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BL20 - User manual ECO gateway for EtherCAT®

1. 1 byte contains a Stop bit for interrupting communication with the encoder Figure 6 6 Process output Process output data PLC gt SSI data Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 DB 3 1 DB 2 2 DB 1 3 DB 0 ENESESENEAEN Meaning of the data bits process output Table 6 6 Designation Value Description Meaning ofthe m j f data bits REG_WR_DATA 0 2 1 Value which has to be written to the register with the address process output REG_WR_ADR REG_RD_ADR 0 63 Address of the register which has to be read If the reading was successful REG_RD_ABORT 0 the user data can be found in REG RD DATA in the status interface bytes 4 7 REG WR 0 Default status i e there is no request to overwrite the content of the register with the address stated at REG WR ADR with REG WR DATA Bit REG WR AKN chapter process input PZDE is reset 0 1 Request to overwrite the content of the register with address REG WR ADR with REG WR DATA REG WR ADR 0 63 Address ofthe register which has to be written with REG WR DATA 6 14 D301260 1113 BL20 E GW EC Integration of the SSI module Industri A CLR CMP2 Default status i e no reset of FLAG CMP2 active Reset of FLAG CMP2 active EN CMP2 Default status i e the data bits REL CMP2 STS_CMP2 and FLAG CMP2 always have the value 0 irrespective of the actual SSI encoder valu
2. Power distribution modules ss Electronics modules standard product line ECO electronics modules eee Base VO CLUES EET E AAE T m EE EI End alate EMG PACKER csssssdssssacxsacsacassassasacsassiasssssacsaasdacosss ced unstuanstSassadcsiswasoanoddvnanvodu dcfsdeasaiscauseiassisdacoantGesandv sat sd EEA JUM PO YS EE CEDE EL dean ucasastacsicsou caush i E ctoa ates R esetsnicueam og RESELLER Marking material eerte Shield connection standard product line EtherCAT features supported by BL20 EtherCAT according to the Modular Device Profile cere eee ee eren e eene en ee eren eene essen sees eene sene 3 2 EtherCAT State Machine ceci eoe nennen tatit i trai da ede ea aere tes datas eee eee doa aded SDO serviCes eee eterne testen onto nono Communication Area Module Object Area 0x6000 OxAFFF Device Parameter Area eios i eio coro eo red Y ER ETE AEN Fes ec Pea SIE vbetcanecssasaboaesevte cab eese Veo Ue FPE Ran EtherCAT device description file ESI file 4 e eec eere eene eene eere e eee ee toast etas se ena setas se ena eee 3 15 Technical features Function 5 2027 0 20 0 00 52 00 A A E A EE I OOP RR UR EOD MP RO OOOOe Fe E soswedocdosscsecesesescccedcesbeevoccscesecess 4 2 Ets rDIIS lE Le E
3. 3 1 2 S BIO or E EAEE mE 3 1 3 Communication Area Error Register 0x1001 Identity Object 0x1018 Diagnosis History Object 0x10F3 RxPDO and TxPDO Mapping Objects 0x1600 0x17FF and 0x1A00 OX1BFF cssssscssssecssecssesccsseesseecsneessseeets 3 5 Sync Manager Communication Type 0x 1C00 etes teen tte ntes tton nn ttnn ttn ttt ntt n ttte nete nass notos Sync Manager PDO Assign 0x1C12 and 0x1C13 e esset eeenn tete teens notti tto ttis tts nin tto nott Sync Manager Synchronization 0x1C32 and 0x1C33 3 1 4 Module Object Area 0x6000 OxAFFF Input Data Object Area 0x6xxx Output Data Object Area OX7XXXO cessssssssecsssecsssecsssccsssesssscessescssccesseessueessueecsnecssueesssecsssecsssecssseesseecsneessuccesuecessecesseessaeeetee Configuration Data Object Area OX8xXX sssecssscssssesessssecssesccseccsssecsnsecsusecssseesssccssscesseeessescesccesseccesecesseecsueessneecsneessnseetse Information Data Object Area Ox9xxx secsssscssscsssecsseeessteesseecsssecsssecsueecsnsecsssessnscessesessecesseseesecesusccesecesscecsueeesueecsneessnseetee Diagnosis Data Object Area OXAXXX ecssssssssscssssccsecsssecsssessssecssscesseecssessssccssscecsnecessecessesssseessscesscessseesasecsuseceseeesaeeceaeessnseeste 3 1 5 Device Parameter Area sss Modular Device Profile OxFO00
4. 7 10 D301260 1113 BL20 E GW EC 7 1 Guidelines for station planning 7 1 Module arrangement 7 1 1 Random module arrangement The arrangement of the I O modules within a BL20 station can basically be chosen at will Nevertheless it can be useful with some applications to group certain modules together Note i A mixed usage of gateways of the BL20 ECO and the BL20 standard product line and I O modules of both product lines base modules with tension clamp terminals is possible without any problems Figure 7 1 Example of a stationstructure with ECO gateway here for CANopen ECO and stan dard I O modules Note i Next to the gateway only base modules with tension clamp terminals and ECO modules can be used Base modules with screw terminals can only be used if a power supply module BR or PF with screw terminals was set before 7 1 2 Complete planning The planning of a BL20 station should be thorough to avoid faults and increase operating reliability Attention Ifthere are more than two empty slots next to one another the communication is interrupted to all following BL20 modules The power to BL20 systems is supplied from a common external source This avoids the occurrence of potential compensating currents within the BL20 station 7 2 D301260 1113 BL20 E GW EC Module arrangement Industri A 7 1 3 Maximum system extension The station extension may not excee
5. Switch t FI 5V Logi Logi 5 Logi Logi m 24 Qj ipe ns V V v V MIT INN fe oo O Eti Eth Us U Us U u Gateway Outpu Intput Bus Output Power Outpu Refreshing Feeding D301260 1113 BL20 E GW EC Electromagnetic compatibility EMC Industri A 8 3 Electromagnetic compatibility EMC BL20 products comply in full with the requirements pertaining to EMC regulations Nevertheless an EMC plan should be made before installation Hereby all potential electromechanical sources of interference should be considered such as galvanic inductive and capacitive couplings as well as radiation couplings 8 3 1 Ensuring electromagnetic compatibility The EMC of BL20 modules is guaranteed when the following basic rules are adhered to Correct and large surface grounding of inactive metal components Correct shielding of cables and devices Proper cable routing correct wiring Creation of a standard reference potential and grounding of all electrically operated devices Special EMC measures for special applications 8 3 2 Grounding of inactive metal components All inactive metal components for example switchgear cabinets switchgear ca
6. esee tenent eterne ttenn ttn tetti tts ttt notte tts notis nieto noit 8 5 8 3 3 PE connection 8 3 4 Earth free operation 8 3 5 Mo nting Bez eeene 8 4 EKhISDInRERQECIHJ T 8 7 8 5 Potential compensation cdsscccscesccsseonscsconssssrsctennscssecssesrscseencssvecosssncosesooesdsoonseecedenscsssosuessocesseeesvesnsesseteseone 8 8 8 5 1 Switching inductive loads ee etes tenente netten tenent ttt ttti notione ttt noto tts notte RaRa noi ttts notes no RiR 8 8 8 5 2 Protection against Electrostatic Discharge ESD sssssssscsssssssseccssecsssecsssccsssccssscesuscesseecssecsscessscessuccesnccessecessecsnseesnseesnseess 8 8 D301260 1113 BL20 E GW EC 8 1 Guidelines for Electrical Installation 8 1 8 1 1 8 1 2 8 2 General notes General Cables should be grouped together for example signal cables data cables heavy current cables power supply cables Heavy current cables and signal or data cables should always be routed in separate cable ducts or bundles Signal and data cables must always be routed as close as possible to ground potential surfaces for example support bars cabinet sides etc Cable routing Correct cable routing prevents or suppresses the reciprocal influencing of parallel routed cables Cable routing inside and outside of cabinets To ensure EMC compatible cable routing the cables should be groupe
7. Table 4 48 Parameter Module param name eters Value Byte 1 MNA Configuration check active Bus or slave oriented configuration check without function if MC 1 assive d O Busbased Ifthe PLC configuration check is activated data exchange is only A started if the configuration stored in the BL20 E 1SWIRE fully matches the SET configuration stored in the PLC Modifying the bus during operation causes the system to be aborted 1 Slave If the PLC configuration check is activated data exchange is started based with all SWIRE slaves that match the SET configuration stored in the PLC The SWIRE slaves that do not match the SET configuration stored in the PLC do not perform any data exchange MC Moeller conformance from version VN 01 04 Behavior of the BL20 E 1SWIRE in accordance with SWIRE Conformance criteria inactive A Default behavior active The BL20 E 1SWIRE master responds according to the Moeller SWIRE Conformance criteria see manual for the IO modules D300717 SDiro Slave error field Activate slave diagnostics info field SD RRSX As soon as a slave on the bus clears its PKZ bit this is indicated as an individual error depending on the parameter setting active Single diagnostics is activated inactive Single diagnostics is not activated Byte 2 SDrerr Group error slave error Activate slave diagnostics SD 75x Activate slave diagnostics SDERRSx As soon as only one slave on the b
8. Two special RxPDO and TxPDO mapping objects for each module are created and named based on the module name and direction For Example Mapping RxPDO BL20 E 4AO U l The corresponding subjects are named based on the channel count For Example Output Mapping Area 2 for channel 2 D301260 1113 BL20 E GW EC 3 5 EtherCAT features supported by BL20 Sync Manager Communication Type 0x1C00 This object describes the use of the Sync Manager channels Table 3 4 Sync Manager Communica tion Type 3 6 Sync Manager Description Channel 0 Mailbox Write EtherCAT Master view 1 Mailbox Read EtherCAT Master view 2 Process output data EtherCAT Master view 3 Process input data EtherCAT Master view Sync Manager PDO Assign 0x1C12 and 0x1C13 The PDO Assign objects are used to describe which PDO shall be transmitted with the EtherCAT input and output data E Access RO The sub objects of the Assign objects point to the RxPDO and TxPDO Mapping objects The mapping for both for input and output data is done as follows 1 The PDOs of all analog and technology modules are mapped at first 2 followed by the PDOs of the digital modules 3 Togeta word boundary for the process data an additional gap PDO may be present after the digital modules The gap PDO is not visible in the object dictionary 4 Afterthe process data PDOs the gateway status PDO and gateway control PDO follow These special
9. 3 QV 4th variable 4 30 D301260 1113 BL20 E GW EC Parameters of the modules E BL20 F 8AI U I APT Ni 1 byte per channel Industri A D301260 1113 BL20 E GW EC Table 4 39 Byte Bit Parameter Value Meaning Module param name eters A default 0to7 0to5 Operation 000000 voltage 10 10 V DC Standard A setting mode B n 3 wire mea surement only 000001 voltage 0 10 V DC Standard the first of the Wed a 000010 voltage 10 10 V DC PA NE 43 Huston be 000011 voltage 0 10 V DC PA NE 43 parameterized The parameter 000100 voltage 10 10 VDC Extended Range ization of the second channel 000101 voltage 0 10 VDC Extended Range is ignored 000110 reserved 000111 reserved 001000 current 0 20 mA Standard 001001 current 4 20 mA Standard 001010 current 0 20 mA NE 43 001011 current 4 20 mA NE 43 001100 current 0 20 mA Extended Range 001101 current 4 20 mA Extended Range 001110 reserved 001111 reserved 010000 Pt 100 200 C 850 C 2 wire 010001 Pt 100 200 C 150 C 2 wire 010010 Pt 200 200 C 850 C 2 wire 010011 Pt 200 200 C 150 C 2 wire 010100 Pt 500 200 C 850 C 2 wire 010101 Pt 500 200 C 150 C 2 wire 010110 Pt 1000 200 C 850 C 2 wire 010111 Pt 1000 200 C 150 C 2 wire 011000 Pt 100 200 C 850 C 3 wire B 011001 Pt 100 200 C 150 C
10. D301260 1113 BL20 E GW EC 7 3 Guidelines for station planning Table 7 1 Nominalcurrent consumptions ofthe BL20 modules 7 4 Module Nominal current consumption at the module bus BL20 2AI PT NI 2 3 45 mA BL20 2AI THERMO PI 45 mA BL20 4AI U I 30 mA BL20 E 8AI U I 4AI PT NI 50 mA BL20 2DO 24VDC 0 5A P 32 mA BL20 2DO 24VDC 0 5A N 32 mA BL20 2DO 24VDC 2A P 33 mA BL20 2DO 120 230VAC 0 5A 35 mA BL20 4DO 24VDC 0 5A P 30 mA BL20 E 8DO 24VDC 0 5A P 15 mA BL20 E 16DO 24VDC 0 5A P 25 mA BL20 16DO 24VDC 0 5A P 120 mA BL20 32DO 24VDC 0 5A P 30 mA BL20 1AO 1 0 4 20MA 39 mA BL20 2AO 1 0 4 20MA 40 mA BL20 2AO U 10 0 10VDC 43 mA BL20 E 4AO U I 50 mA BL20 2DO R NC 28 mA BL20 2DO R NO 28 mA BL20 2DO R CO 28 mA BL20 1RS232 140 mA BL20 1RS485 422 60 mA BL20 1SSI 50 mA BL20 2RFID x 30 mA BL20 E 1SWIRE 60 mA BL20 E 2CNT 2PWM 30 mA D301260 1113 BL20 E GW EC Power supply Industri A 7 2 Power supply 7 2 1 Power supply to the gateway The gateways BL20 E GW EC offer an integrated power supply see also Power supply page 4 8 7 2 2 Module bus refreshing The number of BL20 modules which can be supplied via the internal module bus by the gateway ora Bus Refreshing module depends on the modules nominal current consumptions at the module bus Table 7 1 Nominal current consumptions of the BL20 modules page 7 3 Attention The
11. If TXBUF FLUSH 1 a falling edge 1 0 at STATRES clears the transmit buffer STATRES 0 1 This bit is set to reset the STAT bit in the process input data With the change from 1 to 0 the STAT bit is reset from 0 to 1 The clearing of the receive and transmit buffer by RXBUF FLUSH TXBUF FLUSH is possible If this bit is 0 all changes in TX BYTE CNT TX CNT and RX CNT ACK are ignored The value 1 0 or the transition from 0 to 1 disables the clearing of the receive and transmit buffer by the RXBUF FLUSH TXBUF FLUSH 6 8 D301260 1113 BL20 E GW EC Integration of the RS485 422 module Industri A RX_CNT_ACK 0 3 The value TX_CNT_ACK is a copy of the value TX_CNT The value TX_CNT was transferred together with the last data segment of the process output data The value TX_CNT_ACK is a confirmation of successful acceptance of the data segment using TX_CNT TX_CNT 0 3 This value is transferred together with every data segment The TX_CNT values are sequential The TX_CNT values are sequential 00 gt 01 2 102 11 00 decimal 0 1 2 3 0 Errors in this sequence show the loss of data segments TX BYTE 0 7 CNT Number of the valid bytes in this data segment In EtherCAT the data segments contain a maximum number of 6 bytes of user data D301260 1113 BL20 E GW EC 6 9 Integration of the technology modules 6 3 Integration of the SSI module 6 3 1 Data image Process
12. Undervoltage at U The field supply is not within the permissible range Undervoltage U sys Undervoltage Uys The system supply is not within the permissible range Overvoltage Uys Undervoltage U The system supply is not within the permissible range Master configuration error Master configuration error The Configured Module Ident List OxF030 page 3 12 differs in such a manner from the Detected Module Ident List OxF050 page 3 13 that no process data can be exchanged with the module bus stations which are at present connected to the module bus The gateway changes to the PRE OPERATIONAL state see also EtherCAT State Machine page 3 3 D301260 1113 BL20 E GW EC 4 15 Technical features Table 4 6 Status Word bit assignment Meaning 4 7 3 Diagnostic message Force mode active l O ASSISTANT Force Mode active The force mode has been activated via the service interface by l O ASSISTANT This separates the fieldbus master from the outputs of the module bus stations No process data exchange is taking place from the fieldbus master to the output modules Parameteriza tion of the modules through the master is not possible as well Module bus failure module bus breakdown The module bus is not running or can not be started Emergency telegrams Structure of the Emergency frames In the event of a communication error not only the Emergency Error Code but also
13. handshake for data transmission to the register A modification of the register contents by a process output was initiated i e REG WR 1 gt chapter Process output PZDA A write job would not be accepted with the next telegram of process output data SS STS3 SS STS2 SSI_STS1 SSI_STSO These four bits transfer the status bits of the SSI encoder with the status messages of the SSI module With some SSI encoders the status bits are transferred together with the position value D301260 1113 BL20 E GW EC 6 11 Integration of the technology modules Table 6 5 Designation Value Description Meaning of the data bits process input STS UP LED UP 0 The SSI encoder values are decremented or the values are constant 1 The SSI encoder values are incremented STS DN 0 The SSI encoder values are incremented or the values are LED DN constant 1 The SSI encoder values are decremented REL CMP2 0 A comparison of the register contents has produced the following result REG SSI POS REG CMP2 1 A comparison of the register contents has produced the following result REG SSI POS gt REG CMP2 FLAG CMP2 0 Default status i e the register contents have not yet matched REG SSI POS REG CMP2 since the last reset 1 The contents of the registers match REG SSI POS REG CMP2 This marker must be reset with CLR CMP1 1 in the process output dat
14. l counter byOutputs Nocken Konfiguration BM lA Konfiguration B E A Ger te Ger t 1 EtherCAT Disabled Ger t 1 Prozessabbild Ger t 1 Prozessabbild Info W f Eing nge Ausg nge H InfoData Allgemein EtherCAT Prozessdaten Slots Startup CoE Online Diag History Online Mapping TxPDO Device Status Mapping RxPDO Device Control T Module 3 BL20 1A1 U 10 0 10VDC S Q Inputs BL20 1AI U 10 0 10VDC Prozesswert Ki gt Module 4 BL20 2AI THERMO PI Tj Module 1 EL20 2DI 24VDC P Name Gr e Adre Einf User Ti Module 2 BL20 4DI 24VDC P OT summarized mod 0 1 39 0 Eingang Module 5 BL20 2DO 24VDC 0 5A P ST Diagnosis messag 0 1 39 1 Eingang j Module 6 BL20 E 8DO 24VDC 0 5A P Qf Module Bus Error 0 1 39 2 Eingang amp WeState eto configuration 0 1 39 3 Eingang InfoData Qf Gap 0x0 0 0 3 39 4 Eingang Zuordnungen QTUndervoltage Ul 0 1 39 7 Eingang 9 Overvoltage Usys 0 0 1 40 0 Eingang 9 TUndervoltage Usys 0 1 40 1 Eingang Server Port Timestamp Meldung Qwincar Syst 18 06 2012 16 04 53 899 ms COM Server TcEventLogger wird gestartet GM wincat Syst 18 06 2012 16 04 53 789 ms TCRTIME Server wurde gestartet TCRTIME twincat Syst 18 06 2012 16 04 53 774 ms TCPLC Server wurde gestartet TCPLC Otwincat Syst 18 06 2012 16 04 53 774 ms _ TCIOPNET Server wurde gestartet TCIOPN
15. 88 Taskkonfiguration Traceaufzeichnung R Watch und Rezepturverwalter chten Daten 40 von 1048576 B 0 00 hten Retain Daten 0 von s 0 00 gt Target Local 172 28 7 75 1 1 Laufzeit 1 MENEMA MERE ONLINE UB LE 5 Build and store the program log in and start the PLC for example via the TwinCAT symbol in the task bar of your PC Figure 5 10 Starting the PLC 9 ber TwinCAT 6 TheTwinCAT system has to be started as well Figure 5 11 Starting the sys tem system Qk start s 2 Restart D konfia D301260 1113 BL20 E GW EC 5 9 Connection of the EtherCAT gateway to the TwinCAT Soft PLC 5 1 6 Connection of hardware and program 1 Add the PLC project from the TwinCAT System Control to the PLC Configuration in the TwinCAT System Manager Figure 5 12 BL20 E GW EC tsm TwinCAT System Manager Adding the PLC ote Bearbeiten Aktionen Ansicht Optionen Hife programtothe OS uu CP AB 5sv 8 5 99 sQ59 m e e c ll SYSTEM Konfiguration u ha r d ware con A PEE Allgemein SPS Einstellungen figuration l sace g E E A Konfiguratio OB Einf gen Strg TwinCAT System Manager Ez Einf gen mit Verkn pfungen Alt Strg V E v2 11 Build 2211 TwinCAT PLC Server Einlesen eines IEC1131 Projektes Suchen in O Plc ES tib i 2 upload Zuletzt visu verwendete D Desktop Eigene Dateien Arbeitsplatz Dateiname BL20
16. USER MANUAL ECO GATEWAY FOR EtherCAT Sense it Connect it Bus it Solve it All brand and product names are trademarks or registered trade marks of the owner concerned Edition 11 2013 Hans Turck GmbH Muelheim an der Ruhr All rights reserved including those of the translation No part of this manual may be reproduced in any form printed photocopy microfilm or any other process or processed duplicated or distributed by means of electronic systems without written permission of Hans Turck GmbH amp Co KG Muelheim an der Ruhr Subject to alterations without notice Industri A Table of Contents 1 1 1 1 2 1 3 1 3 1 2 1 2 1 1 2 1 2 2 1 3 2 2 2 2 1 2 2 2 2 2 3 2 2 4 2 2 5 2 2 6 2 2 7 2 2 8 2 2 9 2 2 10 3 1 3 1 1 3 1 2 3 1 3 3 1 4 3 1 5 32 4 1 4 2 4 2 1 4 2 2 4 2 3 4 3 4 3 1 4 3 2 4 3 3 4 4 4 5 About this manual DOCUMENTATION DnIeloqe 1 2 Description of symbols used 0 220s00s00n000r00n000r00n000r00n00ne0n0nnennnennsnnsnnnsnnsnnnsnnennnenssnnsnnnsnnennnsnnennnsnnsnnnennennnnne 1 3 General Prescribed use BL20 philosophy HUIJSrtidcltd e 2 2 Flexibility sas ama E MEME MM DAE A Compactness Easy to handle BL20 components X V A 2 3 Cu WAYS
17. process data D GE ud M Symboleiste va ve gQlaleejie et BE Nocken Konfiguration Statusleiste amp Bl Eja Konfiguration Splitten Bf E A Ger te B Ger t 1 Ether Zeige Logger Ausgabe 1 Ger t 1 Prc Q Zeige Watch Fenster Wert r Ger t 1 Prc 3 F ll l 1 Gt Eing nge 493 Zeige aktuelle Echtzeitauslastung l Ausg nge InfoData m a L Box 1 BL2 a Zeige Unter Variablen t Mappin L Mappin TE Module 3 BL20 1AI L 10 0 10Vv TQ Module 4 BL20 2AI THERMO PI 1 Module 1 BL20 2DI 24VDC P Ti Module 2 BL20 4DI 24VDC P Module 5 BL20 2DO 24VDC 0 5A P Module 6 BL20 E 8DO 24VDC 0 5A Flags Online m E Zeige Online Daten DA E e Experten Modus D E m E32 wl Prozesswert K2 Dl Prozesswert K3 I Prozesswert K4 idi Prozesswert K5 wD Prozesswert K6 DL Prozesswert K7 id Prozesswert K8 fH westate HQ InfoData Zuordnungen L3 faa BL20 E Standard Ger t 1 EtherCAT v i Timestamp Meldung 18 06 2012 11 09 44 417 ms Box 1 BL20 E GW EC 1001 state change to OP finished 18 06 2012 11 09 37 486 ms Box 1 BL20 E GW EC 1001 abnormal state change from OP to SAFEOP with code Ox1b Sync manager watchdog Try to go bi 18 06 2012 11 09 37 359 ms PLC Download 15 Symbols 11 DataTypes gt Zeigt Onlinedaten Lokal 172 28 7 75 1 1 EMASE D301260 1113 BL20 E GW EC 5 15 Connection of the EtherCAT gateway
18. 0x8020 etc Some sub indices contain module parameters The EtherCAT Master can write them to the gateway or the modules during the state transition from PRE OP to SAFE OP see EtherCAT State Machine page 3 3 D301260 1113 BL20 E GW EC 3 7 EtherCAT features supported by BL20 The module parameters are defined in the EtherCAT device description file ESI file page 3 15 Table 3 6 Sub Name Data Type Use Details un index M mandat aren O optional C conditional 0x01 Module UNSIGNED 16 C address 0x02 Type string VISIBLE O not supported STRING 0x03 Name VISIBLE O Contains the name of the module string STRING 0x04 Device UNSIGNED 32 C M Mandatory for modules which support type CoE or a vendor specific profile BL20 0x05 VendorID UNSIGNED 32 C not supported 0x06 Product UNSIGNED 32 C Contains the product code code Mandatory if supported 0x07 Revision UNSIGNED 32 C Contains the revision no number Mandatory if supported 0x08 Serial UNSIGNED 32 C not supported number 0x09 Module UNSIGNED 16 C Used for modular devices which have a PDO group different mapping order Defines the mapping order For BL20 the following modules groups are defined 0 gateway 1 analog and technology modules 2 digital modules 0x0A Module UNSIGNED 32 Used to identify each module in the ident device 0x0B Slot UNSIGNED 16 Defines the position of the module within the device 0x0C Slo
19. BL20 E GW EC 4 23 Technical features BL20 1RS485 422 Table 4 28 Diagnosis Bit Diagnostic BL20 1RS485 Byte 422 n 0 parameterization error 1 hardware failure 3 data flow control error only in RS422 mode 4 frame error 5 buffer overflow E BL20 1SSI Table 4 29 Diagnosis Bit Diagnostic BL20 1SSI Byte n 0 SSI group diagnostics 1 open circuit 2 sensor value overflow 3 sensor value underflow 4 parameterization error 4 24 D301260 1113 BL20 E GW EC Parameters of the modules 4 8 Parameters of the modules 4 8 1 Digital input modules BL20 4DI NAMUR Industri A Table 4 30 Byte Bit Parameter name Value Module param Meaning eters A default 0to3 0 input filter x 0 deactivate setting input filter 0 225 ms A 1 activate input filter 2 5 ms 1 digital input x 0 normal A 1 inverted 2 Short circuit monitoring x 0 deactivate A 1 activate 3 Short circuit diagnosis x 0 deactivate A 1 activate 4 Open circuit monitoring x 0 deactivate A 1 activate 5 Open circuit diagnosis x 0 deactivate A 1 activate 6 Input on diagnostic x output substitute value A 1 hold current value 7 Substitute value on diag x O offA 1 on 4 8 2 Analog input modules BL20 1AI I 0 4 20MA Table 4 31 Byte Bit Parameter name Value Module param ee 0 current mode 0 0 20 MAA eters A default 1 4 20 mA tti ei 1 val
20. Bit2 Bit1 Bit STS x x ERR STS STS SSi STOP PARA UFLYY OFLYY DIAG D301260 1113 BL20 E GW EC Integration of the SSI module Industri A Meaning of the data bits process input Table 6 5 Meaning of the data bits process input Designation Value Description REG_RD_DATA 0 277 1 Content of the register to be read if REG_RD_ABORT 0 If REG_RD_ABORT 1 then REG_RD_DATA 0 REG_RD_ ABORT The reading of the register defined in REG_RD_ADR has been accepted and executed The content of the register can be found in the user data REG_RD_DATA byte 0 3 Reading of the register defined in REG_RD_ADR has not been accepted The user data range REG_RD_DATA Bytes 0 3 is zero REG_RD_ADR Address of the register to be read If the read operation is successful REG_RD_ABORT 0 the user data is located in REG_RD_DATA of the process input data bytes 0 to 3 REG_WR_ACEPT Writing the user data from the process output to the register addressed with REG_WR_ADR in the process output could not be done Writing the user data from the process output to the register addressed with REG_WR_ADR in the process output was successful REG_WR_AKN No modification of the data in the register bank by process output i e REG_WR 0 A write job would be accepted with the next telegram of process output data
21. UAUXERR will generate an error message as soon as the power supply goes below a level at which the function of the relays is not guaranteed 0 active A Error message U ggg activated 1 inactive Error message Uauyera not activated Byte 3 reserved Byte4 Lifeguarding 0x02 OxFF Lifeguarding time of the SWIRE slaves 0x64 A Setting of lifeguarding time of SWIRE slaves timeout time up to automatic reset of the slaves in the event of communication failure n 10ms Default 1s OxFF OxFF Lifeguarding off Byte 5 6 SD pag Input bit communication error slave x Slave diagnostics message from Byte 1 Bit 7 is accepted in the feedback interface as Bit 4 0 active A SDpiacSX is accepted 1 inactive SDpiagoX is not accepted Byte 7 8 reserved Byte 9 to 24 Device ID TYPE setting for the LIN slave at position x on the SWIRE bus slave x 0x20 SWIRE DIL MTB OxFF OxFF Basic setting no slave D301260 1113 BL20 E GW EC 6 25 Integration of the technology modules 6 5 Integration of the Encoder PWM module BL20 E 2CNT 2PWM Detailed information about the process image of the module can be found in separate manual D301224 BL20 l O MODULES BL20 E 2CNT 2PWM chapter 2 6 6 Integration of RFID modules BL20 2RFID S A BL20 2RFID S and BL20 2RFID A see RFID documentation under www turck de 6 26 D301260 1113 BL20 E GW EC Industri A 7 Guidelines for station planning 7 1 Module a
22. or more operating steps These specific notes are intended to make operation easier and avoid unnecessary work due to incorrect operation D301260 1113 BL20 E GW EC 1 3 About this manual 1 3 General Attention Please read this section carefully Safety aspects cannot be left to chance when dealing with electrical equipment This manual includes all information necessary for the prescribed use of the BL20 E GW EN It has been specially conceived for personnel with the necessary qualifications 1 3 1 Prescribed use Appropriate transport storage deployment and mounting as well as careful operating and thorough maintenance guarantee the trouble free and safe operation of these devices Warning The devices described in this manual must be used only in applications prescribed in this manual or in the respective technical descriptions and only with certified components and devices from third party manufacturers 1 4 D301260 1113 BL20 E GW EC List of revisions Industri A 1 4 List of revisions In comparison to the previous manual edition the following changes revisions have been made Table 1 1 Chapter Subject new changed List of revisions 4 Connection options at the gateway page 4 8 x Synchronization of the station configuration page 4 11 x 5 Connection of hardware and program page 5 10 x Note The publication of this manual renders all previous editions invalid D301260 111
23. segments contain a maximum number of 6 bytes of user data D301260 1113 BL20 E GW EC 6 7 Integration of the technology modules Process output data PZDA The data received from the PLC are loaded into a transmit buffer in the BLxx 1RS485 422 module The fieldbus specific transmission for EtherCAT is realized in a 8 byte format which is structured as follows E 6bytesare used to contain the user data E 1byte contains signals to start the flushing of transmit and receive buffer 1 control byte is required to ensure trouble free transmission of the data Figure 6 4 Process output Proces output data PLC gt RSxxx data SPS Byte Bit Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 0 TX DB 5 1 TX DB 4 2 TX D8 3 3 TX DB 2 4 TX DB 1 5 TX DB 0 Reset of RX and TX buffer 6 RXBUF TXBUF FESSES FLUSH FLUSH Control byte ines PXBYTE_ONT Meaning of the data bits process output Table 6 4 Designation Value Description Meaning of the f data bits RXBUF FLUSH 0 1 The RXBUF FLUSH bit is used for clearing the receive buffer process output If STATRES 0 1 or0 1 A request with RXBUF FLUSH 1 will be ignored If RXBUF FLUSH 1 arising edge 1 Oat STATRES clears the transmit buffer TXBUFFLUSH 0 1 The TXBUF FLUSH bit is used for clearing the transmit buffer If STATRES 20 10r0 1 A request with TXBUF FLUSH 1 will be ignored
24. 0 none No diagnostics message present 1 present One several diagnostics messages present 6 20 D301260 1113 BL20 E GW EC Integration of the SWIRE module BL20 E 1 SWIRE Industri A Value Meaning Communication SWIRE slave If the parameter SD p A is set for group diagnostics this bit indicates an error as soon as only one slave on the bus sets its SD error bit 0 OK No error is present or diagnostics function has been deactivated via the parameter setting 1 faulty An error is present Overcurrent protective circuit breaker If the parameter PKZ A is set for group diagnostics this bit indicates an error as soon as only one PKZ of a slave has tripped 0 OK No PKZ error is present or diagnostics function has been deactivated via the parameter setting 1 tripping At least one PKZ has tripped configuration If the TYP k parameter is set for group diagnostics this bit indicates an error as soon as the ACTUAL configuration of a slave does not match the SET configuration for this position 0 OK The ACTUAL configuration fully matches the SET configuration or diagnostics function has been deactivated via the parameter 1 faulty The actual configuration does not fully match set configuration Table 6 14 Design Meaning of the diagnostic bits Byte 2 SDeRR PKZeer TYP ere U AUXERR Voltage AUX If the U uxerrA parameter is activated uxerr will generate an er
25. 2 7 End bracket A second end bracket to the left of the gateway is necessary as well as the one mounted into the end plate to secure the station Figure 2 9 End bracket Note The end plate and two end brackets are delivered with the gateway 2 8 D301260 1113 BL20 E GW EC BL20 components 2 2 8 Jumpers Jumpers QVRs are used to bridge a connection level of a 4 wire base module They can be used to connect potentials in relay modules bridging the relay roots thus considerably reducing the amount of wiring Figure 2 10 Jumpers S 2 2 9 Marking material Labels for labeling BL20 electronics modules Markers for colored identification of connection levels of BL20 base modules Dekafix connector markers for numbering the mounting slots on BL20 base modules Figure 2 11 Marking mate rial D301260 1113 BL20 E GW EC 2 9 BL20 philosophy 2 2 10 Shield connection standard product line If the gateway is wired directly to the fieldbus it is possible to shield the connection using a special gateway shielding connection attachment BS3511 KLBUEA 3 1 5 Figure 2 12 Shield connec tion gateway 2 10 D301260 1113 BL20 E GW EC Industri A 3 EtherCAT features supported by BL20 3 1 EtherCAT according to the Modular Device Profile eere eee eee esee tenete esent natn sonata sess 3 2 3 1 1 EtherCAT StateMachihe s en E
26. 3 Glossary 10 4 Inactive metal components Conductive components that cannot be touched and are electrically isolated from active metal components by insulation but can adopt voltage in the event of a fault Inductive coupling Magnetic inductive couplings occur between two cables through which an electrical current is flowing The magnetic effect caused by the electrical currents induces an interference voltage Typical sources of interference are for example transformers motors parallel routed network and HF signal cables Intelligent modules Intelligent modules are modules with an internal memory able to transmit certain commands e g substitute values and others IP Abbreviation for Internet Protocol protocol for the packet oriented and connectionless transport of data packets from a transmitter to a receiver crossing different networks Lightning protection All measures taken to protect a system from damage due to overvoltages caused by lightning strike Low impedance connection Connection with a low AC impedance LSB Least Significant bit Mass All interconnected inactive components that do not take on a dangerous touch potential in the case of a fault Master Station in a bus system that controls the communication between the other stations Modbus TCP The Modbus protocol is part of the TCP IP protocol The communication is realized via function codes which are implemented into the data telegram M
27. 3 wireB 011010 Pt 200 200 C 850 C 3 wire B 011011 Pt 200 200 C 150 C 3 wireB 011100 Pt 500 200 C 850 C 3 wire B 011101 Pt 500 200 C 150 C 3 wireB 4 31 Technical features Table 4 39 Byte Bit Parameter Value Meaning Module param name eters Oto 7 0to5 Operation 011110 Pt 1000 200 C 850 C 3 wire B mode 011111 Pt 1000 200 C 150 C 3 wireB 100000 Ni 100 60 C 250 C 2 wire 100001 Ni 100 60 C 150 C 2 wire 100010 Ni 1000 60 C 250 C 2 wire 100011 Ni 1000 60 C 150 C 2 wire 100100 Ni 1000TK5000 60 C 250 C 2 wire 100101 reserved 100110 reserved 100111 reserved 101000 Ni 100 60 C 250 C 3 wire 101001 Ni 100 60 C 150 C 3 wire 101010 Ni 1000 60 C 250 C 3 wire 101011 Ni 1000 60 C 150 C 3 wire 101100 Ni 1000TK5000 60 C 250 C 3 wire 101101 reserved 101110 reserved 101111 reserved 110000 resistance 0 250 Q 110001 resistance 0 400 Q 110010 resistance 0 800 Q 110011 resistance 0 2000 Q 110100 resistance 0 4000 Q 110101 reserved to 111110 111111 deactivated 6 value repre 0 0 Integer 15 bit sign A sentado fer 1 12 bit left justified 7 Diagnostics Kx 0 release A 1 block 4 32 D301260 1113 BL20 E GW EC Parameters of the modules 4 8 3 Analog output modules BL20 1A0 I 0 4 20MA In
28. 6 10 process input data R5232 snanar Es 6 2 process output SS ee RR 6 14 process output data RS232 RS485 422 product overview S AE o 8 7 Shield connection gateway znessesenssnnesensennsssnssnnsennennnssnsssnusennsennsnnsssnnsenssennsenssene 2 10 analog modules eerte 2 10 uen H 1 4 supply voltage on eessssesccssssscessseecsssccessseecsnssecesssecesnseessnsneees 4 4 4 8 Symbols ih tirs tei tien tim teint entes ti ii em IRA 1 3 yin qe M 1 3 T technology modules eerte 6 1 transmission media esses eee tete teens nante 8 3 pcs M 1 4 transport appropriate essessssssesscsococossessssssecocorosssssesesececsessss 1 4 U use prescribed pussissa 1 4 Z ZONE AA E E EE EEEE 9 1 10 1 Index 10 2 D301260 1113 BL20 E GW EC Industrial Automation www turck com Hans Turck GmbH amp Co KG 45472 M lheim an der Ruhr Germany Witzlebenstra e 7 Tel 49 0 208 4952 0 Fax 49 0 208 4952 264 E Mail more turck com Internet www turck com D301260 1113
29. Approvals and i tests fora BL20 PPrOvals station UL in preparation CSA Tests EN 61131 2 Cold DIN IEC 68 2 1 Temperature 25 C 185 F dura tion 96 h device not in use Dry heat DIN IEC 68 2 2 Temperature 85 C 185 F dura tion 96 h device not in use Damp heat cyclic DIN IEC 68 2 30 temperature 55 C 131 F dura tion 2 cycles every 12 h device in use Operational life MTBF 120 000 h Pollution severity according to IEC 664 EN 61 2 131 2 Protection to IEC 529 EN 60529 IP20 4 2 3 Technical data for the push in tension clamp terminals Table 4 3 Designation Technical data Protection class Push in tension IP20 clamp terminals insulation stripping length 8 mm 1 0 32 inch 0 039 Max wire range 0 14 to 1 5 mm 0 0002 to 0 0023 inch 26to 16 AWG Crimpable wire e solid core H 07V U 0 14 to 1 5 mm 0 0002 to 0 0023 inch 26to 16 AWG f flexible core H 07V K 0 5 to 1 5 mm 0 0008 to 0 0023 inch 25 to 16 AWG f with ferrules according to DIN 46 228 1 ferrules crimped gas tight 0 25 to 1 5 mm 0 0004 to 0 0023 inch 30to 16 AWG D301260 1113 BL20 E GW EC 4 7 Technical features 4 3 Connection options at the gateway The fieldbus connection is realized via an integrated RJ45 Ethernet switch the connection of the power supply via push in tension clamps Figure 4 3 Connection options at the
30. BL20 station can contain modules in any combination which means itis possible to adapt the system to practically all applications in automated industry Compactness The slim design of the BL20 modules standard gateway 50 4 mm 1 98 inch ECO gateway 34 mm 1 34 inch standard slice 12 6 mm 0 49 inch ECO slice 13 mm 0 51 inch and block 100 8 mm 3 97 inch and their low overall height favor the installation of this system in confined spaces Easy to handle All BL20 modules of the standard line with the exception of the gateway consist of a base module and an electronics module The gateway and the base modules are snapped onto a mounting rail The electronics modules are plugged onto the appropriate base modules The base modules ofthe standard line are designed as terminal blocks The wiring is secured by tension clamp or screw connection The electronics modules can be plugged or pulled when the station is being commissioned or for maintenance purposes without having to disconnect the field wiring from the base modules The ECO electronics modules combine base module and electronics module in one housing All BL20 ECO modules can be used with the standard products with tension clamp connection technology D301260 1113 BL20 E GW EC BL20 components 2 2 BL20 components 2 2 1 Gateways The gateway connects the fieldbus to the I O modules It is responsible for handling the entire process data and generates diagnostic info
31. Detected Module Command 0xF002 Configured Module Ident List OXFO3O sssscsssscsssessssscscessteccsccsssccessecsusecsnseessscessesessecessesesscessscceseeesasecsnessaseesnsessnses Detected Address List OxFO40 5 orte rette ette ese tbep ette N NA I IESS Detected Module Ident List OXFO50 vc cssssssscssssessssscssessssssssssssssssssssssessessessessssessessssscssssessessesscssssssessssssesssssssesssees Device Status Object OXF 100 ssscsssecsssecsssecsssecssessssecssesesssecssscssecssuccesuccssuscessecesseesssecesscesseceesecesscecsueessuceesnecesueecsaseessses Device Control Object OXF200 Module List Handling Object 0x2000 3 2 EtherCAT device description file ESI file 0 eo0sseo0osseonsseesnsnensnnnunssnenssununsnnnnnsssunssnsenssnenssnnennes 3 15 D301260 1113 BL20 E GW EC 3 1 EtherCAT features supported by BL20 3 1 3 2 EtherCAT according to the Modular Device Profile The EtherCAT gateway for BL20 ECO complies to he EtherCAT Modular Device Profile MDP according to EtherCat standard ETG 5001 The BL20 ECO gateway for EtherCAT supports CANopen over EtherCAT CoE Note E File Access over EtherCAT FoE Servo Profile over EtherCAT SoE and Ethernet over EtherCAT EoE are not be supported yet A Modular Device is a device with physically connectable modules and or several functional modules Therefore only one objec
32. E tpy Netzwerkumgeb Dateityp IECT131 Projekt Info tpy Abbrechen Lokal 172 28 7 75 1 1 ania D301260 1113 BL20 E GW EC 5 10 Application example 2 Theglobal variables from the PLC program are listed in the configuration and can now be linked to the inputs and outputs of the hardware Figure 5 13 BL20 E GW EC tsm TwinCAT System Manager Var iabl es fr om File Edit Actions View Options Help PLCprogam ngu AB 5 s 45 9 5 9925Q meme ce Il SYSTEM Configuration PLC Configuration SEC BL20 E BL20 E Image 8 Standard Type BYTE E et Inputs Of walt Group Outputs Size I XL Outputs 0 0x0 User ID 4 Address byOutputs B 1 0 Devices Comment Variable of IEC1131 project BL20 E Updated with Task Standard HS Ger t 1 EtherCAT BE Mappings Variable Flags Online Name counter ADS Info Port 801 IGrp 0xF030 IOffs 0x0 Len 1 Local 172 28 7 75 1 1 mE IRE D301260 1113 BL20 E GW EC 5 11 Connection of the EtherCAT gateway to the TwinCAT Soft PLC 3 Define the process data which have to be linked and link the hardware to the variables using right click Change Single Links or Change Multi Link and define the respective program variable Figure 5 14 Linking of vari ables 5 12 BL20 E GW EC tsm TwinCAT System Manager DER File Edit Actions View Options Help Dae A 5 BRR mS ce BB SYSTEM Configuration gt Add
33. Object 0x2000 page 3 14 4 6 2 Synchronization via hardware using the CFG switch Thh DIP switches are located under the gateway s upper label For setting the DIP switch pull out the label Figure 4 6 Front view with label Front view without label gateway m front view A DIP switch Jew CFG no 1 for Li storing the El station SE configuration Y 1 10 a K 0 LL 8 DENM 7 ms e 5 D 4 LE 3 F a 2 w1 A gt NO RUN t ERR D301260 1113 BL20 E GW EC 4 11 Technical features Switching to ON starts the storage of the Current Configuration as the Required Configuration Reference configuration Procedure Switching the DIP switch no 1 to ON Starting of storage process LED IOs flashes green 1 Hz LED IOs shortly lits up orange storage process active set back the DIP switch storage process terminated successfully if the LEDs IOs and GW are constant green Note i If the DIP switch is not set back the gateway will continuously restart the storage process Only setting the switch back will terminate this process 4 12 D301260 1113 BL20 E GW EC Status indicators diagnostic messages gateway 4 7 Statusindicators diagnostic messages gateway Diagnostics messages are indicated
34. P Table 4 23 Diagnosis Bit Diagnostic BL20 4DO Byte 24VDC 0 5A P n 0 overcurrent short circuit 1 ch min BL20 16DO 24VDC 0 5A P Table 4 24 Diagnosis Bit Diagnostic BL20 16DO Byte 24VDC 0 5A P n 0 Overcurrent short circuit channel 1 4 1 Overcurrent short circuit channel 5 8 2 Overcurrent short circuit channel 9 12 3 Overcurrent short circuit channel 13 16 4 22 D301260 1113 BL20 E GW EC Status indicators diagnostic messages gateway Industri A BL20 32DO 24VDC 0 5A P Table 4 25 Diagnosis Bit Diagnostic BL20 32DO Byte 24VDC 0 5A P n 0 Overcurrent short circuit channel 1 4 1 Overcurrent short circuit channel 5 8 2 Overcurrent short circuit channel 9 12 3 Overcurrent short circuit channel 13 16 4 Overcurrent short circuit channel 17 20 5 Overcurrent short circuit channel 21 24 6 Overcurrent short circuit channel 25 28 7 Overcurrent short circuit channel 29 32 BL20 E 4A0 U I Table 4 26 Diagnosis Bit Diagnostic BL20 E 4AO U Byte n 0 Measurement value range error Thresholds Out of Range OoR see IO manual D300717 1 2 reserved 3 Overflow Underflow OUFL Overflow Underflow OUFL 4 6 reserved 7 hardware failure BL20 1RS232 Table 4 27 Diagnostic Bit Diagnostic BL20 1RS232 byte n 0 parameterization error 1 hardware failure 3 data flow control error 4 frame error 5 buffer overflow D301260 1113
35. Qf Master configuration error Qf Gap Qf Force mode active Qf Module bus Failure Timestamp 25 07 2012 13 28 06 378 ms 25 07 2012 13 28 06 362 ms 25 07 2012 13 28 06 362 ms 25 07 2012 13 28 06 347 ms 25 07 2012 13 28 06 206 ms 25 07 2012 13 28 03 690 ms 25 07 2012 13 27 54 300 ms Ger t 1 Gr e 0 1 39 0 0 1 39 1 0 1 39 2 0 1 39 3 0 3 39 4 0 1 39 7 0 1 40 0 0 1 40 1 0 1 40 2 0 1 40 3 0 2 40 4 0 1 40 6 0 1 40 7 Meldung Box 1 BL20 E GW EC 1001 CoE Emergency Hex FFOO 81 00 00 01 01 00 Box 1 BL20 E GW EC 1001 CoE Emergency Hex ff0D 81 04 00 02 00 005 Box 1 BL20 E GW EC 1001 CoE Emergency Hex ff0D 81 00 00 10 01 00 Box 1 BL20 E GW EC 1001 CoE Emergency Hex FFOO 81 00 00 00 01 00 Box 1 BL20 E GW EC 1001 Communication re established Gerat 1 EtherCAT Frame returned gt force reinitialization EtherCAT Frame missed 10 times frame no 0 Adre 0 0110 No valid 1 0 configuration stored Object 0xF030 Einf Eingang Eingang Eingang Eingang Eingang Eingang Eingang Eingang Eingang Eingang Eingang Eingang Einaana User Verkn pft r Lokal 172 28 7 75 1 1 The sending of diagnosis messages and Emergencies can be en or respectively disabled via the Advanced button in the Diag History dialog box Figure 5 19 Erweiterte Einstellungen Diagnosis Messages Messages _ settings ne Ad vance
36. The time required in a bus system between a reading operation being sent and the receipt of an answer It is the time required by an input module to change a signal at its input until the signal is sent to the bus system Reference potential Potential from which all voltages of connected circuits are viewed and or measured Repeater Amplifier for signals transmitted via a bus Root connecting Creating a new potential group using a power distribution module This allows sensors and loads to be supplied individually RS 485 Serial interface in accordance with EIA standards for fast data transmission via multiple transmitters E Serial Type of information transmission by which data is transmitted bit by bit via a cable Setting parameters Setting parameters of individual stations on the bus and their modules in the configuration software of the master Shield Conductive screen of cables enclosures and cabinets D301260 1113 BL20 E GW EC 10 5 Glossary 10 6 Shielding Description of all measures and devices used to join installation components to the shield Short circuit proof Characteristic of electrical components A short circuit proof part withstands thermal and dynamic loads which can occur at its place of installation due to a short circuit Station A functional unit or I O components consisting of a number of elements TCP Abbreviation for Transmission Control Protocol connection oriented trans
37. Type designation slave 1 16 24 The following table shows the meaning of the parameter bits Table 4 48 Module param eters A default setting Parameter Value name Byte 1 DisableCfg If the physical structure of the SWIRE bus does not match the configuration stored in the BL20 E 1SWIRE on power up SW LED flashing the physical structure of the SWIRE bus must be stored in the BL20 E 1SWIRE O inactiveA Manual SWIRE configuration To store the physical structure of the SWIRE bus in the BL20 E 1SWIRE the CFG button of the BL20 E 1SWIRE must be pressed manually only functions if the SW LED is flashing 1 active Automatic SWIRE configuration If the physical structure of the SWIRE bus does not match the configu ration stored in the BL20 E 1 SWIRE on power up the physical structure is stored automatically in the BL20 E 1 SWIRE configura PLC configuration check tion If the PLC configuration check is activated the configuration stored in the BL20 E 1SWIRE is compared with the SET configuration stored in the PLC 0 active A The configuration stored in BL20 E 1SWIRE is compared with the SET configuration stored in the PLC Only SWIRE slaves in the SWIRE bus are accepted that have a device ID completely matching the SET configu ration 1 inactive All slaves are mapped in 4 Bit INPUT 4 Bit OUTPUT without checking the device ID D301260 1113 BL20 E GW EC 4 43 Technical features
38. configured and functional slaves O Busbased No data exchange with a slave with an incomplete incorrect A configuration 1 Slave The bus also goes into operation with the correctly configured based slaves even if the configuration is incomplete All slaves detected by the daisy chain configuration with a position that matches the set configuration are started up Slaves that do not match the set configuration are inactive MC Moeller conformance from version VN 01 04 Behavior of the BL20 E 1SWIRE in accordance with SWIRE Conformance criteria inactive A Default behavior active The BL20 E 1 SWIRE master responds according to the Moeller SWIRE Conformance criteria For detailed information please read the manual for the IO modules D300717 SDwro Slave error field Activate slave diagnostics info field SDERRSx As soon as a slave on the bus clears its PKZ bit this is indicated as an individual error depending on the parameter setting active Single diagnostics is activated inactive Single diagnostics is not activated SDerr Group error slave error Activate slave diagnostics SDERR Activate slave diagnostics SDERRSx As soon as only one slave on the bus sets its error bit this is indicated as a group error depending on the parameter setting 0 active A Group diagnostics is activated 1 inactive Group diagnostics is not activated PKZwro PKZ error field Activate slave di
39. gateway gt gt EtherCAT OUT M EtherCAT IN Field supply Slide top cover for configuration and service ETH1 Unlock end bracket before dismounting AN System supply 4 3 1 Powersupply The BL20 E GW EC provides an integrated power supply unit and push in tension clamps for field supply U GND and E system supply Us GNDgys Note i The gateway only changes to data exchange if both voltages are connected 4 8 D301260 1113 BL20 E GW EC Connection options at the gateway 4 3 2 Field bus connection via Ethernet switch Industri A The BL20 ECO gateways for Ethernet provide an integrated RJ45 Ethernet switch Figure 4 4 1 TX 2 TX RJ45 female SAX 4 onnector 4 n c mmm Send 6 RX 87654321 zac 8 n c Table 4 4 Pin no Signal Color RS485 pin assignment 1 TX Transmit data YE yellow 2 TX Transmit data OG orange 3 RX Receive data WH white 4 not connected 5 not connected 6 RX Receive data BU blue 7 not connected 8 not connected Ethernet Port properties Datarate 100 Mbps Ethernet LED states See LEDs LNK and ACT in section Diagnostic messages via LEDs page 4 13 D301260 1113 BL20 E GW EC 4 9 Technical features 4 3 3 Service interface connection mini USB female connector The service interface is used to connect the gateway to the project planning and diagnost
40. groups cse eret Ener WE nde rete de ree ire EU Ie ERU SRI ERA IRR ee inte 7 5 G rail cr0ss connectioh o PAM 7 6 D301260 1113 BL20 E GW EC 7 2 5 73 74 7 5 7 6 8 1 8 1 1 8 12 8 1 3 8 14 8 2 82 1 8 3 8 3 1 8 3 2 8 3 3 8 3 4 8 3 5 8 4 8 5 8 5 1 8 5 2 10 11 Industri A Direct wiring of relay modules ssensorsssssssnisnmsnsnmnin inr 7 8 Protecting the service interface on the gateway eonsssssnonenonennnennnennnennnssnnnennnsnnnssnnnennnsnnssnnessnnnsnnensnnnsnnne 7 9 Plugging and pulling electronics modules 2o ss00r00nrsonennssnnsnnennnennennsnnnsnnennnennennnennunnennnsnnennnennennnennennnnne 7 9 Extending an existing station cusssssssnsssonesonnsnnnennennnnsnnnsnnnennnennnnennnennnennnnennnsnnnsnnnssnnnsnnnsnnonsnnnsnnnssnnnenensnnne 7 9 Firmware download H 7 10 Guidelines for Electrical Installation Irure dcs certc MN GSMS al secs C M Cable routing Lightning protection Transmission media Potential PelatiONShips sscsecsssescsssuscoosscsscsssssousseasscsssessnseussecssedcessececusssesseodssscuseussecsscoveteessdeusssessevecssesdsussoesseses 8 4 i i 8 4 Electromagnetic compatibility EMC 200 000s000n0nossnnnennnennnennnssnnnennnennnnsnnnennnennnsnnnnennnennnsnn
41. in two different ways E viathe LEDs Industri A via the software of the respective field bus master for example PLC 4 7 1 Diagnostic messages via LEDs Every BL20 gateway displays the following statuses via LEDs 2LEDs for the module bus communication module bus LEDs GW and IOs 2LEDsforthe EtherCAT communication field bus LEDs RUN and ERR 4LEDs for the EtherNet Link LNK and ACT at both female connectors of the EtherNet switch LED displays Table 4 5 LED Status Meaning Remedy LED displays GW OFF No power supply of the CPU Check the system power supply at the gateway green Firmware active gateway E ready green Firmware not active If LED IOs red then flashing 1 Hz firmware download necessary green Firmware active Replace the gateway flashing 4 Hz gateway hardware failure red hardware failure no Replace the gateway communication possible red green WINK WINK Command active serves for the flashing 4 Hz identification of the device 10s OFF No power supply of the CPU Check the system power supply at the gateway green Module bus is running Configured modules match plugged if LED MS green modules green Station is in the Force Mode Deactivate the Force Mode of flashing 1 Hz of the O ASSISTANT O ASSISTANT red Hardware error Replace the gateway red The actual and the config Check the physical station for pulled or flashing 1 Hz ured module list do not new but n
42. input data PZDE The field input data is transferred from the connected field device to BL20 1SSI module The process input data is the data that is transferred by the BL20 1SSI module via a gateway to the PLC The transmission is realized in a 8 byte format which is structured as follows 4 bytes are used for representing the data that was read from the register with the address stated at REG RD ADR When necessary 1 byte represents the register address of the read data and an acknowledgement that the read operation was successful 1 byte can be used to transfer status messages of the SSI encoder This byte also contains an acknowledgement that the write operation to the register was successful and indication of an active write operation 1 byte contains the results of comparison operations with the SSI encoder value 1 byte contains messages concerning the communication status between the BL20 1SSI module and the SSI encoder as well as other results of comparison operations The following table describes the structure of the 8 x 8 bits of the process input data STS or ERR contains non retentive status information i e the bit concerned indicates the actual status FLAG describes a retentive flag that is set in the event of a particular event The bit concerned retains the value until it is reset Figure 6 5 Process input data 6 10 Process input data SSI PLC Byte Bit7 Bit6 Bit5 Bit4 Bit3
43. missing U inhibits I O configuration storage 0x0112 undervoltage U inhibits I O configuration storage Sys D301260 1113 BL20 E GW EC 4 17 Technical features 4 7 4 1 O module diagnosis BL20 BR 24VDC D Table 4 8 Diagnosis Bit Diagnostic BL20 BR Byte 24VDC D n 0 Module bus voltage warning 1 reserved 2 Undervoltage field supply 3 reserved E BL20 PF 24VDC Table 4 9 Diagnosis Bit Diagnostic BL20 PF 24VDC Byte n 0 reserved 1 reserved 2 Undervoltage field supply reserved E BL20 PF 120 230VAC D Table 4 10 Diagnosis Bit Diagnostic BL20 PF 120 Byte 230VAC D n 0 reserved 1 reserved 2 Undervoltage field supply reserved D301260 1113 BL20 E GW EC Status indicators diagnostic messages gateway BL20 4DI NAMUR Industri A Table 4 11 Diagnostic Bit Diagnostic BL20 4DI byte NAMUR n 0 short circuit sensor 1 1 open circuit sensor 1 2 short circuit sensor 2 3 open circuit sensor 2 4 short circuit sensor 3 5 open circuit sensor 3 6 short circuit sensor 4 7 open circuit sensor 4 BL20 1A1 1 0 4 20MA Table 4 12 Diagnosis Bit Diagnostic BL2O TAI I 0 Byte 4 20MA n channel 1 0 Measurement value range error Only in the measurement range 4to20mA 1 open circuit BL20 2Al I 0 4 20MA Table 4 13 Diagnosis Bit Diagnostic BL20 2Al I 0 Byte 4 20MA n channel 1 0 Measur
44. mounting further modules should be carried out only when the station is in a voltage free state D301260 1113 BL20 E GW EC 7 9 Guidelines for station planning 7 6 Firmware download Firmware can only be downloaded via the service interface on the gateway using the software tool l O ASSISTANT 3 FDT DTM More information is available in the program s online help Attention AN The station should be disconnected from the fieldbus when downloading Firmware must be downloaded by authorized personnel only The field level must be isolated 7 10 D301260 1113 BL20 E GW EC Industri A 8 Guidelines for Electrical Installation 8 1 LIUC CENTER 8 2 8 1 1 erm EEE 8 1 2 Cable rOutiig ee erede NL Rt E E Cable routing inside and outside of cabinets Cable routing outside buildings 8 1 3 Lightning protection een 8 1 4 Lr cIEUIIIe T 8 2 Potential EAE CIEL CR 8 4 8 2 1 SPI 8 4 8 3 Electromagnetic compatibility EMQ e c esee e eere e eere eere eene setenta senes testes tense etes tense nes en setas 8 5 8 3 1 Ensuring electromagnetic compatibility esent tnnnntennntte ennt notte nens tt eta snot ttnntisnnais 8 5 8 3 2 Grounding of inactive Metal components
45. the register contents has produced the following result REG SSI POS lt REG LOWER LIMIT A comparison of the register contents has produced the following result REG SSI POS lt REG UPPER LIMIT A comparison of the register contents has produced the following result REG SSI POS gt REG UPPER LIMIT SSI encoder signal present SSI encoder signal faulty e g due to a cable break Table 6 5 Designation Meaning of the data bits process input STS CMP1 STS STOP ERR PARA STS UFLW STS_OFLW ERR SSI SSI DIAG No enabled status signal is active SSI_STSx 0 At least one enabled status signal is active SSI_STSx 1 D301260 1113 BL20 E GW EC 6 13 Integration of the technology modules Process output data PZDA Field output data is output from an BL20 1SSI module to a field device The process output data is the data that is transferred by the PLC via a gateway to the BL20 1SSI module The transmission is realized in a 8 byte format which is structured as follows E 4bytes are used for representing the data that is to be written to the register with the address specified at REG WR DATA 1byte contains the register address for the data that is to be read with the next response telegram 1 byte contains the register address of the data to be written to bytes 0 to 3 of this telegram and a write request 1 byte is used for controlling the comparison operations
46. to the TwinCAT Soft PLC 5 1 8 Diagnosis in TwinCAT Diagnosis messages of the gateway and the I O modules are shown in the Diag History of the BL20 Gateway Figure 5 18 Diag History Unbenannt TwinCAT System Manager Datei Dc uk x El SYSTEM Konfiguration BA SPS Konfiguration EJA Konfiguration c Bj EJA Ger te cw Ger t 1 EtherCAT Ger t 1 Prozessabbild a Ger t 1 Prozessabbild Info QT Eing nge H l Ausg nge Bearbeiten Aktionen Ansicht E l Mapping RxPDO Device T Module 3 BL20 141 U TI Module 4 BL20 2AI THE Tj Module 1 BL20 2DI 24V TE Module 2 BL20 4DI 24V LQ Module 5 BL20 2DO 24 Module 6 BL20 E 8DO m wcstate tH InfoData 8 Zuordnungen Server Port Q 65535 Q 65535 Q 65535 Q 65535 65535 65535 D 65535 Optionen Hilfe Ben HG Bacal SD Xx Baar e Allgemein EtherCAT Ji Prozessdaten Slots te li Sy C only new Messages Flags Type Q Eror Eror 25 7 2012 10 27 03 48 Startup CoE Onli Diag History Online Export Diag History Message 0x0101 Diagnosis message available 00007 open circuit at device 4 channel 2 25 7 2012 10 27 03 48 0 0100 Summarised module diagnosis Name OT summarized module diagnosis Qf Diagnosis message available Module bus error 11 0 configuration changed ST Gap f Undervoltage Ul QT Overvoltage Usys ST Undervoltage Usys cap
47. 00 300 bps 0001 600 bps 0010 1200 bps 0100 2400 bps 0101 4800 bps 0110 9600 bps A 0111 14400 bps 1000 19200 bps 1001 28800 bps 1010 38400 bps 1011 57600 bps 1100 115200 bps reserved 4 Select RS485 0 parameterization of the module as RS422 1 parameterization of the module as RS485 5 reserved 6 DisableReducedCtrl Constant setting The diagnostic messages are shown in Byte 6 of the process input data independently from Diagnosis Byte 6 of the process output data contains 2 bits with which the receive or transmit buffer can be cleared Byte 7 contains the status or control byte User data are represented in Bytes 0 5 0 7 Diagnostic 0 release A 1 block 1 0 Stop bits 0 1bitA 1 2bit 2 1 Parity 00 2 none 01 oddA The parity bit is set so that the total number of bits data bits plus parity bit set to 1 is odd 10 even The parity bit is set so that the total number of bits data bits plus parity bit set to 1 is even 3 Data bits 0 7A The number of data bits is 7 O 8A The number of data bits is 8 4 40 D301260 1113 BL20 E GW EC Parameters of the modules Industri A Table 4 46 Byte Bit Module param eters Parameter name Value XON character 0 255 17 A only in the RS422 mode XON character This character is used to start the transmission of data from the data terminal de
48. 1001 100 mV 1010 500 mV 1011 1000 mV reserved BL20 4AI U I 1 byte parameters per channel Table 4 37 Module param eters A default setting 4 28 Byte Bit Parameter name Value 0to3 0 range 0 0 10 V 0 20 MAA 1 10 4 10 V 4 20 mA value representation 0 Integer 15 bit sign A 1 12 bit left justified Diagnostic 0 release A 1 block Channel 0 activate A 1 deactivate Operation mode 0 voltage A 1 current D301260 1113 BL20 E GW EC Parameters of the modules Industri A BL20 2AIH I Table 4 38 Byte Bit Parameter name Value Module param eters A default 0 0 Channel 0 activate A setting channel 1 1 deactivate 1 short circuit diagnostics 0 block 1 release A 2 open circuit diagnostics 0 block 1 release A 344 Operation mode 0 0 20 mA polling of HART status not possible 1 4 20 mA polling of HART status not possible 2 4 20 mA HART active A Cyclic polling of HART status activated 5 6 reserved 7 HART diagnostics 0 release A 1 block 1 0 1 value representation 0 Integer 15 bit sign A channel 1 1 NE 43 2 Extended Range 2 3 similar to byte 0 1 channel 2 4 HART Variable VA Defines the channel of which the HART variable is read 0 channel mapping 0 channel 1 1 2
49. 11 0 Configuration EB Zuordnungen amp B BL20 E Standard Ger t 1 EtherCAT Timestamp 18 06 2012 16 03 45 161 ms 18 06 2012 16 03 41 548 ms 18 06 2012 16 03 41 548 ms a Meldung Box 1 BL20 E GW EC 1001 state change to OP finished PLC Download 15 Symbols 11 DataTypes PLC Download 15 Symbols 11 DataTypes ST summarized mod 0 1 39 0 Eingang 0 t Diagnosis messag 0 1 39 1 Eingang 0 4 395 i f Module Bus Error 92 EST pfo D Gap g 39 4 Eingang 0 OT Undervoltage Ul 39 7 Eingang 0 QT Overvoltage Usys 40 0 Eingang 0 ot Undervoltage Usys 40 1 Eingang Lokal 172 28 7 75 1 1 11 In both cases TwinCAT arranges the I O modules automatically as follows see also Sync Manager PDO Assign 0x1C12 and 0x1C13 page 3 6 analog input modules analog output Modules technology modules digital input modules digital output modules 5 6 D301260 1113 BL20 E GW EC Application example 5 1 4 Parameterization of BL20 I O modules The parameterization of the I O modules in the BL20 station is done in the register tab CoE Online of the BL20 gateway 1 Inthe module specific parameter object open the parameter entry via double click and set the parameter to the desired value Figure 5 6 z BL20 E GW EC tsm TwinCAT System Manager Parameteriza Sa ee tion of a BL20 Ose SR PBS AG TV HH ARAE Qmm module cE SYSTEM Konfiguration m SPS Konfiguration B
50. 2 Bit1 Bit 0 reserved D301260 1113 BL20 E GW EC Integration of the RS232 module Industri A Meaning of the data bits process output Table 6 2 Designation Value Description Meaning of the data bits STATRES process output 0 1 This bit is set to reset the STAT bit in the process input data With the change from 1 to 0 the STAT bit is reset from 0 to 1 If this bit is 0 all changes in TX_BYTE_CNT TX_CNT and RX_CNT_ACK are ignored The clearing of the receive and transmit buffer by RXBUF FLUSH TXBUF FLUSH is possible The value 1 or the transition from 0 to 1 disables the clearing of the receive and transmit buffer by the RXBUF FLUSH TXBUF FLUSH RXBUF FLUSH The RXBUF FLUSH bit is used for clearing the receive buffer If STATRES 1 A request with RXBUF FLUSH 1 will be ignored If STATRES 0 RXBUF FLUSH 1 will clear the receive buffer TXBUF FLUSH The TXBUF FLUSH bit is used for clearing the transmit buffer If STATRES 1 A request with TXBUF FLUSH 1 will be ignored If STATRES 0 TXBUF FLUSH 1 will clear the receive buffer RX CNT ACK The value RX_CNT_ACK is a copy of the value RX CNT The value TX CNT was transferred together with the last data segment of the process output data RX CNT ACK has to be set analog to RX_CNT in the status byte RX CNT ACKis an acknowledge for th
51. 3 BL20 E GW EC 1 5 About this manual 1 6 D301260 1113 BL20 E GW EC Industri A 2 BL20 philosophy 2 1 The basic CONCEP AER 2 2 2 1 1 Flexibility c 2 2 2 1 2 COMPACMESS ee MER 2 2 2 1 3 Easy to r m 2 2 2 2 BL20 4 i n r 2 3 22 1 icu 2 3 EHE 2 3 Gateways with integrated power supply ettet tete ttt nettes ntes nn ttts ntis ttt ttts ntes not ttts noctis 2 4 Gateways without integrated power supply eerte tenent tnnt tts ette ntis nitet notis tto nott 2 4 2 2 2 Power distribution MOCUIES esssssscsssecsseecssscessecesseecsseccssccessccsssccsssccesscesssecsuscessscessecesseecsscessseesuscessscesssccescecsuecesuecessecesseeesaeees 2 2 3 Electronics modules standard product line 224 ECO electronics modules sss 2 2 5 Base MOCUIES cesssssssssssccsseecssecssscceseeceseecsnsecsnsecsnseestecs 2 2 6 afe el MET EE EE DLE 224 Izilerte cit 2 2 8 Jic M M I ERRNEN 2 2 9 Marking materal aes arret eb crine ERREUR EVE eeu ERE e divert vi E diet DR 2 2 10 Shield connection stan
52. E Nocken Konfiguration amp u E Konfiguration EJA Ger te SS Ger t 1 EtherCAT Ger t 1 Prozessabbild Add to Sterf p Online Data Module OD AoE Port 0 Ger t 1 Prozessabbild Info f Eing nge Flags Wert E l Ausg nge RO 2 i E 0 544 gt 2 lt Box 1 BL20 E GW EC 24VDC wr amp QT Mapping TxPDO Device Status gt 35 lt l Mapping RxPDO Device Control Address of the module 00003 3 BT Module 3 BL20 1A1 U 10 0 10VDC Module Name BL20 1A1 U 10 0 10VDC f TQ Module 4 BL20 2AI THERMO PT Product Code Q 00682C0B 6827013 Revision Number 0x00000000 0 Ti Module 1 BL20 2DI 24VDC P Module PDO Group 0 0001 1 amp Ti Module 2 BL20 4D1 24VDC P Module Ident 0400011350 70480 m Module 5 BL20 2D0 24vDC 0 54 P Slot 0x0003 3 Module 6 BL20 E 8DO 24VDC 0 5A P Spannungs Modus K1 0 10v 0 E Wcstate Werte Darstellung K1 Integer 15Bit Vorzeichen 0 amp Infodata 22 Diagnose K1 1 B Zuordnungen Abbruch Bool Bin r 00 00 00 00 Bitgr e O1 O8 O16 932 O84 O D301260 1113 BL20 E GW EC 5 7 Connection of the EtherCAT gateway to the TwinCAT Soft PLC 5 1 5 Programming the Soft PLC 1 Create a new project in TwinCAT PLC Control 2 If the TwinCAT PLC is used the TwinCAT integrated runtime system installed on the PC has to be used as target platform Figure 5 7 S
53. ET Lokal 172 28 7 75 1 1 ke D301260 1113 BL20 E GW EC 5 5 Connection of the EtherCAT gateway to the TwinCAT Soft PLC 10 If the device specific xml file is installed TwinCAT reads the stations information from the gateway Information about the modules position in the station are not shown Figure 5 5 BL20 E GW EC tsm TwinCAT System Manager BER AB BY Re Oe S B BQ eee e Allgemein EtherCAT Prozessdaten Startup CoE Online Online BL2 0 s ta ti on Datei Bearbeiten Aktionen Ansicht Optionen Hilfe without xml Dau E j 5 EB SYSTEM Konfiguration fil e c BU SPS Konfiguration SES BL20 E BL20 E Prozessabbild Bi Standard f Eing nge B l Ausg nge counter SL byOutputs z Nocken Konfiguration BM E A Konfiguration c B EJA Ger te 79 Ger t 1 EtherCAT Ger t 1 Prozessabbild Ger t 1 Prozessabbild Info Qf Eing nge W Ausg nge r3 Name Box 1 BL20 E Gw EC Typ BL20E GW EC Kommentar Disabled 2 5 Gox 1 BL20 E GW EC t Mapping TxPDO Device Status Q1 Channel 1 Data QT Mapping TxPDO GAP 1 Mapping RxPDO GAP Qf Mapping TxPDO BL20 1AI Li 10 0 10VDC j Qt Mapping TxPDO BL20 2AI THERMO PI Qf Mapping TxPDO BL20 2DI 24VDC P J Mapping RxPDO Device Control S Mapping RxPDO BL20 2DO 24VDC 0 5A P Mapping RxPDO BL20 E 8DO 24VDC D 5A P Name Gr e Adre ayailable
54. ET ETT BIG CK CAG 1 10 BERNER EE PNE A E E DEL General technical data of a station Technical data for the push in tension clamp terminals Connection options at the gateway eunsssnnssnssonennnnennnennnennnennnnennnennnssnnnsnnnsnnnennnssnnnennnennnssnnnennnssnnnssnnssunennnnee 4 8 does Field bus connection via Ethernet switch e Service interface connection mini USB female connector Address AssiGhMentt ssssssicscsssteccsessssoessoussessscosssossscusdenesdsssvoncesuussedsdoaceesastuusasvadesssestsdes ecsoassssidesesssasbesusassaasouss 4 11 EID mee 4 12 D301260 1113 BL20 E GW EC i 4 6 4 7 4 7 1 4 7 2 4 7 3 4 7 4 4 8 4 8 1 4 8 2 4 8 3 4 8 4 5 1 5 1 1 5 1 2 5 1 3 5 1 4 5 1 5 5 1 6 5 1 7 5 1 8 5 1 9 6 1 6 1 1 6 2 6 2 1 6 3 6 3 1 6 4 6 4 1 6 5 6 6 7 1 7 1 1 7 1 2 7 1 3 7 2 7 2 1 7 2 2 7 2 3 7 2 4 Synchronization of the station configuration sssesssesseesosscssoceseesosecsecesesesoscosesososesoscesscososesoseosesesosesossse 4 13 Status indicators diagnostic messages gateway esseesesoesosoesosoesosoesoesesossosoesosoesosossoeeesossosossosoesossesosseeoe 4 14 Diagnostic messages via LEDS neessenssenssensssnnsensssnnssnssenssnnssnnssnnssunssnnssensennssnnsennssnnsennssnnsensssnnssnsssnnssnsssnnssnnssnnssnss
55. F no link Check the Ethernet connection D301260 1113 BL20 E GW EC Status indicators diagnostic messages gateway Industri A 4 7 2 Device Status Object The gateway sends a gateway Status Word This can be tread from the Device Status object object OxF100 It is mapped in a TxPDO and can thus be read cyclically by the EtherCAT Master Byte Bit 7 Bit 6 Bit5 Bit4 Bit3 Bit 2 Bit 1 Bit O Summa Under o Module bus Diagnosis rized 0 configuration message voltage U error module changed available f diagnosis Module bus pone Mester Under Over failure mane g eOnmguiavon g voltage U voltage U active error ge ys ge ss Table 4 6 Diagnostic message Meaning Status Word bit assignment Meaning Summarized module diagnosis Diagnosis message available At least one module has a diagnostic message Diagnosis message available New diagnosis message available The Diagnosis History Object contains a new message Module bus error module bus error No modules connected or the communication to the modules is disturbed I O configuration changed Station configuration changed The Configured Module Ident List OxF030 page 3 12 differs from the Detected Module Ident List OxF050 page 3 13 in the gateway Process data can still be exchanged with the module bus stations which are at present connected to the module bus Undervoltage U
56. L20 4AI U I Table 4 18 Diagnosis Bit Diagnostic BL20 4AI U I Byte n 0 Measurement value range error threshold channel 0 196 ofthe positive measurement ton 3 range end value underflow channel 3 diagnostics only in value range 1 open circuit threshold 3 mA only in value range 4 20 mA 2to7 reserved BL2O E 8Al U I 4Al PT NI Table 4 19 Diagnosis Bit Diagnostic BL20 E 8AI U Byte 4AI PT NI n 0 Measurement value range error Thresholds see IO manual Out of Range OoR D300717 1 Wire Break WB In 3 wire measurement with ex PT100 sensor and at tempera 2 Short circuit SC tures of below 177 C the module can not distinguish between short circuit and wire break In this case a short circuit diagnostic is generated 3 Overflow Underflow OUFL 4 6 reserved 7 hardware failure BL20 2DO 24VDC 0 5A P Table 4 20 Diagnosis Bit Diagnostic BL20 2DO Byte 24VDC 0 5A P n 0 overcurrent short circuit channel 1 overcurrent short circuit channel 2 D301260 1113 BL20 E GW EC 4 21 Technical features BL20 2DO 24VDC 0 5A N Table 4 21 Diagnosis Bit Diagnostic BL20 2DO Byte 24VDC 0 5A N n 0 overcurrent short circuit channel 1 1 overcurrent short circuit channel 2 BL20 2DO 24VDC 2A P Table 4 22 Diagnosis Bit Diagnostic BL20 2DO Byte 24VDC 2A P n 0 overcurrent short circuit channel 1 1 overcurrent short circuit channel 2 E BL20 4DO 24VDC 0 5A
57. LC runtime system is used as PLC Used software TwinCAT V2 11 TwinCAT System Manager TwinCAT PLC Control Used hardware Bl20 station for EtherCAT BL20 E GW EC FW version 1 0 0 0 O modules see Table 5 1 Example station Table 5 1 Module Data width Example station Process input Process output GW BL20 E GW EC 1 BL20 2DI 24VDC P 2 Bit 2 BL20 4DI 24VDC P 4 Bit 4 BL20 1AI U 10 0 10VDC 2 Byte 5 BL20 2AI THERMO PI 4 Byte 6 BL20 2DO 24VDC 0 5A P 2 Bit 7 BL20 E 8DO 24VDC 0 5A P 1 Byte 5 2 D301260 1113 BL20 E GW EC Application example 5 1 2 Adding a device specific xml file In order to enable an xml based configuration of the devices the device specific xml file for the BL20 gateway BL20 E GW EC xml has to be copied to the installation directory of TwinCAT Path x TwinCAT lo EtherCAT 5 1 3 Hardware configuration in the TwinCAT System Manager 1 Open the TwinCAT System Manager and create a new project 2 AddanEtherCAT interface to the I O configuration Figure 5 1 BL20 E GW EC tsm TwinCAT System Manager A ddin g an Datei Bearbeiten Aktionen Ansicht Optionen Hilfe EtherCAT D c x bel AB SY HD Oa SG BS SQL SI ce BY SYSTEM Konfiguration Nummer Ger t interface BA SPS Konfiguration BE Nocken Konfiguration amp Bl Eja Konfiguration m BT er aa zu u ES Ij Ger t Importieren X Ger te Suchen Einf ge
58. Operation mode Kx 020 20 mA polling of HART status not possible 1 4 20 mA polling of HART status not possible 2 4 20 mA HART active A cyclic polling of HART status activate 7 HART diagnostics Kx 0 release A 1 block 4 34 D301260 1113 BL20 E GW EC Parameters of the modules Industri A Table 4 43 Byte Bit Parameter name Value Module param eters A default setting 1 041 value representation Kx 0 Integer 15 bit sign A channel 1 12 NE43 2 Extended Range 6 7 Behavior on module bus error Ax 243 substitute value Ax channel 1 4to7 similar to byte 0 to 3 channel 2 8 HART Variable VA Defines the channel of which the HART vari able is read 0 channel mapping 0 channel 1 1 channel 2 647 variable mapping Defines which HART variable of the connected sensor is mapped into the module s process data 0 PV primary variable 12 SV 2nd variable 2 TV 3rd variable 3 QV 4th variable 9 HART Variable B Defines the channel of which the HART vari able is read 0 channel mapping 0 channel 1 1 channel 2 647 variable mapping Defines which HART variable of the connected sensor is mapped into the module s process data 0 PV primary variable 1 SV 2nd variable 2 TV 3rd variable 3 QV 4th variable D301260 1113 BL20 E GW EC 4 35 Technical features Bit Parameter name Va
59. PDOs represent the objects OxF100 status see Device Status Object OxF100 page 3 13 and OxF200 control seeDevice Control Object 0xF200 page 3 13 The structure of the process data image thus always depends on the modules connected to the gateway and is constant for that specific station configuration Example Mapping An example mapping can be found in chapter 5 Adding a device specific xml file page 5 3 Sync Manager Synchronization 0x1C32 and 0x1C33 These objects contain the information about the synchronization behavior of the device as described in the ETG1020 EtherCAT Protocol Enhancements Device Status Object 0xF100 page 3 13 BL20 supports Free Run synchronization which means that the EtherCAT slave is not running synchronously with EtherCAT The slave does not work synchronously with the EtherCAT cycle but has it s own cycle Access RO D301260 1113 BL20 E GW EC EtherCAT according to the Modular Device Profile Industri A 3 1 4 Module Object Area 0x6000 OxAFFF Table 3 5 Module objects Object Area Index Range Modular Device Input data siehe page 3 7 Ox6xxx Conditional Output data siehe page 3 7 Ox7xxx Conditional Configuration data see page 3 7 Ox8xxx Optional Information data see page 3 9 Ox9xxx Optional Diagnostic data see page 3 9 OXAxxx Optional Input Data Object Area 0x6xxx Each module has one input data object with several sub objec
60. Standard amp Qf Inputs OT wan amp i Outputs counter byOutputs E A Konfiguration BY EJA Ger te Ej 99 Device 2 EtherCAT Device 2 Image Device 2 Image Info j f Inputs j Outputs j Q InfoData S Box 1 BL20 E GW EC E gt Mapping TxPDO Device Status E Mapping RxPDO Device Control Fe eee DER E88 TE Module 3 BL20 1AI U 10 0 10VDC TI Module 4 BL20 2AI THERMO PI TE Module 1 BL20 2DI 24VDC P 7 ti Module 2 BL20 4DI 24VDC P GL Module 5 BL20 2DO 24VDC 0 5A P z amp Outputs BL20 2DO 24VDC 0 5A P l process value Chi process value Ch2 BL Module 6 BLZ0 E 8DO 24VDC 0 5A P Outputs BL2O E 8DO 24VDC 0 5A P A process value Chi L process value Ch2 DL process value Ch3 process value Ch4 l process value Ch l process value Ch I process value Ch i process value Cha HQ WeState InfoData Me RETER PESER OE NEE Ed Adresse A B v Server Port Timestamp Message C Lange Namen Typlen Gr eln Tausche Abbilder Auto Spaltenbreite 2 TwinCAT is automatically restarted in Run mode Lokal 172 28 7 75 1 1 D301260 1113 BL20 E GW EC Application example 3 Open the monitoring of the process data using the View Show Online Data command Figure 5 17 3 BL20 E GW EC tsm TwinCAT System Manager Mon tor mn g of Datei Bearbeiten Aktionen USGA Optionen Hilfe
61. a STS CMP2 0 A comparison of the register contents has produced the following result REG SSI POS REG CMP2 1 A comparison of the register contents has produced the following result REG SSI POS REG CMP2 REL CMP1 0 A comparison of the register contents has produced the following result REG SSI POS lt REG CMP2 1 A comparison of the register contents has produced the following result REG_ SSI_POS gt REG CMP1 FLAG_CMP1 0 Default status i e the register contents have not yet matched REG SSI POS REG CMP1 since the last reset 1 The contents of the registers match REG SSI POS REG CMP1 This marker must be reset with CLR CMP1 1 in the process output data 6 12 D301260 1113 BL20 E GW EC Integration of the SSI module Industri A Description A comparison of the register contents has produced the following result REG SSI POS REG CMP1 A comparison of the register contents has produced the following result REG SSI POS REG CMP1 The SSI encoder is read cyclically Communication with the SSI encoder is stopped as STOP 1 process output or ERR PARA 1 The parameter set of the module has been accepted Operation of the module is not possible with the present parameter set A comparison of the register contents has produced the following result REG SSI POS 2 REG LOWER LIMIT A comparison of
62. age anomalies according to EN 61 131 2 Ius supply of module bus nodes 700 mA Connection technology Push in tension clamp terminals LSF from Weidmueller Physical interfaces Field bus Ethernet D301260 1113 BL20 E GW EC Technical data Industri A Transmission rate 100 Mbps Passive fiber optic adapters can be connected current consumption max 100 mA Fieldbus connection technology RJ45 female connector RJ45 male connector Fieldbus shielding connection via Ethernet cable service interface mini USB Address setting not necessary for EtherCAT address switches without function Isolation voltages U U against service interface Ugr supply voltage against Ethernet 500 V AC U ss supply voltage against U Ugrugr ETH1 against ETH2 500 V AC Ambient conditions Ambient temperature EN 0 55 C f 25 85 C Relative humidity according to EN 61131 2 EN 50178 5 to 95 indoor Level RH 2 no condensation storage at 45 C no function test Climatic tests according to IEC 61131 2 Vibration resistance 10to 57 Hz yes constant amplitude 0 075 mm 1 g 57 to 150 Hz yes 57 to 150 Hz constant acceleration 1 g Mode of vibration Frequency sweeps with a change in speed of 1 Octave min Period of oscillation 20 frequency sweeps per axis of coordinate Shock res
63. agnostics info field PKZERRSx As soon as a slave on the bus clears its PKZ bit this is indicated as an individual error depending on the parameter setting 0 active A Single diagnostics is activated 1 inactive Single diagnostics is not activated PKZerr Group PKZ error field Activate slave diagnostics PKZERR As soon as a slave on the bus clears its PKZ bit this is indicated as an individual error depending on the parameter setting 0 active A Single diagnostics is activated 1 inactive Single diagnostics is not activated 6 24 D301260 1113 BL20 E GW EC Integration of the SWIRE module BL20 E 1 SWIRE Industri A Table 6 16 Module param eters A default setting Parameter Value name Byte 2 TYP iro Configuration error field As soon as a slave on the bus does not match the set configuration and therefore cannot be started this is indicated as an individual error depending on the parameter set 0 active A Single diagnostics is activated 1 inactive Single diagnostics is not activated TYP ERR Group configuration error field Activate slave diagnostics TYPERR As soon as only one slave on the bus is incorrectly configured this is indicated as an error depending on the parameter setting 0 active A Group diagnostics is activated 1 inactive Group diagnostics is not activated U AUXERR Error message UAUX Activate system diagnostics UAUXERR
64. an be supplied with power independent of the potential group formation When using a digital input module for 120 230 V AC it should be ensured that a potential group is created in conjunction with the Power Feeding module BL20 PF 120 230VAC D Attention It is not permitted to use modules with 24 V DC and 120 230 V AC field supply in a joint potential group D301260 1113 BL20 E GW EC 7 5 Guidelines for station planning 7 2 4 C rail cross connection The C rail runs through all base modules The C rail of the base modules for power distribution modules is mechanically separated thus potentially isolating the adjoining supply groups Access to the C rail is possible with the help of base modules with a C in their designation for example BL20 S4T SBCS The corresponding connection level is indicated on these modules by a thick black line The black line is continuous on all I O modules On power distribution modules the black line is only above the connection 24 This makes clear that the C rail is separated from the adjoining potential group to its left Figure 7 2 C rail front view Figure 7 3 C rail side view Warning A It is permitted to load the C rail with a maximum of 24 V Not 230 V AC The C rail can be used as required by the application for example as a protective earth PE In this case the PE connection of each power distribution module must be connected to the mounting rail via an addit
65. are to be kept as short as possible the cable shield is not to be used as a bonding conductor The insulation of the shielded data cable should be stripped and connected to the shield rail when the system is used in stationary operation The connection and securing of the shield should be made using metal shield clamps The shield clamps must enclose the shielding braid and in so doing create a large surface contact area The shield rail must have a low impedance for example fixing points of 10 to 20 cm apart and be connected to a reference potential area The cable shield should not be severed but routed further within the system for example to the switchgear cabinet right up to the interface connection Note Should it not be possible to ground the shield on both sides due to switching arrangements or device specific reasons then it is possible to route the second cable shield side to the local reference potential via a capacitor short connection distances If necessary a varistor or resistor can be connected parallel to the capacitor to prevent disruptive discharges when interference pulses occur Note A further possibility is a double shielded cable galvanically separated whereby the innermost shield is connected on one side and the outermost shield is connected on both sides D301260 1113 BL20 E GW EC 8 7 Guidelines for Electrical Installation 8 5 8 5 1 8 5 2 8 8 Potential compensation Pote
66. binet doors supporting bars mounting plates tophat rails etc must be connected to one another over a large surface area and with a low impedance grounding This guarantees a standardized reference potential area for all control elements and reduces the influence of coupled disturbances In the areas of screw connections the painted anodized or isolated metal components must be freed of the isolating layer Protect the points of contact against rust Connect all free moving groundable components cabinet doors separate mounting plates etc by using short bonding straps to large surface areas Avoid the use of aluminum components as its quick oxidizing properties make it unsuitable for grounding Warning The grounding must never including cases of error take on a dangerous touch potential For this reason always protect the ground potential with a protective cable 8 3 3 PE connection A central connection must be established between ground and PE connection protective earth 8 3 4 Earth free operation Observe all relevant safety regulations when operating an earthfree system PE connection D301260 1113 BL20 E GW EC 8 5 Guidelines for Electrical Installation 8 3 5 Mounting rails All mounting rails must be mounted onto the mounting plate with a low impedance over a large surface area and must be correctly earthed Use corrosion resistant mounting rails Figure 8 2 200 mm 7 87 inch B Mount
67. cation error overrun error state Bit 5 O device profile specific error Bit 6 O reserved Bit 7 O manufacturer specific error Identity Object 0x1018 The Identity Object contains the Vendor ID Turck 0x0000009C the Product Code 6827380 the revision and serial number This mandatory object with its four sub objects contains the values found in the Slave Information Interface SII EEPROM The object is read only Diagnosis History Object 0x10F3 The Diagnosis History object up to 50 diagnostic messages from the gateway and the I O modules can be stored Eventually additional explanations for the diagnostic messages of the gateway can be found under Device Status Object page 4 16 For the I O modules they can be found in chapter 4 I O module diagnosis page 4 19 RxPDO and TxPDO Mapping Objects 0x1600 0x17FF and 0x1A00 Ox 1BFF Access RO The PDO Mapping Objects are used to define the structure of the PDOs as described in ETG1000 6 Application Layer protocol specification The PDO numbering depends on the module s slot number in the BL20 station and is generated as follows Index 0x1600 slot number 1 for output modules and Index 0x1A00 slot number 1 for input modules Each object consist of one or several sub objects Each sub object represents a module channel and points to input or output objects see Input Data Object Area 0x6xxx page 3 7 and Output Data Object Area 0x7xxx0 page 3 7
68. channel 2 647 variable mapping Defines which HART variable of the connected sensor is mapped into the module s process data 0 PV primary variable 1 SV 2nd variable 2 TV 3rd variable 3 QV 4th variable D301260 1113 BL20 E GW EC 4 29 Technical features Bit Parameter name Value HART Variable B Defines the channel of which the HART variable is read 0 channel mapping 0 channel 1 1 2 channel 2 647 variable mapping Defines which HART variable of the connected sensor is mapped into the module s process data 0 PV primary variable 1 SV 2nd variable 2 TV 3rd variable 3 QV 4th variable HART variable C Defines the channel of which the HART variable is read 0 channel mapping 0 channel 1 1 2 channel 2 647 variable mapping Defines which HART variable of the connected sensor is mapped into the module s process data 0 PV primary variable 12 SV 2nd variable 2 TV 3rd variable 3 QV 4th variable Table 4 38 Byte Module param eters 5 6 7 HART variable D Defines the channel of which the HART variable is read 0 channel mapping 0 channel 1 1 2 channel 2 647 variable mapping Defines which HART variable of the connected sensor is mapped into the module s process data 0 PV primary variable 1 SV 2nd variable 2 TV 3rd variable
69. ction has been deactivated via the parameter setting 1 Offline A diagnostics message is present Byte 7 8 PKZ pRSX Overcurrent protective circuit breaker slave x Info field for the individual indication of the tripping a motor protective circuit breaker PKZ as error message If the PKZ nroA is set for single diagnostics this bit field indicates the error as soon as the PKZ of the slave Sx has tripped 0 OK The PKZ of the slave has not tripped or diagnostics function has been deactivated via the parameter setting 1 tripped The PKZ of the slave has tripped Note i The error messages Unuyerr YPerr TYPerSX PKZenp PKZerrSX SDerr and SDerrSx can be deactivated by a respective parameterization 6 22 D301260 1113 BL20 E GW EC Integration of the SWIRE module BL20 E 1 SWIRE Industri A Parameters Parameters consist of data that has to be sent to the module so that it can operate correctly in the application concerned Table 6 15 Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 Parameters SWIRE Byte 1 reserved free free MC MNA configur Disable free ation Cfg Byte2 free Unuxerr lYPen TYPinro PKZerr PKZnro SDerr SDinro Byte 3 reserved Byte 4 Life guarding time Byte5 SDy4 58 SDp4gS7 SDpacS6 SDpacS5 SDouct SDpga4g 3 SDp4cS2 POSC I Byte6 SDyuc SDpiac SDpiac SDpic SDpiac SDpiac SDyus SDpiacS9 S16 15 S14 13 12 S11 10 Byte 7 reserved Byte8 re
70. d on On The motor protective circuit breaker is switched on SDx Communication error slave x D301260 1113 BL20 E GW EC Setting the NDDIAG parameter copies the slave diagnostics message input byte 1 bit 3 to the feed back interface The information is provided as status information in the PLC for the user ON LINE ON LINE Status of slave x OFF LINE OFF LINE Status of slave x diagnostics available 6 17 Integration of the technology modules Process output Field output data is output from an BL20 E 1SWIRE module to a field device The process output data is the data that is transferred by the PLC via a gateway to the BL20 E 1SWIRE module The transfer is carried out in 8 byte format 4 bits are reserved for each SWIRE slave The following information is transferred E Switch status of contactor coil on off Table 6 10 Byte Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit O Data structure 1 SWIRE Slave 2 SWIRE Slave 1 2 SWIRE Slave 4 SWIRE Slave 3 3 SWIRE Slave 6 SWIRE Slave 5 4 SWIRE Slave 8 SWIRE Slave 7 5 SWIRE Slave 10 SWIRE Slave 9 6 SWIRE Slave 12 SWIRE Slave 11 7 SWIRE Slave 14 SWIRE Slave 13 8 SWIRE Slave 16 SWIRE Slave 15 The data of SWIRE slave 1 is the data of the first physical slave on the SWIRE bus he remaining slaves are assigned in consecutive order accordingly The meaning of the data of an SWIRE slave depends on the product concerned Mean
71. d as follows Various types of cables within the groups can be routed together in bundles or in cable ducts Group 1 shielded bus and data cables E shielded analog cables unshielded cables for DC voltage lt 60 V unshielded cables for AC voltage lt 25 V Group 2 unshielded cables for DC voltage 60 V and 400V unshielded cables for AC voltage 25 V and lt 400 V Group 3 unshielded cables for DC and AC voltages 400 V The following group combination can be routed only in separate bundles or separate cable ducts no minimum distance apart Group 1 Group 2 The group combinations Group 1 Group 3 and Group 2 Group 3 must be routed in separate cable ducts with a minimum distance of 10 cm apart This is equally valid for inside buildings as well as for inside and outside of switchgear cabinets Cable routing outside buildings Outside of buildings cables should be routed in closed where possible cage type cable ducts made of metal The cable duct joints must be electrically connected and the cable ducts must be earthed Warning Observe all valid guidelines concerning internal and external lightning protection and grounding specifications when routing cables outside of buildings D301260 1113 BL20 E GW EC General notes Industri A 8 1 3 Lightning protection The cables must be routed in double grounded metal piping or in reinforced concrete cable ducts Signal cables must be protect
72. d disable Infos disable Warnings Emergency enable sending Emergency Overwrite Acknowledge Mode enable Acknowledge Mode Note The settings for the device s diagnosis behavior are stored as non valid in the device and can thus only be changed again via a controller access 5 16 D301260 1113 BL20 E GW EC Application example Emergencies are only sent once and are shown in the Message window of the software Note Further information about the structure of emergencies can be found in section Emergency telegrams page 4 16 Figure 5 20 Unbenannt TwinCAT System Manager Emer gencies In Datei Bearbeiten Aktionen Ansicht Optionen Hilfe TwinCAT Dc uk 8 m m 4B sas S OHS S gQjlseee e c El SYSTEM Konfiguration z BA ss Konfiguration Allgemein EtherCAT Prozessdaten Slots Startup CoE Online Diag History Online m E 4 Konfiguration Auto Update gt B Ger t 1 EtherCAT Ger t 1 Prozessabbild Type Flags Timestamp Message E Gerat 1 Prozessabbild Info Q Eror N 25 7 2012 10 27 03 50 0 0101 Diagnosis message available E t Eing nge Q Eror 25 7 2012 10 27 03 48 0x0007 open circuit at device 4 channel 2 Ausg nge Q Eror 25 7 2012 10 27 03 48 0 0110 No valid 1 0 configuration stored Object 0xF030 Infodata Q Eror 25 7 2012 10 27 03 48 0x0100 Summarised mo
73. d the maximum number of 72 modules Ifthe maximum sum of the modules nominal current consumptions see below Table 7 1 Nominal current consumptions of the BL20 modules right to the gateway max sum Img 700 mA is reached a Bus Refreshing module has to be used in order to provide the module bus voltage To the right of the Bus Refreshing module the sum of the modules current consumptions can amount to 1 5 A Attention Ensure that a sufficient number of Bus Refreshing and Power Feeding modules are used if the system is extended to its maximum Note i If the system limits are exceeded the software I O ASSISTANT 3 FDT DTM generates an error message when the user activates the command Verify station For the calculation of the maximum system extension the following table contains an overview about the modules nominal current consumptions Table 7 1 Module Nominal current consumption at the module Nominalcurrent bus consumptions of the BL20 modules BL20 PF 24VDC D 28 mA BL20 PF 120 230VAC D 25 mA BL20 2DI 24VDC P 28mA BL20 2DI 24VDC N 28 mA BL20 2DI 120 230VAC 28 mA BL20 4DI 24VDC P 29 mA BL20 4DI 24VDC N 28 mA BL20 4DI NAMUR 40 mA BL20 E 8DI 24VDC P 15mA BL20 E 16DI 24VDC P 15mA BL20 16DI 24VDC P 45 mA BL20 32DI 24VDC P 30 mA BL20 1AI I 0 4 20MA 41 mA BL2O 2AI I 0 4 20MA 35 mA BL20 1AI U 10 0 10VDC 41 mA BL20 2AI U 10 0 10VDC 35mA
74. dard product line u seecssssssscsessssecssesssecsesssscsssssssssessssecsnssssssscsssssescesscssecssscessecssceseesssceseessecesseeses D301260 1113 BL20 E GW EC 2 1 BL20 philosophy 2 1 2 1 1 2 1 2 2 1 3 2 2 The basic concept BL20 is a modular I O system for use in industrial automation It connects the sensors and actuators in the field with the higher level master BL20 offers modules for practically all applications Digital input and output modules Analog input and output modules E Technology modules counters RS232 interface A complete BL20 station counts as one station on the bus and therefore occupies one fieldbus address in any given fieldbus structure A BL20 station consists of a gateway power distribution modules and I O modules The connection to the relevant fieldbus is made via the bus specific gateway which is responsible for the communication between the BL20 station and the other fieldbus stations The communication within the BL20 station between the gateway and the individual BL20 modules is regulated via an internal module bus Note ER The gateway is the only fieldbus dependent module on a BL20 station All other BL20 modules are not dependent on the fieldbus used Flexibility All BL20 stations can be planned to accommodate the exact number of channels to suit your needs because the modules are available with different numbers of channels in block and slice design A
75. data transmission speeds in bit s Bidirectional Working in both directions Bonding strap Flexible conductor normally braided that joins inactive components e g the door of a switchgear cabinet to the cabinet main body Bus Bus system for data exchange e g between CPU memory and I O levels A bus can consist of several parallel cables for data transmission addressing control and power supply Bus cycle time Time required for a master to serve all slaves or stations in a bus system i e reading inputs and writing outputs Smallest unit connected to a bus consisting of a PLC a coupling element for modules on the bus and a module D301260 1113 BL20 E GW EC 10 1 Glossary Bus system All units which communicate with one another via a bus Capacitive coupling Electrical capacitive couplings occur between cables with different potentials Typical sources of interference are for example parallel routed signal cables contactors and electrostatic discharges Check back interface The check back interface is the interface from the counter module to the internal module bus The bits and bytes are converted by the gateway from the respective type of communication applicable to the fieldbus in to the module specific bits and bytes Coding elements Two piece element for the unambiguous assignment of electronic and base modules Configuration Systematic arrangement of the I O modules of a station Control i
76. default 1 value representation 0 Integer 15 bit sign A setting 1 12 bit left justified 2 Diagnostic 0 release A 1 block 3 Channel 0 activate A 1 deactivate 7 Element 0000 Pt100 200 850 CA to 4 0001 Pt100 200 150 C 0010 Ni100 60 250 C 0011 Ni100 60 150 C 0100 Pt200 200 850 C 0101 Pt200 200 150 C 0110 Pt500 200 850 C 0111 Pt500 200 150 C 1000 Pt1000 200 850 C 1001 Pt1000 200 150 C 1010 Ni1000 60 250 C 1011 Ni1000 60 150 C 1100 resistance 0 100 Q 1101 resistance 0 200 Q 1110 resistance 0 400 Q 1111 resistance 0 1000 Q 1 3 0 Measurement mode 0 2wire A 123 wire D301260 1113 BL20 E GW EC 4 27 Technical features BL20 2AI THERMO PI 2 byte parameters per channel Table 4 36 Module param eters A default setting Byte Bit Parameter name Value 0 1 0 Mains suppression 0 50 HZA 0 60 Hz value representation 0 Integer 15 bit sign A 1 12 bit left justified Diagnostic 0 release A 1 block Channel 0 activate A 1 deactivate to 4 Element 0000 Type K 270 1370 CA 0001 Type B 100 1820 C 0010 Type E 270 1000 C 0011 Type J 210 1200 C 0100 Type N 270 1300 C 0101 Type R 50 1760 C 0110 Type S 50 1540 C 0111 Type T 270 400 C 1000 50 mV
77. dividual module with a separate voltage Gateways without integrated power supply Note i The gateways without integrated power supply unit need an additional power supply module bus refreshing module which feeds the gateway an the connected I O modules 2 2 2 Power distribution modules The power supply for gateways and I O modules is fed to the power distribution modules therefore it is not necessary to supply each individual module with a separate voltage Figure 2 2 Power distribu tion module 2 4 D301260 1113 BL20 E GW EC BL20 components Industri A 2 2 3 Electronics modules standard product line The standard electronics modules contain the I O functions of the BL20 modules power distribution modules digital and analog input output modules and technology modules They are plugged onto the base modules and are not directly connected to the wiring and can be plugged or pulled when the station is being commissioned or for maintenance purposes without having to disconnect the field wiring from the base modules Figure 2 3 Electronics module in slice design left and in Block design right D301260 1113 BL20 E GW EC 2 5 BL20 philosophy 2 2 4 ECO electronics modules New ECONOMY modules with a high signal density and exceptionally low channel price expand the BL20 I O bus terminal system Depending on type up to 16 digital inputs and outputs can be connected on only 13 mm T
78. dule diagnosis QT Mapping TxPDO Device Mapping RxPDO Device Name Gr e gt Adre Einf User Verkn pftr TE Module 3 BL20 1AI U 9 Summarized module diagnosis 0 1 39 0 Eingang T Module 4 6L20 2AI THE 7 Diagnosis message available 0 1 39 1 Eingang Ti Module 1 620 201 249 OT Module bus error 0 1 39 2 Eingang T Module 2 BL20 4DI 24 11 0 configuration changed 0 1 39 3 Eingang Module 5 BL20 2D0 24 sap 0 3 39 4 Eingang 1 Module 6 BL20 E 800 9 Undervoltage UI 0 1 39 7 Eingang WcState OT Overvoltage Usys 0 1 40 0 Eingang InfcData QT Undervoltage Usys 0 1 40 1 Eingang ST Gap 0 1 40 2 Eingang B Zuordnungen QT Master configuration error 0 1 40 3 Eingang ST Gap 0 2 40 4 Eingang Qf Force mode active 0 1 40 6 Eingang nie bus failure 0 1 40 7 Einaana Bee Timestamp Meldung 25 07 2012 13 28 06 378 ms Box 1 BL20 E GW EC 1001 CoE Emergency Hex FFO0 81 00 00 01 01 00 25 07 2012 13 28 06 362 ms Box 1 BL20 E GW EC 1001 CoE Emergency Hex FFOO 81 04 00 02 00 00 25 07 2012 13 28 06 362 ms Box 1 BL20 E GW EC 1001 CoE Emergency Hex FFOO 81 00 00 10 01 00 25 07 2012 13 28 06 347 ms Box 1 BL20 E GW EC 1001 CoE Emergency Hex ff0O 81 00 00 00 01 00 65535 25 07 2012 13 28 06 206 ms Box 1 BL20 E GW EC 1001 Communication re established o 65535 25 07 2012 13 28 03 690 ms Ger t 1 EtherCAT Frame returned gt force reinitializat
79. dules The following table shows the meaning of the diagnostic bits Table 6 14 Design Value Meaning Meaning of the diagnostic bits Byte 1 SWerr SWIRE MASTER The configuration was accepted according to the parameter setting and the SWIRE bus is in data exchange mode 0 Data exchange The bus is in data exchange mode 1 Offline The configuration was not accepted the bus does not switch to data exchange mode SW LED flashing RDY cer SPS SLAVE Parameter setting is faulty The ACTUAL configuration was accepted according to the SET configuration and the data exchange with the higher level is o k 0 Data exchange The bus is in data exchange mode 1 Offline The configuration was not accepted the bus does not switch to data exchange mode SW LED Rdy flashing COM gg Communication SWIRE A communication error is present such as a slave is no longer reached its internal timeout has elapsed or communication is faulty The master cannot carry out data exchange with at least one slave 0 OK No error present 1 faulty An error is present Uswerr Voltage Usy Voltage fault in U y voltage 17 VDC for supplying the SWIRE slaves 0 OK No error present 1 under voltage An error is present GENE Error message RAL egg A j The creation of a function block shows that systems function blocks for the general checking of a slave for any diagnostics messages present only check the first byte
80. dustri A Table 4 40 Byte Bit Parameter name Value Modul OCUS PALAN M 0 current mode 0 0 20mAA eters 1 4 20 mA A default 1 value representation 0 Integer 15 bit sign A setting 1 12 bit left justified 2 reserved to 7 1 Substitute value low byte 2 Substitute value high byte E BL20 2A0 0 4 20MA 3 byte per channel Table 4 41 Byte Bit Parameter name Value Modul Mou iae 0 3 0 current mode 0 0 20 mA A eters 1 4 20 mA A default 1 value representation 0 Integer 15 bit sign A setting 1 12 bit left justified 2 reserved 3 Channel 0 activate A 1 deactivate 4 reserved to7 1 4 Substitute value low byte 2 5 Substitute value high byte D301260 1113 BL20 E GW EC 4 33 Technical features BL20 2AO U 10 0 10VDC 3 byte per channel Table 4 42 Byte Bit Parameter name Value Modul ERDE 003 0 voltage mode 0 0 10VA eters 1 10 10V A default 1 value representation 0 Integer 15 bit sign A setting 1 12 bit left justified 2 reserved 3 Channel 0 activate A 1 deactivate 4 reserved to7 1 4 Substitute value low byte 2 5 Substitute value high byte BL20 2AOHH Table 4 43 Byte Bit Parameter name Value Module param eters A default setting 0 0 Channel 0 activate A channel 1 1 deactivate 1 Diagnostic 0 block A 1 release 344
81. e Comparison active i e the data bits REL_CMP2 STS_CMP2 and FLAG_CMP2 always have a value based on the result of the comparison with the SSI encoder value CLR CMP1 Default status i e reset of FLAG CMP1 not active Reset of FLAG CMP1 active EN CMP1 Default status i e the data bits REL CMP1 STS_CMP1 and FLAG CMP 1 always have the value 0 irrespective of the actual SSI encoder value Comparison active i e the data bits REL CMP1 STS CMP1 and FLAG CMP 1 always have a value based on the result of the comparison with the SSI encoder value STOP Request to read the SSI encoder cyclically Request to interrupt communication with the encoder D301260 1113 BL20 E GW EC 6 15 Integration of the technology modules 6 4 Integration of the SWIRE module BL20 E 1 SWIRE The module can be integrated if the gateway firmware is at least Version 1 51 6 4 1 Dataimage Process input The field input data is transferred from the connected SWIRE BUS to the BL20 E 1SWIREmodule The process input data is the data that is transferred by the BL20 E 1SWIRE module via a gateway to the PLC The transfer is carried out in 8 byte format 4 bits are reserved for each SWIRE slave The following information can be transferred E Contactor coil on off Motor protective circuit breaker off or tripped on E Status of the slave o k diagnostics message present Table 6 7 Byt
82. e Bit7 Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Data structure SWIRE Slave 2 SWIRE Slave 1 2 SWIRE Slave 4 SWIRE Slave 3 3 SWIRE Slave 6 SWIRE Slave 5 4 SWIRE Slave 8 SWIRE Slave 7 5 SWIRE Slave 10 SWIRE Slave 9 6 SWIRE Slave 12 SWIRE Slave 11 7 SWIRE Slave 14 SWIRE Slave 13 8 SWIRE Slave 16 SWIRE Slave 15 The data of SWIRE slave 1 is the data of the first physical slave on the SWIRE bus he remaining slaves are assigned in consecutive order accordingly The meaning of the data of an SWIRE slave depends on the product concerned 6 16 D301260 1113 BL20 E GW EC Integration of the SWIRE module BL20 E 1 SWIRE Industri A The meaning of the data of an SWIRE slave depends on the product concerned Table 6 8 Bit 7 Bit 6 Bit 5 Bit 4 Process input data with SDx free free PKZSTx SIx SWIRE DIL The following table shows the meaning of the data bits Table 6 9 Design Comment Data bits SIx Switch status relay x SIx supplies the switch status of the contactor coil of the SWIRE bus slave as a feedback signal Six makes it possible to check whether the set switch status was executed by a mechanical connection This must take into account the time delay between the setting of an output a mechanical execution and the subsequent feedback signal off Off Contactor coil is switched off on On Contactor coil is switched on PKZSTx Switch status PKZ x off Off The motor protective circuit breaker is off or has trippe
83. e successful transmission of the data segment with RX_CNT New data can now be received TX CNT 0 3 This value is transferred together with every data segment The TX CNT values are sequential The TX CNT values are sequential 00 gt 01 gt 10 gt 11 gt 00 decimal 0 gt 1 gt 2 gt 3 gt 0 Errors in this sequence show the loss of data segments TX_BYTE_ CNT Number of the valid bytes in this data segment In EtherCAT the data segments contain a maximum number of 6 bytes of user data D301260 1113 BL20 E GW EC 6 5 Integration of the technology modules 6 2 Integration of the RS485 422 module 6 2 1 Data image Process input data PZDE The BLxx 1RS485 422 module sends the data received by the device into a 128 byte receive buffer The module then transmits the data segmented via the module bus and the gateway to the SPS The transmission is realized in a 8 byte format which is structured as follows E 6 bytes are used to contain the user data E 1 byte contains the diagnostics data 1 status byte is required to ensure trouble free transmission of the data Figure 6 3 Process input data SPS 6 6 Process input data RSxxx PLC Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit Diagnostic messages Buf Frame HndSh Hw Prm D301260 1113 BL20 E GW EC Integration of the RS485 422 mod
84. ed against overvoltage by varistors or inert gas filled overvoltage arrestors Varistors and overvoltage arrestors must be installed at the point where the cables enter the building 8 1 4 Transmission media For a communication via Ethernet different transmission media can be used coaxial cable 10Base2 thin coax 10Base5 thick coax yellow cable optical fiber 10BaseF twisted two wire cable 10BaseT with shielding STP or without shielding UTP Note i TURCK offers a variety of cable types for fieldbus lines as premoulded or bulk cables with different connectors The ordering information on the available cable types can be taken from the BL20 catalog D301260 1113 BL20 E GW EC 8 3 Guidelines for Electrical Installation 8 2 Potential relationships 8 2 1 General The potential relationship of a Ethernet system realized with BL20 modules is characterized by the following The system supply of gateway and I O modules as well as the field supply are realized via one power feed at the gateway E All BL20 modules gateway Power Feeding and I O modules are connected capacitively via base modules to the mounting rails The block diagram shows the arrangement of a typical BL20 station with Ethernet gateway Figure 8 1 Block diagram ofa BL20 station with EtherCAT gateway 8 4 Service USB 3 T im Module bus CPU
85. egration of the SSI module su sussossnsssnesnnssnennnsnnennnnnnsnnnsnnnnnnsnnnnnsnnnnnnsnnnnsnssnnssnnsnsnnnnsnnsnnnsnnnnnnsnnne 6 10 6 3 1 Data IMG GE C 6 10 Process input data PZDE scssssssesssscssessssssessssssnessssssessssssssssssssscssssssscsssessecssssesscssscesscssssucssscssuesssccsscssscsssesaseesscssseesseesses 6 10 Process output data PZDA ccsssscsssscssesssssssesssssssessessssesssssssessssssscssssesscssesssscssssesscssessssessscessssscssnscesccsnsesscssseesscescssneessessees 6 14 6 4 Integration of the SWIRE module BL20 E 1 SWIRE 6 4 1 Data iMa Ge ce Process input mxdfod rgleme E DiagNOStiCS m xui ct 6 5 Integration of the Encoder PWM module BL20 E 2CNT 2PWM eese eene eene neta tn etna en aene toan 6 26 6 6 Integration of RFID modules BL20 2RFID S A eee eene tenete eere etes enata tona tasto sensa tns tasa enata sens ano 6 26 D301260 1113 BL20 E GW EC 6 1 Integration of the technology modules 6 1 Integration of the RS232 module 6 1 1 Data image Process input data PZDE Process input data is data from the connected field device that is transmitted via the BL20 1RS232 module to the PLC The BL20 1RS232 module sends the data received by the device into a 128 byte rece
86. elect runtime jate as Online Fenster Hilfe system pa EI BIET Auswahl der Zielplattform BC berAMS C BC seriell BCxx50 oder BX ber AMS BCxx50 oder BX seriell Bau Date Target Local 172 28 7 75 1 1 Laufzeit 1 REITEN ONLNE UB LES 3 Programming the Soft PLC is done in the register tab POUs Figure 5 8 TwinCAT PLC Control BL20 E pro MAIN PRG ST P r ogr am n BB Datei Bearbeiten Projekt Einf gen Extras Online Fenster Hilfe TwinCAT PLC aelel xyeppescies est ul Con trol 3 Bausteine en Mm END VAR Bu byCounter byCounter 1 byOutputs byCounter Lade Bibliothek C TWINCAT PLQ LIB STANDARD LIB Target Local 172 28 7 75 1 1 Laufzeit 1 EEE 5 8 D301260 1113 BL20 E GW EC Application example 4 Program variables which are to be mapped to the hardware configuration in the TwinCAT System Manager have to be defined as global variables Figure 5 9 TwinCAT PLC Control BL20 E pro Globale Variablen Definition of the WB Datei Bearbeiten Projekt Einf gen Extras Online Fenster Hilfe GlobalVariables BaT amp amp cn c Variables opp B0D VAR GLOBAL E E Bibliothek STANDARD LIB 5 6 98 11 0 counter AT OBO BYTE l Globale Variablen 1 byOutputs AT QB0 BYTE byCounter BYTE Variablen_Konfiguration VAR_CO wAIT AT WO WORD Alarmkonfiguration END VAR 32 Arbeitsbereich Bibliotheksverwalter E Logbuch ig Steuerungskonfiguration
87. ement value range error Only in the measurement range 4to 20 mA 1 open circuit n 1 0 Measurement value range error Only in the measurement range channel 2 4to20mA 1 open circuit BL20 1AI U 10 0 10VDC Table 4 14 Diagnosis Bit Diagnostic BL20 1AI U Byte 10 0 10VDC n channel 1 0 Measurement value range error Only in the measurement range 4to 20 mA D301260 1113 BL20 E GW EC Technical features BL20 2Al U 10 0 10VDC Table 4 15 Diagnosis Bit Diagnostic BL20 2AI U Byte 10 0 10VDC n channel1 O measurement value range error A n channel 2 0 measurement value range error A BL20 2AI PT NI 2 3 Table 4 16 Diagnosis Bit Diagnostic BL20 2AI PT NI Byte 2 3 n 0 Measurement value range error threshold channel 1 Underflow diagnostics in 196 ofthe positive measurement temperature measurement range end value ranges only 1 open circuit 2 Short circuit threshold in temperature measurement 5 Q loop resistance ranges only 3to7 reserved BL20 2AI THERMO PI Table 4 17 Diagnosis Bit Diagnostic BL20 2Al Byte THERMO PI n 0 Measurement value range error threshold 196 ofthe positive measurement range end value 1 open circuit in temperature measurement ranges only 2to7 reserved 4 20 D301260 1113 BL20 E GW EC Status indicators diagnostic messages gateway Industri A B
88. es supported by BL20 3 16 D301260 1113 BL20 E GW EC Industri A 4 Technical features 4 1 Function p VYW Pe 4 2 4 2 Ee a e E 4 3 4 2 1 is laYa Sere i e X 4 4 4 2 2 General technical data of a station ssssssssssssscssecssccsseesssscessesesscesscecsueecsueecsnecssnscesseessecsacscsuscesssccescessuccesnecessecesseessnseetse 4 4 Approvals AMC M i M 4 7 4 2 3 Technical data for the push in tension clamp terminals eese eene tentent tte na tts na ttt na ttai 4 7 4 3 Connection options at the gateway 4 crece eese eene e eee eene eres en os etn sees tease tu steps tene ense eese tenes eese ene tne se 4 8 4 3 1 ge eeemerC 4 8 4 3 2 Field bus connection via Ethernet switch sssccsscssssscssecssssccsssssssscsssccsssecsssessssessnscesseecsseccsseessccesseccsnccesnecesseeesseesnseesnseesnseess 4 9 4 3 3 Service interface connection mini USB female connector tnter trennen tento to teste tnk nn 4 10 4 4 RP IERGESERIP IMMISIT T m 4 11 4 5 zin e 4 11 4 6 Synchronization of the station configuration oursarsonssnssnnssnesnnssnssnnsnnssnnsnnssnnsnnsnnnsnnssnnsnnsunssnnsunnsn
89. etected Address List OxF040 This object contains a list of slot numbers addresses of the modules actually connected to the gateway during a gateway restart or if a Detected Module Command 0xF002 has been executed An empty slot is shown as O Table 3 11 Sub index Data Type Description Detected Address List 1 UNSIGNED16 Address slot no number of the module detected at slot 1 after the gateway 2 UNSIGNED16 Address slot no number of the module detected at slot 2 after the gateway 72 UNSIGNED16 Address slot no number of the module detected at slot 72 after the gateway D301260 1113 BL20 E GW EC EtherCAT according to the Modular Device Profile Detected Module Ident List 0xF050 Industri A Contains the module ident numbers of the modules physically present in the BL20 station Table 3 12 Detected Module Ident List Sub index Data Type Description 1 UNSIGNED32 Module ident number of the module detected at slot 1 after the gateway 2 UNSIGNED32 Module ident number of the module detected at slot 2 after the gateway 72 UNSIGNED32 Module ident number of the module detected at slot 72 after the gateway Device Status Object 0xF100 This object contains the gateway status word It is mapped in a TxPDO and can thus be read cyclically by the EtherCAT Master Byte Bit7 Bit 6 Bit5 Bit4 Bit3 Bit2 Bit 1 Bit 0 0 Summa Under Vo configu Module bus Diagnosis rized rati
90. eway of the product line BL20 ECO BL20 E GW EC The following chapter contain a short BL20 description a description of the field bus system EtherCAT exact information about function and structure of the field bus specific BL20 gateway for EtherCAT as well as all bus specific information concerning the connection to automation devices the maximum system extension etc The bus independent I O modules of the BL20 system as well as all bus independent information as mounting labeling etc are described in a separate manual BL20 I O modules TURCK documentation no German D300716 English D300717 In addition to that the manual contains a short description of the l O ASSISTANT the project planning and configuration software tool for TURCK I O systems D301260 1113 BL20 E GW EC Description of symbols used Industri A 1 2 Description of symbols used A Warning This sign can be found next to all notes that indicate a source of hazards This can refer to danger to personnel or damage to the system hardware and software and to the facility This sign means for the operator work with extreme caution A Attention This sign can be found next to all notes that indicate a potential hazard This can refer to possible danger to personnel and damages to the system hardware and software and to the facility Note This sign can be found next to all general notes that supply important information about one
91. follow the instructions under Install EtherCAT driver page 5 18 6 Now scan the network for EtherCAT nodes 7 Confirm the dialog box for reloading the devices with OK Figure 5 3 Scanning the EtherCAT network 5 4 BL20 E GW EC tsm TwinCAT System Manager Datei Bearbeiten Aktionen Ansicht Optionen Hilfe ad 5 cy we x El SYSTEM Konfiguration Bl SPS Konfiguration Nocken Konfiguration A Konfiguration EJA Ger te O DPRAM erat 1 EtherCAT Bee RII mungen 9 Onboard AndustialNet Broadcom NetXtreme Gigabit Ethernet Ger tename NDEVIC N CAB3D86 3906 4DB7 ABDA DDEEDC76A82 MAC Adresse 00 17 08 4c 82 4e Kompatible Ger te Freerun Zyklus ms Suchen nach Ger ten Lokal 172 28 7 75 1 1 ES DA D301260 1113 BL20 E GW EC Application example 8 The EtherCAT nodes are now read in and added automatically to the I O Configuration 9 Ifthe xml file has been installed as described in Adding a device specific xml file page 5 3 the BL20 station is read in as follows Figure 5 4 BL20 E GW EC tsm TwinCAT System Manager BL2 0 s ta tion Datei Bearbeiten Aktionen Ansicht Optionen Hilfe with xml file DG x ABEE MS Boy He Sx e9sgslmeeme E SYSTEM Konfiguration A ses Konfiguration EC BL20 E TIU TUE BL20 E Prozessabbild Name Box 1 BL20 E GW EC amp Bi Standard Typ BL2O E GW EC QT Eing nge Ba Ausg nge Kommentar
92. g on the parameter setting 0 active A Group diagnostics is activated 1 inactive Group diagnostics is not activated Byte 2 U AUXERR Error message Voltage U ux Activate system diagnostics U yxerr Uauxerr Will generate an error message as soon as the power supply goes below a level at which the function of the relays is not guaran teed 0 activeA Error message U yxerr activated 1 inactive Error message U uxerr NOt activated Byte 3 reserved Byte 4 reserved Was up to version VN 01 03 Lifeguarding time of the SWIRE slaves Lifeguarding time of Life the SWIRE slaves guarding WE time only 0x02 OxFF Lifeguarding time of the SWIRE slaves up to 0x64 A Setting of lifeguarding time of SWIRE slaves timeout time up to auto versi n matic reset of the slaves in the event of communication failure n VNO1 03 10ms Default 1s OxFF OxFF Lifeguarding off Byte 5 6 SD pag Input bit communication error slave x Slave diagnostics message from Byte 1 Bit 7 is accepted in the feedback interface as Bit 4 0 active A SDpiagSX 1 inactive SDbjacSX is not accepted D301260 1113 BL20 E GW EC 4 45 Technical features Table 4 48 Parameter Value Module param name eters Byte7 8 reserved Byte 9 to 24 Device ID TYPE setting for the LIN slave at position x on the SWIRE bus slave x 0x20 SWIRE DIL MTB OxFF OxFF Basic setting no slave BL20 E 2CNT 2PWM see separate manual for the modu
93. his high connection density considerably reduces the mounting width required for typical applications All advantages at a glance Space saving thanks to 16 channels on 13 mm 0 51 inch width Cost saving thanks to electronics with integrated connection level High signal density Tool less connection via push in spring type terminal technology for simple and fast mounting Flexibility in combining them with standard I O modules in tension clamp technology the standard and the ECO gateways Simple assembly reduces error sources Figure 2 4 ECO I O module 2 6 m snaunsun i LLLLLLLLL D301260 1113 BL20 E GW EC BL20 components 2 2 5 Base modules Thefield wiring is connected to the base modules These are constructed as terminals in block and slice designs and are available in the following variations with either tension clamp or screw connections 2 3 wire 2 channel 4 wire 2 channel and 4x2 3 wire 4 channel Figure 2 5 Base module with tension clamp connec tion Figure 2 6 Base module with screw connection Figure 2 7 Base module in block design D301260 1113 BL20 E GW EC 2 7 BL20 philosophy 2 2 6 End plate An end plate on the right hand side physically completes the BL20 station An end bracket mounted into the end plate ensures that the BL20 station remains secure on the mounting rail even when subjected to vibration Figure 2 8 End plate 2
94. ic software l O ASSISTANT The service interface is designed as a 5 pole mini USB connection In order to connect the gateway s service interface to the PC a commercial cable with mini USB connector commonly used for e g digital cameras is necessary Figure 4 5 Mini USD female connector atthe T GW gateway Os SERVICE L RUN ERR 4 10 D301260 1113 BL20 E GW EC Address assignment Industri A 4 4 Address assignment EtherCAT provides automatic addressing of the network nodes by the EtherCAT master Hardware address assignment at the BL20 gateway is not necessary 4 5 ESI file The actual ESI file ESI EtherCAT Slave Information for gateway BL20 E GW EC BL20 E GW EC xml can be downloaded from our homepage www turck de Concerning the usage of the xml file in TwinCAT please read Adding a device specific xml file page 5 3 4 6 Synchronization of the station configuration In EtherCAT saving the current configuration Configured Module Ident List 0xF030 of the BL20 sta tion as actual configuration Detected Module Ident List 0xF050 to the non volatile memory of the gateway is done either via object access in the software see Module List Handling Object 0x2000 page 3 14 or via the DIP switch no 1 at the gateway 4 6 1 Synchronization via software using object access See Module List Handling
95. ile 0xF000 The modular device profile object contains all information to interpret the objects of the object area of the modules Access RO not PDO mappable Table 3 8 Sub Name Data Type Use Details bad Device index M mandat nn O optional C conditional 0 Number of UNSIGNED8 M BL20 5 entries Padding UNSIGNED8 1 Index UNSIGNED16 M Maximum number of objects per distance module BL20 10 2 Maximum UNSIGNED16 M BL20 72 modules number of modules 3 10 D301260 1113 BL20 E GW EC EtherCAT according to the Modular Device Profile Industri A Table 3 8 Sub Name Data Type Use Details HE index M mandat TOME O optional C conditional 3 General UNSIGNED32 C Available sub indices in General configuration configuration objects 0x8xx0 see also Configuration Data Object Area 0x8xxx page 3 7 Bit 0 1 0x8xx0 sub index 1 Bit 1 1 0x8xx0 sub index 2 etc 4 General UNSIGNED32 C Available sub indices in General information information objects 0x9xx0 see also Information Data Object Area 0x9xxx page 3 9 Bit 0 1 0x9xx0 sub index 1 Bit 12 1 0x9xx0 sub index 2 etc 5 Module PDO UNSIGNEDI6 C BL20 0 group of device Detected Module Command 0xF002 This object allows a directed scanning of the module bus in case of a necessary module exchange The object has 3 sub indices Table 3 9 Sub index Meaning Detected Module 0xF002 01 Command Comma
96. ing j 2 9 options x e ATS 35 muanmuana B mounting rail 8 78 89 6 8 6 6 6 6 C mounting plate A N N N N N N Mount the mounting rails over a large surface area and with a low impedance to the support system using screws or rivets Remove the isolating layer from all painted anodized or isolated metal components at the connection point Protect the connection point against corrosion for example with grease caution use only suitable grease 8 6 D301260 1113 BL20 E GW EC Shielding of cables Industri A 8 4 Shielding of cables Shielding is used to prevent interference from voltages and the radiation of interference fields by cables Therefore use only shielded cables with shielding braids made from good conducting materials copper or aluminum with a minimum degree of coverage of 80 The cable shield should always be connected to both sides of the respective reference potential if no exception is made for example such as high resistant symmetrical analog signal cables Only then can the cable shield attain the best results possible against electrical and magnetic fields A one sided shield connection merely achieves an isolation against electrical fields A Attention When installing please pay attention to the following the shield should be connected immediately when entering the system the shield connection to the shield rail should be of low impedance the stripped cable ends
97. ing of the 4 bit process output data on an SWIRE DIL device Table 6 11 Bit 7 Bit 6 Bit5 Bit 4 Process output data with free free free SOx SWIRE DIL The following table shows the meaning of the data bits Table 6 12 Design Status Comment Data bits SOx relay x relay x SOx is transferred as the switch status of the contactor coil from the SWIRE bus master to the appropriate SWIRE bus slave 0 off Off Contactor not switched on 1 on On Contactor switched on 6 18 D301260 1113 BL20 E GW EC Integration of the SWIRE module BL20 E 1 SWIRE Industri A Diagnostics Table 6 13 Bit7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 Diagnostic data SWIRE Byte 1 GENERA Uswerr free COM free RDYgas free SWerr Lepr Byte 2 free Unuxerr YPepe free PKZenr free SDyRR free TYP erp Feld Byte3 TYP4458 TYPQ457 TYPQ4S6 TYPeppS5 TYPQ454 TYPQ453 TYPg4S2 TYP rpeS Byte 4 TYP ERR TYPepr TYPepr TYP Egr TYP ERR TYP Erg TYP ERR TYP ErRS9 S16 S15 S14 S13 S12 S11 S10 Slave diagnostics bit field Byte5 SD amp 458 SDeppS7 SDerrS6 SDerrS5 SDerrS4 SDerrS3 SDerrS2 SDerrS1 Byte6 SD amp 4516 SDeerS15 SDerrS14 SDerrS13 SDeppS12 SDergS11 SDerrS10O SDerrS9 PKZ field Byte PKZQ458 PKZepgS7 PKZeppS6 PKZerrS5 PKZerrS4 PKZ rrS3 PKZ rrS2 PKZ51 Byte 8 PKZERR PKZerr PKZerr PKZear PKZERR PKZERR PKZERR PKZErRS9 S16 S15 S14 S13 S12 S11 S10 D301260 1113 BL20 E GW EC 6 19 Integration of the technology mo
98. ing the C rail as protective earth and for the power supply with relay modules 8 DI PF 2DO gco 2DO 2DI PF NO NC NO NC eoe o0 o0 00 WOAGT Amar mu 2 eo 00 o0 00 12 2212 2212 2212 22 mE NE EE NE O schiene 24000 OO 14 2414 2414 2414 24 SBBC SBCS SBCS SBCS SBCS Cross connecting relay module roots is achieved by the use of jumpers The corresponding wiring diagram including the jumpers can be found the manuals for BL20 I O modules German D300716 English D300717 7 2 5 Direct wiring of relay modules As well as the options mentioned above relay modules can be wired directly In this case base modules without C rail connections should be chosen to guarantee the potential isolation to the adjoining modules 7 8 D301260 1113 BL20 E GW EC Protecting the service interface on the gateway Industri A 7 3 Protecting the service interface on the gateway During operation the label protecting the service interface and the DIP switches must remain in place due to EMC and ESD requirements 7 4 Plugging and pulling electronics modules Attention Plugging and pulling of electronics modules is not allowed in EtherCAT If modules are pulled or plugged during operation the process data exchange is interrupted immediately This can lead to undefined statuses of individual inputs and outputs of different modules 7 5 Extending an existing station Attention Please note that extensions to the station
99. ion 25 07 2012 13 27 54 300 ms Ger t 1 EtherCAT Frame missed 10 times frame no 0 Lokal 172 28 7 75 1 1 D301260 1113 BL20 E GW EC 5 17 Connection of the EtherCAT gateway to the TwinCAT Soft PLC 5 1 9 Install EtherCAT driver 1 Search your system for EtherCAT Real Time compatible network interface cards 2 Open the dialog box Installation of TwinCAT RT Ethernet Adapters via the Compatible device button in the register tab Adapter of the EtherCAT device 3 Select the network interface card to be used and install the EtherCAT driver via the Install button Figure 5 21 Installation of the EtherCAT driver 5 18 z BL20 E GW EC tsm TwinCAT System Manager Ose SR 5 685548 FI FB ORNS amp sQsleee e c BB SYSTEM Konfiguration cg B SPS Konfiguration Allgemein Adapter EtherCAT Online CoE Online Vj Nocken Konfiguration BM Eja Konfiguration Network Adapter Bl EjA Ger te DPRAM E Ger t 1 EtherCAT 8 Zuordnungen Beschreibung Ger tename ju MAC Adresse 00 00 00 00 00 00 Installation of TwinCAT RT Ethernet Adapters Ethernet Adapters Update List B Installed and ready to use devices E9 Compatible devices Install Incompatible devices Y E USB Office HighSpeed USB Ethemet Adapter 2 ndustrialNe om Netxtreme Gigabit Ethernet Unbmd 9 Drahtlose Netzwerkverbindung Intel R PRO Wireless 39454BG Networ
100. ional PE terminal which is available as an accessory The C rail is not interrupted by the modules of the BL20 ECO products It is connected through the modules connection level But an access to the C rail is not possible Note For information about introducing a BL20 station into a ground reference system please read chapter 7 7 6 D301260 1113 BL20 E GW EC Power supply Figure 7 4 PF 2D0 ES 2DO 2D PF 2DO 2DI 2DO 2DI Using the C rail m as a protective u m u Ki earth EM Nm UM M so PE ane A 6 Y 2i 21 T 11 T 21 A OOF 4 99 9 S Q Q gi 3 9 ee L 99 E A OC 23 C rail PE 26 C J C Schiene PEN SBB BBC SBC SBBC SBC SBB gt x m Ium m 8 5 am O N y y lt gt 2 2 mm 00 C BE BBC SBC C rails can be used for a common voltage supply 24 V DC when relay modules are planned To accomplish this the load voltage is connected to a Power Feeding module with the BL20 P4x SBBC base module All the following relay modules are then supplied with power via the C rail Attention When relay modules are planned and the C rail is used for a common voltage supply a further power distribution module must be used for the potential isolation to the following modules The C rail can only again be used as a PE following potential isolation D301260 1113 BL20 E GW EC 7 7 Guidelines for station planning Figure 7 5 Us
101. istant according to IEC 68 2 27 18 shocks sinusoidal half wave 15 g peak value 11 ms in each case in direction per space coordinate Resistance to repetitive shock according to IEC 68 2 29 1 000 shocks half sinus 25 g peak value 6 ms in each case in direction per space coordinate D301260 1113 BL20 E GW EC 4 5 Technical features 4 6 Drop and topple Height of fall weight 10 kg 1 0m Height of fall weight 10 to 40 kg 0 5m Test runs 7 Device with packaging electrically tested printed circuit board Electromagnetic compatibility EMC according to EN 50 082 2 Industry Static electricity according to EN 61 000 4 2 Discharge through air direct 8kV Relay discharge indirect 4 kV Electromagnetic HF fields according to 10 V m EN 61 000 4 3 and ENV 50 204 Conducted interferences induced by HF fields 10V according to EN 61 000 4 6 Fast transients Burst according to EN 61 000 4 4 Emitted interference according to EN 50 081 2 industry according to EN 55 011 Class A Group 1 i rhe This device can cause radio disturbances in residential areas and in small industrial areas residential business and trading In this case the operator can be required to take appropriate measures to suppress the disturbance at his own cost D301260 1113 BL20 E GW EC Technical data Approvals and tests Industri A Table 4 2 Designation
102. it Parametername Value Meaning Module param eters 000111 reserved 001000 current 0 20 mA Standard 001001 current 4 20 mA Standard 001010 current 0 20 mA NE 43 001011 current 4 20 mA NE 43 001100 current 0 20 mA Extended Range 001101 current 4 20 mA Extended Range 1110 reserved 1111 deactivated 4 value representa 0 0 Integer 15 bit sign A tion Kx eos 1 1 12 bit left justified 5 Diagnostics Kx 0 release A 1 block 647 substitute value 00 output substitute value options 01 hold current value 10 output min value 11 output max value 1 4 7 substitute value 10 low byte Ax 2 5 8 substitute value 11 Ax high byte D301260 1113 BL20 E GW EC 4 37 Technical features 4 8 4 Technology modules BL20 1RS232 Table 4 45 Byte Bit Module param eters Parameter name A default 0 3 setting toO Data rate 0000 300 bps 0001 600 bps 0010 1200 bps 0100 2400 bps 0101 4800 bps 0110 9600 bps A 0111 14400 bps 1000 19200 bps 1001 28800 bps 1010 38400 bps 1011 57600 bps 1100 115200 bps 5 4 reserved DisableReducedCtrl Constant setting The diagnostic messages are shown in Byte 6 of the process input data independently from Byte 6 of the process output data contains 2 bits with which the receive or transmit buffer can be cleared Byte 7 contains the status or control byte User data are represented in Bytes 0 5 Diagnostic Diagnos
103. ive buffer The module then transmits the data segmented via the module bus and the gateway to the SPS The transmission is realized in a 8 byte format which is structured as follows E 6bytesare used to contain the user data E 1byte contains the diagnostics data E 1 status byte is required to ensure trouble free transmission of the data Figure 6 1 Process input data SPS 6 2 Process input data RSxxx PLC Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit Diagnostic messages reserved D301260 1113 BL20 E GW EC Integration of the RS232 module Industri A Meaning of the data bits process input Table 6 1 Designation Value Description Meaning of the data bits BufOvfl FrameErr process input a HndShErr HwFailure PrmErr 0 255 Diagnostic information correspond to the diagnostic information in the diagnosis telegram These diagnostics are always displayed and independent to the setting of the parameter Diagnostics STAT 1 The communication with the data terminal equipment DTE is not disturbed 0 The communication with the data terminal equipment DTE is disturbed A diagnosis message is generated if the parameter Diagnostics is set to 0 release The diagnostic data show the cause of the communication disturbance The user has to set back this bit in the proces
104. k Conne Enable Bg 1394 Verbindung 1394 Netzwerkadapter DES isable Show Bindings E Bus mA Verkr Config Mode 4 The network interface card to be used can now be chosen in the TwinCAT System Manager using the Search button D301260 1113 BL20 E GW EC Industri A 6 Integration of the technology modules 6 1 Integration of the RS232 module cuussousennssonssnnnsennsennsnnnnsnnnnsnnsnnnnsnnnnennnnnnssnnnssnnssnnsnnnnsnnnssnnnssnnnsnnnene 6 2 6 1 1 Dataimagen un e T asa 6 2 Process inp t data PZDE u antenne Re Reed neo PV istai 6 2 Process output data PZDA ccsssssssssssesssesssesssesssesssssssecssessssssscssscssscssscssscsssesssccssessscsssecssccsssesecsssceasessesssecssssssecsuessneeaseeessesse 6 4 6 2 Integration of the RS485 422 module 2u 220r00r00n00nr0nnonnsnnnonnsonnsnnennnsnnsnnnnnsnnssnnsnnsnnssnnsnnnsnnsnnssnnnennsnnne 6 6 6 2 1 Data WMA 6 6 Process input data PZDE sscsiscsssssccvssscssssescssvssosssssessevssscssscssessvsciavenssssdoecouoeas eveessestousosvaes sbuacosvacsssbustbasbascscvsssderousdovanes evavesssbes 6 6 Process output data PZDA ccsssssssssssssssesssesssesssecssesssesssessscssscssscssscsssessscsssessscsssesssesssesssessssesscsassesscesscesscsuesssscssessneesscseseense 6 8 6 3 Int
105. k from electrostatic discharge when disassembled Avoid touching the bus connections with bare fingers as this can lead to ESD damage D301260 1113 BL20 E GW EC 9 BL20 Approvals for Zone 2 Division 2 Note i The Zone 2 approval certificates for BL20 can be found in a separate manual for approvals D301255 at www turck de D301260 1113 BL20 E GW EC 9 1 BL20 Approvals for Zone 2 Division 2 9 2 D301260 1113 BL20 E GW EC Industri A 10 Glossary Acknowledge Acknowledgment of a signal received Active metal component Conductor or conducting component that is electrically live during operation Address Identification number of e g a memory position a system or a module within a network Addressing Allocation or setting of an address e g for a module in a network ARP Used to definitely allocate the hardware addresses MAC IDs assigned worldwide to the IP addresses of the network clients via internal tables Analog Infinitely variable value e g voltage The value of an analog signal can take on any value within certain limits Automation device A device connected to a technical process with inputs and outputs for control Programmable logic controllers PLC are a special group of automation devices B Baud Baud is a measure for the transmission speed of data 1 Baud corresponds to the transmission of one bit per second bit s Baud rate Unit of measurement for measuring
106. le D301224 BL20 I O MODULES BL20 E 2CNT 2PWM chapter 2 BL20 2RFID S see RFID documentation www turck de 4 46 D301260 1113 BL20 E GW EC Industri A 5 Connection of the EtherCAT gateway to the TwinCAT Soft PLC 5 1 eT e EIE CHI REED t 5 2 5 1 1 eI A t Used sSofEtWalee ttti ntt etie rte tpe a Dt a nete epe tie e re Tete riae pese diac Used hardware eerta 5 1 2 Adding a device specific xml file ss 5 1 3 Hardware configuration in the TwinCAT System Manager 5 1 4 Parameterization of BL20 I O modules 5 1 5 Programming the Soft PLC 5 1 6 Connection of hardware and Program ssssscccssssccsssecssssecessseecsnseecessseeessseecesssecesasecesnscecsnssecesnseeesnseessnaseeesaseessnseeseaneeeess Generate M ppiNngs nennen E vk vu uu 5 1 7 Process data exchange 5 1 8 Diagnosis in TwinCAT P 5 1 9 Install EtherCAT driver m D301260 1113 BL20 E GW EC 5 1 Connection of the EtherCAT gateway to the TwinCAT Soft PLC 5 1 Application example 5 1 1 General In order to configure the connection of a BL20 gateway for EtherCAT to an EtherCAT network the software TwinCAT from Beckhoff Automation is used The hardware is configured in the TwinCAT System Manager programming is done by means of the tool TwinCAT PLC Control The integrated Soft P
107. lue Table 4 43 Byte Module param eters A default setting 10 HART variable C Defines the channel of which the HART vari able is read 0 channel mapping 0 channel 1 1 channel 2 647 variable mapping Defines which HART variable of the connected sensor is mapped into the module s process data 0 PV primary variable 1 SV 2nd variable 2 TV 3rd variable 3 QV 4th variable HART variable D Defines the channel of which the HART vari able is read 0 channel mapping 0 channel 1 1 channel 2 647 variable mapping Defines which HART variable of the connected sensor is mapped into the module s process data 0 PV primary variable 1 SV 2nd variable 2 TV 3rd variable 3 QV 4th variable BL20 E 4AO U I 3 byte parameters per channel Bit Parameter name Value Table 4 44 Byte Module param eters A default 0 3 6 9 setting 4 36 0to3 Operation mode 000000 voltage 10 10 V DC Standard A Kx 000001 voltage 0 10 V DC Standard 000010 voltage 10 10 V DC PA NE 43 000011 voltage 0 10 V DC PA NE 43 000100 voltage 10 10 VDC Extended Range 000101 voltage 0 10 VDC Extended Range 000110 reserved D301260 1113 BL20 E GW EC Parameters of the modules Industri A Table 4 44 Byte B
108. n Strg m Einf gen mit Verkn pfungen Alt Strg Y Einf gen eines E A Ger tes Typ 10 Beckhoff Lightbus sa Profibus DP Hage Profinet cia CANopen 38 DeviceNet Ethemet I P fff SERCOS interface e EtherCAT Se EtherCAT Slave ae EtherCAT Automation Protocol Netzwerkvariablen MY EtherCAT Automation Protocol via EL6601 EtherCAT Zielsystem H A Ethernet nur PC H USB Br Interbus S Onu ex E H Beckhoff Hardware O nur BX 8 Verschiedenes O Alle Name Ger t 1 Lokal 172 28 7 75 1 1 KeJIC LEG 3 In order to establish communication between your PC and the EtherCAT network an EtherCAT driver for the network card is needed D301260 1113 BL20 E GW EC 5 3 Connection of the EtherCAT gateway to the TwinCAT Soft PLC 4 Ifthe driver is already installed the following dialog pops up after having added the EtherCAT interface Figure 5 2 Selecting the network inter face card Ger t an Adresse gefunden On board IndustrialNet Broadcom Netxtreme Gigabit Ethemet Twin Drahtlose Netzwerk verbindung Intel R PRO Wireless 39454BG Netwc Abbruch USB Office HighSpeed USB Ethemet Adapter 2 Paketplaner Minipc Unbenutzt Od alle 5 Select the network interface card to be used Note If the driver has not been installed yet close the dialog box and first of all install the Beckhoff EtherCAT driver for the network interface card to be used To do so please
109. n00n000n00n00n00nnssnssnnssnssnnsnnnsnnsnnssnnsnnssnnsnnsnnssnnssnssnnsnnnsanee 6 6 Data WAG RR 6 6 Integration of the SSI module scussonsssonssonnsonnssnnssnssonnnsnnsnonssnnnsnnnssnnsnnnnsnnnsnnnssanennnnssnnssnnennnnsnnnssanenennne 6 10 Data IMAG E EFE EN 6 10 Integration of the SWIRE module BL20 E 1 SWIRE uuesonesonnsonsssonenonssnnnsnonsnnnssnnnsnanenenssnnnsnnnennnssnnnsnnnennnnne 6 16 Data DT Ce T 6 16 Integration of the Encoder PWM module BL20 E 2CNT 2PWM zu sursorsoossonsonssnssnnssnssonsnnssnnsnnssnnsnnnsnnnnne 6 26 Integration of RFID modules BL20 2RFID S A eurssrssossnsssnssnssnnsnnssnnsnnssnnsnnnsnnsnnnsnnsnnnsnnsnnssnnsnnnnnsnnsnnnennnnnne 6 26 Guidelines for station planning Module arrangemien tinisississieccsseeccccsescstessseuesencstsestesocsassosstaasseceetonsssinadecseosesonsavacdeessesds ev eb eve Ee eT S dete eve sud ee curd 7 2 Random module arrangement are rete eter ehe e RR Ride S ke ph espe edet ndi 7 2 Complete planning eee Rer ee e PUR e ER e ERE Eee edes Dee nl o eee e eR ERR eoe Eve e esee nde 7 2 MaximuimsystemrextenslO aio efte ente petri an aani N Ea e Roi petet ansieae ra ipu een TT oa Tbe e era e reed e 7 3 Power supply RR 7 5 Power supply to the gateway caste Rc RT HART RET e RURSUS ARN MIRI RS ee EE EN ERN 7 5 Module bus refreshing eee Intt teet Rite e tee eee ee ce tete dee e ecu Rede ct toe edet eet t 7 5 Creating potential
110. nTrans Demo Strg H Strg Shift F4 BQ eee E 3 gt A Online Strg F4 L20 E Standard Ger t 1 EtherCAT ynchron L20 E Prozessabbild Id 4 erat 1 Prozessabbild Id 1 D Zeige A gt B O Zeige B gt A Ctri E Ctr T L sche unbenutzte Variablen Typen Variablenverkn pfung pr fen iol Prozesswert K2 Dl Prozesswert K3 Prozesswert K4 Prozesswert KS Prozesswert K6 DL Prozesswert K7 Prozesswert K m wcstate E InfoData 8 Zuordnungen standard Ger t 1 EtherCAT v Box 4 BL20 E GW EC Image B Ger t 1 Prozessabbild 1536 Bytes Server Port Timestamp Meldung 65535 18 06 2012 10 59 54 699 ms Box 1 BL20 E GW EC 1001 state change to OP finished E Q 65535 18 06 2012 10 59 52 755 ms Box 1 BL20 E GW EC 1001 abnormal state change from OP to SAFEOP with code Ox1b Sync manager watchc TCPLC PlcAu 18 06 2012 10 59 52 652 ms PLC Download 15 Symbols 11 DataTypes m lt l gt D301260 1113 BL20 E GW EC Labai 1790077011 Se 5 13 Connection of the EtherCAT gateway to the TwinCAT Soft PLC 5 1 7 Process data exchange 1 The actual l O configuration is downloaded to the gateway using he activate configuration button Figure 5 16 Activate I O configuration BL20 E GW EC tsm TwinCAT System Manager Datei Bearbeiten Aktionen Ansicht Optionen Hilfe Ose SR en SEE BL20 E BL20 E Image
111. nd 0xF002 02 Status 0xF002 03 Response Executing a Detected Module Command 1 Writing any value to sub index 0xF002 01 activates the scan of the module bus 2 The scan was successful if sub index 0xF002 03 Response contains 0 after the scan 3 If newor missing modules are detected the list of module IDs Detected Module Ident List 0xF050 as well as the list of slot numbers Detected Address List OxF040 are updated 4 Allother objects remain static and are only updated following a power reset D301260 1113 BL20 E GW EC 3 11 EtherCAT features supported by BL20 Configured Module Ident List 0xF030 Contains the module ident numbers of the modules configured in the master for the BL20 station The EtherCAT Master downloads the module ident list to the BL20 gateway and the gateway compares this list to the expected module configuration In case of a difference between this list and the list in object OxF050 see Detected Module Ident List 0xF050 page 3 13 the write request on the specific sub object will be denied with SDO Abort Code 0x08000020 Table 3 10 Sub index Data Type Description Configured Module Ident List 1 UNSIGNED32 Module ident number of the module configured at slot 1 after the gateway 2 UNSIGNED32 Module ident number of the module configured at slot 2 after the gateway 72 UNSIGNED32 Module ident number of the module configured at slot 72 after the gateway D
112. ne sub object in the diagnosis data area starting with sub index 1 Here only the last diagnosis message of a channel can be read Note m Older diagnosis messages can be read from the Diagnosis History Object see Diagnosis History Object 0x10F3 page 3 5 This objects and the corresponding sub objects only exists if the corresponding module supports diagnosis data 3 9 EtherCAT features supported by BL20 3 1 5 Device Parameter Area The device parameter area contains all parameters which belong to the EtherCAT device gateway The BL20 gateway supports the mandatory objects of the Modular Device Profile as well as the objects OxF100 and OxF200 which are mapped into the process data Table 3 7 Index Name Device param eter area for BL20 OxF000 Modular Device Profile see page 3 10 OxF002 Detected Module Command Scan of the module bus for the actually connected modules after a possible module exchange see page 3 11 OxF030 Configured Module Ident List List of the configured modules see page 3 12 OxF040 Detected Address List List of the slot numbers of the I O modules at the gateway An empty slot is shown as 0 page 3 12 OxF050 Detected Module Ident List List of the detected modules see page 3 13 OxF100 Device status TxPDO mappable see page 3 13 OxF200 Device status TxPDO mappable see page 3 13 0x2000 Module List Handling Object see page 3 14 Modular Device Prof
113. nne 4 6 1 Synchronization via software using object ACCESS sesecsssecssssessessseecescesseecssecssseccseecsssecssscessteesseseeseesseeeeseessseecsneessneesies 4 6 2 Synchronization via hardware using the CFG switch 4 7 Status indicators diagnostic messages gateway 4 7 1 Diagnostic messages via LEDs sse LED dIS pII y D 4 7 2 Device Status Object eterne nnne 4 7 3 Emergency telegrams eerte ttes Structure of the Emergency frames sss 4 7 4 VOmodule dono de 4 8 Parameters of themodules sisccssicsssscsccsssessecescossccussessstosssccscsncseseseoassusseensesesseasssucccensosesosesssucesoasosvoeseseos 4 25 4 8 1 Digital TUIS TP dapi 4 25 4 8 2 Analog annlduec c 4 25 4 8 3 Analog output modules i am P HE DR RI re ROTER HE Ted ee eroe i ree terius 4 33 4 8 4 Technology Modules R 4 38 D301260 1113 BL20 E GW EC 4 1 Technical features 4 1 Function BL20 gateways for EtherCAT are used to connect BL20 IO modules to an EtherCAT network The gateway handles the entire process data exchange between the I O level and the fieldbus and generates diagnostic information for higher level nodes and the software tool I O ASSISTANT 4 2 D301260 1113 BL20 E GW EC Technical data 4 2 Technical data Figure 4 1 F
114. nnsnnnennnnsnnnenen 8 5 Ensuring electromagnetic compatibility seirinin arririk Raia 8 5 Grounding of inactive metal components eese tenente nnt ten notte nnn tton tetto ttt notti ntt no tttt tts notis nnus 8 5 PE connection ussessoernsensernsenserssensenssnessunsuennen Earth free operation ds Mountihg Talis a E tn eedem EM DUCI E Shielding of cables Potential COMPENSATION m 8 8 Switching inductive loads E 8 8 Protection against Electrostatic Discharge ESD sssssssssssssssssscssscssssecsssecsnsccssecssnsccsssecsuscessesessecessesesscessueessncessuecessecesseecsseestes 8 8 BL20 Approvals for Zone 2 Division 2 Glossary Index D301260 1113 BL20 E GW EC iii D301260 1113 BL20 E GW EC Industri A 1 About this manual 1 1 Documentation concept ERR 1 2 1 2 Description of symbols used 20 2r00n000s0nnonnnonnonnsnnnsnnennssnnsnnssnnsnnsunnsnnsnnssnnennssnnennssnnsnnsnnssnnsunssnnsnnssnnsnnne 1 3 1 3 ly M 1 4 1 3 1 PHOS CIID SAIS fr t 1 4 1 4 List of revisions visscsssccscsssovessccnscssssocsesscvessteessesesessseecssessseossteteeeessoustevseseaseasteusdossesecdveesesotseseseocsioesecousesesiee 1 5 D301260 1113 BL20 E GW EC 1 1 About this manual 1 1 1 2 Documentation concept This manual contains all information about the EtherCAT Gat
115. nterface The control interface is the interface from the internal module bus to the counter module The commands and signals directed to the counter module are converted by the gateway from the respective type of communication applicable to the fieldbus in to the module specific bits and bytes CPU Central Processing Unit Central unit for electronic data processing the processing core of the PC D DHCP Client Server protocol which reduces the effort of assigning IP addresses or other parameters Serves for dynamic and automatic configuration of devices Digital A value e g a voltage which can adopt only certain statuses within a finite set mostly defined as 0 and 1 DIN German acronym for German Industrial Standard LE EIA Electronic Industries Association association of electrical companies in the United States Electrical components All objects that produce convert transmit distribute or utilize electrical power e g conductors cable machines control devices EMC Electromagnetic compatibility the ability of an electrical part to operate in a specific environment without fault and without exerting a negative influence on its environment 10 2 D301260 1113 BL20 E GW EC Industri A EN German acronym for European Standard ESD Electrostatic Discharge Field power supply Voltage supply for devices in the field as well as the signal voltage Fieldbus Data network on sensor actuat
116. ntial differences can occur between installation components that are in separate areas if these are fed by different supplies have double sided conductor shields which are grounded on different installation components A potential compensation cable must be routed to the potential compensation Warning Never use the shield as a potential compensation A potential compensation cable must have the following characteristics Low impedance In the case of compensation cables that are routed on both sides the compensation line impedance must be considerably smaller than that of the shield connection max 10 96 of shield connection impedance Should the length of the compensation cable be less than 200 m then its cross section must be at least 16 mm 0 025 inch If the cable length is greater than 200 m then a cross section of at least 25 mm 0 039 inch is required The compensation cable must be made of copper or zinc coated steel The compensation cable must be connected to the protective conductor over a large surface area and must be protected against corrosion Compensation cables and data cables should be routed as close together as possible meaning the enclosed area should be kept as small as possible Switching inductive loads In the case of inductive loads a protective circuit on the load is recommended Protection against Electrostatic Discharge ESD Attention Electronic modules and base modules are at ris
117. o the module bus master is as follows SSI FRAME LEN INVALID BITS MSB INVALID BITS LSB Number of invalid bits on the MSB side of the position value supplied by the SSI encoder INVALID BITS MSB INVALID BITS LSB must always be less than SSI FRAME LEN Default 0 Ohex reserved A default 2 3to0 setting Data rate 0000 1000000 bps 0001 500000 bps A 0010 250000 bps 0011 125000 bps 0100 100000 bps 0101 83000 bps 0110 71000 bps 0111 62500 bps reserved 7to4 reserved 3 5to0 Number of data frame bits 00000 to 100000 Number of bits of the SSI data frame SSI FRAME LEN must always be greater than INVALID BITS Default 25 19hex reserved Data type binary coded A SSI encoder sends data in binary code GRAY coded SSI encoder sends data in GRAY code 4 42 D301260 1113 BL20 E GW EC Parameters of the modules BL20 E 1SWIRE Industri A Bit 7 Bit 6 Bit5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 1 reserved free free MC MNA configura Disable Cfg free tion Byte 2 free Unuxerr TYPerr TYP ino PKZerr PKZwro SDeRR SDinro Byte 3 reserved Byte 4 reserved life guarding time until version VN 01 03 Byte5 SCpagS8 SCpaaS7 SCpaaS6 SCpiagS5 SCoiagS4 SCpiagS3 SCyiagS2 SCpiacS1 Byte 6 S Cpac916 SCpasS15 SCoagS14 SCoacS13 SCoagS12 SCoagS11 SCoiaaS10 SCo S9 Byte7 reserved Byte8 reserved Byte 9
118. odbus TCP uses the Transmission Control Protocol TCP for the transmission of the Modbus user protocol in Ethernet TCP IP networks Module bus The module bus is the internal bus in a station The modules communicate with the gateway via the module bus which is independent of the fieldbus MSB Most Significant bit Ping Implementation of an echo protocol used for testing whether a particular host is operating properly and is reachable on the network from the testing host D301260 1113 BL20 E GW EC Industri A PLC Programmable Logic Controller Potential compensation The alignment of electrical levels of electrical components and external conductive components by means of an electrical connection Potential free Galvanic isolation of the reference potentials in I O modules of the control and load circuits Potential linked Electrical connection of the reference potentials in O modules of the control and load circuits Protective earth Electrical conductor for protection against dangerous shock currents Generally represented by PE protective earth R Radiation coupling A radiation coupling appears when an electromagnetic wave hits a conductive structure Voltages and currents are induced by the collision Typical sources of interference are for example sparking gaps spark plugs commutators from electric motors and transmitters e g radio that are operated near to conducting structures Reaction time
119. on message voltage U error module changed available i diagnosis Module bus ep Master Under Over failure made conguna j voltage U voltage U active tion error sys 23 Further information can be found in section Device Status Object page 4 16 Device Control Object 0xF200 Not supported yet Reserved for future use D301260 1113 BL20 E GW EC 3 13 EtherCAT features supported by BL20 Module List Handling Object 0x2000 This object serves for manual synchronization of the two module lists in the gateway Configured Module Ident List OxF030 and Detected Module Ident List OxF050 E Sub index 01 Writing any value to this sub index activates the copying of theDetected Module Ident List 0xF050 into the Configured Module Ident List 0xF030 E Sub index 02 Writing any value to this sub index activates the deleting of the Configured Module Ident List 0xF030 Note i Please observe that a power reset has to be executed after writing to the Module Handling object Changes will not be accepted without a power reset 3 14 D301260 1113 BL20 E GW EC EtherCAT device description file ESI file Industri A 3 2 EtherCAT device description file ESI file EtherCAT uses an xml file the EtherCAT Slave Information ESI to represent a device This file can be imported to the EtherCAT PLC program D301260 1113 BL20 E GW EC 3 15 EtherCAT featur
120. or level A fieldbus connects the equipment on the field level Characteristics of a fieldbus are a high transmission security and real time behavior Force Mode Software mode which enables the user to set his plant to a required state by forcing certain variables on the input and output modules GND Abbreviation of ground potential 0 Ground Expression used in electrical engineering to describe an area whose electrical potential is equal to zero at any given point In neutral grounding devices the potential is not necessarily zero and one speaks of the ground reference Ground connection One or more components that have a good and direct contact to earth Ground reference Potential of ground in a neutral grounding device Unlike earth whose potential is always zero it may have a potential other than zero Hexadecimal System of representing numbers in base 16 with the digits 0 9 and further with the letters A B C D E and F Hysteresis A sensor can get caught up at a certain point and then waver at this position This condition results in the counter content fluctuating around a given value Should a reference value be within this fluctuating range then the relevant output would be turned on and off in rhythm with the fluctuating signal 1 0 Input output Impedance Total effective resistance that a component or circuit has for an alternating current at a specific frequency D301260 1113 BL20 E GW EC 10
121. ot planned modules match no communication red No communication At least one module has to be plugged flashing 4 Hz via the module bus and has to be able to communicate with the gateway D301260 1113 BL20 E GW EC 4 13 Technical features Table 4 5 LED Status Meaning Remedy LED displays 10s red green The current and configured Check the physical station for pulled or flashing 1 Hz modulelistdonot match but new but not planned modules the data exchange proceeds as normal RUN OFF The device is in state INITIAL see EtherCAT State Machine page IZATION 3 3 green flashing The device is in state PRE 200 ms on OPERATIONAL 200 ms off Blinking green flashing The device is in state SAFE 200 ms on OPERATIONAL 1000 ms off Single Flash green The device is in state OPERA TIONAL ERR OFF Process data exchange red Critical communication error Execute a power rest eventually the or controller error occurred device has to be changed red flashing Invalid configuration Check if the hardware configuration of 200 ms on your device matches the configured 200 ms off Blinking red flashing local error 200 ms on The device switches to the 1000 ms off SAFE OPERATIONAL state Single Flash due to an internal error see EtherCAT State Machine page 3 3 LNK green Link established 100 Mbps ACT left green flashing Data exchange Ethernet Traffic 100 Mb LED raffic ps OF
122. port protocol within the Internet protocol suite Certain error detection mechanisms i e acknowledgements time out monitoring can guarantee a safe and error free data transport Terminating resistance Resistor on both ends of a bus cable used to prevent interfering signal reflections and which provides bus cable matching Terminating resistors must always be the last component at the end of a bus segment To ground Connection of a conductive component with the grounding connection via a grounding installation Topology Geometrical structure of a network or the circuitry arrangement UDP Abbreviation for User Datagram Protocol UDP is an transport protocol for the connectionless data between Ethernet hosts Unidirectional Working in one direction D301260 1113 BL20 E GW EC 10 Index A address assignment eerte ttt 4 11 auxiliary power supply eese ttennttnnnten 4 4 B Base modules basic concept BL20 components block diagram station c Cable routing eene n 8 2 cable shield esee ttti tonno 8 7 C rail cross connection ansssssseeessnesnsensenennsnsnnnennensnnsnnennennennenn 7 6 D diagnosis SIMO DUES use ation ct cie vett eta eroi rennes Dr na eed cid 4 19 DIVISION 2 9 1 E earth free operation nesssenssunsssenssnsseunssenunsennsssnnssennsssunnsennnn 8 5 electrical installation electro
123. pping Objects only exist if output modules are connected to the gateway Table 3 2 Implemented objects of the Communica tion Area 3 4 Index Use Description Value M mandatory O optional C conditional 0x1000 M Device Type 0x00001389 0x1001 O Error Register see page 3 5 0x1008 M Device Name BL20 E GW EC 0x1009 M Hardware Version 0x100A M Software Version 0x1018 M Identity Device identification see page 3 5 0x10F3 O Diagnosis History see page 3 5 0x1600 Ox17FF C RxPDO Mapping see page 3 5 Mandatory if Outputs are connected see below 0x1A00 Ox1BFF C RxPDO Mapping see page 3 5 Mandatory if Inputs are connected see below 0x1C00 C Sync Manager Communication Type see page 3 6 0x1C12 C Sync Manager 2 PDO Assignment Mandatory if outputs are connected see page 3 6 0x1C13 C Sync Manager 3 PDO Assignment Mandatory if inputs are connected see page 3 6 0x1C32 C Sync Manager 2 Synchronization see page 3 6 0x1C33 C Sync Manager 3 Synchronization see page 3 6 D301260 1113 BL20 E GW EC EtherCAT according to the Modular Device Profile Industri A Error Register 0x1001 The Error Register is structured as follows Table 3 3 Structure of the Error Register Error Register M mandatory Meaning O optional BitO M generic error message Bit 1 O Current error Bit 2 O voltage error Bit 3 O temperature error Bit 4 O communi
124. r InfOut S BU PLC Configuration S F BL20 E BL20 E Image Bi Standard Qt Inputs Change Multi Link Output OT wall z Output amp Outputs 7 di Output counter Output byOutputs S u 1 O Configuration B 1 0 Devices B Ger t 1 EtherCAT Ger t 1 Prozessabbild Ger t 1 Prozessabbild Info QT Eing nge E l Ausg nge m InfoData Show Variables S Box 1 BL20 E GW EC Unused 7 Module 1 BL20 2AI U 10 0 10VDC O Used and unused CO Exclude disabled l byDutputs gt OR 0 0 BYTE 1 0 v Exclude other Devices v Exclude same Image m Show Tooltips Show Variable Types Module 8 BL20 8DO 24VDC 0 5A P C Matching Type E Outputs BL20 E 8DO 24VDC 0 5A P Matching Size BL20 E GW EC tsm TwinCAT System Manager Eile Edit Actions View Options Help D ui amp SEER B x sav G e t SYSTEM Configuration Name In Out er Linked to A ud Configuration i process value Chi E Output counter Outputs Standard Eier BL2O E di process value Ch2 E Output counter Outputs Standard s BL20 E Image l process value Ch3 B counter Outputs Standard amp Bi Standard B t Inputs process value Ch X 0 counter Outputs Standard OT wall Pl process value Ch amp X BOOL 0 1 41 7 Output 0 counter Outputs Standard BL20 E i O
125. rmation for the higher level master and the software PACTware with the corresponding TURCK DTMs I O ASSISTANT ECO gateways The BL20 ECO gateways enlarge the product portfolio of BL20 They offer an excellent cost performance ratio Further advantages of the BL20 gateways in the ECO housing E Atthe moment available for PROFIBUS DP DeviceNet CANopen Modbus TCP EtherNet IP PROFINET and EtherCat Low required space width 34 mm 1 34 inch minimal space requirements Integrated power supply Can be combined with all existing standard modules with tension clamp connection technology and ECO modules Simple wiring with Push in tension clamp terminals via DeviceNet Open Style Connector or via Ethernet RJ45 connectors E Automatic bit rate detection for PROFIBUS DP and DeviceNet Setting of fieldbus address and bus terminating resistor PROFIBUS DP DeviceNet CANopen via DIP switches Service interface for commissioning with I O ASSISTANT 3 FDT DTM without PLC Figure 2 1 Gateway BL20 E GW EC D301260 1113 BL20 E GW EC 2 3 BL20 philosophy Gateways with integrated power supply All standard gateways BL20 GWBR xxx as well as the BL20 gateways for DPV1 and Ethernet BL20 GW DPV1 BL20 GW EN BL20 GW EN IP BL20 GW EN PN BL20 PG EN and BL20 PG EN IP offer an integrated power supply unit for feeding the gateway and the connected I O modules It is not necessary to supply each in
126. ront view A LEDs for BL20 module bus new B service interface A C 2LEDs for the O lOs 5 EtherCAT com munication SERVICE D EtherNet switch with EtherNet LEDs E terminals for field supply F terminals for system supply RUN c DERR ETH2 u DE F GNDL 3s uss DES F GNDsys Slide top cover for configuration and service ETH1 Unlock end bracket before dismounting A D301260 1113 BL20 E GW EC 4 3 Technical features 4 2 1 Block diagram Figure 4 2 Service USB Block diagram L3 BL20 E GW EC ii Module bus CPU Switch J s a UU TUI H o oo Eth Eth Un U Gateway 4 2 2 Generaltechnical data of a station Attention The auxiliary power supply must comply with the stipulations of SELV Safety Extra Low Voltage according to IEC 364 4 41 Table 4 1 Supply voltage auxiliary voltage General tech nical data ofa Uys nominal value 24 VDC station provision for other modules 4 4 I on maximum system extension gt see page sys approx 600 mA U nominal value 24 VDC lj max maximum field supply current 8A permissible range according to EN 61 131 2 18 to 30 V DC Residual ripple according to EN 61 131 2 Isolation voltage U to Uys 500 Ver Volt
127. ror message as soon as the power supply goes below the level at which the function of the relays is not guaranteed 0 OK Contactor supply voltage is o k gt 20 VDC or diagnostics function has been deactivated via this parameter 1 under voltage Contactor supply voltage is not o k 18 VDC D301260 1113 BL20 E GW EC 6 21 Integration of the technology modules Table 6 14 Design Meaning of the diagnostic bits Value Meaning Byte 3 4 TYP epp gt X Device configuration slave x Info field for the individual indication of a configuration error as error message If the TYP uroA parameter has been set for single diagnostics this bit field indicates the error as soon as the ACTUAL configuration of the slave was not accepted and is therefore not enabled for data exchange The diagnostics LED of the slave flashes 0 OK No configuration error is present and the slave is in data exchange mode or diagnostics function has been deactivated via the parameter setting 1 incorrect Configuration error present and the slave is NOT in data exchange mode Byte 5 6 SDeppSXx Communication slave x Info field for the individual indication of the release of the slave diagnostics as error message If the SD OA is set for single diagnostics this bit field indicates the error as soon as the slave diagnostic message of the slave Sx is triggered 0 OK No error is present or diagnostics fun
128. rrangement S iriisii 7 2 7 1 1 Random module arrangeMent ssssccssssscsssssccsseeccssseecsssscessesccssseecssssecessseessssescessseesssseseesseecesseeeesnseessnseesesseecesnseesssseseesnseesssee 7 2 7 1 2 Complete planning editiert tcu Lente edo epar a v e VR Hee NES Eae 7 2 7 1 3 Maximum system extension es Rue e esk eee lepores ANA 7 3 7 2 Power SUPPLY em 7 5 7 2 1 Power supply to the Gateway 7 5 7 2 2 M dule busirefreshing neesnie en ai nen en en men naar een 7 5 7 2 3 Creating potential groups esent eeern tenent teet testo tte tnnt tts ns ttt not ttt nost RERA AARNEN stetit nnns 7 5 7 24 Crail eross connection uice eet pecore tester oti ive E ette E rebua ep oerte A ene oL aise says ceessestebestetsnes 7 6 7 2 5 Direct wiring of relay modules uu essssssssccssssscessssccssssecssssceessssecssscesssssscessssessnsescessssessnssessssesssseesessscessnseeessnecessnseessnseecesnseesseee 7 8 7 3 Protecting the service interface on the gateway c eese eese cete cerne ernst en een senos etse essen assess soo seta 7 9 7 4 Plugging and pulling electronics modules 0 20s00u20r0ns0nssnnssnnsnnsnnnsnnsnnnsnnsnnssnnsnnssnssnnnunssnnsnnnsnnsnnnsnne 7 9 7 5 Extending an existing station sssorennennsnnnsnnennnennennnennunnennnsnnsnnsunnsnnsnnnsnnennssnssnnsnnssnnsnnssnnsunnunnsnnssnnnnne 7 9 7 6 Firmware download P
129. s output data by using STATRES TX_CNT_ACK 0 3 The value TX_CNT_ACK is a copy of the value TX_CNT The value TX_CNT was transferred together with the last data segment of the process output data The value TX_CNT_ACK is a confirmation of successful acceptance of the data segment using TX_CNT RX_CNT 0 3 This value is transferred together with every data segment The RX_CNT values are sequential The RX_CNT values are sequential 00 gt 01 gt 10 gt 11 gt 00 decimal 0 gt 1 gt 2 gt 3 gt 0 Errors in this sequence show the loss of data segments RX_BYTE_CNT 0 7 Number of the valid bytes in this data segment D301260 1113 BL20 E GW EC 6 3 Integration of the technology modules Process output data PZDA Process output data are data which are sent from the PLC via the gateway and the BL20 1RS232 module to a connected field device The data received from the PLC are loaded into the 64 bit transmit buffer in the BL20 1RS232 module The fieldbus specific transmission for EtherCAT is realized in a 8 byte format which is structured as follows E 6bytesare used to contain the user data E 1 byte contains signals to start the flushing of transmit and receive buffer 1 control byte is required to ensure trouble free transmission of the data Figure 6 2 Process output data SPS 6 4 Proces output data PLC RSxxx Byte EL Bit 6 Bit 5 Bit 4 Bit3 Bit
130. served Byte9 Typedesignation slave 1 16 24 The following table shows the meaning of the parameter bits Table 6 16 Parameter Value Module param name eters A default Byte 1 setting Disable Cfg Disabling of the acceptance of the physically present configuration as ACTUAL configuration on manual pushbutton actuation O inactiveA The physically present configuration of the SWIRE bus is only accepted as the ACTUAL configuration by pressing the CFG button The comparison with the SET configuration is then carried out 1 active The physically present configuration is automatically accepted as the ACTUAL configuration and then compared with the SET configuration configuration PLC configuration check The configuration check parameter enables a comparison of the set and actual configuration based on the device ID 0 active A Configuration check based on device ID Only SWIRE slaves with a device ID completely matching the set configuration are accepted on the bus 1 disabled All slaves are mapped in 4 Bit INPUT 4 Bit OUTPUT without checking the device ID D301260 1113 BL20 E GW EC 6 23 Integration of the technology modules Table 6 16 Parameter Module param name eters Value Byte 1 A default MNA setting active passive Configuration check Ifthe ACTUAL configuration of the SWIRE bus does not match the SET configuration the master only exchanges data with the correctly
131. snnssnsssnsssnsssnnsennsen 4 14 Device Status Object MED S 4 16 Iz Tre 119 S To 0 HERR 4 17 l O module diagnosis d eR ne 4 19 Parameters of the modules 2000s2000000000000000000000000000000000 Digital input modules Analog Input Modules ii Analog Output Modules etta aan EB Ran E aaa technology Modules eigen reise senden een ne seien Connection of the EtherCAT gateway to the TwinCAT Soft PLC Application example c 5 2 c hIiree e M 5 2 Adding a device specific rnl file sett sen rte tton reete nter el een eisen ee 5 3 Hardware configuration in the TwinCAT System Manager ssscsssssccssssccssssecessscesssscssnseecsnssecsssssecsnseessssccesnseecsnseseesnseessnee 5 3 Parameterization of BL20 1 O MOdULIES csssssscsssecsssecsseccssscessscessecenseceescesssccsssecsssecessecsusecsuscessecsnscessseesuscesssecssseceseceseecsnecesseeess Programming the Soft PLG sacsssgeucisscscecceestetibassacssliacUsccansescdscdsanscaadcecdsdbsststuvchenvacoossacedsebuccatacsssaduasatecvaasedunsheusbastvedsssauasseCuacenbedsds Connection of hardware and program Process data exchange Diagnosis in TwinCAT m Itistall EthierCAT9 drlVer sce RnB ER e uA e ere teo tete Cede eerie edens Integration of the technology modules Integration of the RS232 module IB ICHINEDI E Integration of the RS485 422 module 20s00s000000
132. static discharge EMG M End bracket Erid plate 1 een Err r Registersesssioensisunsssissentsretensiensetsansdeehesnsstnnneenmmesnsansesatssenese 4 17 F firmware download usnsesseseseensssnussennsssnunsennsssennsennnssenn 7 10 Flexibility 2 2 G gateway address assignment eerte 4 11 SPU CUI OM siisiastescssessdesdeacsasecsiclduczsayecacavevatserslissovcteayeldschoobeconebeca ecd 4 2 service interface eese teen teen ttennitnnas 4 10 technical data eese eeetttnnttennttenntenn 4 3 H handling pec i M 2 2 l inductive loads protective circuit sss 8 8 L lightning protection eterne nnne ttennns 8 3 M Maintenance siiin 1 4 module arrangement seen tenerent 7 2 module order eee 7 2 mountihg rail 2 inttr tanesi dnin 8 6 D301260 1113 BL20 E GW EC Industri A o operation safe essent tent enses ntn nns operation trouble free eene P parameters modules sss PE connection siisii potential compensation potential compensation cable u potential groups esseennessennessennnnsnnnnussennunsennnnsnnnnersennnnsnnnne potential relationships esterna prescribed use enssnsssensssunsseunssennsseunssenussennsssnussennsssunssensssunsennn PROCESS e S process input e e ETTITA AN NETA TRETEN
133. sum of the nominal current consumptions seeTable 7 1 Nominal current consumptions of the BL20 modules page 7 3 of the used BL20 modules may not exceed 800 mA If a Bus Refreshing module is mounted the sum of the current consumptions which follow the Bus Refreshing module must not exceed 1 5 A Note The Bus Refreshing modules which are used in a station with BL20 E GW EC have to be combined with the base modules BL20 P3T SBB B or BL20 PAT SBBC B tension clamp or with the base modules BL20 P3S SBB B or BL20 PAS SBBC B screw terminals With the system supply it must be ensured that the same ground potential and ground connections are used Compensating currents flow via the module bus if different ground potentials or ground connections are used which can lead to the destruction of the Bus Refreshing module All Bus Refreshing modules are connected to one another via the same ground potential The power to the module bus is supplied via the connections 11 and 21 on the base module If the power supply from the module bus is not guaranteed the software I O ASSISTANT 3 FDT DTM generates an error message if the user activates the DTM Additional functions Verify station 7 2 3 Creating potential groups Power Feeding modules can be used to create potential groups The potential isolation of potential groups to the left of the respective power distribution modules is provided by the base modules Note i The system c
134. t dictionary exists in the gateway Each BL20 I O module has corresponding entries for inputs outputs configuration information RxPDOs and TxPDOs According to the MDP two defined areas exist in the object dictionary Communication Area Device Parameter Area The object dictionary is dynamic and always depends on the modules which are physically connected to the gateway The object dictionary is created in the device s RAM on each power cycle There is only one object dictionary for the complete station D301260 1113 BL20 E GW EC EtherCAT according to the Modular Device Profile 3 1 1 EtherCAT State Machine Figure 3 1 EtherCAT State Machine Bootstrap not supported Table 3 1 Status Meaning State Machine Init Device starts no SDO and no PDO transfer Pre Operational SDO transfer no PDF transfer Safe Operational SDO and PDO transfer The input data are cyclically updated all slave outputs switch to the safe state for BL20 0 Operational SDO and PDO transfer in and output data valid 3 1 2 SDO services All SDO services are integrated according to ETG 1000 5 D301260 1113 BL20 E GW EC 3 3 EtherCAT features supported by BL20 3 1 3 Communication Area All mandatory objects in the Communication Area are supported Some of them are conditional and only appear in the object dictionary if the modules connected to the gateway need them e g RxPDO Ma
135. t group UNSIGNED 16 not supported OxODto reserved 0x1D Ox1E Network OCTET not supported segment STRING 6 address Ox1F Network UNSIGNED 32 not supported port 3 8 D301260 1113 BL20 E GW EC EtherCAT according to the Modular Device Profile Industri A Table 3 6 Konfigurations daten Sub Name Data Type Use Details index M mandat O optional C conditional 0x20 to Vendor O Parameters of the modules OxFF profile Depending on the modules connected to specific the gateway If a module supports parameterization then the parameters start at sub index 0x20 in object 0x8000 D301260 1113 BL20 E GW EC Information Data Object Area 0x9xxx Each module has one information data object The index of the information data object depends on the module s slot number within the BL20 station from Index 0x9000 slot number 1 x 0x0010 module 1 0x 9000 module 2 0x9010 module 3 0x9020 etc This object has the same structure as Configuration Data objects and supports the same sub indexes except for the ones for the parameters 0x20 to OxFF Diagnosis Data Object Area OxAxxx Each module in a BL20 station has one diagnosis data object The index of the diagnosis data object depends on the module s slot number within the BL20 station from Index 0xA000 slot number 1 x 0x0010 module 1 0xA000 module 2 0xA010 module 3 0xA020 etc Each channel of a module has o
136. the Error register see also Error Register 0x1001 page 3 5 and additional information will be transmitted so that the error can be more precisely identified byte 0 1 2 3 4 5 6 7 Data Error Code channel no content Error or Values see Register slot no Gateway Status infor reserved Table 4 7 g die mation Table 4 7 Datacontent Value Meaning Emergency frame contents Error Code 0x0000 Error reset no error OxFFOO Device specific error Error Register 0x00 no error 0x81 manufacturer specific error generic error see also Error Register 0x1001 page 3 5 slot no 0x0000 Gateway sends an Emergency frame 0x0100 to slot no of the module which sends an emergency frame 0x0148 channel no 0x0000 to Number of the channel at which a diagnosis is present 0x0020 4 16 D301260 1113 BL20 E GW EC Status indicators diagnostic messages gateway Industri A Table 4 7 Datacontent Value Meaning Emergency frame contents Gateway 0x0100 Summarized module diagnosis Content from status infor Device Status mation 0x0101 Diagnosis message available Object page 0x0102 Module bus error 4 15 0x0103 I O configuration changed 0x0107 Undervoltage U 0x0108 Overvoltage U 0x0109 Undervoltage Uys 0x010B Master configuration error 0x010E Force mode active 0x010F Module bus failure 0x0110 no valid I O configuration stored 0x0111
137. tic activated This affects the separate fieldbus specific diagnostic message not the diagnosis embedded in the process input data 4 38 D301260 1113 BL20 E GW EC Parameters of the modules Industri A Table 4 45 Byte Bit Parameter name Value Module param eters A default 1 0 Stop bits 0 1 bitA setting 122 bit 2 1 Parity 00 none 01 odd A The parity bit is set so that the total number of bits data bits plus parity bit set to 1 is odd 10 even The parity bit is set so that the total number of bits data bits plus parity bit set to 1 is even 3 Data bits 0 7A The number of data bits is 7 1 48 The number of data bits is 8 1 4 Flow control 00 none A to5 Data flow control is switched off 01 XON XOFF Software handshake XON XOFF is switched on 10 RTS CTS Hardware handshake RTS CTS is switched on 7 6 reserved 2 XON character 0 255 17 A XON character This character is used to start the transmission of data from the data terminal device if the software handshake is active 3 XOFF character 0 255 19 A XOFF character This character is used to stop the transmission of data from the data terminal device if the software handshake is active D301260 1113 BL20 E GW EC 4 39 Technical features BL20 1RS485 422 Table 4 46 Byte Bit Parameter name Module param eters Value A default 0 3to0 Data rate setting 00
138. ts depending on the channel count of the connected module The input data objects are mapped to TxPDOs which are read cyclically by the Master There is one TxPDO per module defined The index of the input data object depends on the module s slot number within the BL20 station from Index 0x6000 slot number 1 x 0x0010 module 1 0x 6000 module 2 0x6010 module 3 0x6020 etc The input data area and the TxPDOs of a module only exist if input data of the module is available Output Data Object Area 0x7xxx0 Each module has one output data object with several sub objects depending on the channel count of the connected module The output data objects are mapped in a RxPDO so that it is read cyclically There is one RxPDO per module defined The index of the output data object depends on the module s slot number within the BL20 station from Index 0x7000 slot number 1 x 0x0010 module 1 0x 7000 module 2 0x7010 module 3 0x7020 etc The output data area and the RxPDOs of a module only exist if output data of the module is available Configuration Data Object Area 0x8xxx Each module has one configuration data object with several sub objects depending on the channel count of the connected module The index of the configuration data object depends on the module s slot number within the BL20 station Index 0x8000 slot number 1 x 0x0010 module 1 0x 8000 module 2 0x8010 module 3
139. ue representation 0 Integer 15 bit sign A 1 12bit left justified 2 Diagnostic 0 activate A 1 deactivate D301260 1113 BL20 E GW EC 4 25 Technical features BL20 2AI I 0 4 20MA 1 byte per channel Table 4 32 Byte Bit Parameter name Value iom Parat 0 1 0 current mode 0 0 20 mA A A default 1 4 20 mA seting 1 value representation 0 Integer 15 bit sign A 1 12 bit left justified 2 Diagnostic 0 activate A 1 deactivate 3 Channel 0 activate A 1 deactivate BL20 1Al U 10 0 10VDC Table 4 33 Byte Bit Parameter name Value Hung param o 0 voltage mode 0 0 10VA A default 1 10 10 V serung 1 value representation 0 Integer 15 bit sign A 1 12 bit left justified 2 Diagnostic 0 activate A 1 deactivate BL20 2Al U 10 0 10VDC 1 byte per channel Table 4 34 Byte Bit Parameter name Value ses ee 0 1 0 voltage mode 0 0 10VA 12 10 10V A default 1 value representation 0 Integer 15 bit sign A SUM 1 12 bit left justified 2 Diagnostic 0 activate A 1 deactivate 3 Channel 0 activate A 4 26 1 deactivate D301260 1113 BL20 E GW EC Parameters of the modules E BL20 2AI PT NI 2 3 2 byte per channel Industri A Table 4 35 Byte Bit Parameter name Value Modul eee ala 0 2 0 Mains suppression 0 50HzA eters 0 60Hz A
140. ule Industri A Meaning of the data bits process input Table 6 3 Meaning of the data bits process input Designation Value Description BufOvfl FrameErr HndShErr HwFailure PrmErr 0 255 Diagnostic information correspond to the diagnostic information in the diagnosis telegram These diagnostics are always displayed and independent to the setting of the parameter Diagnostics STAT 1 The communication with the data terminal equipment DTE is not disturbed 0 The communication with the data terminal equipment DTE is disturbed A diagnosis message is generated if the parameter Diagnostics is set to 0 release The diagnostic data show the cause of the communication disturbance The user has to set back this bit in the process output data by using STATRES TX CNT ACK 0 3 The value TX CNT ACK is a copy of the value TX CNT The value TX CNT was transferred together with the last data segment of the process output data The value TX CNT ACK is a confirmation of successful acceptance of the data segment using TX CNT RX CNT 0 3 This value is transferred together with every data segment The RX_CNT values are sequential The RX_CNT values are sequential 00 01 2 102 11 00 decimal 05 1 2 39 0 Errors in this sequence show the loss of data segments RX BYTE CNT 0 7 Number of the valid bytes in this data segment In EtherCAT the data
141. us sets its error bit this is indicated asa group error depending on the parameter setting 0 active A Group diagnostics is activated 1 inactive Group diagnostics is not activated PKZ Nro PKZ error field Activate slave diagnostics info field PKZ 5x As soon as a slave on the bus clears its PKZ bit this is indicated as an individual error depending on the parameter setting 0 active A Single diagnostics is activated 1 inactive Single diagnostics is not activated 4 44 D301260 1113 BL20 E GW EC Parameters of the modules Industri A Table 4 48 Parameter Module param name eters Value Byte 2 PKZepr Group PKZ error field Activate slave diagnostics PKZ pr As soon as a slave on the bus clears its PKZ bit this is indicated as an individual error depending on the parameter setting 0 active A Group diagnostics is activated 1 inactive Group diagnostics is not activated TYP into Configuration error field As soon asa slave on the bus does not match the set configuration and therefore cannot be started this is indicated as an individual error depending on the parameter set 0 active A Single diagnostics is activated 1 inactive Single diagnostics is not activated TYP ere Group configuration error field Activate slave diagnostics TYP RSX As soon as only one slave on the bus is incorrectly configured this is indicated as an error dependin
142. utputs process value Ch X BOOL 0 1 42 0 Output 0 counter Outputs Standard BL20 E idi counter process value Ch8 X BOOL 0 1 42 1 Output 0 counter Outputs Standard BL20 E l byOutputs m IO Configuration ci B 1 0 Devices Se Ger t 1 EtherCAT a Ger t 1 Prozessabbild af Ger t 1 Prozessabbild Inf QT Eing nge l Ausg nge InfoData 8 Box 1 BL20 E GW EC amp T Module 1 BL20 2AI U f Module 2 BL20 2AI TI tT Module 5 BL20 1AI U amp T E Module 6 BL20 2AI TI GT Module 3 BL20 2DI 2 amp T Module 4 BL20 4DI 2 amp Module 7 BL20 2D0 2 Module 8 BL20 E 8DC l Outputs BL20 E 81 e t Mapping TxPDO Devic amp Mapping RxPDO Devic HQ wcstate H InfoData ae Mappings E Local 172 28 7 75 1 1 BEE D301260 1113 BL20 E GW EC Application example Generate Mappings TwinCAT allows a graphical representation of the variable mappings 1 Create the mappings to show the graphical mappings Figure 5 15 Generate Map pings Datei Bearbeiten MUTISI Ansicht Optionen EJA Konfig ai Aktiviert Konfiguration BB Ela Ger a Starten Restarten von TwinCAT in Run Modus Se Ger bg m Auswahl des Zielsystems A Lese Ziel Server Versionen amp amp Update Firmware E PROM m Export XML Beschreibung EEE Import XML Beschreibung w D aS Buskoppler IP Link Registerzugril BL20 E GW EC tsm TwinCAT System Manager Hilfe g M RC Wi
143. vice if the software handshake is active XOFF character 0 255 19 A only in the RS422 mode XOFF character This character is used to stop the transmission of data from the data terminal device if the software handshake is active BL20 1SSI Table 4 47 Byte Bit Module param eters Parameter name Value Meaning A default 0 4to0 setting reserved Sensor idle data cable test 0 activate A ZERO test of data cable 1 deactivate After the last valid bit a ZERO test of the data cable is not carried out 7 6 reserved 1 3to0 Number of invalid bits LSB 0000 to 1111 Number of invalid bits on the LSB side of the position value supplied by the SSI encoder The meaningful word width of the position value transferred to the module bus master is as follows SSI FRAME LEN INVALID BITS MSB INVALID BITS LSB The invalid bits on the LSB side are removed by shifting the position value to the right starting with the LSB Default 0 bit 0x0 INVALID_BITS_MSB INVALID_BITS_LSB must always be less than SSI FRAME LEN D301260 1113 BL20 E GW EC 4 41 Technical features Table 4 47 Byte Bit Module param eters Parameter name Value Meaning 1 6to4 Number of invalid bits MSB 000 to 111 Number of invalid bits on the LSB side of the position value supplied by the SSI encoder The meaningful word width of the position value transferred t

BL20 - User manual ECO gateway for EtherCAT®

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BL20 - User manual ECO gateway for EtherCAT®