_0x02
V1.3
Variable configuration of homogenous connections
& connection stop
0x1
SCP_Sync
V1.1.1
Synchronization
0x2
SCP_Sync_0x02
V.1.3
Synchronization tSync > tScyc using MDT Extended field
0x1
SCP_WD
V1.1.1
Watchdog of connection
0x2
SCP_WD_0x02
V1.3
Watchdog of connection with timeout & data losses
0x05
0x1
SCP_Diag
V1.1.1
Communication diagnosis
0x06
0x2
SCP_RTB
V1.1.1
Configuration of real-time bits
0x07
0x1
SCP_HP
V1.1.1
Hot-plug
0x08
0x2
SCP_SMP
V1.1.1
sercos messaging protocol
0x09
0x1
SCP_MuX
V1.1.1
Multiplex channel (standard data container)
0x02
0x03
0x04
0x0A
0x1
SCP_NRT
V1.1.1
NRT channel (IP communication)
0x0B
0x1
SCP_SIG
V1.1.1
Word of real-time bits as producer and consumer
0x0C
0x1
SCP_ListSeg
V1.3
Segmented list transfer via the SVC
0x0D
0x1
SCP_SIP
V1.3
Support of S/IP Protocol in the NRT channel
0x0E
0x1
SCP_TFTP
V1.3
Support of TFTP in the NRT channel
0x0F
0x1
SCP_Cap
V1.3
Connection capabilities
0x10
0x1
SCP_ExtMux
V1.1.2
Extended Multiplex channel (extended data container)
0x11
0x1
SCP_RTBListProd
V1.3
List of real-time bits as producer (status)
0x12
0x1
SCP_RTBListCons
V1.3
List of real-time bits as consumer (control)
0x13
0x1
SCP_SysTime
V1.3
Set sercos time using MDT Extended field
0x14
0x1
SCP_RTBWordProd
V1.3
Word of real-time bits as producer
0x15
0x1
SCP_RTBWordCons
V1.3
Word of real-time bits as consumer
0x16
0x1
SCP_Safety
V1.3
CIP safety on sercos connection
0x17
0x1
SCP_OvS_Basic
V1.3
Oversampling functionality
Attributes
Length
Format
Function
Changeability
8336_en_00
List with IDNs of 2 bytes each
Maximum number of elements is device-specific
Hexadecimal
Parameter
No
PHOENIX CONTACT
8-15
UM EN SERCOS SYS
8.3.23
S-0-1002 Communication cycle time (tS-cyc)
Function
The communication cycle time of the sercos interface indicates at which intervals the cyclic
data, i.e. the process data (MDT and AT) is to be transmitted.
Use
The following points should be observed during parameterization:
– The entries are defined from 250 µs ... 65 ms in steps of 250 s.
– The "sercos cycle time (TScyc)" must be transmitted from the master to the slave in
CP2 and activated in both from CP3 onwards.
Attributes
Length
Format
Function
Changeability
Unit
8.3.24
4 bytes
Decimal, without sign bit
Parameter
Communication phase CP2
ns
S-0-1003 Allowed MST losses in CP3/CP4
Function
This parameter defines the number of permitted MST (Master Synchronization Telegram)
failures which may occur directly after one another in the communication phases CP3 and
CP4 before the device triggers an F4001 error.
Attributes
Length
Format
Function
Changeability
8.3.25
Function
4 bytes
Decimal, without sign bit
Parameter
Communication phase CP2
S-0-1005 Minimum feedback processing time (t5)
Time required in the device between the start of actual value acquisition and the start of
AT0, see also Figure 2-4 “Telegram structure of the communication layer” on page 6-4.
In communication phase 2 the master reads this value to set the "Time of measurement
for actual values (T4)" (S-0-1007 Feedback acquisition capture point (t4)) for all devices
accordingly.
Use
The device must specify this value in such a way that the current actual values are
transmitted to the controller in the next device telegram (AT).
Attributes
Length
Format
Function
Changeability
Unit
8-16
PHOENIX CONTACT
4 bytes
Decimal, without sign bit
Parameter
No
ns
8336_en_00
Parameters
8.3.26
S-0-1006 AT0 transmission starting time (t1)
Function
This transmission time determines when the master - with regard to the Master
Synchronization Telegram (MST) - sends its Acknowledgement Telegram (AT) in
communication phases CP3 and CP4. See also Figure 6-2 “Timing of the communication
layer” on page 6-4.
Attributes
Length
Format
Function
Changeability
Unit
8336_en_00
4 bytes
Decimal, without sign bit
Parameter
No
ns
PHOENIX CONTACT
8-17
UM EN SERCOS SYS
8.3.27
Function
S-0-1007 Feedback acquisition capture point (t4)
Time of measurement of actual values determined by the master and after the end of the
Master Synchronization Telegram (MST).
The master can specify the same time of measurement of actual values for all devices
operating in a coordinated way with each other. This ensures synchronization of current
value acquisition between all devices concerned.
The device activates the time of measurement of actual values from communication phase
CP3 onwards.
Use
The master must set the time of measurement of actual values lower or equal the difference
of the sercos cycle time (S-0-1002 Communication cycle time (tS-cyc) and the requested
"Minimum time of actual value acquisition" (S-0-1005 Minimum feedback processing time
(t5)).
Attributes
Length
Format
Function
Changeability
Unit
8.3.28
4 bytes
Decimal, without sign bit
Parameter
No
ns
S-0-1008 Command value valid time (t3)
Function
The time for "Setpoint valid" indicates after which time the device may access the new
setpoints after the end of the Master Synchronization Telegram (MST), see also Figure 6-2
“Timing of the communication layer” on page 6-4. Thus the master can specify the same
time for "Setpoint valid" for all devices operating in a coordinated way with each other.
Attributes
Length
Format
Function
Changeability
Unit
8-18
PHOENIX CONTACT
4 bytes
Decimal, without sign bit
Parameter
No
ns
8336_en_00
Parameters
8.3.29
Function
S-0-1009 Device control (C-Dev) offset in MDT
The telegram assignment specifies at which point (telegram offset) and in which MDT
telegram (telegram number) the device control word (C-Dev) is located, see also Figure 2-4
“Telegram structure of the communication layer” on page 2-7.
Structure
Table 8-8
Structure of S-0-1009
Bit
Designation/Function
Comment
11-0
Offset in MDT
In bytes
13-12
MDT number
00: MDT0
01: MDT1
02: MDT2
03: MDT3
15-14
Attributes
Reserved
Length
Format
Function
Changeability
8.3.30
2 bytes
Hexadecimal
Parameter
Communication phase CP2
S-0-1010 Length of MDTs
Function
The list parameter contains the length of all four possible Master Data Telegrams (MDT),
see also Figure 2-4 “Telegram structure of the communication layer” on page 2-7.
Use
The following must be observed during parameterization:
– All four lengths must always be specified.
– Non-existing MDT telegrams are marked with the length = 0.
Attributes
Length
Format
Function
Changeability
Unit
8336_en_00
4 x 2 bytes
Decimal, without sign bit
Parameter
Communication phase CP2
Byte
PHOENIX CONTACT
8-19
UM EN SERCOS SYS
8.3.31
Function
S-0-1011 Device status (S-Dev) offset in AT
The telegram assignment indicates at which point (telegram offset) and in which AT
telegram (telegram number) the device status word (S-Dev) is located, see also Figure 2-4
“Telegram structure of the communication layer” on page 2-7.
Structure
Table 8-9
Structure of S-0-1011
Bit
Designation/Function
Comment
11-0
Offset in MDT
In bytes
13-12
AT number
00: AT0
01: AT1
10: AT2
11: AT3
15-14
Attributes
Length
Format
Function
Changeability
8.3.32
Function
Reserved
2 bytes
Hexadecimal
Parameter
Communication phase CP2
S-0-1012 Length of ATs
The list parameter contains the length of all four possible Acknowledgement Telegrams
(AT), see also Figure 2-4 “Telegram structure of the communication layer” on page 2-7.
The lengths are required for initialization of sercos communication.
Use
The following must be observed during parameterization:
– All four lengths must always be specified.
– Non-existing AT telegrams are marked with the length = 0.
Attributes
Length
Format
Function
Changeability
Unit
8-20
PHOENIX CONTACT
4 x 2 bytes
Decimal, without sign bit
Parameter
Communication phase CP2
Byte
8336_en_00
Parameters
8.3.33
Function
S-0-1013 SVC offset in MDT
The SVC offset in the Master Data Telegram (MDT) specifies at which position and in which
Master Data Telegram the service channel is sent for the device, see also Figure 2-4
“Telegram structure of the communication layer” on page 2-7.
Structure
Table 8-10
Structure of S-0-1013
Bit
Designation/Function
Comment
11-0
MDT SVC offset
In bytes
13-12
MDT telegram number
00: MDT0
01: MDT1
10: MDT2
11: Reserved
15-14
Attributes
Length
Format
Function
Changeability
8.3.34
Function
Reserved
2 bytes
Hexadecimal
Parameter
Communication phase CP2
S-0-1014 SVC offset in AT
The SVC offset in the Acknowledge Telegram (AT) specifies at which position and in which
Acknowledge Telegram the service channel is sent for the device, see also Figure 2-4
“Telegram structure of the communication layer” on page 2-7.
Structure
Table 8-11
Structure of S-0-1014
Bit
Designation/Function
Comment
11-0
AT SVC offset
In bytes
13-12
AT telegram number
00: AT0
01: AT1
10: AT2
11: Reserved
15-14
Attributes
8336_en_00
Reserved
Length
Format
Function
Changeability
2 bytes
Hexadecimal
Parameter
Communication phase CP2
PHOENIX CONTACT
8-21
UM EN SERCOS SYS
8.3.35
Function
S-0-1015 Ring delay
In communication phase CP2 the master determines the ring delay time (S-0-1015 Ring
delay) and transfers it to the slaves. With this delay the slaves can determine their
synchronization time with their delay counters for the P- and S-Channel. The master must
execute the "S-0-1024 SYNC delay measuring procedure command" command for this.
The "S-0-1024 SYNC delay measuring procedure command" command must be
executed in CP2 prior to the "S-0-0127 CP3 transition check" command.
Attributes
Length
Format
Function
Changeability
Unit
8.3.36
Function
4 bytes
Decimal, without sign bit
Parameter
Communication phases CP2, CP3, CP4
ns
S-0-1016 Slave delay (P/S)
After the master has transferred the ring delay time (S-0-1015 Ring delay) to the slaves, the
slaves determine the values for the delay counters
SYNCCNT-P and SYNCCNT-S after the "S-0-1024 SYNC delay measuring procedure
command" command has been executed.
– Ring topology: Both list elements contain values
– Line topology: Only one list element contains the value, the other is 0
List element 0SYNCCNT-P
List element 1SYNCCNT-S
Attributes
8-22
PHOENIX CONTACT
Length
Format
Function
Changeability
Unit
2 x 4 bytes
Decimal, without sign bit
Parameter
No
ns
8336_en_00
Parameters
8.3.37
Function
S-0-1017 NRT transmission time
This parameter is used to define the time slot for the NRT channel.
The controller defines whether the AT Telegrams are sent directly after the MDT Telegrams
(method 1) or after the NRT channel (method 2).
Figure 8-2
Calculation of t6 and t7n
Structure
The list parameter is structured as follows:
– First element:
Start (t6) of the NRT channel
– Second element:
End (t7) of the NRT channel
Use
The following must be observed during parameterization:
– t7 - t6 125 µs
Minimum length of the NRT channel
– t6 = t7 = 0
NRT channel switched off
If the length of NRT is less than 125 s, "S-0-1027.x.01 Requested MTU" will be adapted
accordingly.
Attributes
8336_en_00
Length
Format
Function
Changeability
Unit
2 x 4 bytes
Decimal, without sign bit
Parameter
Communication phase CP2
ns
PHOENIX CONTACT
8-23
UM EN SERCOS SYS
8.3.38
S-0-1019 MAC address
Function
This parameter contains the MAC address for the engineering via IP that is required during
Ethernet communication. The MAC (Media Access Control) address is used for unique
identification of Ethernet communication in the network.
Structure
Being a list parameter, the MAC address is structured as follows:
0x0006
0x0006
0x00
0x60
fixed value 6 for
actlen/maxlen
Figure 8-3
0x34
0xC1
0x0C
0xEA
MAC address:
00:60:34:C1:0C:EA
MAC address S-0-1019
Use
The MAC address is permanently assigned to the hardware and cannot be changed.
Attributes
Length
Format
Function
Changeability
8.3.39
Function
6 x 1 byte
Hexadecimal
Parameter
No
S-0-1020 IP address
This parameter contains the IP address for the engineering via IP that is required during IP
communication. The IP address is used for unique identification of a device on the Internet.
Changes of the parameter only come into effect after the following:
– Restart of the 24 volt supply of the device
– Pressing of the reset button
Structure
Being a list parameter, the IP address is structured as follows:
0x0004
0x0004
fixed length 4 for
actlen / maxlen
Figure 8-4
141
70
124
199
IPv4 address:
141.70.124.199
Structure of IP address S-0-1020
Use
The IP address must be set specifically for the application.
8-24
PHOENIX CONTACT
8336_en_00
Parameters
Attributes
Length
Format
Function
Changeability
8.3.40
Function
4 x 1 byte
Decimal, without sign bit
Parameter
Communication phases CP2, CP3, CP4
S-0-1021 Subnet mask
This parameter contains the subnet mask for the engineering via IP that is required during
IP communication. Each IP address (Internet protocol) is separated into a network and a
device part. The subnet mask is used to differentiate between the network and the device
part. The master can change this subnet mask for IP communication in the NRT channel.
Structure
Changes of the parameter only come into effect after the following:
– Restart of the 24 volt supply of the device
– Pressing of the reset button
Being a list parameter, the network mask is structured as follows:
0x0004
0x0004
fixed length 4 for
actlen / maxlen
Figure 8-5
255
255
255
128
IPv4 subnet mask:
255.255.255.128
Structure of the subnet mask S-0-1021
Use
The network mask must be set specifically for the application.
Attributes
8336_en_00
Length
Format
Function
Changeability
4 x 1 byte
Decimal, without sign bit
Parameter
Communication phases CP2, CP3, CP4
PHOENIX CONTACT
8-25
UM EN SERCOS SYS
8.3.41
Function
S-0-1022 Gateway address
This parameter contains the gateway address of the IP device for the engineering via IP
(Internet Protocol) that is required for IP communication. The master can change this
address for communication in the NRT channel.
If the master wants to send an IP packet, the network parts of the source IP address and the
destination IP address are compared with each other. If they are not the same the IP packet
is sent to the gateway IP address.
Use
Changes of the parameter only come into effect after the following:
– Restart of the 24 volt supply of the device
– Pressing of the reset button
The gateway address must be set specifically for the application.
Attributes
Length
Format
Function
Changeability
8.3.42
Function
4 x 1 byte
Decimal, without sign bit
Parameter
Communication phases CP2, CP3, CP4
S-0-1023 SYNC jitter
This parameter is used to set the maximum possible jitter of the synchronization clock of the
controller.
The jitter is used to define the time slot for reception of the MST in the slave. This slot is twice
as large as the synchronization jitter.
It can be used to adapt the monitoring in the sercos slaves to the options of the sercos
master.
Attributes
8-26
PHOENIX CONTACT
Length
Format
Function
Changeability
Unit
4 bytes
Decimal, without sign bit
Parameter
Communication phase CP2
ns
8336_en_00
Parameters
8.3.43
Function
S-0-1024 SYNC delay measuring procedure command
The command is used to measure the delays between the two ports.
After this process command has been activated, the slave determines the slave signal delay
with the help of the ring signal delay "S-0-1015 Ring delay". In a ring topology both values
are defined while in the ring topology only one parameter is defined and other one is set to 0.
– There is a positive confirmation in communication phase CP2 when the slaves
generates a valid value. In this case the slaves synchronizes itself automatically in CP3.
– There is a positive confirmation in communication phases CP3 and CP4 when the slave
generates a valid value and resynchronizes itself.
A negative confirmation is stored as diagnostic code in the "S-0-0390 Diagnostic number".
The master starts this process command and waits until it is completed in communication
phase CP2 before it activates "S-0-0127 CP3 transition check". It starts it in communication
phases CP3 and CP4 for every slave that must be synchronized.
Attributes
Length
Format
Function
Executability
8.3.44
Function
2 bytes
Binary
Command
Communication phases CP2, CP3, CP4
S-0-1026 Version of communication hardware
This parameter contains the sercos specific hardware identification as text (ASCII format):
FPGA version and revision
Example: SERCON100S V02 R08
Attributes
Length
Format
Function
Changeability
8.3.45
18 bytes
Text
Parameter
No
S-0-1027 MTU
The following structure elements are available for this command:
– S-0-1027.x.01 Requested MTU
– S-0-1027.x.02 Effective MTU
Function
The Requested MTU parameter contains the maximum number of bytes (setpoint) that can
be sent by a higher layer via the NRT channel. This value is taken to calculate the effective
MTU value (actual value) that you can read with "S-0-1027.x.02 Effective MTU".
Requested MTU and Effective MTU can be different, for example, if the value of the
Requested MTU is not in the valid range of the current communication phase. The Effective
MTU value is accepted immediately and updated if this IDN is edited or the communication
phase is changed.
Example: The IDN is set to 80, while the Effective MTU value of NRT, CP0, CP1, CP2, and
HP0 shows the sum 576.
8336_en_00
PHOENIX CONTACT
8-27
UM EN SERCOS SYS
Calculation of the Effective MTU value:
tNRT = (t7 - t6) > 6.72 s (see "S-0-1017 NRT transmission time")
MTU(tNRT) = min{1500;
tNRT
x 12 498 750 - 38}
s
Figure 8-6
Calculation of the Effective MTU value
Table 8-12
Minimum and maximum packet sizes of the different communication
phases
Phase
NRT
CP0
CP1
CP2
CP3
CP4
HP0
HP1
HP2
Upper limit of MTU
1500
1500
1500
1500
MTU(tNRT)
MTU(tNRT)
1500
MTU(tNRT)
MTU(tNRT)
Lower limit of MTU
576
576
576
576
46
46
576
46
46
MTUinterim = min {upper – limit(CP); MTUtarget}
MTUeffective = max {lower – limit(CP); MTUinterim}
8.3.45.1
S-0-1027.x.01 Requested MTU
Function
This parameter contains the maximum number of bytes (setpoint) that can be sent from a
higher layer via the NRT channel.
Attributes
Length
Format
Function
Changeability
8-28
PHOENIX CONTACT
2 bytes
Decimal, without sign bit
Parameter
Communication phases CP0, CP1, CP2
8336_en_00
Parameters
8.3.46
S-0-1027.x.02 Effective MTU
Function
This IDN contains the MTU actual value and is calculated with the help of "S-0-1017 NRT
transmission time" and "S-0-1027.x.01 Requested MTU".
Attributes
Length
Format
Function
Changeability
8.3.47
Function
2 bytes
Decimal, without sign bit
Parameter
No
S-0-1028 Error counter MST-P/S
The "Error counter MST-P/S" increases as soon as no valid MST arrives at port 1 or at port
2 in the communication phases CP3 and CP4.
The counter stops counting when it has reached the value 65 535. That means a value of
65 535 can indicate that more errors than indicates have occurred, for example, if there is
data transmission with errors over a long period of time.
The error counter is reset with "S-0-0127 CP3 transition check".
Attributes
8336_en_00
Length
Format
Function
Changeability
2 bytes
Decimal, without sign bit
Parameter
No
PHOENIX CONTACT
8-29
UM EN SERCOS SYS
8.3.48
Function
S-0-1031 Test pin assignment port 1 and port 2
This parameter is used to assign communication-relevant hardware signals to test pins TS1
and TS2.
Structure
Table 8-13
Structure of S-0-1031
Bit
Value
3-0
See next Signal is assigned to test pin TS1
table
7-4
Reserved
11-8
Signal is assigned to test pin TS2
15-12
Reserved
Table 8-14
Attributes
8-30
PHOENIX CONTACT
Designation/Function
Comment
Refer to the next table for
possible values
Refer to the next table for
possible values
Values of S-0-1031
Value
Signal slave
Description
0000
Port 1 MST
MST pulse from Rx MAC port 1 (duration: 40
ns)
0001
Port 2 MST
MST pulse from Rx MAC port 2 (duration: 40
ns)
0010
TMST
TMST signal after MST generator (TSref)
0011
CON_CLK
CON time of TCNT timer
0100
DIV_CLK
DIV time of DIV timer (if present)
0101
TCNT Reload
TCNT timer overflow
0110
Port 1 TCNT Reload
Port 1 timer overflow
0111
Port 2 TCNT Reload
Port 2 timer overflow
1000
Port 1 IP Open
IP window of port 1
1001
Port 1 IP Open Write
IP transmission window of port 1
1010
Port 2 IP Open
IP window of port 2
1011
Port 2 IP Open Write
IP transmission window of port 2
1100
Port 1 MST Window Open
MST window of port 1
1101
Port 2 MST Window Open
MST window of port 2
1110
Port 1 Rx Frame
Receiving at port 1
1111
Port 2 Rx Frame
Receiving at port 2
Length
Format
Function
Changeability
2 bytes
Binary
Parameter
Yes
8336_en_00
Parameters
8.3.49
Function
S-0-1035 Error counter port 1 and port 2
This error counter counts the following errors in the Ethernet transmission:
– Ethernet frames received with control error or the display RxER
–
Ethernet frames received with control error due to a wrong order of frames.
The least significant word represents port 1 and the most significant word port 2.
The counter is started in communication phase CP0 and is increased by one, maximum, per
cycle time. The counter state can be edited so it can be reset via an HMI. The maximum
value is 0xFFFF. The counter states are not stored so they start with 0x0000 when is
switched on.
Attributes
Length
Format
Function
Changeability
8.3.50
4 bytes
Hexadecimal
Parameter
Communication phases CP2, CP3, CP4
S-0-1040 sercos address
Function
This parameter contains the sercos address that is assigned to the device.
Attributes
Length
Format
Function
Changeability
8.3.51
Function
2 bytes
Decimal, without sign bit
Parameter
Communication phase CP2
S-0-1041 AT Command value valid time (t9)
The time t9 indicates the time after which the slave can access the new process values from
the AT.
Thus the master can specify the time from which on the setpoints become valid for all
coordinated applications.
The slave activates the validity of the process values in communication phase CP3.
See also Figure 6-2 “Timing of the communication layer” on page 6-4.
Attributes
8336_en_00
Length
Format
Function
Changeability
Unit
4 bytes
Decimal, without sign bit
Parameter
Communication phase CP2
ns
PHOENIX CONTACT
8-31
UM EN SERCOS SYS
8.3.52
Function
S-0-1044 Device control (C-Dev)
The parameter is an image of the device control word (C-Dev). It can be read only and used
for diagnostic purposes.
Structure
Table 8-15
Structure of S-0-1044
Bit
Designation/Function
9-0
Reserved
10
Reserved for sercos time
11
Status of the physical topology
0: Physical ring interrupted
Comment
Only used in the NRT channel. The source address
table is not applicable when the slave recognizes a
toggle.
1: Physical ring closed
13-12
Topology control
00: Fast forward direction on both ports
Px
Py
01: Loopback with forward direction of P telegrams
P
Px
Py
10: Loopback with forward direction of S telegrams
Py
Px
S
11: Reserved
14
HS topology
Toggle
The original value is 0 in every CP.
The master toggles the bit every time the topology
changes.
15
Identification
This function is used for decentral address assignment or configuration errors between master and
slave.
0: No identification request
1: Identification request
Attributes
8-32
PHOENIX CONTACT
Length
Format
Function
Changeability
The slave indicates the status of this bit with the sercos LED or on the display.
2 bytes
Hexadecimal
Parameter
No
8336_en_00
Parameters
8.3.53
Function
S-0-1045 Device status (S-Dev)
This parameter provides information on the current device status. It is an image of the
device status word (S-Dev). It can be read only and used for diagnostic purposes.
Structure
Table 8-16
Structure of S-0-1045
Bit
Designation/Function
1
Reserved
2
Reserved for RT plug
3
Reserved for sercos time
4
Parameterization level
PL
0: PL is not active
Is set to 0 with the
S-0-0422 process command.
1: PL is active
Is set to 1 with the
S-0-0420 process command.
5
Comment
Process command change
0: No change in the process command
acknowledgment
6
1: Change in the process command acknowledgment
The process command is acknowledged positively or negatively.
Warning (C2D)
Including resource warnings
0: No warning
1: Warning
7
Error (C1D)
Including resource errors
0: No error
1: Error
8
9
Slave valid
0: Slave invalid
Is set to 0 when a CP0 is received or
if CPS = 1
1: Slave valid
Is set to 1 when a new CP is in preparation and CPS = 0
Connection error
0: Error-free connection
1: Connection error occurred
8336_en_00
The consumer detected a connection error.
PHOENIX CONTACT
8-33
UM EN SERCOS SYS
Table 8-16
Structure of S-0-1045
Bit
Designation/Function
Comment
11-10
Status of the inactive port
These bits can be ignored when the
topology bits (13-12) are 00 or 11.
00: No connection at the inactive port
01: Connection at the inactive port
10: P-Telegram at the inactive port
11: S-Telegram at the inactive port
13-12
Topology status
Shows the current topology (Px or Py
may be either P1 or P2)
00: Fast forward direction on both ports
Px
01: Loopback with forward direction of P
telegrams
Py
P
Px
inactive Port
10: Loopback with forward direction of S
telegrams
inactive Port
Py
S
11: NRT phase (storing and forward direction)
14
15
Px
Py
HS topology
The original value is 0 in every CP.
Toggle
The slave toggles when the request
of the master was processed.
Communication warning
0: No warning
1: Communication warning occurred
Attributes
8-34
PHOENIX CONTACT
Length
Format
Function
Changeability
For example, the number of permitted MST losses exceeded the half
value of
S-0-1003.
2 bytes
Hexadecimal
Parameter
No
8336_en_00
Parameters
8.3.54
S-0-1050 sercos connections
Configuration of the individual connections is defined with the various parameters of S-01050. Each connection can be set up either in the form of an IDN list (S-0-1050.x.01 Bits 54 = 00) or in the form of containers (S-0-1050.x.01 Bits 5-4 = 01). In this case "x" represents
the connection of the device, for example
– x = 0: First connection of the device
– x = 1: Second connection of the device
– ...
There is a device-specific maximum number of possible connections for each device, see
device data sheet.
Up to a maximum of 65536 connections are possible. Up to 256 connections can be
configured for each slave.
Table 8-17
Parameter
See
S-0-1050.x.01 Connection setup
page 8-35
S-0-1050.x.02 Connection number
page 8-36
S-0-1050.x.03 Telegram assignment
page 8-37
S-0-1050.x.04 Max. length of connection
page 8-38
S-0-1050.x.05 Current length of connection
page 8-38
S-0-1050.x.06 Configuration list
page 8-38
S-0-1050.x.08 Connection control (C-Con)
page 8-38
S-0-1050.x.10 Producer cycle time
page 8-39
S-0-1050.x.11 Allowed data losses
page 8-39
S-0-1050.x.12 Error counter data losses
page 8-40
S-0-1050.x.20 IDN allocation of real-time bit
page 8-40
S-0-1050.x.21 Bit allocation of real-time bit
page 8-40
8.3.54.1
Function
8336_en_00
Parameters of S-0-1050
S-0-1050.x.01 Connection setup
The parameter contains the configuration data of a connection which consist of:
– Activation of the configuration
– Connection type
– Configuration source
– Configuration mode
– Clock generation (producer)
– Monitoring mechanism (consumer)
PHOENIX CONTACT
8-35
UM EN SERCOS SYS
Structure
Table 8-18
Structure of S-0-1009
Bit
Designation/Function
Comment
1-0
Monitoring mechanism
For the consumer
00: Producer cycle, synchronous operation
01: Asynchronous operation with watchdog (time defined with S-0-1050.x.10,
the timeout for the watchdog is calculated as follows: "S-0-1050.x.10 Producer
cycle time"
* "S-0-1050.x.11 Allowed data losses")
10: Asynchronous operation without watchdog
11: Reserved
2
Reserved
3
Producer mechanism
0: Producer cycle, synchronous
1: Asynchronous
5-4
Configuration type
FSP_I/O:
00: Variable configuration of the IDNs with 0-1050.x.6
The connection is defined as
follows:
01: Configuration with connection length, see S-0-1050.x.5,
S-0-1050.x.6 is not taken into consideration
10: Standard telegram, see S-0-0015
11: Reserved
11-6
Reserved
13-12
Source of the connection configuration
C-CON - I/O Control - S-01500.x.5
C-CON - I/O Status - S-01500.x.9
00: Master
01: Reserved
10: External
11: Reserved
14
Function of the connection
0: Consumer
1: Producer
15
Use of the configuration by the slave
0: Not used
1: Used
Attributes
Length
Format
Function
Changeability
8.3.54.2
Function
8-36
PHOENIX CONTACT
2 bytes
Hexadecimal
Parameter
Communication phase CP2
S-0-1050.x.02 Connection number
This number is used to identify a number uniquely.
– The producer and all consumers of the connection have the same connection number.
8336_en_00
Parameters
–
Attributes
The master/slave connection consists of two single connection one via the MDT and
one via the AT.
Length
Format
Function
Changeability
8.3.54.3
Function
2 bytes
Decimal, without sign bit
Parameter
Communication phase CP2
S-0-1050.x.03 Telegram assignment
The telegram specification defines the following:
– Telegram type (MDT or AT)
– Telegram number
– Position (offset in the telegram for the existing connection).
The offset points to the Connection Control (C-Con) of this connection.
The offset starts with 14 bytes in MDT0 or AT0 and 8 bytes in MDT1 to MDT3 or AT1 to AT3
and is located after the sercos header for both, MDTs and ATs.
Structure
Table 8-19
Structure of S-0-1050.x.03
Bit
Designation/Function
10-0
Telegram offset in bytes
11
Telegram type:
Comment
0: AT
1: MDT
15-12
Telegram number:
0: MDT0 / AT0
1: MDT1 / AT1
2: MDT2 / AT2
3: MDT3 / AT3
Attributes
8336_en_00
Length
Format
Function
Changeability
2 bytes
Hexadecimal
Parameter
Communication phase CP2
PHOENIX CONTACT
8-37
UM EN SERCOS SYS
8.3.54.4
S-0-1050.x.04 Max. length of connection
Function
This parameter defines the maximum length of the connection. The 2 bytes for Connection
Control (C-Con) are part of this length. If a slave has a specified length of n bytes, this length
contains 2 bytes C-Con and n-2 bytes of data.
Attributes
Length
Format
Function
Changeability
8.3.54.5
Function
2 bytes
Decimal, without sign bit
Parameter
No
S-0-1050.x.05 Current length of connection
This parameter contains the current length of the connection. The 2 bytes for Connection
Control (C-Con) are part of this length.
If a slave has a specified length of n bytes, this length contains 2 bytes C-Con and n-2 bytes
of data.
The slave updates the parameter as soon as the configuration parameters change. This
parameter is required for all slaves and part of the SCP_FixCFG (sercos Communication
Profile Fix ConFiGuration).
Attributes
Length
Format
Function
Changeability
8.3.54.6
2 bytes
Decimal, without sign bit
Parameter
No
S-0-1050.x.06 Configuration list
Function
If it was specified in "S-0-1050.x.01 Connection setup" that the connection is configured via
IDNs (Bits 5-4 = 00), this parameter contains the list of identification numbers (4 bytes) for
the connection.
Attributes
Length
Format
Function
Changeability
8.3.54.7
Function
8-38
PHOENIX CONTACT
List with IDNs of 4 bytes each,
Maximum number of elements is device-specific
Current length is variable
IDN
Parameter
Communication phase CP2
S-0-1050.x.08 Connection control (C-Con)
This parameter contains an image of the C-Con control word of the connection. This is true
for producer and consumer connections.
8336_en_00
Parameters
Structure
Table 8-20
Structure of S-0-1050.x.08
Bit
Designation/Function
0
ProducerReady:
0: Producer does not yet enter valid setpoint values
1: Producer enters valid setpoint values and the slave can accept these values by toggling bit 1
1
NewDataToggle-Bit:
An edge indicates that the connection contains new data
2
CC-DataFieldDelay:
1: CC-Producer data have a sercos cycle offset since they have been copied via the bus master. The consumer
should preferably take the data from the port where bit 0 is.
3
ProducerSynchronized:
0: The PLL of the producer is not synchronized with the clock
of the ring
1: The PLL of the producer is synchronized with the clock of the ring
6
Realtime bit-1
7
Realtime bit-2
Attributes
Length
Format
Function
Changeability
8.3.54.8
2 bytes
Binary
Parameter
No
S-0-1050.x.10 Producer cycle time
Function
The parameter indicates the cycle time in which the producer updates the data in the cyclic
connection. In addition, the NewData toggle bit in the connection control word (C-Con) is
toggled. The consumer of the connection takes this time to monitor a possible failure. The
number of permitted failure is set with "S-0-1050.x.11 Allowed data losses", the number of
the current failures is displayed in "S-0-1050.x.12 Error counter data losses".
Attributes
Length
Format
Function
Changeability
Unit
8.3.54.9
4 bytes
Decimal, without sign bit
Parameter
Communication phase CP2
ns
S-0-1050.x.11 Allowed data losses
Function
The parameter indicates the number of permitted producer failures before a connection is
said to be aborted, the consumer no longer takes data and the master sets bit 9 (connection
error) in the device status word (S-Dev).
Attributes
Length
Format
Function
Changeability
8336_en_00
2 bytes
Decimal, without sign bit
Parameter
Communication phases CP2, CP3, CP4
PHOENIX CONTACT
8-39
UM EN SERCOS SYS
8.3.54.10
S-0-1050.x.12 Error counter data losses
Function
The parameter indicates how many producer failures the consumer has already detected.
The counter stops at a maximum of 65535 and does not have an overflow. It is reset with
the rising edge of bit 0 (ProducerReady) in the connection control word (C-Con).
Attributes
Length
Format
Function
Changeability
8.3.54.11
2 bytes
Decimal, without sign bit
Parameter
No
S-0-1050.x.20 IDN allocation of real-time bit
Function
The parameter contains the IDN assignment (4 bytes) of the realtime bits in the connection
control word (C-Con). The list may contain up to 2 IDNs. Bit assignment is done in the "S-01050.x.21 Bit allocation of real-time bit" parameter.
Structure
This parameter contains up to two list elements
– List element 0 corresponds to realtime bit 1: IDN of the assigned signal
– List element 1 corresponds to realtime bit 2: IDN of the assigned signal
Attributes
Length
Format
Function
Changeability
8.3.54.12
2 x 4 bytes
IDN
Parameter
Communication phases CP2, CP3, CP4
S-0-1050.x.21 Bit allocation of real-time bit
Function
The parameter contains the bit assignment of the realtime bits parameterized in "S-01050.x.20 IDN allocation of real-time bit". The list may contains up to two bit offsets with
values from 0...31.
Structure
This parameter contains up to two list elements
– List element 0 corresponds to realtime bit 1: Bit no. of the assigned signal
– List element 1 corresponds to realtime bit 2: Bit no. of the assigned signal
Attributes
Length
Format
Function
Changeability
8-40
PHOENIX CONTACT
2 x 4 bytes
Decimal, without sign bit
Parameter
Communication phases CP2, CP3, CP4
8336_en_00
Parameters
8.3.55
S-0-1051 Image of connection setups
Function
The parameter contains the current configurations of all connections. It consists of the "S0-1050.x.01 Connection setup" list with all connections in ascending order. Thus the master
(or configurator) has an easy overview of the number of possible connections (= List length)
and the connections already used by the master or other configuration sources.
Attributes
Length
Format
Function
Changeability
8.3.56
List with IDNs of 2 bytes each,
Maximum number of elements is device-specific
Current length is variable
Hexadecimal
Parameter
No
S-0-1300 Electronic label
The IDNs S-0-1300.x.y represent the electronic rating plate. They are used for identification
of the individual devices by the master or a configurator. Therefore, "S-0-1300.x.03 Vendor
code" and "S-0-1300.x.05 Vendor device ID" are mandatory. All other IDNs are optional and
can be used by the manufacturer to provide further information on the devices.
Structure instance 0 of all IDNs of the electronic rating plate is reserved for the physical
device that contains sercos. The other structure instances can be assigned to every other
device depending on the respective requirements.
The IDNs S-0-1300.x.y available for the concrete device can be taken from the relevant data
sheet.
8336_en_00
PHOENIX CONTACT
8-41
UM EN SERCOS SYS
The following IDNs may be part of the electronic rating plate:
Table 8-21
IDN
S-0-1300.x.01
Component name
S-0-1300.x.02
Vendor name
S-0-1300.x.03
Vendor code
S-0-1300.x.04
Device name
S-0-1300.x.05
Vendor device ID
S-0-1300.x.06
Connected to sub-device
S-0-1300.x.07
Function revision
S-0-1300.x.08
Hardware revision
S-0-1300.x.09
Software revision
S-0-1300.x.10
Firmware loader revision
S-0-1300.x.11
Order number
S-0-1300.x.12
Serial number
S-0-1300.x.13
Manufacturing date
S-0-1300.x.14
QS date
S-0-1300.x.20
Operational hours
S-0-1300.x.21
Service date
S-0-1300.x.22
Calibration date
S-0-1300.x.23
Calibration due date
8-42
PHOENIX CONTACT
Contents of the electronic rating plate S-0-1300
Contents
Device name for example, "sercos Fast Block IO Analog"
Format
Text
Manufacturer name e.g., Phoenix Contact
Text
Clearly identified manufacturer code, that is assigned by the sercos international 2 byte integer
e. V. user organization e.g., "200" for Phoenix Contact
Device name e.g., AXL BK S
Text
Clearly identified device number that is assigned by the manufacturer e.g.,
2688116
Number of the module to which the lower-level component belongs to.
It is only used if a device consists of several modules with several lower-level
components that are all written to by one electronic rating plate.
Device revision
Text
Hardware revision
Integer in the
range
0 ... 511
Integer in the
range
0 ... 9999
Text
Software revision
Text
Boot loader revision
Text
Order no. e.g., 2688116
Text
Serial number e.g., "911171676-xxxxx",
whereas xxxxx is a consecutive number starting with 00001
Manufacturing date
e.g., 2007-10-04T13:35:07Z
Date of final test after production
Text
Date *
Number of operating hours
Date *
Service date
e.g., date of the last firmware update
Date of last calibration
Date *
Date of next calibration
Date *
Date *
Date *
8336_en_00
Parameters
* Date format
Text, formatted according to ISO 8601:2006-09/EN 28601 (extended format) (YYYY-MMDDTHH:MM:SSZ)
– Date separated with dash "-"
– Time separated with colon ":"
– Date and time separated with the letter "T"
– Character string is completed with "Z" (UTC time zone)
All parameters are write-protected can be read only.
8336_en_00
PHOENIX CONTACT
8-43
UM EN SERCOS SYS
8.3.57
Function
S-0-1301 List of GDP classes & version
This parameter indicates the implemented classes of the generic device functions of the
device. It is used to identify which sercos defined functions exist in the areas of diagnostics,
identification, initialization and parameter management.
Bits 15 ... 8 identify the GDP classes contained in the device. All possibilities must be
indicated in this IDN.
Bits 7 ... 0 identify the version.
Structure
Table 8-22
Structure of S-0-1301
Bit
Designation/Function
7-0
Version:
Comment
0x00: Reserved
0x01: First version
0x02-0xFF: Reserved
0x01: Value: GDP_Basic
15-8
Attributes
Profile ID
Length
Format
Function
Changeability
8.3.58
List with IDNs of 2 bytes each
Maximum number of elements is device-specific
Hexadecimal
Parameter
No
S-0-1302 Resource structures of sub-device
This IDN contains a structure for the resource-dependent properties of a sub device and
comprises the following information:
Table 8-23
Resource-dependent structure of the sub device
Parameter
S-0-1302.x.01 FSP type & version
page 8-44
S-0-1302.0.02 Function groups
page 8-45
S-0-1302.x.03 Application type
page 8-45
8.3.58.1
Function
8-44
PHOENIX CONTACT
See
S-0-1302.x.01 FSP type & version
The IDN "S-0-1302.x.01 FSP type & version" indicates the function type and the
corresponding revision of the sub device.
8336_en_00
Parameters
Structure
Table 8-24
Structure of S-0-1302.x.01
Bit no.
31
Value
0
1
30-16
0x00
0x01
0x02
0x03-0x7F
15-0
0x00
0x01
Attributes
Length
Format
Function
Changeability
8.3.58.2
Description
P/S
sercos standard
Manufacturer-specific
sercos standard types
Reserved
FSP_I/O
FSP_Drive
Reserved
Version
Reserved
First version
Comment
4 bytes
Hexadecimal
Parameter
No
S-0-1302.0.02 Function groups
Function
This IDN contains a list of all implemented function groups.
– FSP_I/O
This IDN is a list of I/O function groups of the FSP_I/O. The elements of the list contain
IDNs. The structure instance shows the position number of the module (structure
instance = module position). The structure element is always 0. If the left component is
a bus coupler or a bus header (for compact devices), it is started with the function group
of the bus coupler (S-0-1500 I/O Bus coupler), otherwise with the first I/O module from
the left, e.g., S-0-15xx.1.00. Every group must be listed if a module has more than one
I/O function group. The data is mapped in the order of the entries in the input container
"S-0-1500.0.09 Container input data" or the output container "S-0-1500.0.05 Container
output data".
Attributes
Length
Format
Function
Changeability
8.3.58.3
List with IDNs of 4 bytes each
Maximum number of elements is device-specific
IDN
Parameter
No
S-0-1302.x.03 Application type
Function
The user can use this IDN freely. It may contain information for the user, the maintenance
personnel or for the end customer. For example the designation of the inputs/outputs in
plain text.
Attributes
Length
Format
Function
Changeability
8336_en_00
80 bytes, maximum
Text
Parameter
Communication phases CP2, CP3, CP4
PHOENIX CONTACT
8-45
UM EN SERCOS SYS
8.3.59
S-0-1303 Diagnosis trace
"Diagnosis trace" logs error and warning messages. It contains the following structure
elements:
Table 8-25
"Diagnosis trace" structure elements
Parameter
See
S-0-1303.0.01 Diagnosis trace configuration
page 8-46
S-0-1303.0.02 Diagnosis trace control
page 8-46
S-0-1303.0.03 Diagnosis trace state
page 8-47
S-0-1303.0.10 Diagnosis trace buffer no. 1
page 8-47
S-0-1303.0.11 Diagnosis trace buffer no. 2
page 8-47
S-0-1303.0.12 Diagnosis trace buffer no. 3
page 8-47
These IDNs monitor every change of "S-0-0390 Diagnostic number" and can be used for
troubleshooting.
The buffers can only be read consistently if the logging is stopped or all lists are copied into
shadow buffers with a read access in the slave. The read access is served from these
buffers. However, it is necessary that the lists are read one after another if the user does not
want to create a command for the shadow buffer.
As an alternative, commands can be defined for reset and capture/freeze. But this means a
clear reduction of the response time. This is not necessary. The user and simply write to
"Diagnosis trace control".
8.3.59.1
S-0-1303.0.01 Diagnosis trace configuration
Function
This parameter contains the IDN "S-0-1500.0.32 I/O diagnosis message" as an entry. This
defines that this IDN is also logged in addition to the IDN "S-0-1500.0.33 Current I/O
diagnosis message".
Attributes
Length
Format
Function
Changeability
8.3.59.2
Function
4 bytes, device-specific
IDN
Parameter
No
S-0-1303.0.02 Diagnosis trace control
This parameter traces diagnostics.
Structure
Table 8-26
Structure of S-0-1303.0.02
Bit
Value
Designation/Function
0
0
Trace control on
1
Trace control off
1-3
Reserved
4-7
Threshold
8-15
Reserved
8-46
PHOENIX CONTACT
Comment
Threshold of the diagnostic class corresponds to bits 19-16 of S-00390; Only classes higher or equal to are acquired
8336_en_00
Parameters
Attributes
Length
Format
Function
Changeability
8.3.59.3
Function
2 bytes
Hexadecimal
Parameter
Yes
S-0-1303.0.03 Diagnosis trace state
This parameter shows the status of diagnostics.
Structure
Table 8-27
Structure of S-0-1303.0.03
Bit
Value
Designation/Function
0
0
Trace control on
1
Trace control off
1-15
Attributes
Function
Reserved
Length
Format
Function
Changeability
8.3.59.4
Comment
2 bytes
Hexadecimal
Parameter
No
S-0-1303.0.10 Diagnosis trace buffer no. 1
This parameter traces diagnostics and is set up as a ring buffer or as a list.
The contents is fixed and occupied with "S-0-0390 Diagnostic number".
Attributes
Length
Format
Function
Changeability
8.3.59.5
Function
4 bytes, device-specific
Hexadecimal
Parameter
No
S-0-1303.0.11 Diagnosis trace buffer no. 2
This parameter traces diagnostics and is set up as a ring buffer or as a list.
The contents is fixed and occupied with "S-0-1305.0.01 sercos current time".
Attributes
Length
Format
Function
Changeability
8.3.59.6
Function
8336_en_00
8 bytes, device-specific
sercos time
Parameter
No
S-0-1303.0.12 Diagnosis trace buffer no. 3
The IDN that is to be entered in the log when the IDN
"S-0-0390 Diagnostic number" changes can be entered in this parameter.
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8.3.60
Function
S-0-1305.0.01 sercos current time
This parameter contains the sercos time in the IEC 61588 format. The device marks events
with this parameter.
This parameter is active immediately after the start (within 0 s, 0 ns) and indicates that the
time has not yet been set by the master.
The value 0x0 corresponds to the following time: 1970-01-01, 00:00, 0 s, 0 ns
Structure
Table 8-28
Bit
Attributes
8-48
PHOENIX CONTACT
Structure of S-0-1305.0.01
Value
Designation/Function
0-31
Nano seconds
32-63
Seconds
Length
Format
Function
Changeability
Comment
8 bytes
sercos time
Parameter
No
8336_en_00
Parameters
8.4
Overview of the Parameters in FSP_I/O
Depending on the devices used the parameters of the following I/O function groups are
available:
– S-0-1500 I/O Bus coupler
– S-0-1502 I/O function group digital output
– S-0-1503 I/O function group digital input
– S-0-1504 I/O function group analog output
– S-0-1505 I/O function group analog input
– S-0-1506 I/O function group counter
– S-0-1507 I/O function group complex protocol
– S-0-1508 I/O function group sub bus master
– S-0-1509 I/O function group sub bus slave
– S-0-1513 I/O function group motor starter
– S-0-1514 I/O function group PWM (pulse width modulation)
– S-0-1515 I/O function group positioning
Depending on the device used the following parameters may be contained:
Table 8-29
Overview of FSP_I/O parameters
S-0-1500 I/O Bus coupler
page 8-50
S-0-15xx.y.01 Name of I/O function group
page 8-59
S-0-15xx.y.02 Configuration of I/O function group
page 8-59
S-0-15xx.y.03 Channel quantity PDOUT
page 8-61
S-0-15xx.y.04 Channel width PDOUT
page 8-61
S-0-15xx.y.05 PDOUT
page 8-61
S-0-15xx.y.07 Channel quantity PDIN
page 8-61
S-0-15xx.y.08 Channel width PDIN
page 8-61
S-0-15xx.y.09 PDIN
page 8-62
S-0-15xx.y.11 Channel quantity DIAGOUT
page 8-62
S-0-15xx.y.12 Channel width DIAGOUT
page 8-62
S-0-15xx.y.13 DIAGOUT
page 8-62
S-0-15xx.y.15 Channel quantity DIAGIN
page 8-63
S-0-15xx.y.16 Channel width DIAGIN
page 8-63
S-0-15xx.y.17 DIAGIN
page 8-63
S-0-15xx.y.19 Parameter channel receive
page 8-63
S-0-15xx.y.20 Parameter channel transmit
page 8-63
S-0-15xx.y.22 Fall back value output
page 8-64
S-0-15xx.y.23 Minimum delay time
page 8-64
S-0-15xx.y.24 Maximum delay time
page 8-64
In the overview and in the following description S-0-15xx stands for the I/O function group
and y for the structure instance.
8336_en_00
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8.5
Description of the Parameters in FSP_I/O
8.5.1
S-0-1500 I/O Bus coupler
This function group contains the following structure elements:
Table 8-30
Structure elements S-0-1500
IDN
S-0-1500.0.01 I/O control
S-0-1500.0.02 I/O statusS-0-1500.0.02 I/O status
S-0-1500.0.03 List of module type codes
S-0-1500.0.04 List of inserted function groups
Meaning
Behavior of inputs and outputs
Status of inputs and outputs
Display of the module type key of all modules.
Contains a list with function groups added by the configuration tool.
S-0-1500.0.05 Container output data
Container for output data
S-0-1500.0.09 Container input data
Container for input data
S-0-1500.0.11 List of replaced function groups List of the function groups replacing individual function
groups which have been read by the bus coupler or the bus
header (for compact devices).
S-0-1500.0.12 Rearrangement of I/O resource
S-0-1500.0.19 Parameter channel receive
Parameter channel for the manufacturer-specific configuration and parameterization of the bus coupler or bus
header (for compact devices) or the I/O modules.
S-0-1500.0.20 Parameter channel transmit
Parameter channel for the manufacturer-specific configuration and parameterization of the bus coupler or bus
header (for compact devices) or the I/O modules.
S-0-1500.0.23 Local bus cycle time
Cycle time of the local bus
S-0-1500.0.32 I/O diagnosis message
Diagnostic message with the highest priority
S-0-1500.0.33 Current I/O diagnosis message Current diagnostic message
8.5.1.1
Function
See
page 8-50
page 8-52
page 8-52
page 8-53
page 8-54
page 8-54
page 8-55
page 8-55
page 8-56
page 8-57
page 8-57
page 8-57
page 8-58
S-0-1500.0.01 I/O control
This IDN defines the behavior of inputs and outputs regarding RTD and SVC data. Input and
output control is configured as "Consumer connection" and at best as the fastest possible
connection. The slave rejects the configuration in the case of multiple configurations with
more than one "Consumer connection" or no connection configuration.
Upon power up the bus sets all bits of the inputs and outputs to zero by default. In this case
all outputs are set to inactive or they receive a release value as it has been defined in bit 6
by "S-0-15xx.y.02 Configuration of I/O function group".
8-50
PHOENIX CONTACT
8336_en_00
Parameters
Structure
Table 8-31
Structure of S-0-1500.x.01
Bit
Designation/Function
Comment
14-0
Reserved
0
15
Status of the outputs
0: Outputs are inactive
The outputs are deactivated, the last status is
frozen or the substitute value is output (depending on bit 6 of IDN S-0-15xx.y.02 and the contents of IDN S-015xx.y.22)
1: Outputs are activated
Attributes
8336_en_00
Length
Format
Function
Changeability
2 bytes
Binary
Parameter
Operating phase
PHOENIX CONTACT
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8.5.1.2
Function
S-0-1500.0.02 I/O status
I/O status indicates the current status of the inputs and outputs. The status of inputs and
outputs is configured as "Producer connection".
Structure
Table 8-32
Structure S-0-1500.0.02
Bit
Designation/Function
11-0
Reserved
12
I/O warning (C2D)
Comment
0: No warning
1: Warning
13
The bit disappears automatically as soon as the reason no longer exists.
I/O error (C1D)
0: Error
14
1: Error
Is deleted with S-0-0099
Inputs are valid
This bit does not provide information about the producer mechanism (synchronous or asynchronous).
0
This bit is reset when the device does not produce value input data (e.g. through
a local communication error).
This bit is set when the device produces valid input data.
1
15
Outputs are ready for operation
0: Outputs are not active
The outputs are reset, the last values are frozen or substitute values are output
(depending on bit 6 of IDN S-0-15xx.y.02 and IDN S-0-15xx.y.22)
This bit is set when the corresponding bit 15 in "S-0-1500.0.01 I/O control" is set
and the device has successfully activated its outputs.
1: Outputs are active
Attributes
Length
Format
Function
Changeability
8.5.1.3
Function
8-52
PHOENIX CONTACT
2 bytes
Binary
Parameter
No
S-0-1500.0.03 List of module type codes
This lists contains the manufacturer-specific module type code of the connected modules.
Passive modules which cannot be detected via the local bus are excluded. Each module
should have a unique module type key which may either be a unique hexadecimal number
or the order number. The list is sorted in ascending order from left to right starting with zero
and according to the location of the module. Passive modules do not have a module type
code.
8336_en_00
Parameters
The module type code is used to generate the required sercos IDNs when a modular I/O
setup is used, whereas the modules connected during the start phase are assigned to the
corresponding I/O function groups. The manufacturer-specific module type codes for the
configuration check in communication phase CP2 are also used.
The module type codes 0xFFFFFFFF.FFFF0000 to 0xFFFFFFFF.FFFFFFFFF are
reserved.
Attributes
Length
Format
Function
Changeability
8.5.1.4
Function
8 bytes, device-specific
Hexadecimal
Parameter
No
S-0-1500.0.04 List of inserted function groups
This IDN contains a list of function groups can be added manually with a configuration tool.
Each function group must be described as I/O function group in FSP_I/O. The entry contains
the type of the function group as well as the desired structure instance (SI) of the new
module. The structure element (SE) always has the value 0.
Structure
IDN S-0-15xx.y.0
xx = Identification of the function group
y = Desired structure instance
The entries of the list must be sorted in ascending order. To assign two or more function
groups (FG) to a structure instance (SI), they must be listed directly one after another with
the same structure instance.
There are two types of function groups: virtual and passive:
Virtual modules (virtual placeholders)
–
–
–
–
–
–
They are physically not present
They do not take part in local bus communication
They do not have their own place but their own structure instance (SI)
They are used as placeholders in the container input data or the container output data
Their channel number and the channel width can be controlled by describing the
associated structure elements in communication phase CP2
They can map an optional electronic rating plate in "S-0-1300 Electronic label"
Passive modules (e.g., supply modules or local bus extensions)
–
–
–
–
–
Attributes
8336_en_00
They are physically present
They do not take part in local bus communication
They have their own place and a structure instance (SI)
They do not have a placeholder function in container input data or container output data
They can map an electronic rating plate in "S-0-1300 Electronic label"
Length
Format
Function
Changeability
4 bytes, device-specific
IDN
Parameter
Communication phase CP2
Parameterization phase
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8.5.1.5
Function
S-0-1500.0.05 Container output data
The process data comprise a configured container with output data. This data consists of
process output data (PDOUT) and diagnostic output data (DIAGOUT). "S-0-1050.x.05
Current length of connection" that is read by the master and the mapping rules determine
the length of the container output data. The data is mapped in the order of the entries in "S0-1302.0.02 Function groups".
Configuration of the connection
– As SPCP_FixCFG the container output data is a defined part of the "Consumer
connection".
– As SPCP_VarCFG the container output data should have no more than one "Consumer
connection". For this purpose, the container output data is mapped to the connection
data of "S-0-1050.x.06 Configuration list". If the length is configured (S-0-1050.x.01
Connection setup; bits 5-4 = 01), the container output data is a defined part of the
"Consumer connection".
Mapping rules
– Diagnostic data is mapped prior to the process data of all function groups.
– Bits, bytes, words and double words are mapped in bytes (starting with bit 0, little
endian).
Attributes
Length
Format
Function
Changeability
8.5.1.6
Function
Device-specific
Hexadecimal
Parameter
No
S-0-1500.0.09 Container input data
This parameter comprises a configured container for process input data (PDIN) and
diagnostic input data (DIAGIN). "S-0-1050.x.05 Current length of connection" that is read by
the master and the mapping rules determine the length of the container input data. The data
is mapped in the order of the entries in "S-0-1302.0.02 Function groups".
Configuration of the connection
– As SPCP_FixCFG the container input data is a defined part of the "Producer
connection".
– As SPCP_VarCFG the container input data can be configured in one (or several)
"Producer connection(s)". For this purpose, the container input data is mapped to the
connection data of "S-0-1050.x.06 Configuration list". If the length is configured (S-01050.x.01 Connection setup; bits 5-4 = 01), the container input data is a defined part of
the "Producer connection".
8-54
PHOENIX CONTACT
8336_en_00
Parameters
Mapping rules
– Diagnostic data is mapped prior to the process data of the function groups.
– Bits, bytes, words and double words are mapped in bytes (starting with bit 0, little
endian).
Attributes
Length
Format
Function
Changeability
8.5.1.7
Function
Device-specific
Hexadecimal
Parameter
No
S-0-1500.0.11 List of replaced function groups
This IDN contains a list of the function groups (it can be assigned manually or via a
configuration tool) which replace existing function groups that a read out via the bus coupler
or the bus header (for compact devices. Each function group must have been described as
an I/O function group in FSP_I/O. The entry contains the type of the function group as well
as the desired structure instance (SI) of the new module. The structure element (SE) always
has the value 0.
The entries of the list replace the entries in "S-0-1302.0.02 Function groups".
To do this the bus coupler or the bus header (for compact devices) must acquire the
corresponding IN parameter again. Since channel width and values of the new function
groups are unknown, the following structure elements are set to zero:
– I/O_FG.x.03 Channel size PDOUT
– I/O_FG.x.04 Channel width PDOUT
– I/O_FG.x.07 Channel size PDIN
– I/O_FG.x.08 Channel width PDIN
– I/O_FG.x.11 Channel size DIAGOUT
– I/O_FG.x.12 Channel width DIAGOUT
– I/O_FG.x.15 Channel size DIAGIN
– I/O_FG.x.16 Channel width DIAGIN
During the configuration in communication phase CP2 (I/O power-on-sequence) write
protection is temporary disabled so that the master can configure the structure elements.
When parameterization is started write protection is enabled again.
Attributes
Length
Format
Function
Changeability
8.5.1.8
Function
8336_en_00
4 bytes, device-specific
IDN
Parameter
Communication phase CP2
S-0-1500.0.12 Rearrangement of I/O resource
The master uses this command to make the slave do the following:
– Check the contents of "S-0-1500.0.04 List of inserted function groups" and
"S-0-1500.0.11 List of replaced function groups"
– Generate or delete the structure elements of the new I/O function groups and to set the
following structure elements to zero:
– I/O_FG.x.03 Channel size PDOUT
– I/O_FG.x.04 Channel width PDOUT
– I/O_FG.x.07 Channel size PDIN
PHOENIX CONTACT
8-55
UM EN SERCOS SYS
–
–
–
– I/O_FG.x.08 Channel width PDIN
– I/O_FG.x.11 Channel size DIAGOUT
– I/O_FG.x.12 Channel width DIAGOUT
– I/O_FG.x.15 Channel size DIAGIN
– I/O_FG.x.16 Channel width DIAGIN
Enable write protection in communication phases CP3 and CP4 or in the operating
phase for the new structure elements channel width and channel values
Set bit 7 to "1" (virtual) for function groups with "S-0-1500.0.04 List of inserted function
groups" in "S-0-15xx.y.02 Configuration of I/O function group"
Update the corresponding IDNs such as
– S-0-0017 IDN list of all operation data
– S-0-1302.0.02 Function groups
– S-0-0187 IDN list of configurable data as producer
– S-0-0188 IDN list of configurable data as consumer
– S-0-1300 Electronic label
– ...
Error handling
The confirmation is negative if an attempt is made to insert a passive or virtual module at
structure instance "0". The confirmation is also negative if the attempt is made to replace the
bus coupler or the bus header (for compact devices). As a result "S-0-0127 CP3 transition
check" will also be confirmed negatively.
Attributes
Length
Format
Function
Executability
8.5.1.9
2 bytes
Binary
Command
Communication phase CP2
S-0-1500.0.19 Parameter channel receive
Function
This parameter channel is an asynchronous communication mechanism for the
manufacturer-specific configuration and parameterization of the bus coupler or the bus
header (for compact devices) or the I/O modules. The parameter channel is a simple
mechanism that handles the data transparently in the form of a list (1 byte, hex).
Attributes
Length
Format
Function
Changeability
8-56
PHOENIX CONTACT
Device-specific
Hexadecimal
Parameter
No
8336_en_00
Parameters
8.5.1.10
Function
S-0-1500.0.20 Parameter channel transmit
This parameter channel is an asynchronous communication mechanism for the
manufacturer-specific configuration and parameterization of the bus coupler or the bus
header (for compact devices) or the I/O modules. The parameter channel handles the data
transparently in the form of a list (1 byte, hex). Data from 1 byte up to the maximum data
length is transmitted (via the service channel) to the parameter channel (Parameter Channel
Transmit). The service channel works with fragmentation.
The successful transfer via the service channel is the trigger for the command in the I/O
modules and the bus coupler or the bus header (for compact devices). Write access to the
service channel is only confirmed to the master once the process is complete. No further
control signal (handshake) is required for this. The response is retrieved via the receive
channel (Parameter Channel Receive). Since this takes place via the service channel, no
special control signal (handshake) is required here either. The bus coupler or the bus
header (for compact devices) and the modules respond with variable data lengths.
Attributes
Length
Format
Function
Changeability
8.5.1.11
Device-specific
Hexadecimal
Parameter
Communication phase CP2
S-0-1500.0.23 Local bus cycle time
Function
This parameter contains the cycle time of the local bus within a modular I/O station.
Attributes
Length
Format
Function
Changeability
Unit
8.5.1.12
Function
4 bytes
Decimal, without sign bit
Parameter
No
s
S-0-1500.0.32 I/O diagnosis message
This IDN comprises diagnostic messages consisting of an I/O status code, a diagnostic
class and a local designation. The diagnostic message of a device with the highest priority
will be displayed, whereas a new diagnostic message with the same priority will overwrite
the diagnostic message stored (does not apply for an existing error C1D).
For cyclic monitoring "S-0-1500.0.32 I/O diagnosis message" can map the data in an
existing connection in "S-0-1050.x.06 Configuration list".
8336_en_00
PHOENIX CONTACT
8-57
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Structure
Table 8-33
Structure of S-0-1500.x.32
Bit
Designation/Function
Comment
7-0
Channel number
Channel that caused the diagnostic message.
A channel number between 0 and 255 points to a specific channel of the function group (channel-related diagnostic events, e.g., open circuit).
Channel number 0 point to the function group itself (function-group related diagnostic messages, e.g. sub bus error - timeout).
15-8
Sub bus slave index
Sub bus slave that caused the diagnostic message (see I/O_FG.x.25 Slave
Index). Only used with I/O function group S-0-1509 Sub bus slave.
23-16
Slot number
Slot number of the module to which the function group is assigned (structure
instance).
39-24
I/O function group
I/O function group which caused the diagnostic message, e.g., "1503 - Digital
output" or "1509 - Sub bus slave".
55-40
Status code
Defined either through TWG_I/O or by the manufacturer (see bit 63)
59-56
Diagnostic class
Diagnostic class of the diagnostic message
See "S-0-0390 Diagnostic number"
FG/sub bus slave/channel does not have a diagnostic message
FG/sub bus slave/channel has information (e.g., preventive maintenance required - condition monitoring).
FG/sub bus slave/channel has displayed a warning (e.g., undervoltage in the
device) with C2D.
The warning disappears automatically when the reason is no longer present.
FG/sub bus slave/channel has signaled an error (e.g., incorrect system bus
slave present) with C1D.
Errors must be deleted with S-0-0099.
62-60
Reserved
63
Interpretation of the status code
0: Standard I/O status code
Status codes are defined through TWG_I/O.
1: Manufacturer-specific status
code
Status codes are defined through the manufacturer.
Attributes
Length
Format
Function
Changeability
8.5.1.13
8 bytes
Hexadecimal
Parameter
No
S-0-1500.0.33 Current I/O diagnosis message
Function
This IDN contains detailed information about the last diagnostic case of the I/O resource.
Structure
Identical with "S-0-1500.0.32 I/O diagnosis message".
Attributes
Length
Format
Function
Changeability
8-58
PHOENIX CONTACT
8 bytes
Hexadecimal
Parameter
No
8336_en_00
Parameters
8.5.2
S-0-15xx I/O function groups
Depending on the devices used, the parameters of the following I/O function groups are
available:
– S-0-1502 I/O function group digital output
– S-0-1503 I/O function group digital input
– S-0-1504 I/O function group analog output
– S-0-1505 I/O function group analog input
– S-0-1506 I/O function group counter
– S-0-1507 I/O function group complex protocol
– S-0-1508 I/O function group sub bus master
– S-0-1509 I/O function group sub bus slave
– S-0-1513 I/O function group motor starter
– S-0-1514 I/O function group PWM (pulse width modulation)
– S-0-1515 I/O function group positioning
In the following description S-0-15xx stands for the I/O function group and y for the
structure instance.
8.5.2.1
S-0-15xx.y.01 Name of I/O function group
Function
This parameter contains the name of the sercos function group, e.g., "Digital output" for FG
S-0-1502.
Attributes
Length
Format
Function
Changeability
8.5.2.2
Function
8336_en_00
Device-specific
Text
Parameter
No
S-0-15xx.y.02 Configuration of I/O function group
The master controls the function group with this parameter.
PHOENIX CONTACT
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Structure
Table 8-34
Bit
Structure of S-0-15xx.y.02
Value
0
Designation
Comment
PDOUT
0
Configured
PDOUT is configured in "S-0-1500.0.05 Container output data" and no longer available for further connections.
1
Not configured
PDOUT is not configured in "S-0-1500.0.05 Container output data".
1
PDIN
0
Configured
PDIN is configured in "S-0-1500.0.09 Container input data".
1
Not configured
PDIN is not configured in "S-0-1500.0.09 Container input data".
2
Reserved
3
DIAGOUT
0
Configured
DIAGOUT is configured in "S-0-1500.0.05 Container output data" and no
longer available for further connections.
1
Not configured
DIAGOUT is not configured in "S-0-1500.0.05 Container output data".
4
DIAGIN
0
Configured
DIAGIN is configured in "S-0-1500.0.09 Container input data".
1
Not configured
DIAGIN is not configured in "S-0-1500.0.09 Container input data".
5
Reserved
6
Replace values
This bit describes the behavior of the outputs when the I/O control bit 15
changes from 1 to 0 (see IDN S-0-1500.x.01) or when the communication
phase changes to NRT or CP0.
0
Fall back
Reset values or output substitute value
1
Freeze
Freeze values
Virtual
This bit indicates whether the I/O function group is physically present or
whether it has been inserted virtually, for example as a placeholder
7
15
0
Physical
1
Virtual
Reserved
Attributes
8-60
PHOENIX CONTACT
Length
Format
Function
Changeability
2 bytes
Binary
Parameter
Communication phases CP0, CP1, CP2, parameterization
phase
8336_en_00
Parameters
8.5.2.3
S-0-15xx.y.03 Channel quantity PDOUT
Function
This parameter contains the number of channels for Process Data OUTput (PDOUT).
Attributes
Length
Format
Function
Changeability
8.5.2.4
2 bytes
Decimal, without sign bit
Parameter
No
S-0-15xx.y.04 Channel width PDOUT
Function
This parameter contains the bandwidth of a channel for Process Data OUTput (PDOUT).
Attributes
Length
Format
Function
Changeability
8.5.2.5
Function
2 bytes
Decimal, without sign bit
Parameter
No
S-0-15xx.y.05 PDOUT
This parameter contains the OUT process data
"S-0-1027.x.01 Requested MTU" (bits 5-4) can be used to configure whether the OUT
process data is contained in this parameter (container output data) or directly in a
connection.
"S-0-15xx.y.02 Configuration of I/O function group" (bit 0) can be used to configure whether
the OUT process data is contained in this IDN (container output data).
Attributes
Length
Format
Function
Changeability
8.5.2.6
Device-specific
Hexadecimal
Parameter
Operating phase
S-0-15xx.y.07 Channel quantity PDIN
Function
This parameter contains the number of channels for Process Data INput (PDIN).
Attributes
Length
Format
Function
Changeability
8.5.2.7
2 bytes
Decimal, without sign bit
Parameter
No
S-0-15xx.y.08 Channel width PDIN
Function
This parameter contains the bandwidth of a channel for Process Data INput (PDIN).
Attributes
Length
Format
Function
Changeability
8336_en_00
2 bytes
Decimal, without sign bit
Parameter
No
PHOENIX CONTACT
8-61
UM EN SERCOS SYS
8.5.2.8
Function
S-0-15xx.y.09 PDIN
This parameter contains the IN process data
"S-0-1050.x.01 Connection setup" (bits 5-4) can be used to configure whether the IN
process data is contained in this parameter (container input data) or directly in a connection.
"S-0-15xx.y.02 Configuration of I/O function group" (bit 1) can be used to configure whether
the IN process data is contained in this parameter (container input data).
Attributes
Length
Format
Function
Changeability
8.5.2.9
Device-specific
Hexadecimal
Parameter
No
S-0-15xx.y.11 Channel quantity DIAGOUT
Function
This parameter contains the number of channels for DIAGnostic Data OUTput (DIAGOUT).
Attributes
Length
Format
Function
Changeability
8.5.2.10
2 bytes
Decimal, without sign bit
Parameter
No
S-0-15xx.y.12 Channel width DIAGOUT
Function
This parameter contains the bandwidth of a channel for DIAGnostic Data OUTput
(DIAGOUT)
Attributes
Length
Format
Function
Changeability
8.5.2.11
Function
2 bytes
Decimal, without sign bit
Parameter
No
S-0-15xx.y.13 DIAGOUT
This parameter can be used to configure the function-group-specific behavior (e.g., control
word) or to confirm diagnostic messages.
"S-0-1050.x.01 Connection setup" (bits 5-4) can be used to configure whether DIAGOUT is
contained in "S-0-1500.0.05 Container output data" or directly in a connection.
"S-15xx.y.02" (bit 3) can be used to configure whether DIAGOUT is contained in "S-01500.0.05 Container output data".
Attributes
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Length
Format
Function
Changeability
Device-specific
Hexadecimal
Parameter
Operating phase
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Parameters
8.5.2.12
S-0-15xx.y.15 Channel quantity DIAGIN
Function
This parameter contains the number of channels for DIAGnostic Data INput (DIAGIN).
Attributes
Length
Format
Function
Changeability
8.5.2.13
2 bytes
Decimal, without sign bit
Parameter
No
S-0-15xx.y.16 Channel width DIAGIN
Function
This parameter contains the bandwidth of a channel for DIAGnostic Data INput (DIAGIN)
Attributes
Length
Format
Function
Changeability
8.5.2.14
Function
2 bytes
Decimal, without sign bit
Parameter
No
S-0-15xx.y.17 DIAGIN
This parameter can be used to configure the function-group-specific behavior (e.g., status).
"S-0-1050.x.01 Connection setup" (bits 5-4) can be used to configure whether DIAGIN is
contained in "S-0-1500.0.09 Container input data" or directly in a connection.
"S-0-15xx.y.02 Configuration of I/O function group" (bit 4) can be used to configure whether
DIAGIN is contained in "S-0-1500.0.09 Container input data".
Attributes
Length
Format
Function
Changeability
8.5.2.15
Device-specific
Hexadecimal
Parameter
No
S-0-15xx.y.19 Parameter channel receive
Function
This parameter channel is an asynchronous communication mechanism for the
manufacturer-specific configuration and parameterization of the bus coupler or the bus
header (for compact devices) or the I/O modules. The parameter channel is a simple
mechanism that handles the data transparently in the form of a list (1 byte, hex).
Attributes
Length
Format
Function
Changeability
8.5.2.16
Function
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Device-specific
Hexadecimal
Parameter
No
S-0-15xx.y.20 Parameter channel transmit
This parameter channel is an asynchronous communication mechanism for the
manufacturer-specific configuration and parameterization of the bus coupler or the bus
header (for compact devices) or the I/O modules. The parameter channel handles the data
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transparently in the form of a list (1 byte, hex). Data from 1 byte up to the maximum data
length is transmitted (via the service channel) to the parameter channel (Parameter Channel
Transmit). The service channel works with fragmentation.
The successful transfer via the service channel is the trigger for the command in the I/O
modules and the bus coupler or the bus header (for compact devices). Write access to the
service channel is only confirmed to the master once the process is complete. No further
control signal (handshake) is required for this. The response is retrieved via the receive
channel (Parameter Channel Receive). Since this takes place via the service channel, no
special control signal (handshake) is required here either. The bus coupler or the bus
header (for compact devices) and the modules respond with variable data lengths.
Attributes
Length
Format
Function
Changeability
8.5.2.17
Function
Device-specific
Hexadecimal
Parameter
No
S-0-15xx.y.22 Fall back value output
The outputs are set to this value if bit 6 von "S-0-15xx.y.02 Configuration of I/O function
group" is set and the I/O control bit 15 (status of the outputs) changes from 1 to 0 of if the
communication phase changes from NRT or CP0.
If the IDN is not supported, the substitute value is either predefined or does not exist at all.
Newly configured values become valid after the next change to the operating phase.
Attributes
Length
Format
Function
Changeability
8.5.2.18
Manufacturer-specific, fixed or device-specific
Hexadecimal
Parameter
Parameterization phase
S-0-15xx.y.23 Minimum delay time
Function
This parameter contains the minimum delay time between the sercos connection and the
I/O terminal point.
Attributes
Length
Format
Function
Unit
Changeability
8.5.2.19
4 bytes
Decimal, without sign bit
Parameter
ns
No
S-0-15xx.y.24 Maximum delay time
Function
This parameter contains the maximum delay time between the sercos connection and the
I/O terminal point.
Attributes
Length
Format
Function
Unit
Changeability
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4 bytes
Decimal, without sign bit
Parameter
ns
No
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Function Groups
9
Function Groups
The following chapter lists all function groups with the associated IDNs. The function groups
are grouped according to the SCP (Chapter 9.1 on page 9-1), GDP (Chapter 9.2 on
page 9-3) and FSP (Chapter 9.3 on page 9-5) profiles.
9.1
Function Groups of the SCP (sercos
Communication Profile)
The SDP is divided into the following function groups:
– FG SCP Identification
– FG Timing
– FG Telegram Setup
– FG Control
– FG Bus Diagnosis
– FG Connection
– FG NRT
9.1.1
FG SCP Identification
The "SCP identification" function group contains the following IDN:
– S-0-1000 List of SCP types & versions
9.1.2
FG Timing
The "Timing" function group contains the following IDNs:
– S-0-1002 Communication cycle time (tS-cyc)
– S-0-1005 Minimum feedback processing time (t5)
– S-0-1006 AT0 transmission starting time (t1)
– S-0-1007 Feedback acquisition capture point (t4)
– S-0-1008 Command value valid time (t3)
– S-0-1015 Ring delay
– S-0-1016 Slave delay (P/S)
– S-0-1023 SYNC jitter
– S-0-1024 SYNC delay measuring procedure command
– S-0-1041 AT Command value valid time (t9)
9.1.3
FG Telegram Setup
The "Telegram setup" function group contains the following IDNs:
– S-0-1009 Device control (C-Dev) offset in MDT
– S-0-1010 Length of MDTs
– S-0-1011 Device status (S-Dev) offset in AT
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–
–
–
S-0-1012 Length of ATs
S-0-1013 SVC offset in MDT
S-0-1014 SVC offset in AT
9.1.4
FG Control
The "Control" function group contains the following IDNs:
– S-0-0021 IDN list of invalid operation data for CP2
– S-0-0022 IDN list of invalid operation data for CP3
– S-0-0127 CP3 transition check
– S-0-0128 CP4 transition check
9.1.5
FG Bus Diagnosis
The "Bus diagnosis" function group contains the following IDNs:
– S-0-0014 Interface status
– S-0-1003 Allowed MST losses in CP3/CP4
– S-0-1026 Version of communication hardware
– S-0-1028 Error counter MST-P/S
– S-0-1031 Test pin assignment port 1 and port 2
– S-0-1035 Error counter port 1 and port 2
– S-0-1040 sercos address
– S-0-1044 Device control (C-Dev)
– S-0-1045 Device status (S-Dev)
9.1.6
FG Connection
The "Connection" function group contains the following IDNs:
– S-0-0187 IDN list of configurable data as producer
– S-0-0188 IDN list of configurable data as consumer
– S-0-1050 sercos connections
– S-0-1050.x.01 Connection setup
– S-0-1050.x.02 Connection number
– S-0-1050.x.03 Telegram assignment
– S-0-1050.x.04 Max. length of connection
– S-0-1050.x.05 Current length of connection
– S-0-1050.x.06 Configuration list
– S-0-1050.x.08 Connection control (C-Con)
– S-0-1050.x.10 Producer cycle time
– S-0-1050.x.11 Allowed data losses
– S-0-1050.x.12 Error counter data losses
– S-0-1050.x.20 IDN allocation of real-time bit
– S-0-1050.x.21 Bit allocation of real-time bit
– S-0-1051 Image of connection setups
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Function Groups
9.1.7
FG NRT
The "NRT" function group contains the following IDNs:
– S-0-1017 NRT transmission time
– S-0-1019 MAC address
– S-0-1020 IP address
– S-0-1021 Subnet mask
– S-0-1022 Gateway address
– S-0-1027.x.02 Effective MTU
– S-0-1027.x.02 Effective MTU
9.2
Function Groups of the GDP (Generic Device
Profile)
The GDP includes the class GDP_Basic which contains the following IDNs that are
contained in every sercos device:
– S-0-0017 IDN list of all operation data
– S-0-0099 Reset class 1 diagnostic
– S-0-1300.x.03 Vendor code
– S-0-1300.x.05 Vendor device ID
– S-0-1301 List of GDP classes & version
– S-0-1302.x.01 FSP type & version
– S-0-1302.0.02 Function groups
The GDP also contains the following function groups:
– FG Diagnosis
– FG Archiving
– FG Administration
– FG Identification
– FG State Machine
9.2.1
FG Diagnosis
The "Diagnosis" function group contains the following IDNs:
– S-0-0095 Diagnostic message
– S-0-0099 Reset class 1 diagnostic
– S-0-0390 Diagnostic number
– S-0-1303 Diagnosis trace
– S-0-1303.0.01 Diagnosis trace configuration
– S-0-1303.0.02 Diagnosis trace control
– S-0-1303.0.03 Diagnosis trace state
– S-0-1303.0.11 Diagnosis trace buffer no. 2
– S-0-1303.0.12 Diagnosis trace buffer no. 3
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9.2.2
FG Archiving
The "Archiving" function group, for example, contains the following IDNs:
– S-0-0022 IDN list of invalid operation data for CP3
– S-0-0264 Backup working memory procedure command
9.2.3
FG Administration
The "Administration" function group contains the following IDNs:
– S-0-0017 IDN list of all operation data
– S-0-0025 IDN list of all procedure commands
– S-0-0265 Language selection
– S-0-0266 List of available languages
– S-0-0267 Password
– S-0-0279 IDN list of password protected data
9.2.4
FG Identification
The "Identification" function group contains the following IDNs:
– S-0-1300 Electronic Label
– S-0-1301 List of GDP classes & version
– S-0-1302 Resource structures of sub-device
– S-0-1302.x.01 FSP type & version
– S-0-1302.0.02 Function groups
– S-0-1302.x.03 Application type
9.2.5
FG State Machine
The "State machine" function group contains the following IDNs:
– S-0-0420 Activate parameterization level procedure command (PL)
– S-0-0422 Exit parameterization level procedure command (PL)
– S-0-0423 IDN list of invalid data for parameterization level
9.2.6
FG Time
The "Time" function group contains the following IDNs:
– S-0-1305.0.01 sercos current time
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Function Groups
9.3
Function Groups of the FSP_IO
(Function-Specific Profile)
The FSP_I/O contains the following I/O function groups:
– S-0-1500 I/O Bus coupler
– S-0-1502 I/O function group digital output
– S-0-1503 I/O function groupdigital input
– S-0-1504 I/O function group analog output
– S-0-1505 I/O function group analog input
– S-0-1506 I/O function group counter
– S-0-1507 I/O function group complex protocol
– S-0-1508 I/O function group sub bus master
– S-0-1509 I/O function group sub bus slave
– S-0-1513 I/O function group motor starter
– S-0-1514 I/O function group PWM (pulse width modulation)
– S-0-1515 I/O function group positioning
9.3.1
S-0-1500 I/O Bus coupler
The I/O function group bus coupler contains the following structure elements:
– S-0-1500.0.01 I/O control
– S-0-1500.0.02 I/O status
– S-0-1500.0.03 List of module type codes
– S-0-1500.0.04 List of inserted function groups
– S-0-1500.0.05 Container output data
– S-0-1500.0.09 Container input data
– S-0-1500.0.11 List of replaced function groups
– S-0-1500.0.12 Rearrangement of I/O resource
– S-0-1500.0.19 Parameter channel receive
– S-0-1500.0.20 Parameter channel transmit
– S-0-1500.0.23 Local bus cycle time
– S-0-1500.0.32 I/O diagnosis message
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Glossary
10 Glossary
Application layer
Topmost layer of the communication model
AT
Acknowledge Telegram
Telegram for the acknowledgment of slave data and for CC communication
Bandwidth
Specific amount of data that can be transmitted in a time unit
C1D
Class 1 diagnostic
Error message with the highest priority
C2C
Controller to controller
Networked communication between the masters of different sercos networks
C2D
Class 2 diagnostic
Warning
CC
Cross communication
Direct data exchange without delay between slave devices
Channel width
See bandwidth
CP
Communication phase
A sercos network requires five communication phases (CP0 - CP4) for initialization
CPS
Communication phase switching
C-CON
Connection control
Control word of the connection
C-DEV
Device control
Device control word that is sent from master to slave
Communication Layer
The communication layer is a 1:1 relationship between master and slave. The relationship
exists in all communication phases
Component
A part of a sercos device that can be ordered and supplied separately and which is listed in
IDN "S-0-1300 Electronic label", e.g., bus coupler, I/O module, firmware
Cycle
Realtime communication is split into time cycles during which complete data exchange may
take place. The shorter the cycle time the more cycles can be clocked for each time unit and
the more exactly can the network be controlled.
Data Link Layer
The Data Link Layer is used for
– Control and monitoring of the connections
– Configuration of realtime data
– Error handling for the connection
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Device profile
Group of parameters for the non-proprietary, standardized integration of devices, even
without drivers and configuration data
DIAGIN
Input diagnostic data
DIAGOUT
Output diagnostic data
EIDN
Extended ID number
FCS
Frame check sequence
Check of MDTs and ATs
Fieldbus
Wired communications system that connects control devices, as well as sensors and
actuators and is used for a fast data exchange between these components. There are
fieldbusses with different physical designs and transmission protocols. Fieldbusses are
usually standardized in international standards, cf. IEC 61508.
FG
Function group
Group of parameters that cover certain functions.
Firmware
Device-specific software for automation devices. In some devices it is stored in a read-only
memory that cannot be changed and in some devices it is delivered on removable media,
such as Compact Flash cards.
FPGA
Field programmable gate array
FSP
Function-specific profile
Application-specific part of the application layer
GDP
Generic device profile
Part of the Application Layer
Hot plugging
Network devices can be connected or disconnected under power
IDN
Identification number
Parameters are identified by IDNs
IndraWorks
Engineering software
I/O
Input/Output
Jitter
Signal fluctuations
Minor signal fluctuations promote the realtime capability of communications
LS0H
Low Smoke Zero Halogen
Cable with a fire-proof sheath
MAC address
Media Access Control
This address (also called Ethernet ID) is the unique hardware address of each device
connected to Ethernet. This address is stored retentively in the device and can usually not
be changed. With Ethernet the Media Access Control Layer connects the Physical Layer
with the higher-level protocols.
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Glossary
Master
The master is a central device, which controls the bus access. All other devices operate as
slaves.
MDT
Master Data Telegram
Telegram for requirements from the master device
MM
Multimode
MST
Master Synchronization Telegram
Telegram for synchronization of master and slave
NRT
Non realtime
In contrast to realtime
PCF
Polymer-cladded fiber
Optical fiber with a core of quartz glass
PDIN
Process data input
PDOUT
Process data output
POF
Polymer-optical fiber
P-Channel
Primary channel
P-Telegram
Telegram on the primary channel
Realtime
Existence of timeliness and simultaneity. Realtime Ethernet requires high-performance
protocols with cyclic, clocked data traffic. Standard Ethernet protocols suffice for nonrealtime requirements.
RT
Real time
SCP
sercos communication profile
Comprises the parameters of the Communication Layer and the Data Link Layer
SDDML
sercos device description markup language
Format of the device description file
SE
Structure element
The structure element is used for addressing
sercos
Serial real-time communication system
Universal, standard, and open automation bus for controllers, actuators and sensors, such
as I/Os and drives.
The worldwide operating sercos international e.V. user organization is responsible for
further development, marketing and standardization of the sercos technology.
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SI
Structure instance
A structure instance is used to address the same type of structure within a sub device. In a
modular I/O station the structure instance corresponds to the slot number after the bus
coupler.
SM
Singlemode
Slave
A slave is a device in the network that can only participate in data exchange after it has been
addressed by the master.
SVC
Service channel
Communication settings as well as parameter and diagnostic data can be exchanged
between the controller master and the individual slaves via the service channel.
Synchronization
Increases the realtime capability by a time alignment and simultaneous execution of signals
S-DEV
Device status
Slave control word
S-Channel
Secondary channel
S-Telegram
Telegram on the secondary channel
Telegram
Clocked data packet in which the communication data is bundled and transported to all
sercos devices.
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Index
A Index
A
Acknowledge Telegram (AT) ..................................... 3-2
Activate parameterization level procedure command (PL)
8-13
Allowed data losses ................................................. 8-39
Allowed MST losses in CP3/CP4 ............................. 8-16
Application layer......................................................... 2-6
Application type ....................................................... 8-45
AT command value valid time (t9) ............................ 8-31
AT0 transmission starting time (t1)........................... 8-17
B
Backup working memory procedure command.......... 8-9
Basic profiles.............................................................. 2-8
Bit allocation of real-time bit ..................................... 8-40
C
Cable type A/B/C ....................................................... 4-3
Channel quantity DIAGIN ......................................... 8-63
Channel quantity DIAGOUT ..................................... 8-62
Channel quantity PDIN............................................. 8-61
Channel quantity PDOUT......................................... 8-61
Channel width DIAGIN ............................................. 8-63
Channel width DIAGOUT ......................................... 8-62
Channel width PDIN................................................. 8-61
Channel width PDOUT............................................. 8-61
Command value valid time (t3)................................. 8-18
communication........................................................... 3-1
Communication cycle time (tS-cyc).......................... 8-16
Communication layer ................................................. 2-6
Communication model ............................................... 2-6
Communication state machine................................... 5-3
Configuration list ...................................................... 8-38
Configuration of I/O function group .......................... 8-59
Configuration phase................................................... 6-2
Connection control (C-Con) ..................................... 8-38
Connection number.................................................. 8-36
Connection setup ..................................................... 8-35
Container input data................................................. 8-54
Container output data............................................... 8-54
CP3 transition check .................................................. 8-7
CP4 transition check .................................................. 8-7
Current I/O diagnosis message................................ 8-58
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Current length of connection .................................... 8-38
D
Data block number............................................ 2-11, 8-1
Data link layer ..................................................... 2-6, 3-5
Device control (C-Dev)............................................. 8-32
Device control (C-Dev) offset in MDT....................... 8-19
Device model ............................................................. 2-9
Device status (S-Dev) .............................................. 8-33
Device status (S-Dev) offset in AT ........................... 8-20
Device-specific function groups ............................... 2-18
DIAGIN .................................................................... 8-63
Diagnosis trace ........................................................ 8-46
Diagnosis trace buffer no. 1 ..................................... 8-47
Diagnosis trace buffer no. 2 ..................................... 8-47
Diagnosis trace buffer no. 3 ..................................... 8-47
Diagnosis trace configuration................................... 8-46
Diagnosis trace control ............................................ 8-46
Diagnosis trace state ............................................... 8-47
Diagnostic classes .............................................. 7-2, 7-5
Diagnostic message .................................................. 8-6
Diagnostic number ................................................... 8-12
Diagnostics ................................................................ 7-1
DIAGOUT ................................................................ 8-62
E
Electronic label ........................................................ 8-41
Error counter data losses ......................................... 8-40
Error counter MST-P/S............................................. 8-29
Error counter port 1 and port 2 ................................. 8-31
Exit parameterization level procedure command (PL)......
8-13
Extended parameterization phase ............................. 6-3
F
Fall back value output .............................................. 8-64
Feedback acquisition capture point (t4) ................... 8-18
FG Administration ............................................. 2-17, 9-4
FG Archiving ..................................................... 2-16, 9-4
FG Bus coupler ........................................................ 2-18
FG Bus diagnosis.............................................. 2-15, 7-1
FG Connection.................................................. 2-15, 9-2
FG Control ........................................................ 2-15, 9-2
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FG Diagnosis ............................................. 2-16, 7-1, 9-3
FG Identification ................................................ 2-17, 9-4
FG NRT............................................................. 2-15, 9-3
FG SCP identification................................................. 9-1
FG State machine ............................................. 2-17, 9-4
FG Telegram setup .................................................. 2-15
FG Telegramm setup ................................................. 9-1
FG Time ..................................................................... 9-4
FG Timing ......................................................... 2-15, 9-1
Fiber optics ................................................................ 4-5
FSP type & version................................................... 8-44
FSP_I/O ................................................................... 2-18
Function groups .................................................. 5-7, 7-8
Function groups of the FSP_I/O ................................. 9-5
Function specific profile ........................................... 2-14
Funktionsgruppen .................................................... 8-45
Installation.................................................................. 2-4
Interface status .......................................................... 8-4
IP address................................................................ 8-24
L
Language selection.................................................... 8-9
Length of ATs........................................................... 8-20
Length of MDTs ....................................................... 8-19
Line structure ............................................................. 2-3
List of available languages ......................................... 8-9
List of GDP classes & version .................................. 8-44
List of inserted function groups ................................ 8-53
List of module type codes ........................................ 8-52
List of replaced function groups ............................... 8-55
List of SCP types & versions .................................... 8-14
Local bus cycle time................................................. 8-57
G
M
Gateway address ..................................................... 8-26
Generic device profile GDP............................. 2-14, 2-16
Grounding ................................................................ 4-11
MAC address ........................................................... 8-24
Master data telegram (MDT) ...................................... 3-2
Max. length of connection ........................................ 8-38
Maximum delay time ................................................ 8-64
Minimum delay time ................................................. 8-64
Minimum feedback processing time (t5) .................. 8-16
MTU ......................................................................... 8-27
H
Hot-plug service ......................................................... 3-5
I
I/O control ................................................................ 8-50
I/O diagnosis message............................................. 8-57
I/O diagnostic messages............................................ 7-5
I/O function group Bus coupler.......................... 8-50, 9-5
I/O-Status................................................................. 8-52
ID number ....................................................... 2-12, 2-14
IDN allocation of real-time bit ................................... 8-40
IDN list of all backup operation data........................... 8-8
IDN list of all operation data ....................................... 8-5
IDN list of all procedure commands ........................... 8-6
IDN list of configurable data as consumer .................. 8-8
IDN list of configurable data as producer ................... 8-8
IDN list of invalid data for parameterization level...... 8-14
IDN list of invalid operation data for CP2 .................... 8-5
IDN list of invalid operation data for CP3 .................... 8-5
IDN list of password protected data ......................... 8-12
Image of connection setups ..................................... 8-41
IndraWorks device data base..................................... 5-4
Initialization ................................................................ 6-1
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N
Name of I/O function group ...................................... 8-59
Non-realtime channel (NRT) ...................................... 3-4
Non-realtime phase.................................................... 6-2
NRT transmission time............................................. 8-23
O
Operating phase ........................................................ 6-4
P
Parameter ........................................................... 5-7, 8-1
Parameter channel receive ............................. 8-56, 8-63
Parameter channel transmit ............................ 8-57, 8-63
Parameter record .............................................. 2-11, 8-1
Parameterization........................................................ 5-1
Parameterization phase ............................................. 6-3
Password ................................................................. 8-11
P-Channel .................................................................. 2-1
PDIN ........................................................................ 8-62
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PDOUT .................................................................... 8-61
Planning ..................................................................... 4-1
Primary channel ......................................................... 2-1
Producer cycle time ................................................. 8-39
R
Realtime channel ................................................ 3-1, 3-6
Rearrangement of I/O resource................................ 8-55
Reset class 1 diagnostic ............................................ 8-7
Resource structures of sub-device........................... 8-44
Ring delay ................................................................ 8-22
Ring structure............................................................. 2-1
RTC ........................................................................... 3-6
S
Synchronization ......................................................... 3-7
T
Telegram assignment .............................................. 8-37
Telegram configuration .............................................. 3-3
Telegrams.................................................................. 3-1
Test pin assignment port 1 and port 2 ...................... 8-30
Topology .................................................................... 2-1
V
Version of communication hardware........................ 8-27
W
Wiring......................................................................... 4-1
S-Channel .................................................................. 2-1
Scope of functions ..................................................... 5-1
SCP.......................................................................... 2-15
SCP identification.............................................. 2-15, 9-1
SCP_FixCFG ............................................................. 2-8
SCP_VarCFG ............................................................ 2-8
Secondary channel .................................................... 2-1
sercos ................................................................. 1-1, 5-1
sercos address ........................................................ 8-31
sercos communication profile .................................. 2-14
sercos configuration................................................... 5-6
sercos connections .................................................. 8-35
sercos device............................................................. 5-4
sercos I/O master....................................................... 5-1
sercos I/O module ...................................................... 5-6
sercos module configuration ...................................... 5-7
sercos module I/O map .............................................. 5-7
sercos slave ............................................................... 5-4
sercos time............................................................... 8-48
Service channel ......................................................... 3-5
Slave delay (P/S) ..................................................... 8-22
Source type................................................................ 7-2
Start phase................................................................. 6-2
Startup ....................................................................... 6-1
Structure element..................................................... 2-12
Structure instance .................................................... 2-11
Subnet mask ............................................................ 8-25
SVC offset in AT....................................................... 8-21
SVC offset in MDT ................................................... 8-21
SYNC delay measuring procedure command .......... 8-27
SYNC jitter ............................................................... 8-26
8336_en_00
PHOENIX CONTACT
A-3
UM EN SERCOS SYS
A-4
PHOENIX CONTACT
8336_en_00
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