sercos EasySlave-IO Evaluation kit
Contents
1. 3 sercos testpins 4 1 1 FPGA status display On the FPGA Module are three colored LED s e Green Power supply for FPGA is OK 3 3V e Yellow FPGA is active application started e Red Power reset required fatal error or after firmware update 4 1 2 JTAG interface The JTAG interface is for programming debug and tracing the FPGA This interface is for development use only The interface is compatible to the XILINX Platform Cable USB II ribbon cable Connector X2 JTAG 2x7 2 0mm grid Pin 1 3 5 7 9 11 13 Signal GND GND GND GND GND GND GND Pin 2 4 6 8 10 12 14 Signal VCC TMS TCK TDO TDI n c n c 4 1 3 Sercos testpins The sercos standard specifies two hardware testpins for debugging if IP core signals Connector SV3 Testpins Pin 1 2 3 Signal GND TSTO TST1 Document name Version Date Page UserManual sercos EasySlave IO Kit 20121119 0 1 19 07 2012 10 of 19 s Steinbeis Transferzentrum Systemtechnik EasySlave Modules 4 1 4 FPGA Interface 96 way DIN41612 connector male RowA Signal Row B Signal Row C Al 24V B1 DIP SW 1 C1 A2 GND B2 DIP SW 2 C2 A3 SPI MOSI B3 DIP SW 3 C3 SPI MISO A4 SPI CLK B4 DIP SW 4 C4 SPI CSO A5 SPI C2. Signal INPO INP1 INP2 INP3 INP4 INP5 INP6 INP7 Document name Version Date Page UserManual_sercos_EasySlave IO Kit_20121119 0 1 19 07 2012 14 of 19 Di Ee e EasySlave Modules Connector X5 FPGA Interface 64 way DIN41612 connector female RowA Signal RowC Signal Al 24V C1 24V A2 GND c2 GND A3 not used C3 not used A4 not used CA not used A5 not used c5 not used A6 DIAG_A EXTO C6 DIAG B EXT1 A7 PWR_A EXT2 C7 PWR_B EXT3 A8 not used c8 not used A9 not used c9 not used A10 not used C10 not used A11 not used C11 not used A12 not used C12 not used A13 not used C13 not used A14 not used C14 not used A15 100 C15 IO1 A16 IO2 C16 IO3 A17 IO4 C17 IO5 A18 IO6 C18 IO7 A19 IO8 C19 IO9 A20 IO10 C20 IO11 A21 IO12 C21 IO13 A22 IO14 C22 1015 A23 1016 C23 1017 A24 1018 C24 1019 A25 1020 C25 1021 A26 1022 C26 1023 A27 1024 C27 1025 A28 1026 C28 IO27 A29 IO28 C29 IO29 A30 1030 c30 1031 A31 GND C31 GND A32 VCC 3 3V C32 VCC 3 3V Document name Version Date Page UserManual_sercos_EasySlave IO Kit_20121119 0 1 19 07 2012 15 of 19 s Steinbeis Transferzentrum Systemtechnik EasySlave Modules 4 3 2 Digital outputs The EasySlave IO Modul has 16 digital 24V outputs The outputs are split in two sections Each sec
3. Date Version Revision Authors 11 09 2012 0 1 Document created C Hayer 17 09 2012 0 2 Connector pinouts added C Hayer 19 11 2012 0 3 Technical Data C Hayer Document name Version Date Page UserManual_sercos_EasySlave IO Kit_20121119 0 1 19 07 2012 3 of 19 Steinbeis Transferzentrum et Systemtechnik Contents Contents 1 Definitions and abbreviations unessssnnnennennnnennnnnnnnnnnnnnnen nn nnnnennnnnnnen nenn ener nnne nnn nnn nnn nnne nnn nennen nnn 5 elen ele ere coi a a he 6 2 1 Sercos the automation DUS uusssssnnnnennnnnnnennnnnnnnnnnnnnn nennen nennen nnn nnn nnn nnns nennen nnne n nnn nnn nnn 6 2 2 Lee E el 7 3 EasySlave IO Evaluation Kit 8 4 EasySlave EE 9 4 1 EasySlave FPGA Modul REENEN ENN 10 4 1 1 FPGA EE DEET EE 10 41 2 JTAG Ihterface nina ee 10 e D ME e er 10 La FPGA Interface T mm 11 4 2 EasySlave AddOn ETH Connect zuuzsezensennnnnnnnnnnnonsnnnnnnnnnnnnnen nenn nnnnnnnnensnnnnnsnnnnnnnensn aane 12 42 1 Power Supply en en nennen nenne 13 4 2 2 Ethernet 210 uu EFPPRURRENEPREREEEBEFDERELBERERLERBEPHERENERRFRELLEEFTEREEURFORLERELFURREUFFEEREELELPHERELEREERLLOREFHEBEUFRSEREEGER 13 4 2 3 Dip switch sercos address u222u2ursesRnnennnnnnnnn nn nn nn nn nnnnnn onen nn nn nnnnnnnnnn nnn nnn nnne nnn nnn nnn nnn nnn 13 42 4 segment TEEN 13 4 2 5 SEOS LED EE 13 4 2 6 Device state LED ae a a een nalen 13 4 3 SEET E OTT 14 ASA 1 11 EE 14 DC WR Ke ee Tu CEET 16 e PIC Mic S
4. Ethernet Ports The Ethernet ports are connected to the PHY chips on the FPGA module via pcb header Each port has two LED s for link green and activity orange 4 2 3 Dip switch sercos address The dip switch can be used to set a fix sercos address for the slave The address is read one time after power up The address range is from 1 to 255 If the dip switch is 0 the address is configured by software l The device supports both ways of address configuration it have the following behavior 1 If the address switch indicates an address which is not 0 The device applies the address which is shown on the address switch S 0 1040 is write protected The write request shall be declined by the slave with a SVC error 0x7004 Operation data cannot be changed or 0x700C Operation data is write protected due to other settings 2 If the address switch indicates the address 0 The sercos address can only be configured via the SVC S 0 1040 is not write protected 4 2 4 7 segment display The 7 segment display is used to display further device state information 8 segment test after power up NRT communication mode CPO communication mode CP1 communication mode CP2 communication mode CP3 communication mode CP4 communication mode Device error device status TMAWNF OD 4 2 5 Sercos LED The sercos LED S3 is used for displaying the communication state of the device It s controlled by the EasySlave IP core according the s
5. performance and technology benefits for OEMs and end users e Cycle times as low as 31 25 microseconds e High speed it uses Fast Ethernet 100 Mb s e Support for either line or ring topologies in addition hierarchical synchronized and real time coupled network structures can be implemented e Support for up to 511 slave devices in one network with multiple networks possible in a system e Bumpless cable break recovery in ring mode within 25 microseconds e Advanced cross communications both slave to slave and controller to controller sometimes called machine to machine e Capable of hot plugging devices and network segments adding machine or line components to a network with synchronization up and running without having to reset the network or cycle power e Support for safety functions up to SIL3 according to IEC 61508 via CIP Safety for sercos e I O profile that provides an XML based device and profile description language for I O device configuration e Energy profile that defines parameters and commands for the reduction of energy consumption in a uniform vendor independent manner e Encoder profile that provides a standard method to integrate encoders into a sercos III network e Lower hardware costs There are several key advantages that manufacturers systems engineers and machine builders can leverage when using sercos III advantages that enable drive and control systems with vastly improved flexibility and performa
6. MITT AddOn ETH Connect EasySlave a Dip switch 2 7 segment display G sercos LED 4 Device state LED Pin 1 2 3 Signal Field Earth FE OV 24V Connector X2 Ethernet Port A Pin 1 2 3 4 5 6 7 8 Signal TX TX RX TERM OUT12 TERM TERM TERM Connector X1 Ethernet Port B Pin 1 2 3 4 5 6 7 8 Signal TX TX RX TERM OUT12 TERM TERM TERM Header SV1 Display Switch Pin 1 3 5 7 9 11 13 15 17 19 Signal VCC SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1 Ub Pin 2 4 6 8 10 12 14 16 18 20 Signal GND SEG_P SEG_G SEG_F SEG_E SEG_D SEG_C SEG_B SEG_A GND Header SV2 Ethernet LED Pin 1 3 5 7 9 11 13 15 17 19 Signal GND A_TX A_TX A_RX A_RX GND B_TX B_TX B_RX B_RX Pin 2 4 6 8 10 12 14 16 18 20 Signal A ACT A LNK VCC S3 GN SG RD ST GN ST RD VCC B LNK B ACT Document name Version Date UserManual sercos EasySlave IO Kit 20121119 0 1 19 07 2012 s Steinbeis Transferzentrum Systemtechnik EasySlave Modules 4 2 1 Power Supply The module provides a 3 3V power supply with a current rate of 2A for the EasySlave The input is protected against over voltage and reverse voltage The input voltage can be provided within the range from 8V to 30V 4 2 2
7. Office communications and certain single axis motion applications can tolerate delays and data re transmissions but that would be disastrous for coordinated multi axis robots or high speed machine tools The sercos automation bus on the other hand is optimized for high speed deterministic motion control which is required for the exact synchronization of multiple drives Sercos also defines a protocol structure and includes an ample variety of profile definitions for control of motion and I O devices Sercos III is the open IEC standardized third generation of sercos that right engineers Industrial Ethernet for real time control combining the best of both Ethernet and previous Sercos designs to provide the highly deterministic bi directional real time motion and I O control required by modern production equipment It overcomes the wasted bandwidth in other TCP IP based Ethernet bus solutions because it is based directly on Ethernet frames defining a new registered EtherType for sercos In addition to real time communications between all drives and the motion control sercos III provides rich I O communication capabilities while also enabling other protocols such as EtherNet IP TCP IP UDP and others to be transmitted over the same Ethernet network efficiently in parallel with sercos real time communication Sercos III is a truly a universal automation bus for machine production and system implementation Sercos III offers several fundamental
8. S1 B5 DIP SW 5 c5 SPI_CS2 A6 EXTO B6 DIP_SW_6 C6 EXT1 A7 EXT2 B7 DIP_SW_7 C7 EXT3 A8 EXT4 B8 DIP_SW_8 C8 EXT5 A9 EXT6 B9 7SEG DISP P C9 EXT7 A10 EXT8 B10 7SEG DISP A C10 EXT9 A11 EXT10 B11 7SEG DISP B C11 EXT11 A12 EXT12 B12 7SEG DISP C C12 EXT13 A13 EXT14 B13 7SEG DISP D C13 EXT15 A14 UART RX B14 7SEG DISP E C14 UART TX A15 IOO B15 7SEG DISP F C15 IO1 A16 IO2 B16 7SEG DISP G C16 IO3 A17 IO4 B17 S3 LED GN C17 IO5 A18 IO6 B18 S3 LED RD C18 IO7 A19 108 B19 STATE_LED_GN C19 109 A20 1010 B20 STATE_LED_RD C20 1011 A21 1012 B21 LINK_A C21 1013 A22 1014 B22 ACT_B C22 1015 A23 1016 B23 LINK_B C23 1017 A24 1018 B24 ACT_A C24 1019 A25 1020 B25 ETH_A_TX C25 1021 A26 1022 B26 ETH_A_TX C26 1023 A27 1024 B27 ETH_A_RX C27 1025 A28 1026 B28 ETH_A_RX C28 1027 A29 1028 B29 ETH_B_TX C29 1029 A30 1030 B30 ETH_B_TX C30 1031 A31 GND B31 ETH_B_RX C31 GND A32 VCC 3 3V B32 ETH_B_RX C32 VCC 3 3V Document name Version Date Page UserManual_sercos_EasySlave IO Kit_20121119 0 1 19 07 2012 11 of 19 s Steinbeis Transferzentrum Systemtechnik EasySlave Modules 4 2 EasySlave AddOn ETH Connect The AddOn Module ETH Connect contains all necessary external interfaces for the EasySlave like Power Supply and Ethernet connectors Steinbeis jdr ON 12 34 5 6 o e Power Supply input 8V 30V Ethernet port 1 Ethernet port 2 Connector X3 24V Power Supply
9. Sercos Ell Steinbeis Transferzentrum the automation bus Systemtechnik sercos International e V Steinbeis Transferzentrum Systemtechnik 73079 Suessen Germany Martinstrasse 42 44 73728 Esslingen Germany www sercos de www steinbeis tzs de sercos EasySlave IO Evaluation kit User Manual Version 0 3 Date 19 11 2012 Abstract This document is a technical manual for the sercos EasySlave IO Evaluation Kit It contains detailed information of the EasySlave Modules Project sercos EasySlav IO Evaluation kit User Manual Document Type Guidelines File UserManual_sercos_EasySlave IO Kit_YYYYMMDD doc Authors e Christian Hayer Steinbeis Transferzentrum Systemtechnik The Steinbeis Transferzentrum Systemtechnik and sercos International e V are not liable for any errors in this documentation Liability for direct and indirect damages arising in connection with the supply of this documentation is excluded in so far as it can be attached legally This documentation contains copyright protected information All rights especially the right of duplication distribution and translation are reserved No portion of the documentation may be reproduced copied or distributed in any form photocopy microfilm electronic file or other process without prior written permission of sercos International e V s Steinbeis Transferzentrum Systemtechnik Revision History Revision History
10. ercos specification 4 2 6 Device state LED The device state LED is used for displaying the device state e Green the Device is OK e Red the Device has some errors Document name Version Date Page UserManual_sercos_EasySlave IO Kit_20121119 0 1 19 07 2012 13 of 19 Steinbeis Transferzentrum A Systemtechnik EasySlave Modules 4 3 EasySlave IO Modul The IO Modul is specially designed for the EasySlave IO and provides 16 digital outputs and 16 digital inputs This is the typical application of the free sercos EasySlave IO For testing the outputs and inputs are connected one to one for loopback 4 3 1 Pinout Steinbeis T2S Ea ve 24V I 0 interface board ve OUTPUT A Ar e 5 INPUT A o d A mE EasySlave IO Modul 16x in 16x out 1 24V power supply 2 24V 0 6A outputs r 3 24V inputs Connector X1 Digital Outputs Segment A Pin 1 2 1 2 3 4 5 6 7 8 Signal OV 24V OUTO OUT1 OUT2 OUT3 OUT4 OUTS OUT6 OUT7 Connector X3 Digital Outputs Segment B Pin 1 2 1 2 3 4 5 6 7 8 Signal OV 24V OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 Connector X2 Digital Inputs Segment A Pin 1 2 3 4 5 6 7 8 Signal INP8 INP9 INP10 INP11 INP12 INP13 INP14 INP15 Connector X4 Digital Inputs Segment B Pin 1 2 3 4 5 6 7 8
11. ilke ele TEE 16 43 4 E Ee EE 16 br Technical Datassist ana aTa aA oaa Daaa CPES TTEN 17 5 1 General a E A ENEE 17 5 2 Power SUPPLY TE 17 5 3 Digital inputs and outputs nn aaa ee ei da eaaa 17 5 4 TIMING EE 17 5 5 e EE 17 6 eee ML edge seen a ee una Deere aeg 18 6 1 Evaluation kit important notice NNN 18 CN Ee 19 Document name Version Date Page UserManual_sercos_EasySlave IO Kit_20121119 0 1 19 07 2012 4 of 19 s Steinbeis Transferzentrum Systemtechnik Definitions and abbreviations 1 Definitions and abbreviations Definition FPGA sercos III EasySlave FSP IO S IP TFTP SDDML IDN UC channel UCC RT channel Ethernet Hot plug Description Field programmable gate array is a device where the logic network can be programmed into the device after its manufacture An FPGA consists of an array of logic elements either gates or lookup table RAMs flip flops and programmable interconnect wiring third generation sercos is an industrial standard which specifies real time Ethernet communication for automation A free IP core for low cost FPGA chips which allows SERCOS III to be integrated into basic I O slave devices with minimal development and integration effort Function Specific Profile IO is a sercos III device profile for I O applications All IPS services which are based on TCP and UDP Trivial File Transfer Protocol is a very simple file transfer protocol which is typically based o
12. ion Kit includes e EasySlave FPGA Modul base board including XILINX Spartan 6 XC6SLX25 FT256 FPGA e EasySlave AddOn Module ETH Connect with two RJ45 Ethernet connectors e EasySlave 24V I O interface board e Documentation o Sercos EasySlave Evaluation Kit Getting Started Guide e Cable and power supply o AC power adapter 24 Vpc o Two CAT6 Ethernet cables e USB flash drive with documentation reference designs software tools and board files Figure EasySlave Evaluation Kit The development board is a fully functional sercos slave and can be used as a reference design for new IO slave devices Document name Version Date Page UserManual sercos EasySlave IO Kit 20121119 0 1 19 07 2012 8 of 19 Steinbeis Transferzentrum A Systemtechnik EasySlave Modules 4 EasySlave Modules The EasySlave IO development board consists of the following modules e EasySlave FPGA Modul e EasySlave AddOn ETH Connect e EasySlave IO Modul hutii PRET TERT FF Figure EasySlave Development Board Document name Version Date Page UserManual_sercos_EasySlave IO Kit_20121119 0 1 19 07 2012 9 of 19 Steinbeis Transferzentrum A Systemtechnik EasySlave Modules 4 1 EasySlave FPGA Modul This module is the core of the EasySlave and contains the FPGA the flash memory and the Ethernet PHYs A EasySlave FPGA Modul 1 FPGA status display JTAG interface 000009000000 M
13. n UDP sercos Device Description Markup Language is a markup language which contains sercos III defined tags in order to describe the functionality that a sercos III device supports in the form of an XML file Identification number of a SERCOS parameter Unified Communication Channel Standard Ethernet Frames like UDP amp TCP will be transmitted and services like Ping will be transmitted also Real time channel is a certain time span of the communication cycle in which real time telegrams are sent A widely used type of local area network and compatible to ISO IEC 8802 3 standard Possibility to insert a slave in the sercos III network inclusive its initialization while the sercos III network is running Document name UserManual sercos EasySlave IO Kit 20121119 0 1 Date 19 07 2012 Version Page 5 of 19 s Steinbeis Transferzentrum Systemtechnik Introduction 2 Introduction 2 1 Sercos the automation bus Industrial Ethernet has become the de facto standard for manufacturing information networking and the market is requesting Ethernet connectivity for servo drives Ethernet offers high speed data throughput at 10 100 times faster than fieldbus solutions It uses standard off the shelf components and cabling and offers consistent IT implementation from office to the machine level The problem is that Industrial Ethernet is characterized by high bandwidth and low hardware costs but is not deterministic
14. nce Document name Version Date Page UserManual_sercos_EasySlave IO Kit_20121119 0 1 19 07 2012 6 of 19 s Steinbeis Transferzentrum Systemtechnik Introduction 2 2 Sercos EasySlave The sercos EasySlave is an FPGA based single chip controller enabling inexpensive development of simple sercos III slave devices such as I O I O applications are synchronized in the sercos cycle An IP core is provided as a netlist for the Xilinx Spartan 6 FPGA family The IP core contains all the functions of a sercos slave connection including the associated software library for I O devices e g analog inputs encoders The user can add IP cores for I O from Xilinx and his own application code and can integrate the controller into his own board A reference design is available Technical support for the EasySlave is provided by Steinbeis Transferzentrum Systemtechnik TZS in Esslingen Germany TZS offers an EasySlave evaluation kit to facilitate a quick and easy introduction to Sercos slave development The evaluation kit includes a development board based on a Xilinx Spartan 6 XC6SLX25 FPGA and can be extended using plug in modules The evaluation kit includes all other required material and documents Ethernet cable power supply and documentation TZS can provide assistance in the integration and commissioning of EasySlave Features and Specifications for EasySlave FPGA based Single Chip Controller FPGA based single chip controller contai
15. ning a reduced sercos slave IP core Target devices analog digital I Os simple sensors and actuators FPGA internal RAM for sercos stack application and data Real time channel with max 32 bytes output and max 32 bytes input data 1 input and 1 output connection Supported cycle times down to 31 25 us Synchronization of application to sercos cycle Parameterization over service channel Hot plug support Service channel with hardware support IP channel for ARP Ping and firmware update over TFTP Design currently targeted to Xilinx Spartan 6 FPGA series FPGA reference design Xilinx EDK V13 4 and Software API Xilinx MicroBlaze gcc available Various EasySlave licensing models are available from sercos international with sercos member companies offered special prices In addition a license free IP core version loaded with a bitstream IP core with a limited functionality is available under the product name EasySlave IO Document name Version Date Page UserManual_sercos_EasySlave IO Kit_20121119 0 1 19 07 2012 7 of 19 s Steinbeis Transferzentrum d Systemtechnik EasySlave IO Evaluation kit 3 EasySlave IO Evaluation kit The EasySlave IO Evaluation kit consists of a development board and the necessary accessories The development board is designed for an easy start into the sercos slave development The development board has a modular concept which can be easy extended by other modules The sercos EasySlave Evaluat
16. otection Protection class 5 2 Power Supply Rated voltage Voltage range Rated Current Over voltage and reverse voltage protection 5 3 Digital inputs and outputs Rated load voltage Load voltage range Output current IO Output overload protection Input level change low gt high Input level change high gt low 5 4 Timing Startup time Latency of output change low gt high Latency of output change high gt low 5 5 Sercos Sercos specification Profiles Supported SCP classes Hot Plug service S IP server Supported S IP services 100mm x 57mm x 34mm 100mm x 70mm x 20mm 330mm x 250mm x 90mm 2500g Boards only 200g 0 C 50 C 10 C 85 C 10 95 no Class 3 SELV PELV 24V ac BV ac 30V 0 1A yes 24V ac 11V 45Vgc 0 6A per channel min 0 7A 15V 2mA 11V 1 5mA max De typ 75us max 125us typ 100us max 175us 1 1 2 FSP GDP FSP IO SCP_FIXCFG SCP_NRT yes yes SupportedUDPServices 61 ReadOnlyData 71 Nameplate 89 Browse 91 Identify 93 SetIp 95 BroadcastNameplate 99 Firmware update via TFTP COD and PAR Test IDN S 0 0390 yes Document name Version Date Page UserManual_sercos_EasySlave IO Kit_20121119 0 1 19 07 2012 17 of 19 s Steinbeis Transferzentrum Systemtechnik Addendum 6 Addendum 6 1 Evaluation kit important notice Steinbeis Transferzentrum Systemtechnik TZS provides the enclosed p
17. roduct under the following conditions This evaluation kit is intended for use for ENGINEERING DEVELOPMENT DEMONSTRATION OR EVALUATION PURPOSES ONLY and is not considered by TZS to be a finished end product fit for general use Persons handling the product must have electronics training and observe good engineering practice standards As such the goods being provided are not intended to be complete in terms of required design marketing and or manufacturing related protective considerations including product safety and environmental measures typically found in end products that incorporate such semiconductor components or circuit boards This evaluation board kit does not fall within the scope of the European Union directives regarding electromagnetic compatibility restricted substances RoHS recycling WEEE FCC CE or UL and therefore may not meet the technical requirements of these directives or other related directives Should this evaluation kit not meet the specifications indicated in the User s Manual the kit may be returned within 30 days from the date of delivery for a full refund THE FOREGOING WARRANTY IS THE EXCLUSIVE WARRANTY MADE BY SELLER TO BUYER AND IS IN LIEU OF ALL OTHER WARRANTIES EXPRESSED IMPLIED OR STATUTORY INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE The user assumes all responsibility and liability for proper and safe handling of the goods Further the user indemnifies TZS f
18. rom all claims arising from the handling or use of the goods Due to the open construction of the product it is the user s responsibility to take any and all appropriate precautions with regard to electrostatic discharge Document name Version Date Page UserManual sercos EasySlave IO Kit 20121119 0 1 19 07 2012 18 of 19 s Steinbeis Transferzentrum Systemtechnik References 7 References TZS1 Getting Started sercos EasySlave Kit 2012 09 18 TZS2 User Guide sercos EasySlave 2012 09 18 TZS3 Datasheet sercos EasySlave IO 2012 09 18 11 Data sheet ITS4880R DS 11 pdf Rev 1 1 2008 09 29 Infineon Technologies Quellennachweis e Fotolia 10056459 10056460 10056608 11720149 15998435 28412929 4598958 4812346 Document name Version Date Page UserManual sercos EasySlave IO Kit 20121119 0 1 19 07 2012 19 of 19
19. tion has its own 24V power supply The outputs are driven by an 8 channel high side switch chip ITS 4880 R from Infineon Technologies gt f Facts of the ITS 4880 R I1 chip Operating supply voltage 11 45 V On state resistance Roy 200 mQ Output current 0 625 A per channel Short circuit protection Maximum current internally limited Overload protection Overvoltage protection including load dump Undervoltage shutdown with autorestart and hysteresis Switching inductive loads Thermal shutdown with restart Thermal independence of separate channels ESD Protection Loss of GND and loss of Vbb protection Reverse battery protection Common diagnostic output for overtemperature 4 3 3 Digital inputs The EasySlave IO Modul has 16 digital 24V inputs The inputs don t provide any sensor supply For input signal change 4 3 4 Diagnosis For diagnosis some signals are routed to the FPGA to indicate IO errors Both output sections have a separate diagnosis channel for under voltage and output error Document name Version Date Page UserManual sercos EasySlave IO Kit 20121119 0 1 19 07 2012 16 of 19 s Steinbeis Transferzentrum Systemtechnik Technical Data 5 Technical Data 5 1 General Board size without connectors FPGA Module ETH Connect JO Extension Size of the evaluation kit case Weight of the evaluation kit case Operating temperature Storage temperatur Humidity Degree of pr
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