Manual LioN-P EtherCAT Digital-I/O Multiprotocol

Transcription

1 Manual LioNP EtherCAT DigitalI/O Multiprotocol 98 ESL ESL ESL ESL ESL 39, 98 ESL 39DCU 98 ESL ESL ESL 393, 98 ESL 393DCU Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 Technical Support

2 Contents Contents About this manual 7. General information. Explanation of symbols.. Use of danger information.. Use of general information..3 EtherCAT trademark information.3 Version information.4 Designations and synonyms Safety instructions. Intended use. Qualified personnel 3 System description 3. About the LioNP module series 3. Special product features 3.3 Product overview 4 Assembly and wiring 4. General information 4. Outer dimensions 4.. Module 98 ESL 3xx 4.. Module 98 ESL 3xx 4.3 Port assignments 4.3. EtherCAT ports ii Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

3 Contents 4.3. Power Supply with 7/8, 5pin Power Supply with M power Lcoded Ports for the sensors/actuators Downloading and installing the ESI file Reading the MAC addresses Setting the rotary switches Configuring the controller 5.4. PDO Assignments DI modules 98 ESL 39x PDO xa, data in byte format PDO xa, data in bit format PDO xa4, Error register PDO xa4, Diagnostic register DO modules 98 ESL 39x PDO x6, Output data in byte format PDO x6, Output data in bit format PDO xa, Output status in byte format PDO xa3, Output status in bit format PDO xa4, Error register PDO xa4, Diagnostic register DI/8DO modules 98 ESL 393x PDO xa, data in byte format PDO xa, data in bit format PDO xa, Output status in byte format PDO xa3, Output status in bit format PDO xa4, Error register PDO xa4, Diagnostic register PDO x6, Output data in byte format PDO x6, Output data in bit format DIO modules 98 ESL 39x PDO s xa/x6, 6DI/DO with data in byte format Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. / iii

4 Contents PDO xa, 6DI with data in byte format PDO x6, 6DO with data in byte format PDO s xa/x6, 8DI/DO with data in byte format PDO xa, 8DI with data in byte format PDO x6, 8DO with data in byte format PDO s xa/x6, 8DI/8DO with data in byte format PDO s xa/x6, 6DI/DO with data in bit format PDO s xa, 6DI with data in bit format PDO x6, 6DO with data in bit format PDO s xa/x6, 8DI/DO with data in bit format PDO xa, 8DI with data in bit format PDO x6, 8DO with data in bit format PDO s xa/x6, 8DI/8DO with data in bit format PDO xa4, Error register PDO xa5, Diagnosis register DIO DCU module 98 ESL 39DCU PDO xa6, DCU s ( Bytes) PDO x6, DCU Outputs ( Bytes) PDO xa8, DCU Additional s (8 Signed Integer) PDO x64, DCU Additional Outputs (8 Signed Integer) Device parameter General device settings Failsafe function (for modules with output channels) Surveillance timeout (for modules with output channels) IO Direction Configuration (for 6DIO modules w/wo DCU) I/O Mapping Configuration (for 6DIO modules w/wo DCU) Configuration example with TwinCAT Configuration of 98 ESL 39x modules Configuration of 98 ESL 39x 98 ESL 393x modules EoE IP address Activate Configuration 78 iv Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

5 Contents 6 The integrated web server 6. The Status page 6.. Force Mode 6. The Configuration page (Config) 6.3 The System page 6.4 The DCU page 6.5 The Contact page 7 Diagnostics processing Channel error Voltage error at the M slots (sensor short circuit) Overload of output drivers Error in the actuator power supply Error in the system/sensor power supply Emergency Messages 9 9 Firmware update Firmware Update with EoE 9. Firmware Update with FoE Technical data General Bus system Power supply for the module electronics/sensors Power supply for the actuators s Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 v

6 Contents.6 Outputs.7 LEDs Accessories vi 4 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

7 About this manual. General information About this manual. General information Please read the assembly and operating instructions in this manual carefully before starting up the LioNP modules with EtherCAT interface. Keep the manual where it is accessible to all users. The texts, figures, diagrams, and examples used in this manual are used exclusively to explain how to operate and apply the LioNP modules with EtherCAT interface. Please contact us if you have any detailed questions on installing and starting up the devices. We will be happy to help you. Belden Deutschland GmbH Lumberg Automation Im Gewerbepark Schalksmühle Germany Tel. +49 () 3 55 / 544 Fax +49 () 3 55 / supportautomation@belden.com Belden Deutschland GmbH Lumberg Automation reserves the right to make technical changes or changes to this manual at any time without notice. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 7

8 . Explanation of symbols About this manual. Explanation of symbols.. Use of danger information Danger information is denoted as follows Danger Means that death, serious physical injury or substantial damage to property will occur if the required safety measures are not taken. Warning Means that death, serious physical injury or substantial damage to property can occur if the required safety measures are not taken. Caution Means that minor physical injury or damage to property can occur if the required safety measures are not taken... Use of general information General information is denoted as follows Attention Contains important information on the product, on how to manage the product, or on the respective section of the documentation to which your special attention is being drawn...3 EtherCAT trademark information EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. 8 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

9 About this manual.3 Version information.3 Version information Created Changed Version number Version. Version. Date October 6 October 7 Name/ department MJ/ R&D MJ/ R&D Changed Table Overview of manual revisions.4 Designations and synonyms PDO Process Data Object TxPDO Transmit Process Data Object (I/Odevice to EtherCAT controller) RxPDO Receive Process Data Object (EtherCAT controller to I/Odevice) USINT 8 Bit value UDINT 3 Bit value EC EtherCAT DCU Distributed Control Unit Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 9

10 . Intended use Safety instructions Safety instructions. Intended use The devices described in this manual are decentralized input/output assemblies on an EtherCAT network. We adhere to all safety standards when developing, producing, testing, and documenting our products. When you adhere to the handling specifications and safety instructions described for the configuration, assembly, and correct operation, there should not normally be any risks for people or equipment. The modules fulfill the requirements of the EMC guidelines (89/336/EEC, 93/68/EEC and 93/44/EEC) and the low voltage guideline (73/3/EEC). The modules are designed to be used in the industrial sector. The industrial environment is distinguished by the fact that the consumer is not connected directly to the public low voltage network. Additional measures are required for use in residential areas or in business and commercial sectors. Attention This equipment may cause radio interference in residential areas. In this case the operator may be requested to carry out appropriate measures. The proper and safe operation of this product depends on proper transportation, storage, assembly, and installation, and careful operation. A completely assembled device housing is required for the proper operation of the modules. Only connect devices to the modules that fulfill the requirements of EN and EN During the configuration, installation, startup, maintenance, and testing of the devices, adhere to the safety and accidentprevention guidelines for the specific application. Only install cables and accessories that fulfill the requirements and regulations for safety, electromagnetic compatibility, and, where applicable, telecommunication end devices, as well as the specification information. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

11 Safety instructions. Qualified personnel Information on which cables and accessories are permitted for the installation can be obtained from Lumberg Automation or is contained in this manual.. Qualified personnel The configuration, installation, startup, maintenance, and testing of the devices may only be performed by a qualified electrician who is familiar with the safety standards of the automation technology. The personnel requirements are based on the requirement profiles described by ZVEI, VDMA, or equivalent organizations. Only electricians who are familiar with the content of this manual are authorized to install and maintain the devices described. These are persons who D based on their technical training, knowledge, and experience, and their knowledge of the pertinent standards, can evaluate the work to be carried out and identify any potential risks or D based on working for several years in a related sector, have the same level of knowledge as they would have from the relevant technical training. Only Belden Deutschland GmbH Lumberg Automation is permitted to make changes to the hardware or software of the products that go beyond the scope of this manual. Warning Making unqualified changes to the hardware or software, or nonadherence to the warning information contained in this manual, can result in serious personal injury or damage to equipment. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

12 3. About the LioNP module series 3 System description 3 System description 3. About the LioNP module series LioN modules (Lumberg input/output Network) function as the interface in an industrial fieldbus system They enable a central controller on the management level to communicate with the decentralized sensors and actuators on the field level. The typical protocol specific topologies (logical ring topology for EtherCAT ) can be used not only in order to create reliable data communication but also to significantly reduce the number of cables required and thus also the costs for installation and maintenance. They additionally enable easy, quick extension. The modules of the LioNP series have a very sturdy metal housing made of diecast zinc. The completely cast device housing protects the module electronics from environmental effects and allows the device to be used in a wide temperature range. Despite the sturdy construction, the modules have compact dimensions and a low weight. They are especially suitable for use in machines and installations with a moderate I/O concentration over separate assemblies. 3. Special product features Robust design The connection option provided by the module series is the widelyused M connector with A coding for the I/O signals and D coding for the network. The connectors are also colorcoded to prevent the ports from being mixed up. The output power circuits are electrically isolated from the rest of the network and the sensor electronics. This reliably protects the control devices from interference signals. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

13 3 System description 3.3 Product overview Integrated switch The integrated port Ethernet switch of the modules allows a line topology to be set up for the EtherCAT network. Failsafe function The modules with digital output channels provide a failsafe function. This allows you to define the behavior of every single digital output channel in the case of an interruption or a loss of communication. Integrated web server The integrated web server provides status information, forcing of the inputs and outputs for installation checks and firmware update functionality. Multiprotocol support The multiprotocol modules allow you to select different protocols for communication within a fieldbus system. In this way the multiprotocol modules can be integrated into different networks without it being necessary to purchase modules specific for each protocol. 3.3 Product overview The LioNP module series consists of 3 variants of modules with different I/O functions. Detailed information is provided in the following table. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 3

14 3.3 Product overview 3 System description Item number Description I/O ports Design LioNP module with 6 digital inputs 6DI 8x M Sturdy/metal 6DO 8x M Sturdy/metal 8DI/8DO 8x M Sturdy/metal 6DI/DO 8x M Sturdy/metal 98 ESL 39 Order number (7/8 power, multiprotocol) 98 ESL 39 Order number (M power, multiprotocol) LioNP module with 6 digital outputs 98 ESL 39 Order number (7/8 power, multiprotocol) 98 ESL 39 Order number (M power, multiprotocol) LioNP module with 8 digital inputs and 8 digital outputs 98 ESL 393 Order number (7/8 power, multiprotocol) 98 ESL 393 Order number (M power, multiprotocol) 98 ESL 393DCU Order number (M power, multiprotocol with distributed control unit) LioNP module with 6 universal digital inputs and outputs 98 ESL 39 Order number (7/8 power, multiprotocol) 98 ESL 39 Order number (M power, multiprotocol) 98 ESL 39DCU Order number (M power, multiprotocol with distributed control unit) Table Overview of module variants of the LioNP series 4 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

15 4 Assembly and wiring 4. General information 4 Assembly and wiring 4. General information Mount the module with screws (M4x5/3) for LioNP on a level surface. The torque required here is Nm. Use washers for all fastening methods as per DIN 5. For the mounting holes, use a distance of 9.3 to 9.8 mm for LioNP modules with 7/8" connector/socket, and a distance of 96.8 mm to 98.3 mm for LioNP modules with M power Lcoded. Attention The modules have a ground connection with an M4 thread for the conduction of interference currents and the EMC immunity. This is labeled with the symbol for the ground and the designation XE. Attention Use a lowimpedance connection to connect the module to the reference ground. When using a grounded mounting surface, you can make the connection directly via the fixing screws. Attention If the mounting surface not grounded, use a ground strap or a suitable PE line. Use an M4 screw to connect the ground strap or the PE line to the ground point and if possible put a washer and a toothed washer below the fixing screw. Attention For UL application Be sure to use a ULcertified cable with a suitable evaluation to connect the devices (CYJV or PVVA). To program the control, please refer to the OEM information, and only use suitable accessories. Attention For UL application Only approved for interior use. Please note the maximum elevation of meters. Approved up to a maximum soiling level of. Warning Terminals, housings fieldwired terminal boxes or components can exceed temperatures of 6 C. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 5

16 4. Outer dimensions 4 Assembly and wiring Warning For UL application Use temperatureresistant cables with the following properties For the modules 98ESL3x and 98 ESL3x heatresistant up to at least 85 C. For the modules 98ESL3xx, 98ESL3xx 98 ESL3x3x heatresistant up to at least 96 C. and 4. Outer dimensions 4.. Module 98 ESL 3xx 6 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

17 4 Assembly and wiring 4.3 Port assignments 4.. Module 98 ESL 3xx 4.3 Port assignments All the contact arrangements shown in this chapter show the frontal view of the connection area for the connectors EtherCAT ports All the contact arrangements shown in this chapter show the frontal view of the connection area for the connectors. D Design M socket, 4pin, Dcoded D Color coding green Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 7

18 4.3 Port assignments 4 Assembly and wiring Figure Schematic drawing, ports X, X Port Pin Signal Function EtherCAT TD + Transmit Data + RD + Receive Data + 3 TD Transmit Data 4 RD Receive Data Port X (IN), Port X (OUT) Table 3 Assignment of ports X, X Caution Risk of destruction! Never connect the power supply to the data cables Power Supply with 7/8, 5pin D Color coding gray Figure Schematic drawing, port X3 (IN) Figure 3 Schematic drawing, port X4 (OUT) 8 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

19 4 Assembly and wiring Port Pin 4.3 Port assignments Signal Signal 98 ESL ESL 39 Function 98 ESL ESL 393 Power supply X3, X4 * see note GND_UL Actuator GND_US GND_US System/sensors 3 FE FE Functional earth 4 US (+4 V) US (+4 V) System/sensors 5 * UL (+4 V) Actuator see note Table 4 Assignment of ports X3, X4 Attention For the input module 98 ESL 39 and 98 ESL 39 used with inputs only profile 6DI or 8DI, the two contacts and 5 are not required for the power supply to the actuators. However, these two contacts are connected to each other on the connector and socket side to enable 5 pin transmission of the power supply to a downstream module. Attention Only use power supply units for the system/sensor and actuator supply that correspond to PELV (Protective Extra Low Voltage) or SELV (Safety Extra Low Voltage). Power supplies according to EN (transformers) or EN 695 (switching power supply units) fulfill these requirements Power Supply with M power Lcoded D Color coding gray Figure 4 Schematic diagram of the M Lcoding (connector), port X3 (IN) Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 9

20 4.3 Port assignments 4 Assembly and wiring Figure 5 Schematic diagram of the M Lcoding (socket), port X4 (OUT) Port Pin Signal Signal 98 ESL ESL 39 Function 98 ESL 39DCU 98 ESL ESL 393 Power supply X3, X4 US (+4 V) US (+4 V) System/sensors * see note GND_UL Actuator 3 GND_US GND_US System/sensors 4 * see note UL (+4 V) Actuator 5 FE FE Functional earth Table 5 Assignment of ports X3, X4 Attention For the input module 98 ESL 39 and 98 ESL 39 used with inputs only profile 6DI or 8DI, the two contacts and 4 are not required for the power supply to the actuators. However, these two contacts are connected to each other on the connector and socket side to enable 5 pin transmission of the power supply to a downstream module. Attention Only use power supply units for the system/sensor and actuator supply that correspond to PELV (Protective Extra Low Voltage) or SELV (Safety Extra Low Voltage). Power supplies according to EN (transformers) or EN 695 (switching power supply units) fulfill these requirements. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

21 4 Assembly and wiring 4.3 Port assignments Ports for the sensors/actuators D Design M socket, 5pin D Color coding black Figure 6 Schematic drawing, port X to X8 Module Sensor/ actuator Function Pin Pin Pin 3 Pin 4 Pin 5 port 6DI 98 ESL 39 X X8 +4 V DC (US) IN B GND_US IN A FE / Func. earth X X8 n.c. OUT B GND_UL OUT A FE / Func. earth X X4 +4 V DC (US) IN B GND_US IN A X5 X8 n.c. OUT B GND_UL OUT A FE / Func. earth X X4 +4 V DC (US) IN B GND_US IN A X5 X8 n.c. OUT B GND_UL OUT A 98 ESL 393DCU X X4 +4 V DC (US) IN B GND_US IN A X5 X8 n.c. OUT B GND_UL OUT A 98 ESL 39 X X8 +4 V DC (US) IN/OUT B GND_US/ IN/OUT A GND_UL 98 ESL 39 6DO 98 ESL ESL 39 8DI/8DO 98 ESL ESL 393 6DI/DO 98 ESL ESL 39DCU FE / Func. earth FE / Func. earth FE / Func. earth Table 6 Assignment of ports X to X8 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

22 5. Downloading and installing the ESI file 5. Downloading and installing the ESI file An EtherCAT Slave Information File (ESI) file is required for the configuration of a module in the controller. All module variants are supported by one ESI file. You have the option of downloading the EDS file from our website or asking our support team to send it to you. The address of the website is http// Software_Lumberg The file for the LioNP EtherCAT modules is named D LumbergAutomationLioNPDigitalIO.xml Install the ESI file for the module variant used with the aid of the hardware or network configuration tool of your controller manufacturer. For TwinCat the ESI file normally has to be copied to the installation folder, e.g. C\TwinCAT\3.\Config\Io\EtherCAT After the installation ( TwinCAT needs a restart, or use the menu bar TWINCAT > EtherCAT Devices > Reload Device Descriptions ), the modules are available in the hardware catalogs. 5. Reading the MAC addresses Every module has a unique MAC address assigned by the manufacturer that cannot be changed by the user. The assigned MAC address is printed on the front side of the module. For EtherCAT the MAC address has no function. For EoE (Ethernet over EtherCAT ) a virtual MAC address will be assigned to the I/Omodule. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

23 5.3 Setting the rotary switches 5.3 Setting the rotary switches As the EtherCAT devices are multiprotocol devices, it s required to set the X rotary switch in front of the module to position EC for the EtherCAT protocol. After the power supply is restored, the modules read the switch settings. D The X and X rotary switches are not used for EtherCAT. D Only the address setting 979 is used for a factory reset of the device. D Using the rotary encoding switches, the following settings are possible for LioNP EtherCAT modules Rotary switch setting Function X =, Ethernet/IP (state on delivery) In the state on delivery, the DHCP and BOOTP functions are activated. The network parameters are initially requested via DHCP requests. If this is not successful, BOOTP requests are used. The network parameters are not saved, but the integrated web server can be used to save them. X =, Ethernet/IP (network parameters already saved) The network parameters last saved are used (IP address, subnet mask, gateway address, DHCP on/off, BOOTP on/off). 4xx The EtherCAT protocol will be started after powerup, if no other protocol setting is stored in the non volatile memory of the module. (EC x x) (state on delivery) If the device was used for another protocol before, a factory reset is required before the EtherCAT protocol can be used. 979 The device performs a reset to the factory settings. The network parameters are also reset to the default values. Communication is not possible in this operation mode. Table 7 Setting options of the rotary encoding switches for LioNP modules For additional multiprotocol information Manual_LioN_P_Multiprotocol_EN.pdf Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 refer to the manual 3

24 5.4. PDO Assignments The module supports different PDO assignment for input and output data.there are assignments for bit or byte access and with or without diagnosis data attached to the input data (TxPDO, I/Omodule to EtherCAT controller. By selecting the relevant PDO, you decide your preferred data content. The modules provide the following PDO assignments DI modules 98 ESL 39x The PDO s xa or xa can be selected for the input data of the module PDO xa, data in byte format PDO PDO Content Size Size Type Name xa x6. USINT Port XA... X4B (refer to Table 9) x6. USINT Port X5A... X8B (refer to Table 9) Table 8 data in byte format Content of Port XA... X4B and Port X5A... X8B Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit x6 X4B X4A X3B X3A XB XA XB XA x6 X8B X8A X7B X7A X6B X6A X5B X5A Table 9 Bit assignment for input data in byte format D XA... X8A status, channel A (contact pin 4) of slots X to X8 D XB... X8B status, channel B (contact pin ) of slots X to X8 4 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

25 5.4.. PDO xa, data in bit format PDO PDO Content Size Size Type Name xa x6. Port XA x6. Port XB x63. Port XA x64. Port XB x65. Port X3A x66. Port X3B x67. Port X4A x68. Port X4B x69. Port X5A x6a. Port X5B x6b. Port X6A x6c. Port X6B x6d. Port X7A x6e. Port X7B x6f. Port X8A x6. Port X8B Table data in bit format The PDO s xa or xa can be combined flexible with the PDO s xa4 (Error Register) and/or xa5 (Diagnostic Register). Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 5

26 PDO xa4, Error register PDO PDO Content Size Size Type Name xa4 x. USINT Error Register Table Error Register B7 B6 B5 B4 B3 B B B Error description No error Output overload error, MISCS Voltage error, MILVS Additional function forcing, MIFC Additional function device diagn., MIIME Table Content of error register Attention Can be or, if more than one error is active at the same time. 6 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

27 PDO xa4, Diagnostic register PDO PDO Content Size Size Type Name xa5 4 x 4. UDINT Diagnostic Register Table 3 Diagnostic Register Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit Byte MIIME MIFC MISCS MILVS Byte SCSX5 SCSX4 SCSX3 SCSX SCSX4 SCSX3 SCSX SCSX Byte 3 Byte 4 Table 4 Content of diagnostic register TwinCAT representation as UDINT x Byte 4 Byte 3 Byte Byte Key D MILVS Module information byte Low voltage of system/sensor power supply D MISCS Module information byte Sensor shortcircuit at an M slot D MIFC Module information byte Forcing active D MIIME Module information byte Internal module error D SCSX... SCSX8 Sensor shortcircuit at slot X to X8 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 7

28 DO modules 98 ESL 39x The PDO s x6 or x6 can be selected for controlling the outputs of the module PDO x6, Output data in byte format PDO PDO Content Size Size Type Name x6 x6. USINT Port XA... X4B (refer to Table 35) x6. USINT Port X5A... X8B (refer to Table 35) Table 5 Output data in byte format Content of Port XA... X4B and Port X5A... X8B Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit x6 X4B X4A X3B X3A XB XA XB XA x6 X8B X8A X7B X7A X6B X6A X5B X5A Table 6 Bit assignment for output data in byte format D XA... X8A Output data, channel A (contact pin 4) of slots X to X8 D XB... X8B Output data, channel B (contact pin ) of slots X to X8 8 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

29 PDO x6, Output data in bit format PDO PDO Content Size Size Type Name x6 x6. Port XA x6. Port XB x63. Port XA x64. Port XB x65. Port X3A x66. Port X3B x67. Port X4A x68. Port X4B x69. Port X5A x6a. Port X5B x6b. Port X6A x6c. Port X6B x6d. Port X7A x6e. Port X7B x6f. Port X8A x6. Port X8B Table 7 Output data in bit format For the input data direction (TxPDO of the device) the following flexible selectable PDO s are available Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 9

30 PDO xa, Output status in byte format This object delivers (optional selectable) the real outputs status as input data (TxPDO) to the controller (Output Mirror) PDO PDO Content Size Size Type Name xa x. USINT Port XA... X4B (refer to Table 9) x. USINT Port X5A... X8B (refer to Table 9) Table 8 Output status in byte format Content of Port XA... X4B and Port X5A... X8B Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit x X4B X4A X3B X3A XB XA XB XA x X8B X8A X7B X7A X6B X6A X5B X5A Table 9 Bit assignment for output status in byte format D XA... X8A Output status, channel A (contact pin 4) of slots X to X8 D XB... X8B Output status, channel B (contact pin ) of slots X to X8 3 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

31 PDO xa3, Output status in bit format This object delivers (optional selectable) the real outputs status as input data (TxPDO) to the controller (Output Mirror) PDO PDO Content Size Size Type Name xa3 x. Port XA x. Port XB x3. Port XA x4. Port XB x5. Port X3A x6. Port X3B x7. Port X4A x8. Port X4B x9. Port X5A xa. Port X5B xb. Port X6A xc. Port X6B xd. Port X7A xe. Port X7B xf. Port X8A x. Port X8B Table data in bit format The PDO s xa or xa3 can be combined flexible with the PDO s xa4 (Error Register) and/or xa5 (Diagnostic Register). Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 3

32 PDO xa4, Error register PDO PDO Content Size Size Type Name xa4 x. USINT Error Register Table Error Register B7 B6 B5 B4 B3 B B B Error description No error Output overload error, MISCS Voltage error, MILVS Additional function forcing, MIFC Additional function device diagn., MIIME Table Content of error register Attention Can be or, if more than one error is active at the same time. 3 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

33 PDO xa4, Diagnostic register PDO PDO Content Size Size Type Name xa5 4 x 4. UDINT Diagnostic Register Table 3 Diagnostic Register Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit Byte MIIME MIFC MISCA MILVA MILVS Byte Byte 3 CEX4B CEX4A CEX3B CEX3A CEXB CEXA CEXB CEXA Byte 4 CEX8B CEX8A CEX7B CEX7A CEX6B CEX6A CEX5B CEX5A Table 4 Content of diagnostic register TwinCAT representation as UDINT x Byte 4 Byte 3 Byte Byte Key D MILVS Module information byte Low voltage of system/sensor power supply D MILVA Module information byte Low voltage of actuator power supply D MISCA Module information byte Actuator shortcircuit D MIFC Module information byte Forcing activ D MIIME Module information byte Internal module error D CEXA... CEX8A Channel error, channel A (contact pin 4) of slots X to X8 D CEXB... CEX8B Channel error, channel B (contact pin ) of slots X to X8 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 33

34 DI/8DO modules 98 ESL 393x The PDO xa or xa can be selected for the input data of the module. The PDO x6 or x6 can be selected for controlling the outputs of the module PDO xa, data in byte format PDO PDO Content Size Size Type Name xa x6. USINT Port XA... X4B (refer to Table 6) Table 5 data in byte format Content of Port XA... X4B and Port X5A... X8B Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit x6 X4B X4A X3B X3A XB XA XB XA x6 X8B X8A X7B X7A X6B X6A X5B X5A Table 6 Bit assignment for input data in byte format D XA... X8A status, channel A (contact pin 4) of slots X to X8 D XB... X8B status, channel B (contact pin ) of slots X to X8 34 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

35 PDO xa, data in bit format PDO PDO Content Size Size Type Name xa x6. Port XA x6. Port XB x63. Port XA x64. Port XB x65. Port X3A x66. Port X3B x67. Port X4A x68. Port X4B x69. Port X5A x6a. Port X5B x6b. Port X6A x6c. Port X6B x6d. Port X7A x6e. Port X7B x6f. Port X8A x6. Port X8B Table 7 data in bit format Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 35

36 For the input data direction (TxPDO of the device) the following flexible selectable PDO s are available PDO xa, Output status in byte format This object delivers (optional selectable) the real outputs status as input data to the controller (Output Mirror) PDO PDO Content Size Size Type Name xa x. USINT Port XA... X4B (refer to Table 9) Table 8 Output status in byte format Content of Port XA... X4B and Port X5A... X8B Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit x X8B X8A X7B X7A X6B X6A X5B X5A Table 9 Bit assignment for output status in byte format D X5A... X8A Output status, channel A (contact pin 4) of slots X5 to X8 D X5B... X8B Output status, channel B (contact pin ) of slots X5 to X8 36 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

37 PDO xa3, Output status in bit format This object delivers (optional selectable) the real outputs status as input data to the EtherCAT controller (Output Mirror) PDO PDO Content Size Size Type Name xa3 x. Port X5A x. Port X5B x3. Port X6A x4. Port X6B x5. Port X7A x6. Port X7B x7. Port X8A x8. Port X8B Table 3 data in bit format The PDO s xa or xa, xa or xa3 can be combined flexible with the PDO s xa4 (Error Register) and/or xa5 (Diagnostic Register) Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 37

38 PDO xa4, Error register PDO PDO Content Size Size Type Name xa4 x. USINT Error Register Table 3 Error Register B7 B6 B5 B4 B3 B B B Error description No error Output overload error, MISCS or MISCA Voltage error, MILVS Additional function forcing, MIFC Additional function device diagn., MIIME Table 3 Content of error register Attention Can be or, if more than one error is active at the same time. 38 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

39 PDO xa4, Diagnostic register PDO PDO Content Size Size Type Name xa5 4 x 4. UDINT Diagnostic Register Table 33 Diagnostic Register Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit Byte MIIME MIFC MISCA MISCS MILVA MILVS Byte SCSX8 SCSX7 SCSX6 SCSX5 SCSX4 SCSX3 SCSX SCSX Byte 3 Byte 4 CEX8B CEX8A CEX7B CEX7A CEX6B CEX6A CEX5B CEX5A Table 34 Content of diagnostic register TwinCAT representation as UDINT x Byte 4 Byte 3 Byte Byte Key D MILVS Module information byte Low voltage of system/sensor power supply D MILVA Module information byte Low voltage of actuator power supply D MISCS Module information byte Sensor shortcircuit at an M slot D MISCA Module information byte Actuator shortcircuit D MIPRM Module information byte Parameter error D MIFC Module information byte Forcing activ D MIIME Module information byte Internal module error D SCSX... SCSX8 Sensor shortcircuit at slot X to X8 D CEX5A... CEX8A Channel error, channel A (contact pin 4) of slots 5 to X8 D CEX5B... CEX8B Channel error, channel B (contact pin ) of slots X5 to X8 The PDO s x6 or x6 can be selected for the output data of the module. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 39

40 PDO x6, Output data in byte format PDO PDO Content Size Size Type Name x6. Port X5A... X8B (Table 36 Bit assignment for output data in byte format on page 4) x6 USINT Table 35 Output data in byte format Content of Port X5A... X8B Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit x6 X8B X8A X7B X7A X6B X6A X5B X5A Table 36 Bit assignment for output data in byte format D X5A... X8A Output data, channel A (contact pin 4) of slots X5 to X8 D X5B... X8B Output data, channel B (contact pin ) of slots X5 to X8 4 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

41 PDO x6, Output data in bit format PDO PDO Content Size Size Type Name x6 x6. Port X5A x6. Port X5B x63. Port X6A x64. Port X6B x65. Port X7A x66. Port X7B x67. Port X8A x68. Port X8B Table 37 Output data in bit format DIO modules 98 ESL 39x The 6DI/DO universal modules supporting different preconfigured I/O profiles. For this universal module every I/O channel can be used as input and output for the 6DI/DO profile. If an I/O channel should be used as input, the PLC programmer should not set the appropriate output bit. With the preconfigured alternative profiles, this misuse can be reduced by using e.g. the 6DI, 6DO or 8DI/8DO profiles. In this profiles the I/O channels are set to input or output. The available profiles can be used to adapt the I/Odata of the device to standard I/Omodules on the market. For this reasons all profiles support additionally a flexible I/O bit mapping. For using this fexible I/Omapping, refer to the Device parameter chapter with the sections IO Direction Configuration (for 6DIO modules w/wo DCU) on page 67 and I/O Mapping Configuration (for 6DIO modules w/wo DCU) on page 68. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 4

42 The following table gives an overwiew of the availabale I/O profiles and the related PDO s in byte format Profile Format PDO 6DI/DO Byte PDO Content Type xa Size Size Type Name x6. USINT Physical s... 7 x6. USINT Physical s x6. USINT Physical Outputs... 7 x6. USINT Physical Outputs x6. USINT Physical s... 7 x6. USINT Physical s x6. USINT Physical Outputs... 7 x6. USINT Physical Outputs xa x6. USINT Physical s... 7 Output x6 x6. USINT Physical Outputs... 7 Output x6 6DI 6DO 8DI/DO Byte Byte Byte xa Output x6 8DI Byte xa x6. USINT Physical s DO Byte Output x6 x6. USINT Physical Outputs DI/8DO Byte xa x6. USINT Physical s... 7 Output x6 x6. USINT Physical Outputs... 7 Table 38 6DIO profiles in byte format 4 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

43 The following table gives an overwiew of the availabale I/O profiles and the related PDO s in bit format Profile Format PDO 6DI/DO Bit PDO Content Type xa Size Output x6 6DI 6DO 8DI/DO Bit Bit Bit xa Output x6 xa Output x6 8DI 8DO Bit Bit xa Output x6 Size Type Name x6. Physical x6. Physical 5 x6. Physical Output x6. Physical Output 5 x6. Physical x6. Physical 5 x6. Physical Output x6. Physical Output 5 x6. Physical x68. Physical 7 x6. Physical Output x68. Physical Output 7 x6. Physical x68. x6. x68. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 Physical 7 Physical Output Physical Output 7 43

44 8DI/8DO Bit xa Output x6 x6. Physical x68. Physical 7 x6. Physical Output x68. Physical Output 7 Table 39 6DIO profiles in bit format The following tables showing the process data mapping for all profiles with the default I/O direction and mapping parameters. D XA... X8A status, channel A (contact pin 4) of slots X to X8 D XB... X8B status, channel B (contact pin ) of slots X to X8 44 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

45 PDO s xa/x6, 6DI/DO with data in byte format Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO xa Output PDO x6 Byte Bit Byte Bit x34 XA Physical s... 7 Physical Outputs... 7 x34 XB Physical s... 7 Physical Outputs... 7 x343 XA Physical s... 7 Physical Outputs... 7 x344 3 XB Physical s Physical Outputs x345 4 X3A Physical s Physical Outputs x346 5 X3B Physical s Physical Outputs x347 6 X4A Physical s Physical Outputs x348 7 X4B Physical s Physical Outputs x349 8 X5A Physical s Physical Outputs x34a 9 X5B Physical s Physical Outputs x34b X6A Physical s Physical Outputs x34c X6B Physical s Physical Outputs x34d X7A Physical s Physical Outputs x34e 3 X7B Physical s Physical Outputs x34f 4 X8A Physical s Physical Outputs x34 5 X8B Physical s Physical Outputs Table 4 6DI/DO PDO with /Output data in byte format Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 45

46 PDO xa, 6DI with data in byte format Default I/O Direction parameter for all I/O ports. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO xa Output PDO Byte Bit Byte Bit x34 XA Physical s... 7 x34 XB Physical s... 7 x343 XA Physical s... 7 x344 3 XB Physical s x345 4 X3A Physical s x346 5 X3B Physical s x347 6 X4A Physical s x348 7 X4B Physical s x349 8 X5A Physical s x34a 9 X5B Physical s x34b X6A Physical s x34c X6B Physical s x34d X7A Physical s x34e 3 X7B Physical s x34f 4 X8A Physical s x34 5 X8B Physical s Table 4 6DI PDO with data in byte format 46 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

47 PDO x6, 6DO with data in byte format Default I/O Direction parameter for all I/O ports Output. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO Output PDO x6 Byte Bit Byte Bit x34 XA Physical Outputs... 7 x34 XB Physical Outputs... 7 x343 XA Physical Outputs... 7 x344 3 XB Physical Outputs x345 4 X3A Physical Outputs x346 5 X3B Physical Outputs x347 6 X4A Physical Outputs x348 7 X4B Physical Outputs x349 8 X5A Physical Outputs x34a 9 X5B Physical Outputs x34b X6A Physical Outputs x34c X6B Physical Outputs x34d X7A Physical Outputs x34e 3 X7B Physical Outputs x34f 4 X8A Physical Outputs x34 5 X8B Physical Outputs Table 4 6DI/DO PDO with Output data in byte format Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 47

48 PDO s xa/x6, 8DI/DO with data in byte format Default I/O Direction parameter for all I/O ports /Output. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO xa Output PDO x6 Byte Bit Byte Bit x34 XA Physical s... 7 Physical Outputs... 7 x34 Inactive XB x343 XA Physical s... 7 Physical Outputs... 7 x344 Inactive XB x345 X3A Physical s... 7 Physical Outputs... 7 x346 Inactive X3B x347 3 X4A Physical s Physical Outputs x348 Inactive X4B x349 4 X5A Physical s Physical Outputs x34a Inactive X5B x34b 5 X6A Physical s Physical Outputs x34c Inactive X6B x34d 6 X7A Physical s Physical Outputs x34e Inactive X7B x34f 7 X8A Physical s Physical Outputs x34 Inactive X8B Table 43 8DI/DO PDO with /Output data in byte format 48 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

49 PDO xa, 8DI with data in byte format Default I/O Direction parameter for all I/O ports. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO xa Output PDO Byte Bit Byte Bit x34 XA Physical s... 7 x34 Inactive XB x343 XA Physical s... 7 x344 Inactive XB x345 X3A Physical s... 7 x346 Inactive X3B x347 3 X4A Physical s x348 Inactive X4B x349 4 X5A Physical s x34a Inactive X5B x34b 5 X6A Physical s x34c Inactive X6B x34d 6 X7A Physical s x34e Inactive X7B x34f 7 X8A Physical s x34 Inactive X8B Table 44 8DI PDO with data in byte format Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 49

50 PDO x6, 8DO with data in byte format Default I/O Direction parameter for all I/O ports Output. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO Output PDO x6 Byte Bit Byte Bit x34 XA Physical Outputs... 7 x34 Inactive XB x343 XA Physical Outputs... 7 x344 Inactive XB x345 X3A Physical Outputs... 7 x346 Inactive X3B x347 3 X4A Physical Outputs x348 Inactive X4B x349 4 X5A Physical Outputs x34a Inactive X5B x34b 5 X6A Physical Outputs x34c Inactive X6B x34d 6 X7A Physical Outputs x34e Inactive X7B x34f 7 X8A Physical Outputs x34 Inactive X8B Table 45 8DO PDO with Output data in byte format 5 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

51 PDO s xa/x6, 8DI/8DO with data in byte format Default I/O Direction parameter for all I/O ports /Output. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO xa Output PDO x6 Byte Bit Byte Bit x34 XA Physical s... 7 x34 XB Physical s... 7 x343 XA Physical s... 7 x344 3 XB Physical s x345 4 X3A Physical s x346 5 X3B Physical s x347 6 X4A Physical s x348 7 X4B Physical s x349 X5A Physical Outputs... 7 x34a X5B Physical Outputs... 7 x34b X6A Physical Outputs... 7 x34c 3 X6B Physical Outputs x34d 4 X7A Physical Outputs x34e 5 X7B Physical Outputs x34f 6 X8A Physical Outputs x34 7 X8B Physical Outputs Table 46 8DI/8DO PDO with /Output data in byte format Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 5

52 PDO s xa/x6, 6DI/DO with data in bit format Default I/O Direction parameter for all I/O ports /Output. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO xa Output PDO x6 Bit Bit x34 XA Physical Physical Output x34 XB Physical Physical Output x343 XA Physical Physical Output x344 3 XB Physical 3 Physical Output 3 x345 4 X3A Physical 4 Physical Output 4 x346 5 X3B Physical 5 Physical Output 5 x347 6 X4A Physical 6 Physical Output 6 x348 7 X4B Physical 7 Physical Output 7 x349 8 X5A Physical 8 Physical Output 8 x34a 9 X5B Physical 9 Physical Output 9 x34b X6A Physical Physical Output x34c X6B Physical Physical Output x34d X7A Physical Physical Output x34e 3 X7B Physical 3 Physical Output 3 x34f 4 X8A Physical 4 Physical Output 4 x34 5 X8B Physical 5 Physical Output 5 Table 47 6DI/DO PDO with /Output data in bit format 5 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

53 PDO s xa, 6DI with data in bit format Default I/O Direction parameter for all I/O ports. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO xa Output PDO Bit Bit x34 XA Physical x34 XB Physical x343 XA Physical x344 3 XB Physical 3 x345 4 X3A Physical 4 x346 5 X3B Physical 5 x347 6 X4A Physical 6 x348 7 X4B Physical 7 x349 8 X5A Physical 8 x34a 9 X5B Physical 9 x34b X6A Physical x34c X6B Physical x34d X7A Physical x34e 3 X7B Physical 3 x34f 4 X8A Physical 4 x34 5 X8B Physical 5 Table 48 6DI PDO with data in bit format Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 53

54 PDO x6, 6DO with data in bit format Default I/O Direction parameter for all I/O ports Output. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO Output PDO x6 Bit Bit x34 XA Physical Output x34 XB Physical Output x343 XA Physical Output x344 3 XB Physical Output 3 x345 4 X3A Physical Output 4 x346 5 X3B Physical Output 5 x347 6 X4A Physical Output 6 x348 7 X4B Physical Output 7 x349 8 X5A Physical Output 8 x34a 9 X5B Physical Output 9 x34b X6A Physical Output x34c X6B Physical Output x34d X7A Physical Output x34e 3 X7B Physical Output 3 x34f 4 X8A Physical Output 4 x34 5 X8B Physical Output 5 Table 49 6DO PDO with Output data in bit format 54 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

55 PDO s xa/x6, 8DI/DO with data in bit format Default I/O Direction parameter for all I/O ports /Output. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO xa Output PDO x6 Bit Bit x34 XA Physical Physical Output x34 Inactive XB x343 XA Physical Physical Output x344 Inactive XB x345 X3A Physical Physical Output x346 Inactive X3B x347 3 X4A Physical 3 Physical Output 3 x348 Inactive X4B x349 4 X5A Physical 4 Physical Output 4 x34a Inactive X5B x34b 5 X6A Physical 5 Physical Output 5 x34c Inactive X6B x34d 6 X7A Physical 6 Physical Output 6 x34e Inactive X7B x34f 7 X8A Physical 7 Physical Output 7 x34 Inactive X8B Table 5 8DI/DO PDO with /Output data in bit format Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 55

56 PDO xa, 8DI with data in bit format Default I/O Direction parameter for all I/O ports. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO xa Output PDO Bit Bit x34 XA Physical x34 Inactive XB x343 XA Physical x344 Inactive XB x345 X3A Physical x346 Inactive X3B x347 3 X4A Physical 3 x348 Inactive X4B x349 4 X5A Physical 4 x34a Inactive X5B x34b 5 X6A Physical 5 x34c Inactive X6B x34d 6 X7A Physical 6 x34e Inactive X7B x34f 7 X8A Physical 7 x34 Inactive X8B Table 5 8DI PDO with data in bit format 56 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

57 PDO x6, 8DO with data in bit format Default I/O Direction parameter for all I/O ports Output. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO Output PDO x6 Bit Bit x34 XA Physical Output x34 Inactive XB x343 XA Physical Output x344 Inactive XB x345 X3A Physical Output x346 Inactive X3B x347 3 X4A Physical Output 3 x348 Inactive X4B x349 4 X5A Physical Output 4 x34a Inactive X5B x34b 5 X6A Physical Output 5 x34c Inactive X6B x34d 6 X7A Physical Output 6 x34e Inactive X7B x34f 7 X8A Physical Output 7 x34 Inactive X8B Table 5 8DO PDO with Output data in bit format Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 57

58 PDO s xa/x6, 8DI/8DO with data in bit format Default I/O Direction parameter for all I/O ports /Output. Mapping Parameter Process data (Default values, Reference) Byte Value Port PDO xa Output PDO x6 Bit Bit x34 XA Physical x34 XB Physical x343 XA Physical x344 3 XB Physical 3 x345 4 X3A Physical 4 x346 5 X3B Physical 5 x347 6 X4A Physical 6 x348 7 X4B Physical 7 x349 8 X5A Physical Output x34a 9 X5B Physical Output x34b X6A Physical Output x34c X6B Physical Output 3 x34d X7A Physical Output 4 x34e 3 X7B Physical Output 5 x34f 4 X8A Physical Output 6 x34 5 X8B Physical Output 7 Table 53 8DI/8DO PDO with /Output data in bit format 58 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

59 PDO xa4, Error register The PDO s xa, xa, xa or xa can be combined flexible with the PDO s xa4 (Error register) and/or xa5 (Diagnosis register). PDO PDO Content Size Size Type Name xa4. USINT Error Register x Table 54 Error register B7 B6 B5 B4 B3 B B B Error description No error Output overload error, MISCS or MISCA Voltage error, MILVS Additional function parameter error, MIPRM Additional function forcing, MIFC Additional function device diagn., MIIME Table 55 Content of error register Attention Can be or, if more than one error is active at the same time. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 59

60 PDO xa5, Diagnosis register The PDO s xa, xa, xa or xa can be combined flexible with the PDO s xa4 (Error register) and/or xa5 (Diagnosis register). PDO PDO Content Size Size Type Name xa5 4 x 4. UDINT Diagnostic Register Table 56 Diagnostic Register Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit Byte MIIME MIFC MIPRM MISCA MISCS MILVA MILVS Byte SCSX8 SCSX7 SCSX6 SCSX5 SCSX4 SCSX3 SCSX SCSX Byte 3 CEX4B CEX4A CEX3B CEX3A CEXB CEXA CEXB CEXA Byte 4 CEX8B CEX8A CEX7B CEX7A CEX6B CEX6A CEX5B CEX5A Table 57 Content of diagnostic register TwinCAT representation as UDINT x Byte 4 Byte 3 Byte Byte Key D MILVS Module information byte Low voltage of system/sensor power supply D MILVA Module information byte Low voltage of actuator power supply D MISCS Module information byte Sensor shortcircuit at an M slot D MISCA Module information byte Actuator shortcircuit D MIPRM Module information byte Parameter error D MIFC Module information byte Forcing activ D MIIME Module information byte Internal module error D SCSX...SCSX8 Sensor shortcircuit at slot X to X8 D CEX5A... CEX8A Channel error, channel A (contact pin 4) of slots 5 to X8 D CEX5B... CEX8B Channel error, channel B (contact pin ) of slots X5 to X8 6 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

61 DIO DCU module 98 ESL 39DCU The DCU variant of the 98 ESL 39 Universal module has the same process data objects as described in chapter 6DIO modules 98 ESL 39x on page 4. The additional DCU specific process data objects are described in the following chapters. For detailed information about the DCU module refer to the manual Manual_LioNP_ Micro_DCU_EN.pdf PDO xa6, DCU s ( Bytes) These two bytes can be used for DCU applications as additional data (TxPDO, EtherCAT slave to controller). The transfer of the data can be disabled in the Process Data PDO assignment of the engineering tool. PDO PDO Content Size Size Type Name xa6 x64. USINT DCU s... 7 x64. USINT DCU s Table 58 PDO xa6, DCU s PDO x6, DCU Outputs ( Bytes) These two bytes can be used for DCU applications as additional Output data (RxPDO, EtherCAT controller to slave). The transfer of the data can be disabled in the Process Data PDO assignment of the engineering tool. PDO PDO Content Size Size Type Name x6 x64. USINT DCU Outputs... 7 x64. USINT DCU Outputs Table 59 PDO x6, DCU Outputs Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 6

62 PDO xa8, DCU Additional s (8 Signed Integer) These eight Signed Integer values can be used for DCU applications (e.g. for counters) as additional data (TxPDO, EtherCAT slave to controller). The transfer of the data can be disabled in the Process Data PDO assignment of the engineering tool. PDO PDO Content Size Size Type Name xa8 x68. INT DCU Additional x68. INT DCU Additional x683. INT DCU Additional x684. INT DCU Additional 3 x685. INT DCU Additional 4 x686. INT DCU Additional 5 x687. INT DCU Additional 6 x688. INT DCU Additional 7 Table 6 PDO xa8, DCU Additional s 6 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

63 PDO x64, DCU Additional Outputs (8 Signed Integer) These eight Signed Integer values can be used for DCU applications as additional output data (RxPDO, EtherCAT controller to slave). The transfer of the data can be disabled in the Process Data PDO assignment of the engineering tool. PDO PDO Content Size Size Type Name x64 x68. INT DCU Additional Output x68. INT DCU Additional Output x683. INT DCU Additional Output x684. INT DCU Additional Output 3 x685. INT DCU Additional Output 4 x686. INT DCU Additional Output 5 x687. INT DCU Additional Output 6 x688. INT DCU Additional Output 7 Table 6 PDO xa8, DCU Additional Outputs Device parameter The module variants (6DI, 6DO, 8DI/8DO, 6DI/DO) support different parameters. The parameters must be transferred in the startup from the controller to the device. The following blocks of parameters can be adjusted Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 63

64 General device settings (Bit) Parameter Default value Available in variant x3 Web interface locked = false, = true ). x3 Force mode locked = false, = true ). x33 Disable all emergency messages = false, = true ). x34 Disable UL emergency messages = false, = true ). x35 Disable actuator emergency messages without UL = false, = true ). x36 DCU Startup = locked, = disabled, = run 3). x37 Automatic Output Restart after failure = false, = true 4). Table 6 Possible parameter options for the general device settings ). Available in all variants 6DI, 6DO, 8DI/8DO w/wo DCU, 6DI/DO w/wo DCU ). Available in variants with outputs 6DO, 8DI/8DO w/wo DCU, 6DI/6DO w/wo DCU (in profiles with outputs) 3). Available in DCU variants 8DI/8DO with DCU, 6DI/DO with DCU 4). Available in variants 6DI/DO w/wo DCU Failsafe function (for modules with output channels) The firmware of the modules provides a failsafe function for the outputs. During the configuration of the modules, you have the option to define the status of the outputs after an interruption or a loss of communication. The following options are available Set low (default value) Deactivate the output channel (value = ) Set high Activate the output channel (value = ) Hold last Hold the last output status (value = ) 64 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

65 (Bit) Parameter x3 Failsafe port X, channel A (pin 4), possible values x3 Failsafe port X, channel B (pin 4), possible values x3f Failsafe port X8, channel A (pin 4), possible values x3 Failsafe port X8, channel B (pin 4), possible values Table 63 Possible failsafe values for module 6DO and 6DIO w/wo DCU and profiles with outputs Warning For the 6DIO module with the profiles 8DI/DO and and 8DI/8DO all 6 possible output channels can be parametrized due to the flexible direction configuration of the I/O ports. Please consider your I/O direction configuration, when you adapt the failsafe parameter. (Bit) Parameter x3 Failsafe port X5, channel A (pin 4), possible values x3 Failsafe port X5, channel B (pin 4), possible values x37 Failsafe port X8, channel A (pin 4), possible values x38 Failsafe port X8, channel B (pin 4), possible values Table 64 Possible failsafe values for module 8DI/8DO Surveillance timeout (for modules with output channels) The firmware of the modules allows you to define a delay time before the monitoring of the output currents begins, known as the surveillance timeout. You can define this for every individual output channel. The delay time begins after the status of the output channel changes, i.e. when this is activated (after a rising edge) or deactivated (after a falling Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 65

66 edge). After this time has elapsed, the monitoring of the output begins and the diagnosis reports error states. The value of the surveillance timeout is to 55 ms. The default value is 8 ms. When the output channel is in the static state, i.e. the channel is permanently switched on or off, the value is ms. (Bit) Parameter x3 Surveillance timeout port X, channel A (pin 4), possible values 55 x3 Surveillance timeout port X, channel B (pin 4), possible values 55 x3f Surveillance timeout port X8, channel A (pin 4), possible values 55 x3 Surveillance timeout port X8, channel B (pin 4), possible values 55 Table 65 Possible surveillance timeout values for module 6DO and 6DIO w/wo DCU and profiles with outputs Attention For the 6DIO module with the profiles 8DI/DO and 8DI/8DO all 6 possible output channels can be parametrized due to the flexible direction configuration of the I/O ports. Please consider your I/O direction configuration, when you adapt the surveillance timeout parameter. 66 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

67 (Bit) Parameter x3 Surveillance timeout port X5, channel A (pin 4), possible values 55 x3 Surveillance timeout port X5, channel B (pin 4), possible values 55 x37 Surveillance timeout port X8, channel A (pin 4), possible values 55 x38 Surveillance timeout port X8, channel B (pin 4), possible values 55 Table 66 Possible surveillance timeout values for module 8DI/8DO and 8DI/8DO with DCU IO Direction Configuration (for 6DIO modules w/wo DCU) With these parameters the I/O direction for the I/O channels can be set. The available settings are /Output =, = and Output =. With this IO Direction Configuration and the appropriate IO Mapping Configuration (described in the next section) the module can be adapted to the most comparable standard I/O modules on the market. For every profile (6DI/DO, 6DI, 6DO, 8DI/DO, 8DI, 8DO, 8DI/8DO) appropriate default settings are preconfigured. For the most applications is therefore no adaption of this parameters necessary. (Bit) Parameter x33 IO Direction Configuration Port XA = /Output, =, = Output x33 IO Direction Configuration Port XB = /Output, =, = Output x33f IO Direction Configuration Port X8A = /Output, =, = Output x33 IO Direction Configuration Port X8B = /Output, =, = Output Table 67 Possible I/O Direction Configuration The following table gives an overview of the preconfigured I/O direction for every profile (Some channels are set to inactive, refer for these settings to Table 7 Default I/O Mapping Configuration on page 7). Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 67

68 (Port) 6DI/DO 6DI 6DO 8DI/DO 8DI 8DO 8DI/8DO x33 (XA) /Output Output /Output Output x33 (XB) /Output Output /Output Output x333 (XA) /Output Output /Output Output x334 (XB) /Output Output /Output Output x335 (X3A) /Output Output /Output Output x336 (X3B) /Output Output /Output Output x337 (X4A) /Output Output /Output Output x338 (X4B) /Output Output /Output Output x339 (X5A) /Output Output /Output Output Output x33a (X5B) /Output Output /Output Output Output x33b (X6A) /Output Output /Output Output Output x33c (X6B) /Output Output /Output Output Output x33d (X7A) /Output Output /Output Output Output x33e (X7B) /Output Output /Output Output Output x33f (X8A) /Output Output /Output Output Output x33 (X8B) /Output Output /Output Output Output Table 68 Default I/O Direction Configuration Warning Please choose the IO Direction Configuration and IO Mapping Configuration carefully, to avoid malfunctions I/O Mapping Configuration (for 6DIO modules w/wo DCU) With this parameters the mapping of the physical I/O channels can be set. D Every output control bit in the output data telegram from the EtherCAT controller can be mapped to the preferred physical output channel (XA X8B). The available settings are channel 7, 5 (depending on the I/O profile) or 55 for channel inactive. D Every physical input input bit to the EtherCAT controller can be mapped to the preferred bit position in the input data telegram. The available settings are channel 7, 5 ( = XA 5 = X8B) or 55 for channel inactive. 68 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

69 D For I/O channels configured as /Output the mapping configuration is valid for input (producing data) and output (consuming data) direction. For every profile (6DI/DO, 6DI, 6DO, 8DI/DO, 8DI, 8DO, 8DI/8DO) appropriate default settings are preconfigured. For the most applications is therefore no adaption of this parameters necessary. Byte Parameter x34 IO Mapping Configuration Port XA... 5= Process Data Channel... 5, 55= Inactive x34 IO Mapping Configuration Port XB... 5= Process Data Channel... 5, 55= Inactive x34f IO Mapping Configuration Port X8A... 5= Process Data Channel... 5, 55= Inactive x34 IO Mapping Configuration Port X8B... 5= Process Data Channel... 5, 55= Inactive Table 69 Possible I/O Mapping Configuration The following mapping table gives an overview of the preconfigured I/O port channel (XA X8B) relation to the I/O process data channel ( 5) for every profile Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 69

70 Byte (Port) I/O process data channel ( 5), 55 = Inactive / Not available 6DI/DO 6DI 6DO 8DI/DO 8DI 8DO 8DI/8DO x34 (XA) x34 (XB) 55 (Inactive) 55 (Inactive) 55 (Inactive) x343 (XA) x344 (XB) (Inactive) 55 (Inactive) 55 (Inactive) 3 x345 (X3A) x346 (X3B) (Inactive) 55 (Inactive) 55 (Inactive) 5 x347 (X4A) x348 (X4B) (Inactive) 55 (Inactive) 55 (Inactive) 7 x349 (X5A) x34a (X5B) (Inactive) 55 (Inactive) 55 (Inactive) x34b (X6A) x34c (X6B) 55 (Inactive) 55 (Inactive) 55 (Inactive) 3 x34d (X7A) x34e (X7B) (Inactive) 55 (Inactive) 55 (Inactive) 5 x34f (X8A) x34 (X8B) (Inactive) 55 (Inactive) 55 (Inactive) 7 Table 7 Default I/O Mapping Configuration 7 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

71 Example for process data in byte format D x34 (X6A) = for the 6DI/DO means, that the input bit of X6A is mapped to producing bit (byte / bit ) and the output bit of consuming byte / bit will used as output control information for port X6A. Example for process data in bit format D x34 (X6A) = for the 6DI/DO means, that the input bit of X6A is mapped to producing bit and the output bit of consuming bit /will be used as output control information for port X6A. Warning Please choose the IO direction configuration and IO Mapping configuration carefully, to avaoid malfunctions Configuration example with TwinCAT 3 The configuration and startup of the modules described on the following pages refers to the TwinCAT 3 software from Beckhoff Automation GmbH. If you are using a control system from another provider, please consider the related documentation.. Install the ESI file of the module family in TwinCat. For TwinCat the ESI file normally has to be copied to the installation folder, e.g. C\TwinCAT \3.\Config\Io\EtherCAT After the installation (TwinCAT needs a restart, or use the menu bar TwinCAT > EtherCAT Devices > Reload Device Descriptions), the modules are available in the hardware catalog.. Start TwinCat and open a new project. 3. Change to the I/O option in the Solution Explorer in the left workspace window. With a right mouse click on devices choose the option Add New Item and choose EtherCAT Master. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 7

72 4. If not already done, choose the network adapter and install the driver for EtherCAT real time communication. 5. Click to Adapter and Compatible Devices for choosing the driver and installation of the EtherCAT driver Configuration of 98 ESL 39x modules. Select the I/O device from the hardware catalog Change to the I/O option in the Solution Explorer in the left workspace window. With a right mouse 7 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

73 click on the EtherCAT master (Device ) and choose the option Add New Item, select the device and click the OK button.. Select the I/O profile. 3. Configure the Slots Change to the Slots tab if the slot configuration should be changed. E.g the profile can be changed, or the default activation of the Error and Diagnosis Register can be removed. The Errorand Diagnosis Register settings can also be set within the Process Data tab. Warning If you change the I/O profile after changing the parameter settings in the Startup tab, all already changed parameters are remaining in the Startup tab. Please delete and insert in this case the whole I/O box, for avoiding wrong parameter settings. 4. Configure the Process Data Change to the Process Data tab and choose your s and Outputs PDO s as described in chapter 6DIO modules 98 ESL 39x on page 4 and 6DIO DCU module 98 ESL 39DCU on page Click to s in the Sync Manager frame and choose your s PDO s in the PDO Assignment frame. E.g. disable the xa4 and xa5 check Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 73

74 boxes, if no Error and Diagnosis Register data should be transferred the EtherCAT controller. 6. Click to Outputs in the Sync Manager frame and choose your Outputs PDO s in the PDO Assignment box, if changes are required Configuration of 98 ESL 39x 98 ESL 393x modules. Select the I/O device from the hardware catalog. Change to the I/O option in the Solution Explorer in the left workspace window. With a right mouse click on the EtherCAT master (Device ) and choose the option Add New Item, select the device and click the OK button 74 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

75 . Configure the Process Data Change to the Process Data tab and choose your s and Outputs PDO s as described in chapter Click to s in the Sync Manager frame and choose your PDO s in the PDO Assignment frame. 4. Click to Outputs in the Sync Manager frame and choose your PDO s in the PDO Assignment frame. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 75

76 5. Parameter settings Change to the Startup folder and check the default device parameter settings. After double clicking one parameter, the edit dialog box opens. The new value can be entered into the Data input bar 76 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

77 EoE IP address. Set the IP address for the EoE protocol. For using the web interface of the device, the IPaddress must be set. Click the Advanced Settings button in the EtherCAT Tab and navigate to Mailbox and EoE.. Disable the option Virtual Ethernet Port if no web services should be used. 3. Click IP Port and IP Address when web services will be used. Enter your IPsettings depending from your local network adapter settings. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 77

78 Activate Configuration. When the device is connected to the EtherCAT network click to the TWINCAT tab and choose Activate Configuration. Warning Before you set the inputs or outputs of the module, be aware that no personal injury or damage to equipment can be happen.. Click again the TWINCAT tab and choose Restart TwinCAT (Config Mode). Accept the dialog boxes with Yes and device will be change into the OP state and transfers I/O data. 78 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

79 3. Click the Write Button for setting an output of the device. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 79

80 6. The Status page 6 The integrated web server 6 The integrated web server The modules provide an integrated web server for configuration, monitoring, and diagnosis. You have the option to call up the websites saved on it by entering the address in a web browser. To do this, replace the placeholder [IPAdresse] with the IP address of the relevant module. For using the integrated web server in an EtherCAT environment, the EoE protocol must be configured for the EtherCAT controller and field module (refer to chapter EoE IP address on page 77). If the modules web pages does not open, check your browser and firewall settings. 6. The Status page The address of the Status page is http//[ipadresse]/status.htm. This website shows the current status of the overall module and the respective status of the individual channels. The Consumed/Produced process data and the Diagnosis/Error Register data are in hexadecimal format as well as graphically in the Module overview and Channel overview areas available. For the detailed Diagnosis and Error Register description refer to the description of the PDO s xa4 (Error Register) and xa5 (Diagnosis Register). The Channel overview table is broken down into three different areas. The status of the physical input and output data for the I/O channels as 8 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

81 6 The integrated web server 6. The Status page well as the process data sent to and received from the EtherCAT controller is displayed. Channel errors are displayed in the last column. In the LioNP modules the channel direction, the current channel status, the I/ O mapping configured through the controller as well as the currently mapped process data (Pr/Co) for all channels will be displayed. Changes to the I/O mapping can only be made in the profiles of the 6DIO modules (98 ESL 39x w/wo DCU) during the configuration of the module. 6.. Force Mode The force mode can be a useful instrument when starting up the machine or during troubleshooting inside the machine. The data for the input and output channels can be overwritten and indepentenly set through the web server. Therefore, each output can be manually set and each input simulated independent of the output process data from the controller or the the real physical input status. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 8

82 6. The Status page 6 The integrated web server The Switch Forcemode On button activates the Force Mode. If the status page or the web server is exited, the Force Mode is automatically switched off. To use the Force Mode in the online mode (with connection to the EtherCAT controller), the web interface and Force Mode has to be activated through the controller parametrization. If the Force Mode is activated in online mode through the web server, Force Mode is automatically switched off, if the device changes into the failsafe state (connection interruption, controller changes the device from OP to SafeOP or in case of an internal module error). Warning Using of the force mode can result in serious personal injury or damage to equipment. Be carefully when using the force mode. The and buttons in the Forcing column can be used to set the physical output data for the individual channels. The X button cancels Forcing for the corresponding channel. In a similar manner, the Simulation column can be 8 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

83 6 The integrated web server 6. The Configuration page (Config) used to simulate the input data of the individual channels before mapping into process data. 6. The Configuration page (Config) The address of the configuration page is http//[ipadresse]/config.htm. On this page you have the option to access the following values and parameters Restore Factory Settings The module restores the factory settings. Firmware Update The firmware of the device can be updated with this function. Refer to chapter Firmware Update with EoE on page 93 for further information. 6.3 The System page The address of the System page is http//[ipadresse]/system.htm. This page delivers the following data and options D Network MAC address D Network state D System status Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 83

84 6.3 The System page 6 The integrated web server System runtime System information Number of restarts of the I/O system D Firmware version and date D Device information Ordering number Serial number Production year and week D User Management Creating, changing or deleting of user or user settings The default login settings are User admin Password private Only access with Admin permissions enables new users to be created or passwords to be changed. The information on this page is updated in a web browser only after reopening or manual refreshing of the page. 84 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

85 6 The integrated web server 6.4 The DCU page 6.4 The DCU page The address of the DCU page is http//[ipadresse]/contact.htm. This page is only available for the devices 98 ESL 39DCU and 98 ESL 393DCU. This page provides status and control information for the Distributed Control Unit (DCU) of the device. Control tasks can be executed on the device with this feature. The LioNP DCU modul can work with a connected EtherCAT controller in Online Mode. For detailed information of the DCU function refer to the manual Manual_LioNP_Micro_DCU_EN.pdf 6.5 The Contact page The address of the contact page is http//[ipadresse]/contact.htm. This page provides information on the contact data for Belden Deutschland GmbH. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 85

86 6.5 The Contact page 86 6 The integrated web server Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

87 7 Diagnostics processing 7. Channel error 7 Diagnostics processing The modules provide advanced diagnosis behavior, in particular for the output channels. The firmware of the modules distinguishes between 5 different types of error. 7. Channel error A channel error is determined by comparing the target value set by a controller and the actual value of an output channel. Target value Actual value Comment Active Active OK, no diagnosis Off Off OK, no diagnosis Active Off Shortcircuit Channel indicator is red. Channel error bit in the diagnosis is set. Channel is locked after the error is rectified. (Automatic output restart is parametrized as default value for the 6DIO Universal devices.) Off Active Voltage is fed back in Red and yellow/white channel indicators are activated. Channel error bit in the diagnosis is set. Channel is not locked after the error is rectified. Table 7 Interpretation of channel errors Attention If both output channels of an M slot are activated when a channel error occurs, the controller locks both channels, even if only one channel is affected by the error. If only one channel is activated, Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 87

88 7. Voltage error at the M slots (sensor short circuit) 7 Diagnostics processing the controller only locks this one. Locked channels are deactivated and remain in the Off state if you do not reset them using the controller. When an output channel is activated (rising edge of the channel state) or deactivated (falling edge), the channel errors are filtered for the period that you set using the "SurveillanceTimeout" parameter during the configuration of the module. The value of this parameter can range from to 55 ms; the factory setting is 8 ms. The filter is used to avoid premature error messages when a capacitive load is activated or an inductive load is deactivated, and during other voltage peaks when a status changes. When a channel is in the static state that is, when it is permanently activated or deactivated the controller uses a fixed specified duration of ms for filtering the error message. 7. Voltage error at the M slots (sensor short circuit) At every M input socket of the modules, pin supplies a monitored sensor voltage US. In the case of a sensor shortcircuit, a voltage error is reported. Both channel indicators of the M input socket light up red, and the relevant error bit for the sensor shortcircuit is set in the diagnosis bytes. The error message is filtered by the "SurveillanceTimeout" parameter. 7.3 Overload of output drivers The output drivers of the modules with output functions (variants 6DO and 8DI/8DO) report an error when they detect an overload. This error is reported by setting the relevant channel error bits in the diagnosis bytes. Attention If both output channels of an M slot are activated when a channel error occurs, the controller locks both channels, even if only one channel is affected by the error. If only one channel is activated, the controller only locks this one. Locked channels are deactivated and remain in the Off state if you do not reset them using the controller. 88 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

89 7 Diagnostics processing 7.4 Error in the actuator power supply If there is an overload, the status indicator of the active output channel lights up red. If both output channels of an M slot are active during an overload, both status indicators light up red. The error message is filtered by the "SurveillanceTimeout" parameter. 7.4 Error in the actuator power supply The voltage value at the connections for the power supply of the actuators is monitored globally on the module level and on the I/O port level. If the actuator power supply UL goes outside the voltage range of 8.6 to 3 V, an error is reported. The UL indicator lights up red, and the actuator under voltage bit is set in the module information byte. When output channels are activated, the voltage error is also displayed by setting the relevant error bits of the M slots. Attention Every output channel that is active at the same time as the error occurs in supply voltage UL is locked. This means that for correct operation, the output channel must be reset by the controller when the status of the supply voltage UL is normalized again. We recommend deactivating all output channels with the controller as soon as the undervoltage is detected. Otherwise, because it is locked, every active output channel will report a diagnosis when the voltage value is normalized again. The error message is filtered by means of a fixed filter period of 3 ms. 7.5 Error in the system/sensor power supply The voltage value for the system/sensor power supply is also monitored globally. If the value goes outside the voltage range of 8.6 to 3 V, an error message is created. The US indicator lights up red and the sensor under voltage bit is set in the module information byte. The error message has no effect on the outputs and is not filtered, but is reported immediately. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 89

90 7.5 Error in the system/sensor power supply 7 Diagnostics processing Caution It must definitely be ensured that the supply voltage, measured at the most remote participant is not below 8.6 V DC from the perspective of the system power supply. 9 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

91 8 Emergency Messages 8 Emergency Messages When parametrized the device sends emergency messages to the master in case of detected diagnosis on the device. The coding of the first part of the emergency messages is leaned to the CiA 3 and CiA 4 specification. The second part of the emergency messages is the known error register, which can be also added via PDO to the cyclic input data. The emergency message has a format of 8 Bytes and is coded as follows Byte Byte Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Error Register Emergency Error Code Diagnostic Register CoE x Table 7 Byte content of the emergency message Emergency Error Code Error Register (CoE x, Byte 3) B7 B6 B5 B4 B3 B B B Error description (Bit 7 Bit ) Byte, Byte x No error x3 Output overload error, MISCS or MISCA x3 Voltage error, MILVS x33 Voltage error outputs, MILVA xf Additional function forcing, MIFC xff Additional function device diagn., MIIME xff ). Additional function parameter error, MIPRM Table 73 Content of error register (CoE register x) ). Only for modules 98 ESL 39x and 98 ESL 39DCU Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 9

92 8 Emergency Messages Attention Can be or, if more than one error is active at the same time. Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit Bit Bit Byte 4 MIIME MIFC MIPRM MISCA MISCS MILVA MILVS Byte 5 SCSX8 SCSX7 SCSX6 SCSX5 SCSX4 SCSX3 SCSX SCSX Byte 6 CEX4B CEX4A CEXB CEXA CEXA CEXA CEXB CEXA Byte 7 CEX8B CEX8A CEX7B CEX7A CEX6A CEX6A CEX5B CEX5A Byte 8 Table 74 Content of diagnostic register (depends on the module 6DI, 6DO or 8DI/8DO) Key D MILVS Module information byte Low voltage of system/sensor power supply D MILVA Module information byte Low voltage of actuator power supply D MISCS Module information byte Sensor shortcircuit at an M slot D MISCA Module information byte Actuator shortcircuit D MIPRM Module information byte Parameter error D MIFC Module information byte Forcing active D MIIME Module information byte Internal module error D SCSX... SCSX8 Sensor shortcircuit at slot X to X8 D CEX5A... CEX8A Channel error, channel A (contact pin 4) of slots 5 to X8 D CEX5B... CEX8B Channel error, channel B (contact pin ) of slots X5 to X8 The following example shows the emergency message received by the TwinCAT master for short circuit on the sensor supply pin of port X. 9 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

93 9 Firmware update 9. Firmware Update with EoE 9 Firmware update A firmware update of the module is possible over the integrated webserver of the module via the EoE (Ethernet over EtherCAT ) protocol, or via the FoE protocol (File over EtherCAT ). Warning Don t interrupt the power supply of the device during the update. 9. Firmware Update with EoE The EoE service must be supported from master and device. For configuring the EoE service on device side refer to chapter Configuration example with TwinCAT 3. If the EoE service is configured and the device is at least in the PreOp state, enter the IP address of the device in your browser and navigate to the Config Page.. Press the Firmware Update button and select the update file provided by Belden. Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 93

94 9. Firmware Update with FoE 9 Firmware update. Press Upload and wait for the following message Attention Upon the next restart, the device will use the new firmware. 9. Firmware Update with FoE The FoE service must be supported from master and device. The FoE service is supported from device side per default setting. If the FoE service is configured and the device is at least in the PreOp state, follow the example for TwinCAT 94 Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7

95 9 Firmware update 9. Firmware Update with FoE. Press the Download button in the File Access over EtherCAT box and select the update file provided by Belden. Add the file extension.zip in the string field if not visible. 3. Press OK and wait until the file has been transferred into the device. Attention After the file has been transferred, a reset command or power cycle is needed. Upon the restart of the device, the update package will be extracted and the old firmware files will be replaced Manual LioNP EtherCAT DigitalI/O Multiprotocol Version. /7 95