DEUTSCHMANN AUTOMATION UNIGATE CL EtherCAT, Instruction Manual

Page 1: ...Instruction Manual Universal Fieldbus Gateway UNIGATE CL EtherCAT Deutschmann Automation GmbH Co KG www deutschmann com wiki deutschmann de...

Page 2: ...Manual Art No V3679E...

Page 3: ...ffer sizes at the UNIGATE CL 14 5 3 Framing Check 14 6 SSI interface 15 6 1 Initiation of the SSI interface 15 6 2 Parameter 15 6 2 1 Resolution 15 6 2 2 SSI Encoder Type 15 6 2 3 Parameter sample fre...

Page 4: ...Coil FC5 26 10 3 1 4 Example Write Single Register FC6 27 10 3 1 5 Example Force multiple coils FC 15 28 10 3 1 6 Example Preset multiple register FC16 29 10 4 Protocol Universal Modbus RTU Master 29...

Page 5: ...g 45 13 2 1 Connection systems 45 13 2 1 1 Power supply 45 13 2 1 2 Equipotential bonding connection 45 13 2 2 EtherCAT communication interface 46 13 2 3 Line routing shield and measures to combat int...

Page 6: ...Deutschmann Automation GmbH Co KG 6 UNIGATE Feldbus Gateway UNIGATE CL EtherCAT V 2 6 29 6 20...

Page 7: ...essary amendments are incorporated in the following editions We would be pleased to receive any improvement proposals which you may have Copyright Copyright C Deutschmann Automation GmbH Co KG 1997 20...

Page 8: ...rements if you 1 comply with the installation guidelines described in the User Manual when installing and oper ating the module 2 also follow the rules below on installation of the equipment and on wo...

Page 9: ...ve Consequently the module does not have a Declaration of Conformity in relation to the EU Machinery Directive 2 2 EU Machinery Directive The EU Machinery Directive stipulates the requirements applica...

Page 10: ...rCAT networks The terminal unit s protocol is converted in the UNIGATE via a Script The module CL EtherCAT essentially consists of the following hardware components Electrically isolated EtherCAT Inte...

Page 11: ...29 6 20 UNIGATE Fieldbus Gateway UNIGATE CL EtherCAT V 2 6 11 Deutschmann Automation GmbH Co KG Introduction 3 1 UNIGATE CL software flow chart...

Page 12: ...Introduction Deutschmann Automation GmbH Co KG 12 UNIGATE Fieldbus Gateway UNIGATE CL EtherCAT V 2 6 29 6 20 3 2 UNIGATE application diagram The following graph shows a typical connection scheme...

Page 13: ...setting of the test mode Now the Gateway has to be restarted with these settings by a short disconnection from the power supply In the test mode the Gateway always operates with the settings 9600 baud...

Page 14: ...is capable for Script For it please check in the Protocol Developer under Device Control Hardware 5 3 Framing Check The length of the stop bit received by the Gateway is checked through the function F...

Page 15: ...ampling frequency For this purpose a Stretch value is passed that inserts a waiting period after each clock edge If a 0 is passed there is no waiting time Thus the following SSI sample frequencies may...

Page 16: ...for at least one bit If the UNIGATE does NOT detect this bit on Low error 12 is issued For example it can detect a cable break or a not connected encoder However it can also be a misconfigured bit le...

Page 17: ...rating with 9600 baud no parity 8 data bit 1 stop bit It is not possible to change this parameter in the Protocol Developer Please consider the fact that these settings have to be in accordance with t...

Page 18: ...Layers 3 to 6 are empty Layer 7 is converted in accordance with chapter 8 3 8 2 Interfaces The Gateway features the RS232 RS422 and RS485 interfaces 8 3 Data exchange All data is transferred by the G...

Page 19: ...oup of commands deals with the communication in general This group s commands enable the Gate way to send and receive data on the serial side as well as on the bus side 9 4 Independence of buses Basic...

Page 20: ...itioned Of course the commands can also be written by means of the keyboard or already written commands can also be modified 9 7 Accuracies of the baud rates The baud rate of the serial interface is d...

Page 21: ...Sending and receiving data at the Debug interface provided that the Protocol Developer has been started on the PC Sending and receiving data at the RS interface Sending and receiving data at the Field...

Page 22: ...t must be sent to Deutschmann Support https www deutschmann de en support enquiry 10 1 Protokoll Transparent The data is transferred bidirectional from the UNIGATE 10 1 1 Data structure On the RS entr...

Page 23: ...ed If no end criterion is defined either as many characters as can be transferred in the fieldbus transmit buffer are read in via the RS232 interface As a special case for this parameter also a length...

Page 24: ...e been received than the fieldbus block length the trailing bytes are truncated and an Rx Overrun is indicated If less have been received padding with 0 occurs If the Length byte is active the number...

Page 25: ...in the Modbus Master FC1 Example StartAddress 0008 Length 80 FC2 Read Input Status 01 02 00 07 00 50 c9 f7 UNIGATE sends response via RS232 485 01 02 0a 02 03 04 05 06 07 08 00 00 00 8f 7a 10 3 1 2 Ex...

Page 26: ...07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 20 20 20 1 Byte Fieldbus length byte The following 7 byte are stored in the UNIGATE the rest is not overwritten With FC1 and the coil length...

Page 27: ...the number of usable characters followed by the payload The user data internal buffer is no bigger than1024 byte In the following example the Bit Coil in Address 0002 is set to High 1 The fieldbus dat...

Page 28: ...aster some Master pull System one as offset This leads to the Byte Offset for the fieldbus output data 14 You start counting with the first process data value with Index NULL 1F 03 02 1 process value...

Page 29: ...00 00 00 00 00 00 00 The 2nd row shows the fieldbus data content AFTER the update 10 4 Protocol Universal Modbus RTU Master The UNIGATE is Modbus Master on the Application side 10 4 1 Data structure F...

Page 30: ...fix 1 Bit Preset single register FC6 No of Points not used fix 1 Word Force multiple coils FC15 No of Points Bit Preset multiple register FC16 No of Points Word Note status and coil 1 Bit register 16...

Page 31: ...ned up behind the other Up to 24 requests can be configured Additional configuration possibilities in the setting Req Modbus Function jump to Req 1 jump to 1 request entry disable this Req skip this r...

Page 32: ...07 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 0 1 Byte Trigger byte value 0x66 2 Byte Fieldbus length byte value 0x07 3 Byte Fieldbus Map Adr 0 value 0x00 4 Byte Fieldbus Map Adr 1 value 0...

Page 33: ...be seen here 9 Byte Fieldbus Map Adr 6 Wert 0x01 0x03 A modification of address 7 in the Modbus slave has no consequences to the fieldbus output side because No Of Points 2 is set in the configuratio...

Page 34: ...te 2 fieldbus byte at 0x0A increases by 1 Byte 10 4 3 3 Example Read multiple register FC3 RX Poll Delay 0 is automatically set to 1 by the firmware Modbus Request The CRC value is automatically calcu...

Page 35: ...bus from Fieldbus Map Adr Byte 0 on Fieldbus data from UNIGATE SPS 51 13 02 02 03 03 30 04 01 00 01 00 00 00 02 57 00 01 03 00 00 00 00 00 00 00 Byte 0 Trigger Byte 0x51 Byte 1 Fieldbus length byte 0x...

Page 36: ...00 FF 00 00 00 00 00 00 00 00 00 00 00 00 00 UNIGATE sends Modbus RTU request 01 06 00 05 ff 23 99 e2 Modbus Slave sends response 01 06 00 05 ff 23 99 e2 Storage content of Modbus Slave after Response...

Page 37: ...ddress 0011 is written at the value 0x05 Address 0013 would already be bit No 11 which is not transmitted anymore 10 4 3 8 Example Preset multiple register FC16 Configuration Fieldbus Master sends BA...

Page 38: ...od there is actually no need to send new data to the master The other way round when it comes to a cyclical query of the gateway a connected master has to be in the position to distinguish whether the...

Page 39: ...o the external device RS interface The serial interface is available at the plug accessible on the upper side of the device Pin assignment X1 3 pole and 4 pole screw type plug connector For the operat...

Page 40: ...ce s bottom side Please note that the devices of the series UNIGATE should not be operated with AC voltage 11 3 LEDs The Gateway UNIGATE CL EtherCAT features 10 LEDs with the following significance 11...

Page 41: ...as changed the EtherCAT state autonomously Parameter Change in the AL status register is set to 0x01 change error Double Flash Application Watchdog Timeout An application watchdog timeout has occurred...

Page 42: ...a bus termination at this Gateway In order to do this the termination switch is set to posi tion ON The resistor 150 integrated in the Gateway is activated In all other cases the switch remains in pos...

Page 43: ...oses and are then automatically reset If such warnings occur frequently please inform After Sales Service In the configuration mode these displays are not valid and only meant for internal use Table 1...

Page 44: ...bus RTU Slave Timeout at Response transmis sion 3964 R Timeout no response from Par ticipant 1 0 1 1 11 Universal 232 with 232 Checksum Checksum of reception does not match the calculated one Modbus R...

Page 45: ...he standard mounting channel may also be mounted vertically so that the module is mounted turned through 90 13 2 Wiring 13 2 1 Connection systems The following connection systems must resp may be used...

Page 46: ...elded lines for DC voltages 60 V unshielded lines for AC voltage 25 V coaxial lines for monitors Group B unshielded lines for DC voltages 60 V and 400 V unshielded lines for AC voltage 24 V and 400 V...

Page 47: ...encies Connecting the shield at one end may be more favorable if it is not possible to lay an equipotential bonding line analogue signals a few mV resp mA are to be transmitted foil shields static shi...

Page 48: ...6 Installation position Any 7 Weight Approx 130 g 8 Operating temperature 25 C 85 C 9 Storage transport temperature 40 C 85 C 10 Atmospheric pressure during operation during transport 795 hPa 1080 hP...

Page 49: ...ex at RS422 Difference signal 3 Transmission method Multimaster CSMA CD Master slave Master slave 4 Number of users Transmitters Sender 65535 65535 1 1 32 32 5 Cable length Maximum Baud rate dependent...

Page 50: ...cable this cable is generally available on site 10 33 V DC power supply DIN 19240 Type file or XML file and user manual a sample XML file as well as the user manual can be ordered separately or downlo...

Page 51: ...process device Please also read the manual for the process device when commissioning the process device 15 8 Shield connection Earth the DIN rail onto which the module has been snapped 15 9 Connecting...

Page 52: ...to midday and from 1 pm to 4 pm Friday from 8 am to midday CET Deutschmann Automation GmbH Co KG Carl Zeiss Stra e 8 D 65520 Bad Camberg Germany Central office and sales department 49 6434 9433 0 Tech...

Page 53: ...ail module and without housing cover PD Board only without DIN rail module and with housing cover AG Gateway installed in a die cast aluminum housing EG Gateway installed in a stainless steel housing...

Page 54: ...version X see comparison table UNIGATE IC for the respective product PBDPV0 ProfibusDPV0 PBDPV1 ProfibusDPV1 RS Serial RS232 485 422 17 2 Hexadecimal table Hex Decimal Binary 0 0 0000 1 1 0001 2 2 00...

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