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1. DIGITAL INTERFACE VALVE WITH ETHERCAT INTERFACE B99226 DV010 B 400 Version 0 3 11 07 WHAT MOVES YOUR WORLD NACOCO C3 Copyright 2007 Moog GmbH Hanns Klemm StraBe 28 71034 B blingen Deutschland Telephone 49 7031 622 0 Fax 49 7031 622 191 E mail sales germany moog com Internet http Awww moog com Industrial All rights reserved No part of this document may be reproduced in any form print photocopies microfilm or by any other means or edited dupli cated or distributed with electronic systems without our prior written consent Offenders will be held liable for the payment of damages Subject to change without notice We reserve the right to make changes to this document at any time and without specified reasons Table of Contents Copyright Completeness This document is complete only when used in conjunction with the product related hardware and software documentation re quired for the relevant application as for example operating in structions of the valve and other manuals Selection and qualification of personnel As specified in the product related hardware and software documentation required for the relevant application only users properly qualified and authorized for these tasks may work with and on our products Note This document has been prepared with great care in compli ance with the relevant regulations state of the art technology and our many years of knowledge and exper2. nn rn naar ANAE naar nr nn nan 17 18 SS 52222207 22 222 18 Ua Nac SERRE 18 PAMESTA a iii 19 2 6 1 Module Status LED MS ii 19 2 6 2 Network Status LED NS IN NS 222 nnne 19 2 7 CANopen Object Dictionary eene nnne nennen nnne snnt inrer enr sitne nen 20 2 8 XML Slave Configuration File and Slave Information Interface SII 20 APPENOD em M 21 3 1 EtherCAT XML Slave Device Description File i 21 CNN LONE 21 31 2 Enty LY Pe I cc 22 Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer 1 General Description 1 1 About this manual This manual describes the software interface of the EtherCAT real time Ethernet field bus extension for the DIV valve With the factory configuration the valve can be operated without any further parameter configura tion in the valve Application specific configuration can be done using Moog s Valve Configuration Service Tool MoVaCo The electrical installation is described in the manual 63420 002 BI Elektrische Anschl sse pdf How to configure the network master to establish a field bus communication with the valve is described in the man ual Getting Started Fieldbus Interface for Moog Servo Valves This
3. Stop Input Update Stop Mailbox Communication IB Start Bootstrap Mode Bl Restart Device 2 3 4 3 The AL Status Code Register If AL Status indicates an error the AL Status Code Register provides detailed information about the reason Code Description Current state or Resulting state state change 0x0000 No error Any Current state 0x0001 Unspecified error Any Any E 0x001 1 Invalid requested state change I gt S 1 gt 0 Current state O gt B S gt B P gt B E 0x0012 Unknown requested state zu state 0x0013 Bootstrap not supported I gt B I E 0x0014 No valid firmware I gt P I E 0x0015 Invalid mailbox configuration I gt B I E 0x0016 Invalid mailbox configuration IP 1 E 0x0017 Invalid sync manager configura P gt S S gt O Current state tion E 0x0018 No valid inputs available S P gt S P E 0x0019 No valid outputs S gt 0 S E 0x001A Synchronisation error O SSO S E 0x001B Sync manager watchdog O S S E 0x0020 Slave needs cold start Any Any E 0x0021 Slave needs INIT B P S O Any E 0x0022 Slave needs PREOP 5 0 S E O E 0x0023 Slave needs SAVEOP O O E Abbreviations l Init P Preop O Operational S Save OP B Bootstrap E Error Table of Contents Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents AL Status Ctrl and AL Status Code Values 16 bit s
4. pa rameter setting of the Slave Configuration in the Network Master Master EtherCAT Advanced Settings General Behavior Set SM Watchdog Reg 410h For more details about the PDO Watchdog see chapter EtherCAT XML Slave Device Description file Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents 2 4 2 Device Addressing EtherCAT devices can be addressed using two different addressing modes e Position Addressing typically used also referred as Auto Increment Addressing Each slave device is addressed via its physical position within the network segment Each slave de vice increments the 16 bit address field while the datagram passes through the slave devices This mechanism has the advantage that no slave device addresses have to be set manually at the slaves e Device Node Addressing also referred as Fixed Node Addressing using a Station Alias Address for each device With node addressing the slaves are addressed via a configured node address called Configured Station Alias This configured address can be set by the network master This ensures that even if the segment topology is changed or devices are added or moved the slave devices can still be ad dressed via the same configured address The node address can be configured by the master accessing the Slave Information Interface SII a set of configuration parameter in the config
5. CiA Organisation wurde das busunabhangige VDMA Ger teprofil auf den CANopen standard abge bildet woraus das CAN Busspezifische Ger teprofil DS408 Device Profile Fluid Power Technology Propor tional Valves and Hydrostatic Transmissions entstanden ist EtherCAT hat in seinen Protokolldefinitionen vieles von CANopen bernommen So ist das gesamte Proto koll zur Konfiguration und Analyse des Ventils SDO und emergency identisch zu CiA DS 408 Damit ben tigt EtherCAT kein eigenes Ger teprofil f r Servo Ventile 5Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden werden B99226 DV010 Table of Contents 1 4 References Normen Moog 1 USER MANUAL FIRMWARE SERVO VALVES pQ WITH CAN BUS INTERFACE B99224 DV010 BE400 Moog Industrial 2 Getting Started Fieldbus Interface for Moog Servo Valves Moog Industrial 3 EtherCAT XML Slave Device Description file EtherCAT Organisation EtherCAT IEC61158 2 12 TYPE 12 EtherCAT PHYSICAL LAYER SPECIFICATION AND SERVICE DEFINITION IEC61158 3 12 TYPE 12 DATA LINK SERVICE DEFINITION IEC61158 4 12 TYPE 12 DATA LINK PROTOCOL SPECIFICATION IEC61158 5 12 TYPE 12 APPLICATION LAYER SERVICE DEFINITION IEC61158 6 12 TYPE 12 APPLICATION LAYER PROTOCOL SPECIFICATION EtherCATDevice De Description of the XML Schema of the EtherCAT XML Slave Device De scription VOi3i0 pdf scription File ISO IEC 8802 3 Eth
6. is running Anyway configuration during operation has some risk and is not recommended for critical applications 2 3 8 Emergency Message EMCY The valve can send Emergency Message via CANopen over EtherCAT CoE to the master These mes sages can be used by the master program for fault reactions The Emergency Message is send if an internal error occurs Each alert is only sent once After detection of a fault the device sends out an emergency message as described in chapter Emergency Message in 1 In the valves Status Word an error bit is set Depending on the set fault reaction the device changes into a fault state In order to get out of the fault state the fault must be acknowledged This is achieved by sending the Control Word 0x6040 to the device with the fault reset bit set Bit 3 of the Control Word The error will not be send again until it has been acknowledged The Emergency Message and the Message Codes are standardised in the VDMA Device Profile and IEC61158 6 12 20060210 Chapter 5 6 4 2 or 1 chapter Emergency Message For the EtherCAT fieldbus additional messages are added which are defined in the IEC61158 6 12 20060210 Chapter 5 6 4 3 e Transmit PDO Konfigurationsfehler FAUECTTPD 0x8245 Der Fehler wird gemeldet gel scht beim der erfolgreichen erfolglosen Transmit PDO Initialisierung Diese findet beim Ubergang des AL Status Netzwerkstatus von Save Operational nach Operati onal statt e Receive P
7. values are rejected Table 1 Store 2 5 2 Restore To reset the configuration of the valve to factory default settings a write access to the function RestoreDe faultParameters has to be performed Slot Index Name Data Type Access Persis Value Default tence Range 0 52 Restore Default Parameters INT32 rw N INT32 0 Value table Value Function 0x6C6F6164 load RestoreDefaultParameters function is called all other values are rejected Table 2 Restore When the RestoreDefaultParameters function is started the configuration of the valve is reset to the factory default values The new parameters are automatically stored in the internal nonvolatile memory of the valve Because also the communication configuration of the valve is restored the valve performs a restart of the application program to reinitialize the communication interface Therefore the RestoreDefaultParameters request is not acknowledged by the valve because the communication configuration is changed immedi ately The valve automatically restarts the PROFIBUS state machine and waits for the new parameterization and configuration from the master A RestoreDefaultParameters may only be performed in a save machine state because all configura e tion changes like communication parameters or controller adjustments are set back to factory default Moog GmbH Fehler Verweisquelle konnte
8. DO Konfigurationsfehler FAUECTRPD 0x8241 Der Fehler wird gemeldet gel scht beim der erfolgreichen erfolglosen Receive PDO Initialisierung Diese findet beim bergang des AL Status Netzwerkstatus von Pre Operational nach Save Operational statt e Feldbuskarten Initialisierungs bzw Hardwarefehler FAUECTCOM 0x8100 Die Feldbuskarten Initialisierung findet beim Einschalten oder bei einem Neustart des Ventils z B nach SW Reset statt e Receive PDO Watchdog timeout FAUECTRPT 0x8231 Der Fehler wird ausgel st wenn das Ventil im Netzwerkstatus OP ist und kein Receive PDO emp fangen wird Er wird gel scht sobald wieder PDOs empfangen werden Der Netzwerkstatus selbst wird durch die Fehlermeldung nicht verandert Zur Aktivierung dieses Watchdog Fehlermeldung muss sowohl das Stauts Bit im Sync Manager ge setzt sein als auch eine entsprechende Fehlerreaktion aktiviert werden Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents 2 3 4 Network State Machine The EtherCAT State Machine is responsible for the coordination of master and slave during operation and device and network start up The Network State Machine is also called Application Layer Status Machine In the following sentences AL stands for Application Layer The EtherCAT State Machine is represented in three register AL Status Ctrl represents the requested state of the network state machine AL S
9. ISO 11898 CAN part 4 CANopen DIN ISO 11898 specifies the data link layer DLL and physical signaling of the controller area 1 2003 network CAN Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents 1 5 Abbreviations us AL CAN CiA CANopen CAT 5 DC DIV Eds EDS ESC EtherCAT IEC IEEE IN IP ISO m MBit Mbit s MoVaCo NMT network OUT PDI PDO Phy PLC S SDO device SII TCP UDP UDP VDMA XML Micro seconds Application layer see also Network Status Machine Controller Area Network specified by CAN in Automation CiA CAN in Automation international user s and manufacturer s organisation EN 50325 4 Osi Layer 7 protocol specified by CAN in Automation CiA category for twisted pair wires standardised in ANSI TIA EIA 568 B 1 2001 Distributed Clock Digital Interface Valve Electronic Datasheets containing a description of the CANopen object dictionary EtherCAT Slave Controller Ethernet Control Automation Technologie International Electrontechnical Commission Institute of Electrical and Electronics Engineers Inc Input Internet Protocol International Organisation for Standardization Meter Mega Bit Million bits per second Moog Valve Configuration Software Network Management It performs initialization configuration and error handling in a CAN Ouput Physical Device In
10. Index 0x6041 0 Status Word 0x6301 1 Spool Actual Position 0x6381 1 Pressure Actual Value Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents The configuration in the valve CANopen SDO Index 0x1600 and 0x1a00 should be consistent with the configuration in the master which will be defined in the Slave Description File XML Format e g D636E1001 0001 xml The format of the Slave Description File also called EtherCAT XML Device De scription File is described by an XML Schema EtherCATConfig xsd defined by the EtherCAT organisation For more details about the syntax of the XML Slave Configuration File see chapter EtherCAT XML Slave Device Description file in the appendix It is possible to configure the PDO in the master only and to download the configuration into the valve during the network startup during network status transition from Prepared to Save OP The cycle time of both PDOs have to be configured in the network master Jedes PDO ist ber die SDO Index 0x1c12 0x1c13 einem Sync Manager SM zugeordnet Diese Konfigu ration sollte nicht verandert werden The PDO mapping is defined in the CANopen DS408 standard The additional mapping with the objects 0x1cxx is defined in IEC61158 6 12 20060210 2 3 2 Service Data Objects SDO Parame
11. Protocols Cyclic Process Data Objects PDO Acyclic Service Data Objects SDO Emergency Messages Network Management Distributed Clock currently not supported PDO Watchdog Device Node addressing EtherCAT frame packed into a UDP data package These protocols will be described in detail in the following sub chapters 2 3 1 Process Data Objects PDO Process Data Channel The Process Data Objects PDO will be used for cyclic transmission of the process data One Receive and one Transmit PDO can be configured each containing 8 free configurable 8 32 bit pa rameter of the valve This configuration is done using the following Service Data Objects SDOs Receive PDO 0x1600 1 8 pdrmap List of Receive Process data Set Values 0x1600 0 pdrmapnum Number of configured receive process data Transmit PDO 0x1a00 1 8 pdtmap List of Transmit Process Parameter Actual Values 0x1a00 0 pdtmapnum Number of configred transmit process data The Process Data Objects PDOs can be mapped by the user to a wide range of the valves process data The default PDO mapping is as follows Default Parameter Mapping for the Receive PDO Parameter Parameter Parameter Description Index CANopen Sub Index 0x6040 0 Control Word 0x6300 1 Spool Setvalue 0x6380 1 Pressure Setvalue Default Parameter Mapping for the Transmit PDO Parameter Parameter Parameter Description Index CANopen Sub
12. Reference Manual only describes the EtherCAT specific configuration All general parameter are described in the manual USER MANUAL FIRMWARE SERVO VALVES pQ WITH CAN BUS INTERFACE B99224 DV010 BE400 1 2 Scope of delivery e Ventil mit EtherCAT Feldbusschnittstelle e XML configuration file for the configuration of the network master e g z B D672 5704 0001 xml Die EtherCAT xml ist nicht zu verwechseln mit der MoVaCo xml Konfigurationsdatei e EDS configuration file for the SDO configuration EDS SDO Konfigurationsdatei z B D672 5704 0001 eds 1 3 EtherCAT Introduction The EtherCAT fieldbus interface provides a 100Base TX full duplex Real Time Ethernet connection to the digital valves using standard EtherCAT frames according to IEEE 802 3 The valve is always connected as a slave node within an EtherCAT fieldbus network VDMA PROFIL In einer Arbeitsgruppe innerhalb des Verbandes Deutscher Maschinen und Anlagenbau e V VDMA wurde in enger Zusammenarbeit aller namhaften Hydraulikhersteller ein Ger teprofil Profile Fluid Power technolo gy erarbeitet das die Kommunikation von Hydraulikkomponenten Uber Feldbus beschreibt und einheitliche Funktionen und Parameter definiert um f r die Kommunikation Hersteller bergreifend ein standardisier tes Austauschformat zu schaffen Dieses Profil ist in allen Moog Ventilen mit Feldbusschnittstelle implemen tiert Umsetzung des VDMA Ger teprofils auf den EtherCAT Feldbus In der
13. ame NameType PDO name Exclude HexDecValue List of PDO indices that are excluded if this PDO is in sync manager Entry EntryType Description of all entries according to gt Entry Type Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer 3 1 2 EntryType Table of Contents EntryType describes an Entry of an Object within the Object Dictionary The following figure shows how the EntryType element is composed EntryType 0 Index RN Subindex BitLen ae Name i NameType Won Comment B DataType Content of EntryType Element Name Data Type Description EntryType Index HexDecValue Index of this Entry within the PDO EntryType Sublndex HexDecValue Subindex of this Entry EntryType BitLen xs int Bit Length of Entry EntryType Name NameType Name of this Entry EntryType Comment xs string Description of this Entry EntryType DataType xs string DataType of this Entry Only Base data types are allowed See also Table 8 DataType is mandatory if Index 0 Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer MOOG COM INDUSTRIAL For the location nearest you contact moog com industrial globallocator Argentina Australia Austria Brazil China Finland France Germany Hong Kong India Ireland Italy Japan Korea Luxembourg Netherland
14. er Table of Contents 3 Appendix 3 1 EtherCAT XML Slave Device Description File The format of the EtherCAT XML Device Description File is described by an XML Schema EtherCATCon fig xsd defined by the EtherCAT organisation Example of one process data mapping in the XML Slave Configuration File RxPdo Fixed 1 Sm 2 gt lt Index gt x1600 lt Index gt lt Name gt Outputs lt Name gt lt Entry gt lt Index gt x6040 lt Index gt lt SubIndex gt 0 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Control word ctlwrd lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt The following sub chapters describe the tags relating to the PDO configuration within the EtherCAT s XML Slave Device Description File For more details about the XML Schema see 3 3 1 1 PdoType PdoType describes how an PDO has to be built The following figure shows how the PdoType is composed PdoType 1 0 Index Exclude Name Entry i EntryType Attributes Attribute Data Type Use Description Fixed xs boolean optional PDO is not configurable Mandatory xs boolean optional PDO must be configured in a SyncManager Sm xs int optional Default SyncManager for this PDO if set this PDO will be in cluded in the process Image Element Data Type Description Name Index HexDecValue Index of the PDO within the Object dictionary N
15. erCAT Frame ISO IEC 8802 3 100Base TX IEEE 802 3 Clause 24 IEC 61076 2 101 M12 Connector Amendment 1 IEC 61158 Internationale Feldbusnormenreihe Digital data communications for measurement and control Fieldbus for use in industrial control sys tems Datalink layer service definition Data Link Layer protocol specifica tion Application Layer service definition Application Layer protocol defini tion IEC 61784 Digital data communication for measurement and control IEC 61800 7 Generic interface and use of profiles for power drive systems Interface definition IEC Commission Electrotechnique Internazionale International Electrontechnical Commission EtherCAT Technology Group ETG Headquarters OstendstraBe 196 90482 N rnberg Germany www ethercat org Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents Profile Fluid Power Technology Proportional Valves and Hydrostatic Transmissions Version 1 5 VDMA Zentrale Lyoner StraBe 18 60528 Frankfurt Germany www vdma org CANopen CiA DS 301 CANopen Specification of the Application Layer and Communication Profile CiA DS 306 Electronic Data Sheet Specification CiA DS 408 Device Profile Fluid Power Technology Proportional Valves and Hydrostatic Transmissions EN 50325 4 2002 This is the international norm of the CiA DS 301 specification based on the norm
16. hort integer variable Parameter Data Type Value Bit Position Network State State Unsigned 1 Init 0 3 2 Pre Operational 3 Bootstrap 4 Save Operational 8 Operational Change Unsigned 0 State transition successful only AL Status Code 4 1 State transition unsuccessful Reserved Unsigned Shall be zero 5 7 2 3 5 Distributed Clock The Distributed Clock Protocol provides a method to do a very precise synchronization of network devices to a global time base This protocol is currently not supported in the valve 2 4 Additional configurations 2 4 1 PDO Watchdog For the Receive PDO a watchdog can be activated which produces a watchdog timeout error FAUECTRPT 0x8231 This error is thrown if the PDO is not received within a defined duration For this error an appropriate fault reaction can be configured by the user chapter Fault Reactions in 1 To activate the watchdog the XML Slave Configuration file has to be modified Therefore the bit 0x40 of the Control Byte of the Sync Manager has to be set and the configuration has to be re read from the master Line to be changed in the XML Slave Configuration file Sm StartAddress x1000 ControlByte x64 Enable 1 gt Outputs lt Sm gt If the PDO Watchdog is enabled and the application program stops its PDO transmission the watchdog with its corresponding error reaction is triggered The watchdog time can be configured in the PDI Watchdog
17. ience and the con tents have been generated to the best of the authors knowl edge However the possibility of error remains and improve ments are possible Please feel free to submit any comments about possible errors and incomplete information to us 1 General Description 4 Ao D 5 1 1 About this Manual RNA nani 5 1 2 Scope of SA RR i 5 1 3 EtherCAT Introduction A 5 1 4 References Normen Ni 6 1 5 Abbreviations A AA 8 2 EtherCAT Fieldbus Interface 222242222220200000000000000000000nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 9 2 1 Technical Data Ba WR i 9 2 2 Bustopology O i i 10 2 3 EtherCAT Protocol Sb ee 10 2 3 1 Process Data Objects PDO Process Data Channel i 11 2 3 2 Service Data Objects 500 Parameter Channel sss 12 2 3 3 Emergency Message EMCY nn cnnnnn nn cn naar nn rnnannnnnnns 13 2 3 4 Network State Machine nn cnnnnn nn nn enne 14 2 3 5 Distributed CIOCK i 16 2 4 Additional configurations ener nnns nnne en nnne 16 2 4 1 PDO Watchdog sse rca 16 2 4 2 Device Addressing
18. nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents 2 6 Status LEDs The valve s operating mode and the network status are displayed on multi colour light emitting diodes status display LEDs on the front of the electronics housing of the valve After the valve s power supply is switched on the valve electronics perform a self test indicated by red and green blinking LEDs OO 2 6 1 Module Status LED MS The module status LED displays the state of the power supply and possible operational and error states Module status LED MS Condition Saia off no supply power O NSN NS OUT green normal operation blinking green valve standby mode nn y MOOG blinking red correctable error red unrecoverable error EtherCAT blinking red green self test 2 6 2 Network Status LED NS IN NS OUT The network status LED displays the status of the networks state machine and the links connected on the fieldbus Input NS IN and Output NS OUT connectors Network status LED Condition EtherCAT NS IN and NS OUT Network Status Off No supply power for the valve or one of the con Not defined nected devices or master network card not started Blinking red green Self test Orange Hardware link is OK Link up and ready to oper Init ate No data communication Blinking green Hardware link is OK PreOP SaveOP SDO comm
19. r Daten e Die so genannten Prozessdaten Objekte PDO werden synchron zyklisch bertragen und k nnen vom Anwender frei konfiguriert werden siehe Kapitel Process Data Objects PDO Process Data Channel e Als Servicedaten Objekte SDO bezeichnet man einen festen Satz an Parametrierdaten Diese werden bei Bedarf asynchron nicht Echtzeit bertragen siehe Kapitel Service Data Objects SDO Parameter Channel EtherCAT nutzt Standard Ethernet Datenpakete Bei Verzicht auf die Echtzeitf higkeit k nnen die Daten somit auch ber das gew hnliche UDP und damit ber Internet bertragen werden Die Synchronisation und Aufbereitung der Datenpakete wird im Slave Device von der Field Management U nit FMMU bernommen der die Position der Datenobjekte innerhalb des EtherCAT Datenpaketes festlegt Der Sync Managern SM koordiniert den Zugriff auf diese Daten in dem Slave Device Appli App cation Application Object Dictionary E SDO PDO Mapping E 28 TE e o i Control Sync Mi Mailbox Process Data ri BL x T Faun DL DL Layer Info Address Management DL Control EtherCAT Data Link Layer DL Status Physical Layer Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents Supported
20. s Norway Russia Singapore South Africa Spain Sweden Switzerland United Kingdom USA 54 61 43 55 86 358 33 49 852 91 353 39 81 82 352 31 47 7 65 27 34 46 41 44 1 11 4326 5916 3 9561 6044 664 144 6580 11 5523 8011 21 2893 1600 9 2517 2730 1 4560 7000 7031 622 0 2 635 3200 80 4120 8799 21 451 9000 332 42111 463 55 3615 31 764 6711 40 46 401 252 462 000 224 32927 8 31713 1811 6773 6238 12 653 6768 902 133 240 31 680 060 71 394 5010 168 429 6600 716 652 2000 info argentina moog com info australia moog com info austria moog com info brazil moog com info france moog com info germany moog com info hongkong moog com info india moog com info ireland moog com info italy moog com info japan moog com info korea moog com info luxembourg moog com info netherlands moog com info norwayOmoog com info russia moog com info southafrica moog com info spain moog com info sweden moog com info switzerland moog com info unitedkingdom moog com info usa moog com 2007 Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden werden B99226 DV010 B 400 Version 0 3 11 07 All rights reserved Subject to change without notice WHAT MOVES YOUR WORLD
21. tatus Code represents the actual state of the network state machine AL Status Code Register represents information about the error state of the device Operational 2 3 4 1 State Machine States State Description Init Default state after initialisation of the device No communication between the master and the slave on the application layer is possible Pre In this state the mailbox is initialised and can be used e g for SDO communication No PDO Operational Communication is possible in this state Safe In this state the PDOs input buffer is configured and actual input data are serviced by the Operational valve and send to the master The valves set point values output data are set to their save state Operational In this state the actual outputs send from the master are used by the valves application Bootstrap Not used Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer 2 3 4 2 State Machine State Transitions The state machine transitions are requested by the network master State transition Local management service IP Start Mailbox Communication PI Stop Mailbox Communication PS Start Input Update SP Stop Input Update SO Start Output Update OS Stop Output Update OP Stop Output Update Stop Input Update SI Stop Input Update Stop Mailbox Communication Ol Stop Output Update
22. ted Protocols PDO CANopen SDO Mailbox Interface CoE MoVaCo configuration software EtherCAT master Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents 2 2 Bus topology The network physical topology is tree and line The connection between two devices is a point to point connection Thus each slave device has an input and an output connector which relays the data to the next slave device in the line To build up a tree structure a switch has to be used To address a slave device EtherCAT uses two different addressing modes e Auto Increment Addressing e Using the Station Alias that means using a fixed device node address For more details about device node addressing see chapter Device Addressing 2 3 EtherCAT Protocol Das Protokoll wird in erster Linie als Master Slave Kommunikation verwendet Abhangig vom Master ist auch eine direkte Slave to Slave Kommunikation m glich Naheres dazu in den Beschreibungen der Master und der Protokollbeschreibung der EtherCAT Organisation Die Netzwerkknoten stellen so genannte Datenobjekte zur Verf gung die auch zum knoten bergreifenden Datenaustausch verwendet werden Diese Datenobjekte werden in einem Objektverzeichis zur Verf gung gestellt und haben eine eindeutige Kennung die so genannte Objekt ID gem B CANopen EtherCAT erm glicht sowohl eine synchrone als auch eine asynchrone bertragung de
23. ter Channel The EtherCAT interface does provide the CANopen configuration protocol SDO which is standardised in the DS408 profile This profile describes the functionality of interconnectable proportional valves and other hydraulic components It defines a vendor independent common set of configuration parameters as well as the communication protocol itself This SDO protocol is used for e configuration calibration and control parameter e diagnostic functions error states internal process values data logger function generator e device identification device capability device description SDO communication is asynchrony and always initiated by the network master The slave responds always on request of the master If the valve is not capable of processing the SDO request from the master the valve responds with an SDO Abort error message The SDO protocol is tunnelled in the EtherCAT Mailbox protocol which can be accessed directly via the Eth erCAT protocol or encapsulated in a standard internet UDP frame Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents For more information about the available configuration parameter of the valve see 1 To store the parameter inside the non volatile memory area a write command to the SDO Store Parameter parameter Index 0x1010 has to be performed see 1 Most configurations can be done while the application
24. terface in the slave device Process Data Object Object for data exchange between several devices PHY Physical layer entity sub layer ISO IEC 8802 3 programmable logic controller Second Service Data Object Peer to peer communication with access to the Object Dictionary of a Slave Information Interface Transmission Control Protocol one of the core protocols of internet User Datagram Protocol one of the core protocols of internet User Datagram Protocol C RFC 768 Verband Deutscher Maschinen und Anlagenbau e V Extensible Markup Language is a general purpose language combining text and extra information about the text 100Base TX Twisted Pair Ethernet wiring with 100MBit sec Fast Ethernet Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents 2 EtherCAT Fieldbus Interface 2 1 Technical Data 100MBit s transfer rate 100 Base Tx Physics 4 wires twisted pair according CAT 5 Maximal cable length between two slave devices 100m Galvanically isolated Termination device internally Network topology tree and line Update time 100 distributed servo valves in 100 us set and actual value 16bit Pass through delay 4 us per slave device Maximal number of slave devices in a fieldbus line 2 The real limit is the Pass through delay of the de vices Ethernet standard ISO IEC 8802 3 frame format EtherType 0x88A4 according IEEE Suppor
25. unication is possible No PDO communication Green Normal operation Operational SDO communication is possible Cyclic PDO communication established Red Unrecoverable error Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents 2 7 CANopen Object Dictionary For all fieldbus independent objects see 1 The only EtherCAT fiedbus specific objects are the emergency objects see chapter Emergency Message of this document 2 8 XML Slave Configuration File and Slave Information Interface SII Die Konfiguration der Mailbox der FMMU der SM und der PDOs ist im Slave Information File gespeichert Damit kann ein Nertzwerk Master auch ohne angeschlossenes Ventil konfiguriert werden Manche Netzwerk Master unterst tzen das Lesen des Slave Information Files nicht Diese lesen die Konfi gurationen aus dem Slave Information Interface SII Konfigurationsspeicher in Form eines EPROMs des Ventils und dem PDO Mapping in den SDO Objekten 0x1600ff aus F r diese Master muss die Konfigurati on entsprechend in das SII gespeichert werden Das ist im Auslieferungszustand des Ventils nicht der Fall Wird dieses Interface genutzt so ist auf konsistente Daten in der SII Konfiguration und der PDO Konfigurati on in den Objekten 0x1600 ff zu achten Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden w
26. uration EPROM of the fieldbus interface of the slave or by setting it using the CANopen SDO 0x3002 One may ask how it could be possible to select a single device from a batch of other networking devices Therefore the valve has a unique identifier by which it can clearly be specified Unique in this case means that no other device in the world has the same identifier This identifier can be obtained from our valve s main stage nameplate The displayed identifier LSS address has the following form LSS VendorlD ProductCode RevisionNumber SerialNumber All values are given as decimal numbers This identifier is shown in the EtherCATs Slave Information Interface and the SDO index 0x1018 For more details see IEC61158 4 12 Chapter 6 1 2 IEC61 158 3 12 Chapter 7 1 1 1 7 1 1 2 IEC61158 6 12 Chapter 5 4 Moog GmbH Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden wer Table of Contents 2 5 Store Restore It is possible to save the changes of configuration inside a non volatile memory area of the electronic 2 5 1 Store To save the configuration changes a write access to the function StoreParameters has to be performed Slot Index Name Data Type Access Persis Value Default tence Range 0 51 Store Parameters INT32 rw N INT32 0 Value table Value Function 0x73617665 save StoreParameters function is called all other
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