DEUTSCHMANN AUTOMATION UNIGATE MB EtherCAT Manual de usuario

Instruction Manual

Universal Fieldbus-Gateway

UNIGATE®MB - EtherCAT®

Deutschmann Automation GmbH & Co. KG

www.deutschmann.com | wiki.deutschmann.de

Manual Art.-No.: V4044E

17.7.17 UNIGATE®fieldbus gateway UNIGATE®MB - EtherCAT®V. 1.4 3

Deutschmann Automation GmbH & Co. KG

1 Information on CE marking of the module . . . . . . . . . . . . . . . 8

1.1 EU Directive EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.2 Scope of application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.3 Note installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.4 Installation of the unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.5 Working on switch cabinets . . . . . . . . . . . . . . . . . . . . . . . . . 8

2 Information for the machine manufacturers . . . . . . . . . . . . . . 9

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.2 EU Machinery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.1 UNIGATE®MB software flow-chart . . . . . . . . . . . . . . . . . . . . 11

3.2 UNIGATE®block diagram . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.3 UNIGATE®application diagram . . . . . . . . . . . . . . . . . . . . . . 12

4 Operation modes of the Gateway . . . . . . . . . . . . . . . . . . . 13

4.1 Configuration mode (config mode) . . . . . . . . . . . . . . . . . . . . 13

4.2 Test mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.3 Data exchange mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

5 RS-interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

5.1 RS-interfaces at the UNIGATE®MB . . . . . . . . . . . . . . . . . . . 14

5.2 Buffer sizes at the UNIGATE®MB . . . . . . . . . . . . . . . . . . . . 14

5.3 Framing Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

6 SSI-interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

6.1 Initiation of the SSI-interface . . . . . . . . . . . . . . . . . . . . . . . 15

6.1.1 Parameter sample frequency (Clock stretch) . . . . . . . . . . . . . . . . . . 15

6.1.2 Parameter Encoder monitoring (Check Encoder) . . . . . . . . . . . . . . . . 15

6.2 Hardware-wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

7 Mode of operation of the system . . . . . . . . . . . . . . . . . . . 17

7.1 General explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7.2 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7.3 Data exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7.4 Possible data lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7.5 Startup phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

8 Implemented protocols in UNIGATE®MB . . . . . . . . . . . . . . . 18

8.1 Protocol: Transparent . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

8.1.1 Data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

8.2 Protocol: Universal 232 . . . . . . . . . . . . . . . . . . . . . . . . . . 18

8.2.1 Data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

8.2.2 Fieldbus parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

8.2.3 RS232 parameter table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

8.2.3.1 Start character (232 Start character) . . . . . . . . . . . . . . . . . . . . . . . . . 19

8.2.3.2 Length 232 (232 Length) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

8.2.3.3 End character (232 End character) . . . . . . . . . . . . . . . . . . . . . . . . . . 19

8.2.4 Communication sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

8.3 Protocol: 3964(R) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

8.3.1 Data structure 3964R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Deutschmann Automation GmbH & Co. KG

4UNIGATE

®fieldbus gateway UNIGATE®MB - EtherCAT®V. 1.4 17.7.17

8.3.2 Protocol definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

8.3.3 Data communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

8.3.3.1 Initiation of data communication by the low-priority user . . . . . . . . . . . . . . . 20

8.3.3.2 Conflicts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

8.3.3.3 Timeout times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

8.3.3.4 Retries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

8.3.3.5 Initiation of data communication by the high-priority user . . . . . . . . . . . . . . . 21

8.3.4 Protocol type 3964 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

8.4 Protocol: MODBUS-RTU . . . . . . . . . . . . . . . . . . . . . . . . . 21

8.4.1 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

8.4.2 UNIGATE®as MODBUS-Master . . . . . . . . . . . . . . . . . . . . . . . . 21

8.4.2.1 Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

8.4.2.2 Data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

8.4.2.3 Communication sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

8.4.3 UNIGATE®as MODBUS-Slave . . . . . . . . . . . . . . . . . . . . . . . . . 22

8.4.3.1 Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

8.4.3.2 Data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

8.4.3.3 Communication sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

8.4.4 UNIGATE®as Modbus-ASCII Master . . . . . . . . . . . . . . . . . . . . . . 23

8.5 The trigger byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

8.6 The length byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

8.7 Protocol „Universal Modbus RTU Slave“ . . . . . . . . . . . . . . . . . 23

8.7.1 Data structure on the fieldbus side e.g.: PROFIBUS . . . . . . . . . . . . . .24

8.7.1.1 Example: FC1 + FC2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

8.7.1.2 Example: FC3 (Read Holding Register) + FC4 (Read Input Register) . . . . . . . . 25

8.7.1.3 Example: Write Single Coil FC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

8.7.1.4 Example: Write Single Register FC6 . . . . . . . . . . . . . . . . . . . . . . . . . 27

8.7.1.5 Example: Force multiple coils FC 15 . . . . . . . . . . . . . . . . . . . . . . . . . 27

8.7.1.6 Example: Preset multiple register FC16 . . . . . . . . . . . . . . . . . . . . . . . . 28

8.8 Protocol „Universal Modbus RTU Master“ . . . . . . . . . . . . . . . . 29

8.8.1 Data structure Fieldbus side (e.g. PROFIBUS): . . . . . . . . . . . . . . . . . 29

8.8.2 Data structure Application side: . . . . . . . . . . . . . . . . . . . . . . . . .29

8.8.3 Configuration: via Wingate since wcf Datei Version 396 . . . . . . . . . . . . . 30

8.8.3.1 Example: Read coil status FC1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

8.8.3.2 Example: Read input status FC2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

8.8.3.3 Example: Read multiple register FC3 . . . . . . . . . . . . . . . . . . . . . . . . . 33

8.8.3.4 Example: Read input registers FC4 . . . . . . . . . . . . . . . . . . . . . . . . . . 34

8.8.3.5 Example: Force single coil FC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

8.8.3.6 Example: Preset single register FC6 . . . . . . . . . . . . . . . . . . . . . . . . . 35

8.8.3.7 Example: Force multiple coils FC15 . . . . . . . . . . . . . . . . . . . . . . . . . . 35

8.8.3.8 Example: Preset multiple register FC16 . . . . . . . . . . . . . . . . . . . . . . . . 36

8.9 Protocol „Universal Modbus ASCII Master/Slave“ . . . . . . . . . . . . 37

8.9.1 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

8.9.1.1 Example Configuration 1: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

8.9.1.2 Swap Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

8.9.1.3 Example with Fast Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

17.7.17 UNIGATE®fieldbus gateway UNIGATE®MB - EtherCAT®V. 1.4 5

Deutschmann Automation GmbH & Co. KG

9 Hardware ports, switches and LEDs . . . . . . . . . . . . . . . . . . 43

9.1 Device labeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

9.2 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

9.2.1 Connector to the external device (RS-interface) . . . . . . . . . . . . . . . . 43

9.2.2 Connector supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

9.2.3 EtherCAT®-connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

9.2.4 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

9.3 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

9.3.1 LED "EtherCAT®Power" . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

9.3.2 LED "Link / Act. In" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

9.3.3 LED "Link / Act. Out" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

9.3.4 LED “(EtherCAT®) State“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

9.3.5 LED "Power" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

9.3.6 LED "State" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

9.3.7 LEDs (Error No. / Select ID) . . . . . . . . . . . . . . . . . . . . . . . . . . 46

9.4 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

9.4.1 Termination Rx 422 + Tx 422 (serial interface) . . . . . . . . . . . . . . . . . 46

9.4.2 Rotary coding switches S4 + S5 (serial interface) . . . . . . . . . . . . . . . 46

10 Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

10.1 Error handling at UNIGATE®MB . . . . . . . . . . . . . . . . . . . . . 47

11 Installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . 49

11.1 Installation of the module . . . . . . . . . . . . . . . . . . . . . . . . . 49

11.1.1 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

11.1.2 Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

11.2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

11.2.1 Connection systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

11.2.1.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

11.2.1.2 Equipotential bonding connection. . . . . . . . . . . . . . . . . . . . . . . . . . . 49

11.2.2 EtherCAT®communication interface . . . . . . . . . . . . . . . . . . . . . . 50

11.2.3 Line routing, shield and measures to combat interference voltage . . . . . . . 50

11.2.4 General information on line routing . . . . . . . . . . . . . . . . . . . . . . . 50

11.2.4.1 Shielding of lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

12 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

12.1 Device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

12.1.1 Interface data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

13 Commissioning guide . . . . . . . . . . . . . . . . . . . . . . . . . 54

13.1 Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

13.2 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

13.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

13.4 Dimensional drawing UNIGATE®MB - EtherCAT®. . . . . . . . . . . . 54

13.5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

13.6 EtherCAT®connection . . . . . . . . . . . . . . . . . . . . . . . . . . 55

13.7 Connection to the process device . . . . . . . . . . . . . . . . . . . . . 55

13.8 Shield connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

13.9 Connecting the supply voltage . . . . . . . . . . . . . . . . . . . . . . 55

13.10 Project planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Deutschmann Automation GmbH & Co. KG

6UNIGATE

®fieldbus gateway UNIGATE®MB - EtherCAT®V. 1.4 17.7.17

14 Servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

14.1 Returning a device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

14.2 Downloading PC software . . . . . . . . . . . . . . . . . . . . . . . . 56

15 Annex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

15.1 Explanations of the abbreviations . . . . . . . . . . . . . . . . . . . . . 57

15.2 Hexadecimal table . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

17.7.17 UNIGATE®fieldbus gateway UNIGATE®MB - EtherCAT®V. 1.4 7

Deutschmann Automation GmbH & Co. KG

Disclaimer of liability

We have checked the contents of the document for conformity with the hardware and software

described. Nevertheless, we are unable to preclude the possibility of deviations so that we are

unable to assume warranty for full compliance. The information given in the publication is,

however, reviewed regularly. Necessary amendments are incorporated in the following editions.

We would be pleased to receive any improvement proposals which you may have.

This document may not be passed on nor duplicated, nor may its contents be used or disclosed

unless expressly permitted. Violations of this clause will necessarily lead to compensation in

utility-model patents.

EtherCAT®is registered trademark and patented technology, licensed by Beckhoff Automation

GmbH, Germany.

Information on CE marking of the module Deutschmann Automation GmbH & Co. KG

8 UNIGATE®fieldbus gateway UNIGATE®MB - EtherCAT®V. 1.4 17.7.17

1 Information on CE marking of the module

1.1 EU Directive EMC

The following applies to the module described in this User Manual:

Products which bear the CE mark comply with the requirements of EU Directive „Electromagnetic

Compatibility“ and the harmonized European Standards (EN) listed therein.

The EU Declarations of Conformity are availableat the following location for perusal by the

responsible authorities in accordance with the EU Directive, Article 10:

Deutschmann Automation GmbH & Co. KG, Carl-Zeiss-Straße 8, 65520 Bad Camberg, Ger-

many.

1.2 Scope of application

The modules are designed for use in the industrial sector and comply with the following

requirements.

Scope of application Requirement applicable to

Emitted interference Interference immunity

Industry EN 55011, cl. A (2007) EN 61000-6-2 (2005)

1.3 Note installation guidelines

The module complies with the requirements 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 working on switch cabinets.

1.4 Installation of the unit

Modules must be installed in electrical equipment rooms/areas or in enclosed housings (e.g.

switch boxes made of metal or plastic). Moreover, you must earth the unit and the switch box

(metal box) or at least the top-hat rail (plastic box) onto which the module has been snapped.

1.5 Working on switch cabinets

In order to protect the modules against static electrical discharge, the personnel must discharge

themselves electrostatically before opening switch cabinets or switch boxes.

17.7.17 UNIGATE®fieldbus gateway UNIGATE®MB - EtherCAT®V. 1.4 9

Deutschmann Automation GmbH & Co. KG Information for the machine manufacturers

2 Information for the machine manufacturers

2.1 Introduction

The UNIGATE®module does not constitute a machine as defined by the EU "Machinery“

Directive. 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 applicable to a machine. The term

"machine" is taken to mean a totality of connected parts or fixtures (see also EN 292-1, Para-

graph 3.1)

The module is a part of the electrical equipment of the machine and must thus be included by the

machine manufacturer in the Declaration of Conformity process.

Introduction Deutschmann Automation GmbH & Co. KG

10 UNIGATE®fieldbus gateway UNIGATE®MB - EtherCAT®V. 1.4 17.7.17

3 Introduction

The UNIGATE®MB-EtherCAT®module serves to adapt a serial port to EtherCAT®networks. The

terminal unit’s protocol is converted in the UNIGATE®via a Script.

The module MB-EtherCAT®essentially consists of the following hardware components:

•Electrically isolated EtherCAT®-Interface

•EtherCAT®controller ET1100

•Microprocessor 89C51RD2

•RAM and EEROM

•Serial interface (RS232, RS485 and RS422) to the device connected externally

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