Documentation
BC9000 and BC9100
Bus Terminal Controller for Ethernet
Version:
Date:
4.0.0
2019-05-29
Table of contents
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Documentation issue status ..............................................................................................................7
2 Product overview.......................................................................................................................................8
2.1 Principle of the Bus Terminal.............................................................................................................8
2.2 The Beckhoff Bus Terminal system...................................................................................................8
2.3 Technical data .................................................................................................................................10
2.4 Technical Data for the PLC .............................................................................................................11
2.5 Ethernet ...........................................................................................................................................11
3 Fitting and wiring.....................................................................................................................................13
3.1 Mechanical installation ....................................................................................................................13
3.1.1 Dimensions ...................................................................................................................... 13
3.1.2 Installation on mounting rails ........................................................................................... 14
3.2 Wiring...............................................................................................................................................15
3.2.1 Power supply, potential groups........................................................................................ 15
3.2.2 Ethernet topologies.......................................................................................................... 17
3.2.3 Ethernet connection......................................................................................................... 19
3.2.4 Ethernet cable.................................................................................................................. 20
4 Parameterization and Commissioning ..................................................................................................22
4.1 Start-up behavior of the Bus Terminal Controller ............................................................................22
4.2 Parameterization of the Bus Coupler using DIP switches ...............................................................22
4.3 Network classes ..............................................................................................................................23
4.4 IP address .......................................................................................................................................24
4.4.1 IP address........................................................................................................................ 24
4.4.2 Configuration with KS2000 .............................................................................................. 24
4.4.3 Setting the IP address using the ARP table..................................................................... 25
4.4.4 Setting the IP Address Using the Beckhoff BootP Server ............................................... 26
4.4.5 Setting the address using a DHCP server ....................................................................... 27
4.4.6 Adressing by name .......................................................................................................... 28
4.4.7 Subnet mask.................................................................................................................... 29
4.4.8 Testing the IP address..................................................................................................... 29
4.4.9 Reading the MAC-ID........................................................................................................ 30
4.4.10 Security settings .............................................................................................................. 30
5 Configuration ...........................................................................................................................................31
5.1 Configuration using the System Manager .......................................................................................31
5.2 The IP Address tab..........................................................................................................................32
5.3 PLC tab............................................................................................................................................33
5.4 Configuration for ModbusTCP .........................................................................................................35
6 Programming ...........................................................................................................................................36
6.1 TwinCAT PLC..................................................................................................................................36
6.2 PLC Cycle Time...............................................................................................................................36
6.3 PLC Variables..................................................................................................................................37
BC9000 and BC9100 3Version: 4.0.0
Table of contents
6.4 Mapping the Bus Terminals.............................................................................................................38
6.5 Local process image........................................................................................................................38
6.6 Allocated flag area %MB.. ...............................................................................................................39
6.6.1 Remanent and persistent data......................................................................................... 39
6.6.2 Diagnostics ...................................................................................................................... 40
6.6.3 Cycle Time Measuring ..................................................................................................... 40
6.7 Fieldbus process image...................................................................................................................40
6.7.1 Fieldbus process image................................................................................................... 40
6.7.2 ModbusTCP Process Image............................................................................................ 40
6.7.3 ADS Process Image ........................................................................................................ 41
6.8 Program transfer..............................................................................................................................41
6.8.1 Program transfer via the serial interface.......................................................................... 41
6.8.2 Program Transfer via Ethernet ........................................................................................ 42
6.9 Libraries...........................................................................................................................................45
6.9.1 Libraries ........................................................................................................................... 45
6.9.2 TcUtilitiesBC9000 ............................................................................................................ 46
6.9.3 TcIpUtilitiesBC ................................................................................................................. 49
7 Fieldbus system ......................................................................................................................................51
7.1 Ethernet ...........................................................................................................................................51
7.2 Topology..........................................................................................................................................53
7.3 Reaction times.................................................................................................................................53
7.4 ADS-Communication .......................................................................................................................54
7.4.1 ADS-Communication ....................................................................................................... 54
7.4.2 ADS protocol.................................................................................................................... 55
7.4.3 ADS services ................................................................................................................... 56
7.5 ModbusTCP.....................................................................................................................................64
7.5.1 ModbusTCP Protocol....................................................................................................... 64
7.5.2 Modbus TCP interface ..................................................................................................... 65
7.5.3 ModbusTCP slave error answer (BK9000, BX/BC9xx0, IP/ILxxxx-B/C900, EK9000) ..... 67
7.5.4 ModbusTCP functions ..................................................................................................... 67
7.5.5 Examples for ModbusTCP............................................................................................... 74
7.6 Description of parameters ...............................................................................................................75
7.6.1 Properties of the Bus Terminal Controller........................................................................ 75
8 Error handling and diagnosis.................................................................................................................78
8.1 Diagnostic LEDs ..............................................................................................................................78
8.2 General errors .................................................................................................................................81
8.3 ADS diagnostics ..............................................................................................................................81
8.4 ModbusTCP diagnostic ...................................................................................................................83
9 Appendix ..................................................................................................................................................84
9.1 General operating conditions...........................................................................................................84
9.2 Approvals.........................................................................................................................................85
9.3 Test standards for device testing.....................................................................................................86
9.4 Bibliography.....................................................................................................................................86
9.5 List of Abbreviations ........................................................................................................................86
9.6 Support and Service ........................................................................................................................88
BC9000 and BC91004 Version: 4.0.0
Foreword
1 Foreword
1.1 Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCATP®, SafetyoverEtherCAT®, TwinSAFE®, XFC® and XTS® are
registered trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or
registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and
patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
BC9000 and BC9100 5Version: 4.0.0
Foreword
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of instructions
In this documentation the following instructions are used.
These instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING
Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION
Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE
Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
BC9000 and BC91006 Version: 4.0.0
Foreword
1.3 Documentation issue status
Version Modifications
4.0 • Migration
3.12 • HTML documentation for firmware versions from BB (BC9000) and B1 (BC9100)
3.11 • HTML documentation for firmware versions from BB (BC9000) and B1 (BC9100)
3.10 • HTML documentation; valid as from firmware BA
3.9 • HTML documentation; valid as from firmware B9
3.8 • HTML documentation; valid as from firmware B8
Firmware BC9000/BC9100
You can determine which firmware was fitted when the Bus Coupler left the factory from the adhesive label
underneath (see the fifth and sixth figures of the production number).
Example:
3200B2020000
The firmware in the example is B2.
In order to update your firmware, you require the KS2000 configuration software and the serial cable
included with that software; as from software version B6, you can update your coupler using the TwinCAT
2.8 system manager. You will find the firmware under www.beckhoff.de.
Firmware Description
BB (BC9000)
B1 (BC9100)
BA • Variable size increased from 6kbyte to 16kbyte
B9 Error in the B8 version related to mapping the KL60xx Bus Terminals corrected
B8 Internal software reset modified (this does not have any effects that concern the user)
B7 • Settings such as the IP address are retained during a firmware update
B6 • Implementation of the ModbusTCP, ADS, SMTP and IP-Config function blocks
B5 • Addressing via ARP and BootP possible
B3 Implementation of ModbusTCP
B2 • Problems with the ASC/CHR functions corrected
B1 Released version
B0 Preliminary version
• Restructuring of the internal Ethernet communication
• Adjustment of the cycle tick counter to 1ms per tick
• Data storage in flash memory [}59]
• SNTP/Time Protocol implemented
• Access via name resolution
• Optimization: 25% performance increase through code optimization
• ADS indication function block implemented
• ADS "State" supported
• DHCP for "Nortel Switch" modified
• Cycle time monitoring
• Fast ModbusTCP implemented
• Firmware update over Ethernet possible
• Reading out the configuration with the System Manager (as from TwinCAT 2.8) possible
• ADS access control through table 2 implemented
• Access to the flags area via ModbusTCP
• The fault which caused error code 1 to be generated after TwinCAT starts up was
corrected
• Implementation of PLCSystemBC.lb6
BC9000 and BC9100 7Version: 4.0.0
Product overview
2 Product overview
2.1 Principle of the Bus Terminal
Fig.1: Principle of the Bus Terminal
2.2 The Beckhoff Bus Terminal system
Up to 256 Bus Terminals, with 1 to 16I/O channels per signal form
The Bus Terminal system is the universal interface between a fieldbus system and the sensor / actuator
level. A unit consists of a Bus Coupler as the head station, and up to 64 electronic series terminals, the last
one being an end terminal. Up to 255 Bus Terminals can be connected via the K-bus extension. For each
technical signal form, terminals are available with one, two, four or eight I/O channels, which can be mixed
as required. All the terminal types have the same mechanical construction, so that difficulties of planning and
design are minimized. The height and depth match the dimensions of compact terminal boxes.
Decentralised wiring of each I/O level
Fieldbus technology allows more compact forms of controller to be used. The I/O level does not have to be
brought to the controller. The sensors and actuators can be wired decentrally, using minimum cable lengths.
The controller can be installed at any location within the plant.
Industrial PCs as controllers
The use of an Industrial PC as the controller means that the operating and observing element can be
implemented in the controller's hardware. The controller can therefore be located at an operating panel, in a
control room, or at some similar place. The Bus Terminals form the decentralised input/output level of the
BC9000 and BC91008 Version: 4.0.0
Product overview
controller in the control cabinet and the subsidiary terminal boxes. The power sector of the plant is also
controlled over the bus system in addition to the sensor/actuator level. The Bus Terminal replaces the
conventional series terminal as the wiring level in the control cabinet. The control cabinet can have smaller
dimensions.
Bus Couplers for all usual bus systems
The Beckhoff Bus Terminal system unites the advantages of a bus system with the possibilities of the
compact series terminal. Bus Terminals can be driven within all the usual bus systems, thus reducing the
controller parts count. The Bus Terminals then behave like conventional connections for that bus system. All
the performance features of the particular bus system are supported.
Mounting on standardized mounting rails
The installation is standardized thanks to the simple and space-saving mounting on a standardized mounting
rail (EN60715, 35mm) and the direct wiring of actuators and sensors, without cross connections between
the terminals. The consistent labelling scheme also contributes.
The small physical size and the great flexibility of the Bus Terminal system allow it to be used wherever a
series terminal is also used. Every type of connection, such as analog, digital, serial or the direct connection
of sensors can be implemented.
Modularity
The modular assembly of the terminal strip with Bus Terminals of various functions limits the number of
unused channels to a maximum of one per function. The presence of two channels in one terminal is the
optimum compromise of unused channels and the cost of each channel. The possibility of electrical isolation
through potential feed terminals also helps to keep the number of unused channels low.
Display of the channel state
The integrated LEDs show the state of the channel at a location close to the sensors and actuators.
K-bus
The K-bus is the data path within a terminal strip. The K-bus is led through from the Bus Coupler through all
the terminals via six contacts on the terminals' side walls. The end terminal terminates the K-bus. The user
does not have to learn anything about the function of the K-bus or about the internal workings of the
terminals and the Bus Coupler. Many software tools that can be supplied make project planning,
configuration and operation easy.
Potential feed terminals for isolated groups
The operating voltage is passed on to following terminals via three power contacts. You can divide the
terminal strip into arbitrary isolated groups by means of potential feed terminals. The potential feed terminals
play no part in the control of the terminals, and can be inserted at any locations within the terminal strip.
Up to 64Bus Terminals can be used in a terminal block, with optional K-bus extension for up to 256Bus
Terminals. This count does include potential feed terminals, but not the end terminal.
Bus Couplers for various fieldbus systems
Various Bus Couplers can be used to couple the electronic terminal strip quickly and easily to different
fieldbus systems. It is also possible to convert to another fieldbus system at a later time. The Bus Coupler
performs all the monitoring and control tasks that are necessary for operation of the connected Bus
Terminals. The operation and configuration of the Bus Terminals is carried out exclusively by the Bus
Coupler. Nevertheless, the parameters that have been set are stored in each Bus Terminal, and are retained
in the event of voltage drop-out. Fieldbus, K-bus and I/O level are electrically isolated.
If the exchange of data over the fieldbus is prone to errors or fails for a period of time, register contents (such
as counter states) are retained, digital outputs are cleared, and analog outputs take a value that can be
configured for each output when commissioning. The default setting for analog outputs is 0 V or 0 mA. Digital
BC9000 and BC9100 9Version: 4.0.0
Product overview
outputs return in the inactive state. The timeout periods for the Bus Couplers correspond to the usual
settings for the fieldbus system. When converting to a different bus system it is necessary to bear in mind the
need to change the timeout periods if the bus cycle time is longer.
The interfaces
A Bus Coupler has six different methods of connection. These interfaces are designed as plug connectors
and as spring-loaded terminals.
2.3 Technical data
Fig.2: BC9000 and BC9100
System data Ethernet (BC9000) Ethernet (BC9100)
Number of I/O modules only limited by the IP address space
Number of I/O points depending on controller
Data transfer medium 4 x 2 twisted-pair copper cables; category 3 (10 Mbit/s), category 5 (100Mbit/s)
Distance between
modules
Data transfer rate 10 / 100 Mbit/s
Topology star wiring star wiring, up to 20 BC9100 in one line
100 m (distributor hub to BC9000) Line: max. 100m between two BC9100
BC9000 and BC910010 Version: 4.0.0
Product overview
Technical data BC9000 BC9100
Number of Bus Terminals 64
Digital peripheral signals 256 inputs/outputs
Analog peripheral signals 128 inputs/outputs
Protocols Beckhoff ADS, ModbusTCP
Configuration possibility via the KS2000 configuration software or the controller (TwinCAT)
Maximum number of bytes 512bytes I and 512bytes O
Bus connection 1 x RJ 45 2 x RJ45
Internal switch - 3-port switch (two external connections)
Power supply 24VDC (-15%/+20%)
Input current 70mA + (total K-bus current)/4
Starting current approx. 2.5 x continuous current
Recommended fuse ≤10A
K-Bus power supply up to 1750mA
Power contact voltage max. 24V
Power contact current load 10A max.
Dielectric strength 500V (power contact/supply voltage/fieldbus)
Weight approx. 170g
Operating temperature -25°C ... +60°C
Storage temperature -40°C...+85°C
Relative humidity 95% no condensation
Vibration/shock resistance conforms to IEC 68-2-6 / IEC 68-2-27
EMC immunity/emission conforms to EN 50082 (ESD, burst) / EN 50081
Mounting position variable
Protection class IP20
DC
2.4 Technical Data for the PLC
PLC data BC9000 BC9100
Programmability via programming interface (TwinCAT) or via Ethernet (TwinCAT)
Program memory 64/96kbyte
Data memory 64/128kbyte
Remanent flags 4kbyte
PLC cycle time Approx. 1.5ms for 1000 IL commands
(without I/O cycle)
Programming languages IEC 6-1131-3 (IL, LD, FBD, ST, SFC)
Approx. 1.2ms for 1000 IL commands
(without I/O cycle)
2.5 Ethernet
Ethernet was originally developed by DEC, Intel and XEROX (as the "DIX" standard) for passing data
between office devices. The term nowadays generally refers to the IEEE802.3 CSMA/CD specification,
published in 1985. Because of the high acceptance around the world this technology is available everywhere
and is very economical. This means that it is easy to make connections to existing networks.
There are now a number of quite different transmission media: coaxial cable (10Base5), optical fiber
(10BaseF) or twisted pairs (10BaseT) with screen (STP) or without screen (UTP). Using Ethernet, different
topologies can be built such as ring, line or star.
Ethernet transmits Ethernet packets from a sender to one or more receivers. This transmission takes place
without acknowledgement, and without the repetition of lost packets. To achieve reliable data
communication, there are protocols, such as TCP/IP, that can run on top of Ethernet.
BC9000 and BC9100 11Version: 4.0.0
Product overview
Basic principles
The Internet Protocol (IP)
The internet protocol (IP) forms the basis of this data communication. IP transports data packets from one
device to another; the devices can be in the same network, or in different networks. IP here looks after the
address management (finding and assigning MAC-IDs), segmentation and routing. Like the Ethernet
protocol, IP does not guarantee that the data is transported - data packets can be lost, or their sequence can
be changed.
TCP/IP was developed to provide standardised, reliable data exchange between any numbers of different
networks. TCP/IP was developed to provide standardised, reliable data exchange between any numbers of
different networks. Although the term is often used as if it were a single concept, a number of protocols are
layered together: e.g. IP, TCP, UDP, ARP and ICMP.
Transmission Control Protocol (TCP)
The Transmission Control Protocol (TCP) which runs on top of IP is a connection-oriented transport protocol.
It includes error detection and handling mechanisms. Lost telegrams are repeated.
User Datagram Protocol (UDP)
UDP is connectionless transport protocol. It provides no control mechanism when exchanging data between
sender and receiver. This results in a higher processing speed than, for example, TCP. Checking whether or
not the telegram has arrived must be carried out by the higher-level protocol.
Internet Control Message Protocol (ICMP)
It is used by end devices, to exchange information about the current status of the internet protocol.
Address Resolution Protocol (ARP)
Performs conversion between the IP addresses and MAC addresses.
BootP
The BootP protocol allows the TCP/IP address to be set or altered, by addressing the network device with its
MAC-ID.
BC9000 and BC910012 Version: 4.0.0
Fitting and wiring
3 Fitting and wiring
3.1 Mechanical installation
3.1.1 Dimensions
The system of the Beckhoff Bus Terminals is characterized by low physical volume and high modularity.
When planning a project it must be assumed that at least one Bus Coupler and a number of Bus Terminals
will be used. The mechanical dimensions of the Bus Couplers are independent of the fieldbus system.
Fig.3: Dimensions
The total width in practical cases is composed of the width of the Bus Coupler, the KL9010 Bus End
Terminal and the width of the bus terminals in use. Depending on function, the Bus Terminals are 12mm or
24mm wide. The front wiring increases the total height of 68mm by about 5mm to 10mm, depending on
the wire thickness.
BC9000 and BC9100 13Version: 4.0.0
Fitting and wiring
3.1.2 Installation on mounting rails
WARNING
Risk of injury through electric shock and damage to the device!
Bring the Bus Terminals system into a safe, de-energized state before starting mounting, disassembly or
wiring of the Bus Terminals.
Mounting
The Bus Couplers and Bus Terminals are attached to commercially available 35mm mounting rails (DIN rail
according to EN60715) by applying slight pressure:
1. First attach the Fieldbus Coupler to the mounting rail.
2. The Bus Terminals are now attached on the right-hand side of the fieldbus Coupler. Join the components with slot and key and push the terminals against the mounting rail, until the lock clicks onto the
mounting rail.
If the terminals are clipped onto the mounting rail first and then pushed together without tongue and
groove, the connection will not be operational! When correctly assembled, no significant gap should
be visible between the housings.
Fixing of mounting rails
The locking mechanism of the terminals and couplers extends to the profile of the mounting rail. At
the installation, the locking mechanism of the components must not come into conflict with the fixing
bolts of the mounting rail. To mount the mounting rails with a height of 7.5mm under the terminals
and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).
Disassembly
Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:
1. Carefully pull the orange-colored lug approximately 1cm out of the terminal to be disassembled, until
it protrudes loosely. The lock with the mounting rail is now released for this terminal, and the terminal
can be pulled from the mounting rail without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved
housing surfaces and pull the terminal away from the mounting rail.
Connections within a Bus Terminal block
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by
joining the components:
• The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus
Terminal electronics.
• The power contacts deal with the supply for the field electronics and thus represent a supply rail within
the Bus Terminal block. The power contacts are supplied via terminals on the Bus Coupler.
Power contacts
During the design of a Bus Terminal block, the pin assignment of the individual Bus Terminals must
be taken account of, since some types (e.g. analog Bus Terminals or digital 4-channel Bus Terminals) do not or not fully loop through the power contacts. Power Feed Terminals (KL91xx, KL92xx
and EL91xx, EL92xx) interrupt the power contacts and thus represent the start of a new supply rail.
PE power contact
The power contact labelled PE can be used as a protective earth. For safety reasons this contact mates first
when plugging together, and can ground short-circuit currents of up to 125A.
BC9000 and BC910014 Version: 4.0.0
Fitting and wiring
NOTE
Risk of damage to the device
Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the
mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g.
disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230V).
For insulation testing, disconnect the PE supply line at the Bus Coupler or the Power Feed Terminal! In order to decouple further feed points for testing, these Power Feed Terminals can be released and pulled at
least 10mm from the group of terminals.
WARNING
Risk of electric shock!
The PE power contact must not be used for other potentials!
Wiring
Up to eight connections enable the connection of solid or finely stranded cables to the Bus Terminals. The
terminals are implemented in spring force technology. Connect the cables as follows:
1. Open a spring-loaded terminal by slightly pushing with a screwdriver or a rod into the square opening
above the terminal.
2. The wire can now be inserted into the round terminal opening without any force.
3. The terminal closes automatically when the pressure is released, holding the wire safely and permanently.
Shielding
Analog sensors and actuators should always be connected with shielded, pair-wise twisted cables.
3.2 Wiring
3.2.1 Power supply, potential groups
Power supply for the Bus Coupler
The Bus Couplers require a 24 VDC supply for their operation. The connection is made by means of the upper
spring-loaded terminals labelled 24V and 0V. The supply voltage feeds the Bus Coupler electronics and,
over the K-Bus/E-Bus, the Bus Terminals. The power supply for the Bus Coupler electronics and that of the
K-Bus/E-Bus are electrically separated from the potential of the field level.
Power supply for the power contacts
The bottom six connections with spring-loaded terminals can be used to feed the supply for the peripherals.
The spring-loaded terminals are joined in pairs to a power contact. The feed for the power contacts has no
connection to the voltage supply for the Bus Coupler. The design of the feed permits voltages of up to 24V.
The assignment in pairs and the electrical connection between feed terminal contacts allows the connection
wires to be looped through to various terminal points. The current drawn from the power contacts must not
exceed 10A for long periods. The current carrying capacity between two spring-loaded terminals is identical
to that of the connecting wires.
Power contacts
On the right hand face of the Bus Coupler there are three spring contacts for the power contact connections.
The spring contacts are hidden in slots so that they cannot be accidentally touched. By attaching a Bus
Terminal the blade contacts on the left hand side of the Bus Terminal are connected to the spring contacts.
The tongue and groove guides on the top and bottom of the Bus Coupler and of the Bus Terminals
guarantees that the power contacts mate securely.
BC9000 and BC9100 15Version: 4.0.0
Fitting and wiring
Configuration interface (not for BK1250, EK1x00)
The standard Bus Couplers have an RS232 interface at the bottom of the front face. The miniature connector
can be joined to a PC with the aid of a connecting cable and the KS2000 configuration software. The
interface permits the Bus Terminals to be configured, for example adjusting the amplification factors of the
analog channels. The interface can also be used to change the assignments of the bus terminal data to the
process image in the Bus Coupler. The functionality of the configuration interface can also be reached via
the fieldbus using string communication facility.
Electrical isolation
The bus couplers operate by means of three independent potential groups. The supply voltage feeds the KBus/E-Bus electronics in the Bus Coupler and the K-Bus/E-Bus itself in an electrically isolated manner. The
supply voltage is also used to generate the operating voltage for the fieldbus.
Note: All Bus Terminals are electrically isolated from the K-Bus/E-bus. The K-Bus/E-bus is therefore
completely electrically isolated.
Fig.4: Electrical isolation
BC9000 and BC910016 Version: 4.0.0
Fitting and wiring
3.2.2 Ethernet topologies
BK9000, BK9050, BC9000, BC9020, BC9050
These Bus Couplers and Bus Terminal controllers have a single Ethernet connection. This can be connected
directly to an external switch. This makes it possible to construct the typical Ethernet star topology.
Fig.5: Ethernet layout in star topology
BK9100, BC9100, BC9120, BC9191
These Bus Couplers and Bus Terminal controllers have an internal triple switch with one internal and two
external ports. The internal switch enables the simple construction of a linear topology. A maximum of 20
BK9100/BC91x0/BC9191 can be connected in series in a physical line. However the distance between two
Ethernet devices may not exceed 100 m. The maximum overall line length is therefore 2 km. No further
switches may be included in this line.
BC9000 and BC9100 17Version: 4.0.0
Fitting and wiring
Fig.6: Ethernet layout in linear topology
Of course, the construction of a classic star topology is also possible with these Bus Couplers and Bus
Terminal controllers.
BC9000 and BC910018 Version: 4.0.0
3.2.3 Ethernet connection
The connection to Ethernet is made via an RJ45 connector (a Western plug).
Fig.7: RJ45 connector (Western plug)
Cabling
Connection via hub or switch
Fitting and wiring
Fig.8: Ethernet connection via hub or switch
Connect the PC's network card to the hub/switch using a standard Ethernet cable, and connect the hub,
again using a standard Ethernet cable, to the Bus Terminal controller. Connection via a switch is done in the
same way.
Direct connection between PC with Ethernet card and BC9000
Fig.9: Direct Ethernet connection (crossover cable)
Use a crossover Ethernet cable to connect the PC directly with the Bus Terminal Controller.
Pin assignment of the RJ45 plug
PIN Signal Description
1 TD + Transmit +
2 TD - Transmit -
3 RD + Receive +
4 - reserved
5 - reserved
6 RD - Receive -
7 - reserved
8 - reserved
BC9000 and BC9100 19Version: 4.0.0
Fitting and wiring
3.2.4 Ethernet cable
Transmission standards
10Base5
The transmission medium for 10Base5 consists of a thick coaxial cable ("yellow cable") with a max.
transmission speed of 10Mbaud arranged in a line topology with branches (drops) each of which is
connected to one network device. Because all the devices are in this case connected to a common
transmission medium, it is inevitable that collisions occur often in 10Base5.
10Base2
10Base2 (Cheaper net) is a further development of 10Base5, and has the advantage that the coaxial cable is
cheaper and, being more flexible, is easier to lay. It is possible for several devices to be connected to one
10Base2 cable. It is frequent for branches from a 10Base5 backbone to be implemented in 10Base2.
10BaseT
Describes a twisted pair cable for 10Mbaud. The network here is constructed as a star. It is no longer the
case that every device is attached to the same medium. This means that a broken cable no longer results in
failure of the entire network. The use of switches as star couplers enables collisions to be reduced. Using
full-duplex connections they can even be entirely avoided.
100BaseT
Twisted pair cable for 100Mbaud. It is necessary to use a higher cable quality and to employ appropriate
hubs or switches in order to achieve the higher data rate.
10BaseF
The 10BaseF standard describes several optical fiber versions.
Short description of the 10BaseT and 100BaseT cable types
Twisted-pair copper cable for star topologies, where the distance between two devices may not exceed 100
meters.
UTP
Unshielded twisted pair
This type of cable belongs to category 3, and is not recommended for use in an industrial environment.
S/UTP
Screened/unshielded twisted pair (screened with copper braid)
Has an overall shield of copper braid to reduce influence of external interference. This cable is
recommended for use with Bus Couplers.
FTP
Foiled shielded twisted pair (screened with aluminium foil)
This cable has an outer screen of laminated aluminium and plastic foil.
S/FTP
Screened/foiled-shielded twisted pair (screened with copper braid and aluminium foil)
Has a laminated aluminium screen with a copper braid on top. Such cables can provide up to 70dB
reduction in interference power.
BC9000 and BC910020 Version: 4.0.0
Fitting and wiring
STP
Shielded twisted pair
Describes a cable with an outer screen, without defining the nature of the screen any more closely.
S/STP
Screened/shielded twisted pair (wires are individually screened)
This identification refers to a cable with a screen for each of the two wires as well as an outer shield.
ITP
Industrial Twisted-Pair
The structure is similar to that of S/STP, but, in contrast to S/STP, it has only one pair of conductors.
BC9000 and BC9100 21Version: 4.0.0
Parameterization and Commissioning
4 Parameterization and Commissioning
4.1 Start-up behavior of the Bus Terminal Controller
When the Bus Terminal Controller is switched on it checks its state, configures the K-bus, creates a
configuration list based on the connected Bus Terminals and starts its local PLC.
The I/O LEDs flash when the Bus Terminal Controller starts up. If the system is in an error-free state, the I/O
LEDs should stop flashing after approx. 2-3 seconds. In the event of a fault the error type determines which
LED flashes (see chapter Diagnostic LEDs).
Fig.10: Start-up behavior of the Bus Terminal Controller
4.2 Parameterization of the Bus Coupler using DIP switches
The following parameterizations can be carried out without using configuration software, with the aid of the
DIP switches and the end terminal (KL9010).
This paramétrisation mode is only active if only one end terminal (KL9010) is inserted. Otherwise, the normal
settings apply.
Restoring the manufacturer's settings
• Switch the Bus Coupler off and then append the end terminal (KL9010).
• Set all the DIP switches to ON, and switch the Bus Coupler on again.
• Once the default parameters have successfully been set, the Error LED lights, and the I/O RUN and I/
O ERR LEDs flash alternately.
BC9000 and BC910022 Version: 4.0.0
Parameterization and Commissioning
• You can then switch the Bus Coupler off, connect the Bus Terminals, and continue as usual.
Deleting the boot project (BC9000 only)
• Switch the Bus Coupler off and then append the end terminal (KL9010).
• Set DIP switches 1 to 9 to ON, DIP switch 10 to OFF, and switch the Bus Coupler on again.
• Once the boot project has been successfully deleted, the I/O RUN and I/O ERR LEDs flash alternately.
• You can then switch the Bus Coupler off, connect the Bus Terminals, and continue as usual.
Setting the Ethernet parameters
• Switch the Bus Coupler off and then append the end terminal (KL9010).
• Set all the DIP switches to OFF, and switch the Bus Coupler on again.
• The I/O RUN and I/O ERR LEDs light steadily.
• Make the desired setting in accordance with the following table.
DIP switch Parameter Selection Setting Comment
1 Baud rate 10MBaud OFF (0)
100MBaud ON (1) Default
2 Auto-Baud-Rate Disable OFF (0)
Enable ON (1) Default
3 Transmission type Half duplex OFF (0)
Full duplex ON (1) Default
• To accept the values, set DIP switch 10 to ON.
By flashing the I/O RUN and I/O ERR LEDs the Bus Coupler indicates that it has accepted the
parameters.
• You can then switch the Bus Coupler off, connect the Bus Terminals, and continue as usual.
4.3 Network classes
Three different network classes are distinguished. They determine how many address bits are reserved for
the network ID and how many for the node number (e.g. for PCs or Bus Couplers). The difference is located
in the first three bits of the IP address.
Network
class
A 7 126 24 16777214
B 14 16382 16 65536
C 21 2097150 8 254
Unique IP address
An IP address must be unique within the entire connected network!
Number of bits for
the network ID
Enables no. of
networks
No. of bits for the
node address
Enables no. of nodes per
network
BC9000 and BC9100 23Version: 4.0.0
Parameterization and Commissioning
Fig.11: Network classes
Identical network class
In a communication with another Ethernet devices, the IP address set must have the same network
class. Sample: Your PC has the address 172.16.17.55, which means the coupler must have the address 172.16.xxx.xxx (xxx stands for a number between 0 and 255.0 is usually used by the router/
switch and should therefore remain reserved).
In order to see the PC's own address, the command ipconfig can be entered into a DOS window under
Windows NT/2000/XP.
4.4 IP address
Usually the IP address is specified by the PROFINET controller and therefore does not need to be set in the
bus coupler. The bus couplers are addressed via the PROFINET-Name which can be set using various
procedures (see DIP switch settings).
In exceptional cases it makes sense to give the bus coupler an IP address in advance (without connecting
PROFINET), e.g. to access the couplers via KS2000 Software and Ethernet.
4.4.1 IP address
The IP address can be set using four different procedures, and these will be described in more detail below.
Procedure Explanation Necessary components
KS2000
ARP
BootP
DHCP Addressing via DHCP server DHCP server
Addressing using the KS2000 configuration software
and DIP switches [}24]
Addressing via the ARP table [}25]
Addressing via BootP server [}26]
KS2000 configuration software and
KS2000 cable
PC with network
BootP server
4.4.2 Configuration with KS2000
The KS2000 configuration software (from version 3.2.8) can be used to set the TCP/IP address in a dialog
box, or it can be written directly into the registers. DIP switches 9 and 10 (for BK9050 DIP switches 1 and 2
in blue) should both be OFF (0) before switching on.
BC9000 and BC910024 Version: 4.0.0
Parameterization and Commissioning
Table 100
Register High byte Low byte
0 IP-Byte 2 IP-Byte 1
1 Not used IP-Byte 3
Default
Byte Default value (hex) Default value (dec)
1 0xAC 172
2 0x10 16
3 0x11 17
4 (DIP switch) (0 to 255
dec
dez
dec
dec
)
Sample
Fig.12: BK9000, BK9100, BC9000, BC9100
Fig.13: BK9050
Switch no. 1 2 3 4 5 6 7 8 9 (1) 10 (2)
Valence 1 2 4 8 16 32 64 128 - -
In this example ON OFF OFF ON OFF OFF ON ON OFF OFF
Value 1 0 0 8 0 0 64 128 - - Total=201
Software reset
A software reset of the BK9500 is required in order to save changes in the tables of a BK9000. A
hardware reset (power on/off) is not sufficient!
4.4.3 Setting the IP address using the ARP table
An easy method of modifying the IP address is to set the address using the DOS window. It is, however, only
possible to alter addresses within the same network class. The new IP address that has been set remains
stored even after the Bus Coupler has been switched off.
Procedure
• Set DIP switches 9 and 10 to OFF. DIP switches 1-8 then no longer have any address function.
• Open a DOS box on your PC.
• Enter the command "ping <OLD IP address>" to create an entry in the ARP table.
• Read the table with the command "ARP -a".
• Enter "ARP -d <OLD IP address>" to remove the Bus Coupler from the table.
• Use "ARP -s <NEW IP address> <MAC-ID [}30]>" to make an entry manually.
• With "ping -l 123 <NEW IP address>" the new IP address becomes valid.
BC9000 and BC9100 25Version: 4.0.0
Parameterization and Commissioning
A short flash from the ERROR LED at the moment of switching on indicates that the Bus Coupler is being
addressed by ARP, and that DIP switches 1-8 give no indication of the address that is set.
Changing the IP address
If the IP address is changed, all dynamic ARP entries must be deleted. Only one ping with a length
of 123 bytes is permitted for the reconfiguration of the IP address (>ping -l "IP-Address<).
Sample
1. C:>ping 172.16.17.255
2. C:>ARP -a
172.16.17.25500-01-05-00-11-22
3. C:>arp -d 172.16.17.255
4. C:>arp -s 172.16.44.44 00-01-05-00-11-22
5. C:>ping -l 123 172.16.44.44
4.4.4 Setting the IP Address Using the Beckhoff BootP Server
If the address is to be set by the Beckhoff BootP server, then set DIP switch 9 to ON (1) and DIP switch 10
to OFF (0). DIP switches 1-8 then no longer have any address function. If this is not the case, the Bus
Coupler reports LED error code 6-4 (see diagnostics LEDs). The TCP/IP ERROR LED flashes while the
address is being allocated.
IP address save modes
DIP switches 1-8 in the ON position
The address assigned by the BootP server is stored, and the BootP service will not be restarted after the
next cold start.
The address can be cleared again by reactivating the manufacturers' settings (using the KS2000 software or
by DIP switch and end terminal [}22]).
DIP switches 1-8 in the OFF position
The IP address assigned by the BootP server is only valid until the Bus Coupler is switched off. The BootP
server must assign a new IP address to the Bus Coupler at the next cold start.
The address is, however, retained through a software reset of the Bus Coupler.
Beckhoff BootP server
Beckhoff supply a BootP server for Windows 98, ME, NT4.0, NT2000 and XP. The installation version of the
Beckhoff TwinCAT CD can be found under the folder >Unsupported Utilities< or under https://
download.beckhoff.com/download/software/TwinCAT/TwinCAT2/Unsupported_Utilities/TcBootP_Server/
BC9000 and BC910026 Version: 4.0.0
Parameterization and Commissioning
Fig.14: Configuration of the Beckhoff BootP server
As soon as the BootP server has started, the New MAC Address window shows all the Beckhoff nodes that
are working in BootP mode and still have not received an IP address. The assignment of the MAC-ID [}30]
to IP address is made with the "<<" button. Successful assignment is displayed in the log window.
To start the BootP server automatically when your PC boots, it is only necessary to provide a shortcut in the
Windows autostart folder. Include the /Start parameter in the shortcut (.../TcBootPDlg.exe/start).
4.4.5 Setting the address using a DHCP server
To set the address by means of a DHCP server, set DIP switch 9 to OFF (0) and DIP switch 10 to ON (1).
In this state the DHCP service is switched on, and the Bus Coupler is assigned an IP address by the DHCP
server.
The DHCP server must know the MAC ID of the Bus Coupler and should assign the same IP address to this
MAC ID on each startup.
The TCP/IP error LED flashes while the address is being allocated.
BC9000 and BC9100 27Version: 4.0.0
Parameterization and Commissioning
4.4.6 Adressing by name
Name resolution requirements:
• Enabling DHCP: Set DIP switch 10 to ON (DHCP and DNS server available)
• Name setting via KS2000 on the BC/BK9000
The default setting for a BC9000 name is BC9000-4, for example. The number following the hyphen, in this
case 4, originates from the address selection switches 1 to 8 of the BC9000. The name can also be set with
the KS2000 configuration software. The maximum length is 18 characters.
Fig.15: Adressing by name
Once the IP address was allocated by the DHCP server, the Bus Coupler can be addressed by name.
C:>ping BC9000-4
Addressing via the system manager
In the System Manager an Ethernet Coupler can be found by searching for GetHostByName. The DNS
server is queried first. If no DNS server is present, or if the DNS server does not recognize the Bus Coupler,
the coupler is queried via NetBIOs. If the name of the coupler does not match the default name, the coupler
responds with its IP address*.
For name allocation via NetBIOs, the coupler can be addressed and allocated a name via the KS2000
configuration software (see table 100 [}77]).
*)
From firmware version B8 (BK9000) or firmware version BA (BC9000).
BC9000 and BC910028 Version: 4.0.0
Parameterization and Commissioning
4.4.7 Subnet mask
The subnet mask is subject to the control of the network administrator, and specifies the structure of the
subnet.
Small networks without a router do not require a subnet mask. The same is true if you do not use registered
IP numbers. A subnet mask can be used to subdivide the network with the aid of the mask instead of using a
large number of network numbers.
The subnet mask is a 32-bit number:
• Ones in the mask indicate the subnet part of an address space.
• Zeros indicate that part of the address space which is available for the host IDs.
Description Binary representation Decimal representation
IP address 10101100.00010000.00010001.11001000 172.16.17.200
Subnet mask 11111111.11111111.00010100.00000000 255.255.20.0
Network ID 10101100.00010000.00010000.00000000 172.16.16.0
Host ID 00000000.00000000.00000001.11001000 0.0.1.200
Standard subnet mask
Address class Standard subnet mask (decimal) Standard subnet mask (hex)
A 255.0.0.0 FF.00.00.00
B 255.255.0.0 FF.FF.00.00
C 255.255.255.0 FF.FF.FF.00
Subnets and host number
Neither subnet 0 nor the subnet consisting only of ones may be used. Neither host number 0 nor
the host number consisting only of ones may be used!
If the IP address is set using the KS2000 configuration software, it is necessary for the subnet mask
also to be changed with the KS2000 configuration software.
If ARP addressing is used, the associated standard subnet mask, based on the IP address, is entered.
Under BootP or DHCP the subnet mask is transmitted also by the server.
4.4.8 Testing the IP address
To test the IP address you can use the Ping command in a Windows prompt.
Fig.16: Testing the IP address using the Ping command
BC9000 and BC9100 29Version: 4.0.0
Parameterization and Commissioning
4.4.9 Reading the MAC-ID
Proceed as follows to read the MAC-ID.
• Change the IP address of your PC to 172.16.x.x. and the subnet mask to 255.255.0.0
In the delivery condition of the BC9000 or BK9000, the IP address is 172.16.17.255 (DIP switches 1 to
8 set to ON).
• Start the DOS window
• Send a ping >ip-address< to the IP address 172.16.17.255
• Read the MAC-ID with arp -a.
4.4.10 Security settings
The security setting causes the Bus Terminal controller to accept and process TCP/IP or UPD/IP telegrams
only from certain TCP/IP devices. If a TCP/IP device is not included in the table, the Bus Terminal controller
refuses connections with this device. UDP telegrams from devices that are not entered in the table are
rejected. In delivery state the table is empty, i.e. all devices have access to the Bus Coupler.
KS2000 dialog
From KS2000 version 4.3.0.39 security table entries can be made via dialog.
Fig.17: Security settings
BC9000 and BC910030 Version: 4.0.0
Configuration
5 Configuration
5.1 Configuration using the System Manager
Enter a general Ethernet card in the TwinCAT System Manager under devices. If the Bus Couplers are
already connected to the network and have IP addresses, you can also read these. This will cause all the
Bus Couplers with Bus Terminals and their configurations to be loaded. You can then adapt these to meet
your requirements.
Fig.18: Reading the connected Bus Couplers and Bus Terminals
Commissioning with 6 or more Ethernet nodes
If you enter more than five nodes in the System Manager, you will have to increase the router memory. You
will find this setting in the System Manager under Real Time Settings. Enter 350 kB there for each Bus
Coupler. This will give, for instance, 3.5 MB (10 x 350 kB) for 10 Bus Couplers.
Fig.19: Setting the router memory
Note: The router memory depends on your PC's main memory, and there is a limit to how high it can be set.
Calculation of the maximum possible router memory:
max. router memory [MB] = (1 MB +((RAM [MB] - 4 MB ) x 0.4)
Sample
Suppose your PC has 128 MB of RAM:
1 MB +(128 MB - 4 MB) x 0.4 = 50.6 MB
So the maximum size of the router memory must not exceed 50.6 MB if there is 128 MB of RAM.
BC9000 and BC9100 31Version: 4.0.0
Configuration
5.2 The IP Address tab
Ethernet components require an unambiguous IP address in the network. The setting dialog necessary for
configuration of the fieldbus nodes in the TwinCAT system is described below. The tab illustrated appears
after you have selected a BK9000, BC9000 or other Ethernet fieldbus device with the right mouse button
(Add box) under your Ethernet cards in the System Manager.
Fig.20: The IP Address tab
Host name
The name of the Bus Coupler station can be edited here.
IP address
Enter the IP address of the Bus Coupler here.
GetHostByName
By clicking this button you can (as from BK9000 firmware version B2) obtain an IP address from a Windows
2000 DHCP (Dynamic Host Configuration Protocol) server.
AMS Address
Reports the Bus Coupler's AMS Net ID. It is automatically generated from the IP address by adding two
additional bytes (e.g. ".1.1").
BootP
This checkbox can be activated if the Beckhoff BootP server has been installed and started (as from
TwinCAT Version 2.8).
New MAC Addresses
If the Beckhoff BootP server [}26] has been started, the MAC addresses (Media Access Controller) of
Ethernet fieldbus devices that have newly been connected can be displayed by clicking this button. If only
one new Ethernet fieldbus device has been connected, then only one new MAC address will accordingly be
displayed. You can then assign it to the desired IP address in the IP address field described above. Each
time another Ethernet fieldbus component is added you can repeat this process on the tab described here
for the new device.
Communication Settings
Settings for IP (Internet Protocol) communication.
BC9000 and BC910032 Version: 4.0.0
Configuration
TCP
If this option is active (which is the default) the communication is handled by TCP (Transmission Control
Protocol). This means that telegram packets to and from Bus Couplers are exchanged using a reliable
(acknowledged) mechanism.
UDP
If this option is selected, communication is handled by UDP (User Datagram Protocol). In contrast to TCP,
the individual telegram packets are not exchanged using a reliable mechanism. They are, in other words, not
individually acknowledged by the receiver after they have arrived. Telegram packets that are damaged or
whose sequence has become disturbed are neither re-sent nor sorted. The advantage of UDP is that the
telegram transfer times can be calculated, because it is not necessary to wait for an answer from the
receiver. It is therefore possible to talk of UDP in terms of a limited real-time capability.
Max. Warning Level
This setting option is only active with UDP. The maximum value of the error counter can be entered here.
Waiting for response telegrams from the fieldbus node stops when the set maximum value has been
reached. Instead, read telegrams only, based on a higher cycle time, are sent to the fieldbus nodes.
No Auto Retries
This checkbox also can only be selected when the UDP option is active. If this checkbox is active, then when
the level set under Max. Warning Level has been reached it will be necessary to execute the IO/Reset
function. No outputs will be output as long as no reset has been triggered.
5.3 PLC tab
PLC tab
For Bus Terminal Controllers (BC), special data exchange variables for fieldbus-based communication
between PC and BC can be defined under PLC variables (see sample configuration of a Bus Terminal
Controller).
The following tab, amongst others, appears when a BC is selected in the TwinCATSystemManager's tree
view:
Fig.21: PLC tab
PLC Cycle Time
The small controller's reserved cycle time. During this period, no data will be sent by the BC to the fieldbus.
BC9000 and BC9100 33Version: 4.0.0
Configuration
Background Time
Time for the processing of the communication via the fieldbus (includes program download, debugging, etc.).
PLC Var. Offs IN
Start offset of the data exchange variables in the input area of the BC process image
PLC Var. Offs OUT
Start offset of the data exchange variables in the output area of the BC process image
AMS Response during download
Can be disabled for older Bus Terminal Controllers (e.g. BC2000 and BC3100) for compatibility reasons.
Newer bus controller firmware versions acknowledge the receipt of individual download sequences. This
checkbox must therefore be activated (in all cases for BC9000).
Start with Configuration Error
Even if the configured BC9000 is not connected to the network, it is possible to start the TwinCAT system if
this checkbox is enabled.
Retain Data
Store Retain Data: Activates the support of remanent data in the Bus Terminal Controller.
Size: Size of the remanent marker area within the Bus Terminal Controller (%Mx0...%Mxyy).
K-bus update
Double Cycle: Activates execution of I/O cycles (K-bus update) within the BC station before and after each
PLC cycle.
Before PLC: A K-bus update will be carried out before executing the PLC cycle.
After PLC: A K-bus update will be carried out after executing the PLC cycle.
Firmware Update (via COMx)
This function can be used to update the BC firmware.
Variable tab
After adding variables below the tree entry PLC Variables you will see the dialog for the selected variable on
the right-hand side, as described in the VariablesInformation section.
Choose meaningful names for the data exchange variables, because they will be used as variable names in
the local BC process image when Variable information is exported. After this you can link the data exchange
variables with existing tasks.
Sample configuration of a Bus Terminal Controller
The image below shows both data exchange variables and fieldbus variables. The Bus Terminal Controller
managed terminals 4 to 9 locally.
BC9000 and BC910034 Version: 4.0.0
Configuration
Fig.22: Sample configuration of a Bus Terminal Controller
5.4 Configuration for ModbusTCP
No special configuration is necessary for communication over ModbusTCP. The default setting has 16bytes
inputs and outputs (PLC variables). These can be reached through the Modbus functions.
BC9000 and BC9100 35Version: 4.0.0
Programming
6 Programming
6.1 TwinCAT PLC
The Beckhoff TwinCAT Software System turns any compatible PC into a real-time controller with a multi-PLC
system, NC axis control, programming environment and operating station. The TwinCAT programming
environment is also used for programming the BC9000. If you have installed TwinCAT PLC (WinNT4,
Win2000, XP), you can use the Ethernet connection or the serial port for software download and for
debugging.
TwinCAT I/O or TwinCAT PLC can also be used as the Ethernet Master (host), in order to exchange process
data with the Bus Terminal Controller. TwinCAT provides you with the System Manager as a configuration
tool, as well as the drivers and the ADS protocol.
6.2 PLC Cycle Time
The PLC cycle time determines the program’s repetition frequency. This time is not deterministic. This
means that the PLC cycle time can become longer in some programs, and can exceed the cycle time that
has been set. If the program requires less time than has been set, it is repeated within the set cycle time,
and the remaining duration is padded with background time.
The processing of the Ethernet and the serial interface runs in the background time. This should be set to
somewhere between 20 and 50% of the PLC cycle time.
The mean cycle time is measured in order to optimize the system. You will find this in PLC Control under the
Online/Coupler menu item. About 50% is added to the time determined there, and the result entered as the
PLC cycle time. Set the background time to between 20 and 50% of the PLC cycle time.
Fig.23: Program running time
The program running time is composed of the program processing and the K-Bus time. Before the program
is called, the Bus Terminal Controller carries out a K-bus update, and reads the current inputs. Following
the processing of the program, a second K-bus update takes place in order to write the outputs. The
K-Bus time depends on the number and type of Bus Terminals inserted.
The program running time can be shortened by operating only one K-Bus cycle, and this may either be done
before or after program processing. In that case, inputs are read and outputs written in a single K-Bus cycle.
You can make these settings either with the aid of the KS2000 configuration software, or through ADS.
BC9000 and BC910036 Version: 4.0.0
Programming
Fig.24: Task Time
6.3 PLC Variables
The PLC variables act as the interface between the local process image of the bus controller and the
fieldbus process image for a higher-level controller. This will first be explained on the basis of the default
setting.
Bus Terminals in the BC's local process image
All the connected Bus Terminals are assigned to the local process image. The PLC variables are located
from address 128 onwards. You can change both this starting address and the length of these data (default
16bytes).
Data that is to be read by a higher level controller is written into the output process image. This is input data
for the higher level controller. Data that is to be transferred from the higher level controller to the BC is output
data for the controller and input data for the BC. The following diagram may clarify this.
Fig.25: Bus Terminals in the BC's local process image
Assign bus terminals to the higher level controller
You can also assign the Bus Terminals directly to the higher level controller. The general scheme of the
fieldbus process image is such that the analog Bus Terminals are mapped into this process image first. The
digital Bus Terminals then follow, while the PLC variables come last.
BC9000 and BC9100 37Version: 4.0.0
Programming
Fig.26: Assign bus terminals to the higher level controller
Remember that none of the process images in use may be larger than 512bytes.
6.4 Mapping the Bus Terminals
The precise assignment of the byte-oriented Bus Terminals may be found in the configuration guide for the
particular bus terminal. This documentation is available on the Beckhoff Products&Solutions CD or on the
Internet under http://www.beckhoff.de.
Byte oriented Bus Terminals Bit oriented Bus Terminals
KL15x1 KL10xx, KL11xx, KL12xx, KL17xx, KM1xxx
KL25xx KL20xx, KL21xx, KL22xx, KL26xx, KL27xx, KM2xxx
KL3xxx
KL4xxx
KL5xxx
KL6xxx
KL7xxx
KL8xxx
KL9110, KL9160, KL9210, KL9260
6.5 Local process image
All connected bus terminals are assigned in the default setting to the local process image of the BC/BX.
Mapping within the Bus Terminal Controller is carried out according to the following rule:
First come all the complex Bus Terminals, in whatever sequence they are physically inserted, followed by the
digital Bus Terminals which are padded to a whole byte.
The default mapping of the complex Bus Terminals is:
• complete evaluation
• Intel format
• Word alignment
BC9000 and BC910038 Version: 4.0.0
Programming
Example
1 x BCxxxx or BXxxxx
1 1 x KL1012
2 1 x KL1104
3 1 x KL2012
4 1 x KL2034
5 1 x KL1502
6 1 x KL3002
7 1 x KL4002
8 1 x KL6001
9 1 x KL9010
Bus Terminal Position Input image Output image
KL1502 5 %IB0...%IB5 %QB0...%QB5
KL3002 6 %IB6...%IB13 %QB6...%QB13
KL4002 7 %IB14...%IB21 %QB14...%QB21
KL6001 8 %IB22...%IB29 %QB22...%QB29
KL1012 1 %IX30.0 to %IX30.1 -
KL1104 2 %IX30.1 to %IX30.5 -
KL2012 3 - %QX30.0 to %QX30.1
KL2034 4 - %QX30.2 to %QX30.5
KL9010 9 - -
Address of the Bus Terminals, which you have assigned to local PLCs (BCxx00)
If you don't know the address at which the Bus Terminals are located, which you have assigned to
the local PLC of your BC/BX:
Perform your hardware configuration in the System Manager.
Once you have entered all Bus Terminals and PLC variables, right-click on the BC/BX in the hardware tree of the System Manager and select the menu item Export Variable Info...
A file is saved that you can insert in the PLC control under Import Project.
Under the global variables you now have the entry TwinCAT Import in which all variables are located that you have assigned to the local PLC of your BC/BX.
6.6 Allocated flag area %MB..
6.6.1 Remanent and persistent data
There are special flags for remanent and persistent data in the higher memory area.
Remanent data
The remanent data is located in the flags area. The default setting is for 64remanent bytes, i.e. from %MB0
to %MB63. This region can be expanded to a maximum size of 4kbyte. It should be borne in mind that the
task time increases with the quantity of remanent data (approx. 0.5ms for 512bytes). The settings for the
remanent data can be made via the (TwinCAT) System Manager, or with the KS2000 configuration software
(Table 1, Register 15, default value 64 max. 4kbyte).
Persistent data
Persistent data is even more stable, and is retained even through a program download. The number of
persistent data must be greater than or equal to the number of remanent data! Like the remanent data, the
persistent data is located in the region allocated for flags (%MBxx). You can make the settings for the
persistent data using the KS2000 configuration software (Table 1, Register 18, default value 0, max.
4kbyte).
BC9000 and BC9100 39Version: 4.0.0
Programming
Sample
400bytes of remanent data, of which 200bytes should be persistent
Register 15 400(%MB200 ... %MB399)
Register 18 200(%MB0 … %MB199)
6.6.2 Diagnostics
It is possible to read the diagnostic data in the Bus Terminal Controller. This information is located in the
flags area.
Flag byte Meaning
%MB4092-4093 Bit 0 ADS communication watchdog
Bit 1 ModbusTCP communication watchdog
Bit 1…14 reserved
Bit 15 No connection to switch: The Link LED does not light up (the transfer of this
error information is disabled in delivery state. To enable it, set register 25
[}77] in table100 to 1
%MB4094-4095 Bit 0 K-bus error
Bit 1 Configuration error
Bit 2 K-bus cycle time exceeded (see table 1, register 17)
Bit 3…15 reserved
).
bin
6.6.3 Cycle Time Measuring
The flags area includes a time measurement with a resolution of one millisecond for each digit. The data
type is UDINT (unsigned double integer). This value can be overwritten by the program, in order to align with
a controller. The overflow occurs after approx. 48days.
Flag byte Meaning
%MB4088-4091 4bytes
Data type UDINT
0...4.22billionms / 0... approx. 48 days
Resolution 1ms / digit
6.7 Fieldbus process image
6.7.1 Fieldbus process image
16bytes input and output are assigned to the fieldbus by default in all the BCxxxx devices. These variables
are known as the PLC variables. They are located by default in the BCxxxx process image starting at
address 128. This address can be shifted. The setting can be made with the KS2000 configuration software,
or, for some BCs, can be changed by means of start-up parameters.
6.7.2 ModbusTCP Process Image
The ModbusTCP process image makes a fundamental distinction between digital and byte-oriented (wordoriented) signals. This will be clarified by examples.
BC9000 and BC910040 Version: 4.0.0
Programming
Example 1 (default setting)
All the connected Bus Terminals are assigned to the local PLC. The 16bytes of PLC variables are available
for communication with the ModbusTCP master. PLC variables are part of the byte-oriented data packets,
and can therefore not be accessed by the digital Modbus functions, even though the variables are digitally
mapped in the BCxxxx. Difficulties are most often associated with whether signals are considered as inputs
or outputs. PLC variables that are outputs for the BCxxxx are inputs for the Modbus master, and vice versa.
The default setting can be changed with the KS2000 configuration software (register description table 1
[}75]).
Local PLC inputs Local PLC outputs
Modbus
function
3 read 0x800…807 %IB128...%IB143 3 read 0x000...007 %QB128...%QB143
6 write 0x800...807 %IB128...%IB143
16 write 0x800...807 %IB128...%IB143
23 read/write 0x800...807 %IB128...%IB143 23 read/write 0x000..007 %QB128...%QB143
Modbus
address/offset
Local Variables Modbus
function
4 read 0x000...007 %QB128...%QB143
Modbus
address/offset
Local Variables
Example 2
In addition, the Bus Terminals can be assigned once to the BC or to the local PLC. This creates additional
complications in the process image. The rule governing how the process image is assembled is, however,
simple.
• Entry of all the byte-oriented Bus Terminals (such as the analog Bus Terminals)
• Entry of all the digital Bus Terminals (rounded up to 16bits)
• Entry of the PLC variables
6.7.3 ADS Process Image
16bytes input and output are assigned to the fieldbus by default in all the BCxxxx devices. These variables
are known as PLC variables, and are located, under the BCxxxx default setting, starting from address 128 in
the process image. The setting can be made with the KS2000 configuration software, or, for some BCs that
support ADS, can be changed by means of start-up parameters.
6.8 Program transfer
6.8.1 Program transfer via the serial interface
The Bus Terminal Controller is programmed using TwinCAT.
The program can also be downloaded to the Bus Terminal Controller via the RS232 interface of the PC. A
special cable, which is included in the scope of delivery of the KS2000 configuration software, should be
used for this purpose.
To this end, select the serial interface in TwinCAT PLC Control.
BC9000 and BC9100 41Version: 4.0.0
Programming
Fig.27: Selection of the target platform
The settings for the serial interface, port number, baud rate etc. are found under Online/Communication
parameters in PLC Control. The Bus Terminal Controller requires the following setting:
• Baud Rate: 19200
• Stop bits: 1
• Parity: even
Fig.28: Communication parameters
6.8.2 Program Transfer via Ethernet
TwinCAT offers a facility for transferring the user program to the BC9000 over Ethernet. The BC9000 can be
selected as the target system in PLC Control, after saving in the registry and restarting the TwinCAT system.
The TwinCAT-level TwinCAT PLC is necessary.
Initializing the BC9000
The coupler must first be made known to the system before it can be selected in PLC Control. There are two
ways of doing this. The method you choose to use depends on your needs.
1. You only use TwinCAT PLC for programming.
Click with the left mouse button on the TwinCAT icon in the bottom right corner of the screen.
BC9000 and BC910042 Version: 4.0.0
Fig.29: The menu behind the TwinCAT icon
Programming
Select the properties menu item.
Fig.30: TwinCAT system properties
BC9000 and BC9100 43Version: 4.0.0
Programming
Under the AMS Router menu item, enter the BC9000 as a remote computer. Click Add to do this.
Fig.31: Add remote connection
Enter the name, which you can choose freely. The AMS Net ID is the IP address with an additional ".1.1".
This is the IP address set for the Bus Coupler. Confirm with OK. After entering the desired Bus Coupler, you
must start the TwinCAT system (the TwinCAT icon is green). The Ethernet coupler is now known to the
system, and can be selected in the PLC Control.
2. You use TwinCAT for cyclic data transport
Fig.32: TwinCAT System Manager
Start the System Manager, and enter your configuration there. In contrast to the first method, this
configuration is written to the coupler when TwinCAT is started (e.g. Bus Terminal mapping, PLC cycle time,
number of retain data etc.). Other settings made with the KS2000 configuration software are overwritten.
BC9000 and BC910044 Version: 4.0.0
Programming
PLC Control
When TwinCAT PLC Control is restarted, TwinCAT asks for the target platform, i.e. the device on which the
user program is later to run. TwinCAT offers two target platforms as controller, the PC or the Bus Terminal
Controller.
Two options are available to you for transmission to the Bus Terminal Controller:
• AMS for communication via the fieldbus
• the serial cable for communication via the PC's RS232 interface [}41] and the Bus Terminal
Controller's programming interface
Fig.33: Selection of the target platform
After your program has been created, select the target system under the Online toolbar. TwinCAT must be
running to do this. In the sample, this is the Ethernet card with Box1 and the Run-Time1 of the Bus
Terminal Controller.
Fig.34: Choose Target System
6.9 Libraries
6.9.1 Libraries
There are a number of libraries for the BusTerminalControllers (Bus Couplers with PLC functionality, named
BCxxxx) (see the TwinCAT InfoSys).
TwinCAT PLC Library: System BC
The library contains function blocks for access to the Bus TerminalController's (BCxxxx) system functions.
BC9000 and BC9100 45Version: 4.0.0
Programming
TwinCAT PLC Library: Utilities BC
The library contains useful function blocks for the Bus Terminal Controller (BCxxxx). In addition to the RTC
blocks, the library contains a function block for decoding the DCF-77 time signal, along with a number of
conversion functions. Internally, the Bus Terminalcontroller's system functions are called.
TwinCAT PLC Library: Helper BC
The PlcHelper.lb6 library contains a number of functions which provide direct access to memory areas in the
Bus TerminalController's (BCxxxx) PLC runtime system.
TwinCAT PLC Library: ADS BC
The library contains function blocks for acyclic client-server communication between a BC9xxx Bus Terminal
Controller and other ADS devices in the network. The way in which these function blocks operate is not
significantly different from that for the PLC runtime system on the PC.
TwinCAT PLC Library: Event driven BC transmission blocks
The present function blocks simplify event-driven data exchange between the Bus Terminal Controllers and/
or other ADS devices (TwinCAT NC, Bus Terminal Controllers, ...).
The FB_WriteXXXOnDelta() function blocks implement a write procedure when the input signal rises above
or falls below a specified limit value. The frequency with which the input signal is examined can be set.
Event-driven data writing minimizes the loading on the fieldbus. If an error occurs during transmission, the
process is repeated until the connection is established once more. All data types supported in the TwinCAT
PLC are permitted as source and target variables. Symbol names are also supported.
Watchdog function blocks are available to monitor individual communication partners. The device that is to
be monitored cyclically transmits an incrementing counter. A check is made at the receiver to see that the
counter state changes within a specific time.
TwinCAT PLC Library: ModbusTCP BC
The library contains function blocks that permit the exchange of data between the Bus Terminal Controller
(BC9xxx) and a remote partner on the MODBUS/TCP port.
TwinCAT PLC Library: SMTP BC
The library contains useful function blocks for the Bus Terminal Controller (BC9xxx) for use of the SMTP
protocol (Simple Mail Transfer Protocol).
6.9.2 TcUtilitiesBC9000
6.9.2.1 TcUtilities BC9000
Download library: (https://infosys.beckhoff.com/content/1033/bc9000/Resources/zip/4351403531.zip)
FUNCTION_BLOCK RW_FieldbusPrmBC9000
This function block can be used to modify fieldbus parameter data. Only one instance of this function block is
permitted.
BC9000 and BC910046 Version: 4.0.0
Programming
Fig.35: Function block RW_FIELDBUSPRMBC9000
VAR_INPUT
bStart_R:BOOL;
bStart_W:BOOL;
NetID::STRING;
W_BC9000_PRM:BC9000_Fieldbus;
AutoReboot:BOOL;
bStart_R: Reads the data and outputs it to R_BC9000_Prm
bStart_W: Reads and writes the data of the data structure W_BC9000Prm
NetID: String - AMSNetId
W_BC9000_Prm: Data structure for the parameters
AutoReboot: "TRUE" - the coupler starts and reboots automatically once the parameters have been set
successfully, after which the modified settings apply.
VAR_OUTPUT
bBusy:BOOL;
bError:BOOL;
iErrorId:DWORD;
R_BC9000_Prm:BC9000_Fieldbus;
RebootNecessary:BOOL;
bBusy: The function block is active as long it is TRUE.
bError: Error bit.
iErrorId: Error number.
W_BC9000_Prm: Fieldbus data structure.
RebootNecessary: The parameters are new, a restart of the BC Controller is required.
TYPEBC9000_Fieldbus:
STRUCT
Disable_ADS:BOOL;
WD_ADS:WORD;
CloseIP_Port_ADS:WORD;
DisableModbus:BOOL;
WD_Modbus:WORD;
Close_IP_Port_Modbus:WORD;
FastModbus:BOOL;
IP_Port_Number_Modbus:WORD;
END_STRUCT
END_TYPE
Key
Disable_ADS: Disables the ADS protocol (table 100, offset 15.1)
WD_ADS: ADS watchdog: if no telegram was received after this time, the outputs are set to zero (table 100,
offset 14)
Close_IP_Port_ADS: The TCP/IP service is closed after this time, if no more telegrams reach the coupler
(table 100, offset 27)
Disable_Modbus: Disables the Modbus protocol (table 100, offset 15.0)
WD_Modbus: ModbusTCP watchdog: if no telegram was received after this time, the outputs are set to zero
(table 100, offset 24)
Close_IP_Port_Modbus: The TCP/IP service is closed after this time, if no more telegrams reach the
coupler (table 100, offset 28)
FastModbus: Enables Fast Modbus (table 100, offset 29.0)
IP_Port_Number_Modbus: TCP port number (table 100 offset 26)
BC9000 and BC9100 47Version: 4.0.0
Programming
Return parameter iErrId Meaning
0 No error
> 0 Error number (#not documented#)
FUNCTION_BLOCK RW_ParameterBC9000
This function block can be used to modify the PLC parameters. Only one instance of this function block is
permitted.
Fig.36: Function block RW_PARAMETERBC9000
VAR_INPUT
bStart_R:BOOL;
bStart_W:BOOL;
NetID::STRING;
W_BC9000_PRM:BC9000_Prm;
AutoReboot:BOOL;
bStart_R: Reads the data and outputs it to R_BC9000_Prm
bStart_W: Reads and writes the data of the data structure W_BC9000Prm
NetID: String - AMSNetId
W_BC9000_Prm: Data structure for the parameters
AutoReboot: "TRUE" - the coupler starts and reboots automatically once the parameters have been set
successfully, after which the modified settings apply.
VAR_OUTPUT
bBusy:BOOL;
bError:BOOL;
iErrorId:DWORD;
R_BC9000_Prm:BC9000_Prm;
RebootNecessary:BOOL;
bBusy: The function block is active as long it is TRUE.
bError: Error bit.
iErrorId: Error number.
W_BC9000_Prm: Fieldbus data structure.
RebootNecessary: The parameters are new, a restart of the BC Controller is required.
TYPEBC9000_Fieldbus:
STRUCT
Byte_Offset_Output:WORD;
Byte_Offset_Input:WORD;
PLC_Offset_Input:WORD;
PLC_Len_Input:WORD;
PLC_Offset_Output:WORD;
Task_Time:WORD;
Background_Time:WORD;
RetainData:WORD;
PersistentData:WORD;
Terminal_Refresh:WORD;
Check_Terminals::BOOL;
END_STRUCT
END_TYPE
BC9000 and BC910048 Version: 4.0.0
Programming
Key
Byte_Offset_Output: Specifies the offset for the digital output terminals (table 0, offset 19)
Byte_Offset_Input: Specifies the offset for the digital input terminals (table 0, offset 20)
PLC_Offset_Input: Specifies the offset for the fieldbus input data (PLC variables) (table 1, offset 0)
PLC_Len_Input: Specifies the length of the fieldbus input data (PLC variables) (table 1, offset 1)
PLC_Offset_Output: Specifies the offset for the fieldbus output data (PLC variables) (table 1, offset 2)
PLC_Len_Output: Specifies the length of the fieldbus output data (PLC variables) (table 1, offset 3)
Task_Time: Task time (table 1, offset 12)
Background_Time: Background time (table 1, offset 13)
RetainData: Number of retain data (table 1, offset 15)
PersistentData: Number of persistent data (table 1, offset 18)
Terminal_Refresh: K-bus refresh (table 1, offset 17)
Check_Terminals: Deactivate Bus Terminal verification during start-up (table 1 offset 14.6)
Return parameter iErrId Meaning
0 No error
> 0 Error number (#not documented#)
Download sample: (https://infosys.beckhoff.com/content/1033/bc9000/Resources/zip/4351405707.zip)
6.9.3 TcIpUtilitiesBC
6.9.3.1 Time protocol (SNTP)
(from firmware version BB)
The Simple Network Time Protocol is used to synchronize clocks via the internet. The BC9000 can be
synchronized with a time server.
Download library: (https://infosys.beckhoff.com/content/1033/bc9000/Resources/zip/4351407883.zip)
Fig.37: Function block FB_SNTP
FUNCTION_BLOCK FB_SNTP
From firmware version BA:
If an empty string is entered in variable sSntpServer, the BC9000 will search for a time server. If no server is
found the process is terminated. If a time server is found, the IP address can be displayed via the
cCurrSntpServer variable. A rising edge of bStart activates the function block and starts the time server
query.
From firmware version BB:
If an IP address is entered the Bus Terminal Controller uses the SNTP protocol. If an empty string is
transferred, the time protocol (UDP port 37) is used.
BC9000 and BC9100 49Version: 4.0.0
Programming
VAR_INPUT
bStart:BOOL;
sSntpServer:STRING(15);
tTimeOut:TIME;
bOpen: A positive edge starts the function block
sSntpServer: SNTP server entry. If an empty string is entered, the time protocol is used (UDP port 37)*.
tTimeOut: TMOut after which the process is to be terminated
VAR_OUTPUT
bBusy:BOOL;
bError:BOOL;
iErrorId:WORD;
tTime:DT;
cCurrSntpServer:STRING(15);
bBusy: The function block is active as long it is TRUE.
bError: Error bit.
iErrorId: Error number.
tTime: Time and date.
sCurrSnptServer: IP address of the SMTP server
Return parameter iErrId Meaning
0 No error
> 0 Error number (#not documented#)
Download sample: (https://infosys.beckhoff.com/content/1033/bc9000/Resources/zip/4351410059.zip)
BC9000 and BC910050 Version: 4.0.0
Fieldbus system
7 Fieldbus system
7.1 Ethernet
Ethernet was originally developed by DEC, Intel and XEROX (as the "DIX" standard) for passing data
between office devices. The term nowadays generally refers to the IEEE802.3 CSMA/CD specification,
published in 1985. Because of the high acceptance around the world this technology is available everywhere
and is very economical. This means that it is easy to make connections to existing networks.
There are now a number of quite different transmission media: coaxial cable (10Base5), optical fiber
(10BaseF) or twisted pairs (10BaseT) with screen (STP) or without screen (UTP). Coaxial cable (10Base5),
optical fiber (10BaseF) or twisted pairs (10BaseT) with screen (STP) or without screen (UTP).
Ethernet transmits Ethernet packets from a sender to one or more receivers. This transmission takes place
without acknowledgement, and without the repetition of lost packets. To achieve reliable data
communication, there are protocols, such as TCP/IP, that can run on top of Ethernet.
MAC-ID
The sender and receiver of Ethernet packets are addressed by means of the MAC-ID. The MAC-ID is a 6
byte identification code unique to every Ethernet device in the world. The MAC-ID consists of two parts. The
first part (i.e. the first 3 bytes) is a manufacturer identifier. The identifier for Beckhoff is 00 01 05. The next 3
bytes are assigned by the manufacturer and implement a unique serial number. The MAC-ID can, for
example, be used for the BootP protocol in order to set the TCP/IP number. This involves sending a
telegram containing the information such as the name or the TCP/IP number to the corresponding node. You
can read the MAC-ID with the KS2000 configuration software.
The Internet Protocol (IP)
The internet protocol (IP) forms the basis of this data communication. IP transports data packets from one
device to another; the devices can be in the same network, or in different networks. IP here looks after the
address management (finding and assigning MAC-IDs), segmentation and routing. Like the Ethernet
protocol, IP does not guarantee that the data is transported - data packets can be lost, or their sequence can
be changed.
TCP/IP was developed to provide standardized, reliable data exchange between any numbers of different
networks. TCP/IP was developed to provide standardized, reliable data exchange between any numbers of
different networks. Although the term is often used as if it were a single concept, a number of protocols are
layered together: z.B. IP, TCP, UDP, ARP and ICMP.
Transmission Control Protocol (TCP)
The Transmission Control Protocol (TCP) which runs on top of IP is a connection-oriented transport protocol.
It includes error detection and handling mechanisms. Lost telegrams are repeated.
User Datagram Protocol (UDP)
UDP is connectionless transport protocol. It provides no control mechanism when exchanging data between
sender and receiver. This results in a higher processing speed than, for example, TCP. Checking whether or
not the telegram has arrived must be carried out by the higher-level protocol.
BC9000 and BC9100 51Version: 4.0.0
Fieldbus system
Fig.38: User Datagram Protocol (UDP)
Protocols running on top of TCP/IP and UDP/IP
The following protocols can run on top of TCP/IP or UDP:
• ADS
• ModbusTCP
Both of these protocols are implemented in parallel on the Bus Coupler, so that no configuration is needed to
activate the protocols.
Fig.39: Protocols running on top of TCP/IP and UDP/IP
ADS can be used on top of either TCP or UDP, but ModbusTCP is always based on TCP/IP.
BC9000 and BC910052 Version: 4.0.0
Fieldbus system
7.2 Topology
In 10BaseT and 100BaseT a number of stations are star connected according to the Ethernet standard.
Star topology
The simplest form of a star LAN consists of a single point-to-point connection. All messages pass via a
central node (the hub or switch), which then passes the information to the desired device according to the
destination address.
Tree topology
A tree topology consists of a number of connected star networks. As soon as the network contains a number
of hubs or switches, the topology is classified as a tree. Ideally the connections between the star couplers
have a particularly wide bandwidth, since these transport the most traffic. When constructing tree topologies,
the repeater rule must be observed. This is also known as the 5-4-3 repeater rule. There must be no more
than two pairs of repeaters (or of hubs) in the transmission path between any two stations, unless they are
separated by bridges, switches or routers. A transmission path may consist of at most five segments and
four repeater sets (two repeater pairs). Up to three of these segments may be coaxial segments to which the
stations are connected. The remaining segments must consist of point-to-point connections; these are also
known as IRL (inter repeater link) connections.
Cabling guidelines
Structured cabling provides general guidelines for constructing the cabling for a LAN. It specifies maximum
permitted cable lengths for the wiring within the grounds, building or floor. Standardized in EN 50173, ISO
11801 and TIA 568-A, structured cabling provides the basis for an advanced, application-independent and
economical network infrastructure. The wiring standards are applicable to a range defined as having a
geographical extent of up to 3km and an office area of up to one million sq meters, with between 50 and
50,000 end devices. Recommendations for the structure of a cabling system are also given. The figures can
vary, depending on the topology selected, the transmission media and coupling modules used under
industrial conditions, and on the use of components from various manufacturers in one network. The given
figures should therefore only be considered as recommendations.
7.3 Reaction times
BC9000 reaction time
ADS Time [ms]
TCP 23 to 50 ms + task time on the BC9000 (jitter)
UDP 2 to 3 ms + task time on the BC9000 (jitter)
Modbus Time [ms]
TCP 12 to 15 ms + task time on the BC9000 (jitter) (default)
Fast TCP* 1 to 3 ms + task time on the BC9000 (jitter)
* as from firmware B7, Table 100, Register 29 - "1" Fast TCP / "0" TCP (see Modbus Interface) [}65]
BK9000 reaction time
ADS Time [ms]
TCP 23 to 50 ms
UDP 2 to 3 ms
BC9000 and BC9100 53Version: 4.0.0
Fieldbus system
RT-Ethernet** Time [ms]
RAW < 1ms + K-bus (depending on the K-bus propagation delay)
Modbus Time [ms]
TCP 12 to 15 ms (default)
Fast TCP* 1 to 3 ms
* as from firmware B5, Table 100 Register 29 - "1" Fast TCP / "0" TCP (see Modbus interface) [}65]** from
firmware B8
7.4 ADS-Communication
7.4.1 ADS-Communication
The ADS protocol (ADS: Automation Device Specification) is a transport layer within the TwinCAT system. It
was developed for data exchange between the different software modules, for instance the communication
between the NC and the PLC. This protocol enables communication with other tools from any point within
the TwinCAT. If communication with other PCs or devices is required, the ADS protocol can use TCP/IP as a
basis. Within a networked system it is thus possible to reach all data from any point.
Fig.40: The ADS protocol as a transport layer within the TwinCAT system
The ADS protocol runs on top of the TCP/IP or UDP/IP protocols. It allows the user within the Beckhoff
system to use almost any connecting route to communicate with all the connected devices and to
parameterize them. Outside the Beckhoff system a variety of methods are available to exchange data with
other software tools.
BC9000 and BC910054 Version: 4.0.0
Fieldbus system
Software interfaces
ADS-OCX
The ADS-OCX is an Active-X component. It offers a standard interface to, for instance, Visual Basic, Delphi,
etc.
ADS-DLL
You can link the ADS-DLL (DLL: Dynamic Link Library) into your C program.
OPC
The OPC interface is a standardised interface for communication used in automation engineering. Beckhoff
offer an OPC server for this purpose.
7.4.2 ADS protocol
The ADS functions provide a method for accessing the Bus Coupler information directly from the PC. ADS
function blocks can be used in TwinCAT PLC Control for this. The function blocks are contained in the
TcSystem.lib library. It is also equally possible to call the ADS functions from AdsOCX, ADSDLL or OPC. It is
possible to access all the data through ADS port number 300, and to access the registers of the Bus Coupler
and Bus Terminals through ADS port number 100.
Fig.41: Structure of the ADS protocol
AMSNetID
The AMSNetID provides a reference to the device that is to be addressed. This is created from the set TCP/
IP address and an additional 2 bytes. These additional 2 bytes consist of "1.1", and cannot be altered.
Sample:
IP address172.16.17.128
AMSNetID 172.16.17.128.1.1
BC9000 and BC9100 55Version: 4.0.0
Fieldbus system
Port number
The port number distinguishes sub-elements in the connected device.
Port 100: register access
Port 300: fieldbus process data
Port 800: local process data (BC90x0, C900 only)
Index group
The index group distinguishes different data within a port.
Index offset
Indicates the offset, from which reading or writing the byte is to start.
Len
Gives the length of the data, in bytes, that is to be read or written.
TCP port number
The TCP port number for the ADS protocol is 48898 or 0xBF02.
7.4.3 ADS services
7.4.3.1 ADS services
User data of an ADS telegram
The maximum size of the user data in an ADS telegram is 1900 bytes.
Process data port 300
The fieldbus data is accessed via ADS port number 300. The data is monitored by a watchdog. If no further
telegram arrives within 1000 ms the outputs will be switched to the safe state.
Index group Meaning Index offset (value range)
0xF020 Inputs 0...511
0xF030 Outputs 0...511
Local process image port 800 (BC9000, C900 only)
Data can be read from and written to the local process image. If it is necessary for outputs to be written, it is
important to ensure that they are not used by the local PLC, because the local controller will overwrite these
values. The data are not associated with a watchdog, and therefore must not be used for outputs that would
have to be switched off in the event of a fault.
Index group Meaning Index offset (value range)
0xF020 Inputs 0...511
0xF030 Outputs 0...511
0x4020 Flags (BC 9000, C900 only) 0...4096
BC9000 and BC910056 Version: 4.0.0
ADS services
AdsServerAdsStateB7
Data type (read only) Meaning
String Start - the local PLC is running
Start - the local PLC is stopped
AdsServerDeviceStateB7
Data type (read only) Meaning
INT 0 - Start - the local PLC is running
1 - Stop - the local PLC is stopped
AdsServerTypeB7
Data type (read only) Meaning
String Coupler_PLC
ADSWriteControlBA
Fieldbus system
Data type (write only) Meaning
NetID Net ID of the BC9000,C900
Port 800
ADSSTATE 5 - RUN / 6 - STOP
DEVSTATE 0
LEN 0
SRCADDR 0
WRITE rising edge starts the block
TMOUT example: t#1000ms
Acyclic data communication
With acyclic data communication it is important to note that about 20 to 30 ms are required in order
to establish a TCP/IP connection. Following the successful establishment of a connection the ADS
data are sent or read. An ADS read of 1000 bytes takes about 50 ms. If no data are transmitted for
10 seconds, the TCP/IP connection is disconnected from the BC/BK9000, B/C900.
Register port 100
The ADS port number in the BK/BC9000, B/C900 for register communication is fixed, being set at 100.
Index group Index offset (value range) Meaning
Hi-Word Lo-Word
0 0...127 0...255 Registers in the Bus Coupler
Hi-Word, table number of the Bus Coupler
Lo-Word, register number of the table
1...64 0...3 1...64 Register of the Bus Terminals
Hi-Word, channel number
Lo-Word, register number of the Bus Terminal
Timeout of the ADS function block
When reading the register, the time out of the ADS block has to be set to a time longer than 1 second.
BC9000 and BC9100 57Version: 4.0.0
Fieldbus system
Setting the password
When writing to the registers, the password has to be set (see the documentation for the particular
Bus Terminal).
Access control and IP - AMS-Net ID assignment
B6
The AMS Net-Id table permits access control to the BC 9000, C900 via AMS. As soon as this table has
entries, only those AMS devices that have been entered will be able to access the BC 9000.
Furthermore, an assignment of the AMS-Net ID to the IP address of the node is explicitly done here.
The AMS Net-Id table can be filled with ADS write commands:
a maximum of 10 entries is possible.
The structure
AMS Net ID Size
AMS Net ID 6 byte
IP address 4 byte
Reserve 2 byte
Reserve 4 byte
Reserve 4 byte
Access takes place via port number: 10,000
Index group: 700
Index Offset (Write) Comment Data
0 Add an entry Data structure, 20 bytes
1 Delete an entry -
2 Delete all entries -
10 Save the table in Flash memory -
Index Offset (Read) Comment Data
0 Number of entries 2 byte
1..10 Entry n (1...10) Data structure, 20 bytes
First entry
The first entry must be the device that his writing into the table, because the settings have immediate effect. Make sure that all the settings are correct. The table can also be deleted if the end terminal only is inserted, and the DIP switches 1 to 7 are set to ON.
* as from firmware B6
** as from firmware B7
)² as from firmware BA
See the example [}59].
BC9000 and BC910058 Version: 4.0.0
Fieldbus system
7.4.3.2 Further ADS services
Flash data storage*
(from firmware version BA)
Process data port 0x1234
This service enables further data to be stored in flash memory. A range of 16,000bytes is available to the
user.
Index group Meaning Index offset (value range)
0x4000_FE00 Flash data memory 0...0x3EFF
read and write data
• Two IP sockets are required for the call. Please ensure that the maximum number of open IP
sockets is not exceeded.
• A flash has limited write capability! Please ensure that data are only written to the flash if actually
required. Otherwise use remanent data.
• A maximum of 1500bytes can be read or written. The byte address of the memory can be specified via the index offset.
Writing of data requires a certain amount of time:
During normal operation, writing of 200bytes takes approx. 120ms, 600bytes approx. 150ms.
Reading of 200bytes takes approx. 50ms, 600bytes approx. 60ms.
Sample Program in ST (https://infosys.beckhoff.com/content/1033/bc9000/Resources/
pr6/4351412235.pr6)
7.4.3.3 Samples
7.4.3.3.1 AMS routing table
The AMS routing table can be used for two functions:
1. If the AMS Net ID does not match the TCP/IP address, the link between the two non-matching numbers can be entered here.
The AMS Net ID matches the TCP/IP address if the first 4 bytes are identical and the AMS Net ID
ends with ".1.1".
2. Only AMS Net IDs stored in the table can access the BC9000 via ADS.
Please ensure that all ADS devices with which communication is required are entered in the table. If the
table is empty (default), all ADS devices can access the BC9000.
Processing the AMS routing table using the KS2000 configuration software
From KS2000 version 4.3.0.39 entries in the AMS routing table can be made via dialog.
BC9000 and BC9100 59Version: 4.0.0
Fieldbus system
Fig.42: Displaying the AMS routing table using the KS2000 configuration software
Entering values in the routing table via ADS
The AMS routing table can be loaded into the BC9000 via ADS. Ensure that the first entry is that of the
sender, since this setting becomes effective immediately and may otherwise prevent further entries in the
AMS routing table.
Download (https://infosys.beckhoff.com/content/1033/bc9000/Resources/zip/6744240267.zip)
7.4.3.3.2 Example communication between BC9000s
ADS-Communication
Data can be sent directly to another BC9000 using the ADS function blocks from the TcADSBC.lb6 library.
ADSREADEX can be used to read data from another BC9000, ADSWRITE can be used for writing. A
maximum of 3 BC9000 can be accessed at the same time. In order to communicate with further BC9000s,
the connection to at least one BC9000 has to be closed via ADSCLOSE. Make sure that only a maximum of
3 connections to a BC9000 exist (the 4th connection should be reserved for programming). These
connections may also be established by another remote station.
BC9000 and BC910060 Version: 4.0.0
Example for a functioning ADS connection
Fig.43: ADS connection
Sample program for connecting BC9000 to BC9000
Fieldbus system
Sample program in ST Master (https://infosys.beckhoff.com/content/1033/bc9000/Resources/
pr6/4351416587.pr6)
Sample program in ST Slave (https://infosys.beckhoff.com/content/1033/bc9000/Resources/
pr6/4351418763.pr6)
Cross-communication better between BCs than to the BK
Please note that a BK9000 only allows write access from a master, and the BK9000 must be polled
regularly at intervals of one second. It is therefore advisable to implement cross communication only
between BC9000 and BC9000.
BC9000 and BC9100 61Version: 4.0.0
Fieldbus system
Fig.44: Bus structure for cross communication
7.4.3.3.3 Example communication from BC9000 to a TwinCAT PC system
In some applications polling operation (master-slave principle) is not wanted. The ADS function blocks of the
BC9000 enable both cross communication (from BC9000 to BC9000) and communication to the higher-level
TwinCAT PC system. This means that the BC9000 application can decide when data are sent to the higherlevel system. Any fault information, for example, is transferred immediately to the TwinCAT PC.
Fig.45: Cross communication from one PC to two BC9000s
Requirement
TwinCAT 2.9 Build 1025
The IP address matches the AMS Net ID plus ".1.1"
An >ipconfig< command issued in a DOS window can be used to find out the IP address of your PC.
BC9000 and BC910062 Version: 4.0.0
Fig.46: Command >ipconfig< in the DOS window
The AMS Net ID is displayed under Properties/AMS router.
Fieldbus system
Fig.47: Display of the AMS Net ID
If the AMS Net ID does not match the TCP/IP address, the link can be entered in the routing table (table 2).
Example for AMS Net ID OK
AMS Net ID: 172.16.100.10.1.1
TC/IP:172.16.100.10
Required library: AdsBC.lb6
BC9000 and BC9100 63Version: 4.0.0
Fieldbus system
sample programs for the connection of BC9000 to a TwinCAT PC
Sample program in ST Master (https://infosys.beckhoff.com/content/1033/bc9000/Resources/
zip/4351420939.zip)
Sample program in ST Slave (https://infosys.beckhoff.com/content/1033/bc9000/Resources/
pro/4351423115.pro)
7.4.3.3.4 Sample: Changing the Ethernet Coupler settings via ADS
Requirement
For this example a BC9000 is required. Please note two local sockets are required for reading or writing!
Required library:
AdsBC.lb6
TcPlcUlititiesBC.lb6
PlcSystemBC.lb6
PlcHelperBC.lb6
TcUtilitiesBC9000.lb6
Description
The function block enables setting of various parameters (see sample [}46]). A more detailed description of
the function block can be found in the Library chapter.
Example:
Download sample program in ST (https://infosys.beckhoff.com/content/1033/bc9000/Resources/
pr6/4351425291.pr6)
7.5 ModbusTCP
7.5.1 ModbusTCP Protocol
The Ethernet protocol is addressed by means of the MAC-ID. The user does not normally need to be
concerned about this address. The IP number has a length of 4 bytes, and must be parameterized by the
user on the Bus Coupler and in the application. In ModbusTCP, the TCP port is set to 502. The UNIT can be
freely selected under ModbusTCP, and does not have to be configured by the user.
Fig.48: ModbusTCP Protocol
BC9000 and BC910064 Version: 4.0.0
Fieldbus system
TCP port number
The TCP port number for ModbusTCP has been standardised to 502.
Modbus-Unit
The unit is returned by the slave.
ModbusTCP Protocol
Byte Name Description
0 Transaction identifier is returned by the slave
1 Transaction identifier is returned by the slave
2 Protocol identifier always 0
3 Protocol identifier always 0
4 Length field 0 (if the message is less than 256 bytes in length)
5 Length field Number of following bytes
6 UNIT identifier returned by the slave
7 Modbus Modbus protocol beginning with the function follows
7.5.2 Modbus TCP interface
Address Description
0x0000
0x00FF
0x0800
0x08FF
0x1000
0x1006
0x100A 2 byte PLC interface
0x100B Bus terminal diagnosis
0x100C Bus Coupler status
0x1010 Process image length in bits, analog outputs (without PLC variables)
0x1011 Process image length in bits, analog inputs (without PLC variables)
0x1012 Process image length in bits, digital outputs
0x1013 Process image length in bits, digital inputs
0x1020 Watchdog, current time in [ms]
0x110A Read / Write 2 byte PLC interface
0x110B Bus terminal diagnosis
0x1120 Watchdog, pre-defined time in [ms] (Default value: 1000)
0x1121 Watchdog reset register
0x1122 Type of watchdog 1 Telegram watchdog
0x1123** ModbusTCP mode** 1 Fast Modbus
0x4000*
0x47FF
Read only Bus Coupler identification
Process data interface
Inputs
Process data interface
Outputs
(default)
0 Write telegram watchdog
0 Normal Modbus (default)
Flags area (%MB..)*
* all Bus Terminal controllers BC9xx0 and BX9000
** for BC9x00 from firmware B7 and BK9000 from firmware B5 and all unlisted BK9xxx and BC/BX9xxx
BC9000 and BC9100 65Version: 4.0.0
Fieldbus system
Watchdog
The watchdog is active under the factory settings. After the first write telegram the watchdog timer is initiated,
and is triggered each time a telegram is received from this device. Other devices have no effect on the
watchdog. A second approach, which represents a more sensitive condition for the watchdog, is for the
watchdog only to be re-triggered after each write telegram. To do this, write a zero into register 0x1122
(default value "1").
The watchdog can be deactivated by writing a zero to offset 0x1120. The watchdog register can only be
written if the watchdog is not active. The data in this register is retained.
Watchdog register
If the watchdog timer on your slave has elapsed it can be reset by writing twice to register 0x1121. The
following must be written to the register: 0xBECF 0xAFFE. This can be done either with function 6 or with
function 16.
The Bus Coupler's status register
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Name FB - - - - - - - - - - - - - CNF KB
Legend
Bit Name Value Description
15 FB 1
bin
Fieldbus error, watchdog time elapsed
14...2 - - reserved
1 CNF 1
0 KB 1
bin
bin
Bus Coupler configuration error
Bus Terminal error
ModbusTCP mode
The fast Modbus mode should only be used in small local networks. The fast ModbusTCP is not active under
the default settings. If problems are found to occur with this type of communication, the Bus Coupler should
be switched to "normal" ModbusTCP communication. The mode is set in the Modbus interface, offset
0x1123. It is necessary to reset the coupler (e.g. using ModbusTCP function 8) after the change. It is not
permitted to send more than one Modbus service within one Ethernet frame in fast Modbus mode.
2 byte PLC interface
Registers in the complex terminals and Bus Terminal Controller registers can be both read and written using
the 2 byte PLC interface. The complex terminal registers are described in the associated terminal
documentation. The Bus Coupler registers can be used, for example, to read terminal bus diagnostics data,
the terminal composition or the cycle times, and the programmed configuration can be written. It is also
possible for a manual K-bus reset to be carried out. The 2-byte PLC interface requires two bytes each of
input and output data. They are handled using a special protocol. A description of the 2 byte PLC interface,
the registers available in the Bus Couplers and of function blocks for various PLC systems that support the 2
byte PLC interface can be supplied on request.
2 byte diagnostic interface
The terminals' error messages can be sent over the 2-byte diagnostic interface. K-bus diagnostics must
however be activated for this purpose. The 2-byte diagnostic interface occupies two bytes each of input and
output data. A special protocol is processed via these two bytes. A description of the 2 byte-diagnostic
interface can be supplied on request.
BC9000 and BC910066 Version: 4.0.0
Fieldbus system
7.5.3 ModbusTCP slave error answer (BK9000, BX/BC9xx0, IP/ ILxxxx-B/C900, EK9000)
When the user sends the slave either a request or information that the coupler does not understand, the
slave responds with an error report. This answer contains the function and the error code. 0x80 is added to
the value returned by the function.
Code Name Meaning
1 ILLEGAL FUNCTION Modbus function not implemented
2 ILLEGAL DATA ADDRESS Invalid address or length
3 ILLEGAL DATA VALUE Invalid parameter
- Diagnostic functions
- Incorrect register
4 SLAVE DEVICE ERROR Watchdog or K-bus error
EK9000: E-bus error
6 SLAVE DEVICE BUSY Output data is already been received from another IP device
7.5.4 ModbusTCP functions
7.5.4.1 ModbusTCP functions
In the Modbus protocol, the functions determine whether data is to be read or written, and what kind of data
is involved.
Function Code Description
Read coil status [}67]
Read input status [}68]
Read holding register [}68]
Read input register [}69]
Force single coil [}70]
Preset single register [}70]
Diagnostics [}71]
Force multiple coils [}72]
Preset multiple register [}73]
Read / write registers [}73]
GPR (General Preset Register) - register structure of the Modbus interface (see appendix)
1 Read digital outputs
2 Read digital inputs
3 Read analog outputs and inputs / GPR
4 Reading the inputs / GPR
5 Writing a digital output
6 Writing an output / GPR
8 Diagnostics
15 Write a number of digital outputs
16 Writing several outputs / GPRs
23 Write and read a number of process data outputs / GPRs
7.5.4.2 Read coil status (Function 1)
The Read coil status function can be used to read the digital outputs that have been set.
The first 10 digital outputs are read in this example. The start address is zero. An offset can be entered in the
Start address field
BC9000 and BC9100 67Version: 4.0.0
Fieldbus system
Query
Byte name Sample
Function code 1
Start address high 0
Start address low 0
Count high 0
Count low 10
The fieldbus coupler answers with byte count 2, i.e. 2 bytes of data are returned. The query was for 10 bits,
and these are now distributed over 2 bytes. The third bit is set in the output process image, and the fieldbus
coupler shows the value 4 in the first data byte.
Response
Byte name Sample
Function code 1
Byte count 2
Data bits 0...7 4
Data bits 8...18 0
7.5.4.3 Read input status (Function 2)
The Read input status function can be used to read the digital input data. The first 10 digital inputs are read
in this example. The start address is zero. An offset can be entered in the Start address field
Query
Byte name Sample
Function code 2
Start address high 0
Start address low 0
Count high 0
Count low 10
The fieldbus coupler answers with byte count 2, i.e. two bytes of data are returned. The query was for 10
bits, and these are now distributed over 2 bytes. The third bit is set in the output process image, and the
fieldbus coupler shows the value 4 in the first data byte.
Response
Byte name Sample
Function code 2
Byte count 2
Data bits 0..7 1
Data bits 8..18 0
7.5.4.4 Read holding register (Function 3)
The Read holding register function can be used to read the input and output words and the registers. Inputs
from offset 0 - 0xFF and outputs from offset 0x800 - 0x8FF, and for controllers (BC, BX) the flag area from
offset 0x4000.
In this example the first two analog outputs (or two output words) are read. The analog outputs (or output
words) start at offset 0x800. The length indicates the number of channels (or words) to be read.
BC9000 and BC910068 Version: 4.0.0
Fieldbus system
Query
Byte name Sample
Function code 3
Start address high 8
Start address low 0
Count high 0
Count low 2
The fieldbus coupler answers with byte count 4, i.e. 4 bytes of data are returned. The query was for two
analog channels, and these are distributed over two words. In the analog output process image, the first
channel has the value 0x3FFF, while the second channel has the value 0x0.
Response
Byte name Sample
Function code 3
Byte count 4
Data 1 high byte 63
Data 1 low byte 255
Data 2 high byte 0
Data 2 low byte 0
7.5.4.5 Read input register (Function 4)
The function Read input register reads the inputs on a word basis.
In this example the first two analog inputs (or the first two input words) are read. The analog inputs (or input
words) start at an offset of 0x0000. The length indicates the number of words to be read. A KL3002, for
example, has two words of input data.Therefore, the length to be entered at Number low is two.
Query
Byte name Sample
Function code 4
Start address high 0
Start address low 0
Count high 0
Count low 2
The fieldbus coupler answers with byte count 4, i.e. four bytes of data are returned. The query was for two
analog channels, and these are now distributed over 2 words. In the analog input process image, the first
channel has the value 0x0038, while the second channel has the value 0x3F1B.
Response
Byte name Sample
Function code 4
Byte count 4
Data 1 high byte 0
Data 1 low byte 56
Data 2 high byte 63
Data 2 low byte 11
BC9000 and BC9100 69Version: 4.0.0
Fieldbus system
7.5.4.6 Force single coil (Function 5)
The Force single coil function can be used to write a digital output. The third digital output is written in this
example. The digital outputs start at address 0x0000. The digital value is located in Data high. To switch the
output on, Data high must contain the value 0xFF, while 0x00 is used to switch the output off again. Data low
must contain the value 0x00.
Query
Byte name Sample
Function code 5
Start address high 0
Start address low 2
Data high 255
Data low 0
The coupler answers with the same telegram.
Response
Byte name Sample
Function code 5
Start address high 0
Start address low 2
Data high 255
Data low 0
7.5.4.7 Preset single register (Function 6)
The function Preset singles register can be used to access the output or flag process image (only for
controllers) and the Modbus TCP interface [}65].
Function 6 writes the first output word. The outputs start at an offset of 0x0800. Here again the offset always
describes a word. This means offset 0x0803 refers to the fourth word in the output process image.
Query
Byte name Sample
Function code 6
Start address high 8
Start address low 0
Data high 63
Data low 255
The Fieldbus Coupler replies with the same telegram and confirmation of the received value.
Response
Byte name Sample
Function code 6
Start address high 8
Start address low 0
Data high 63
Data low 255
BC9000 and BC910070 Version: 4.0.0
Fieldbus system
7.5.4.8 Diagnosis (Function 8)
The diagnosis function provides a series of tests for checking the communication system between the
master and the slave and for examining a variety of internal error states within the slave. A broadcast
telegram is not supported.
The function uses two bytes in the query to specify a sub-function code defining the test that is to be carried
out. The slave returns the function code and the sub-function code in the response.
The diagnostic queries use a two-byte data field to send diagnostics data or control information to the slave.
Query
Byte name Sample
Function code 8
Sub-function high 0
Sub-function low 0
Data high 2
Data low 3
Response
Byte name Sample
Function code 8
Sub-function high 0
Sub-function low 0
Data high 2
Data low 3
Echo a request (Subfunction 0)
Subfunction 0 causes the data that is sent to the slave by the master to be returned.
Coupler reset (Subfunction 1)
The coupler is reset with sub-function 1, error counters are reset and the controller performs a self-test. No
telegrams are either received or sent while the controller is being reset. The IP socket is closed.
Last reply with the sub-function 1
Before the Controller restarts it sends a reply with sub-function 1, after which the IP socket is
closed.
Sub-function Data field (query) Data field (response)
0x0001 0x0000 0x0000
Delete all counter contents (sub-function 10)
When this sub-function is called the controller clears all error counters.
Sub-function Data field (query) Data field (response)
0x000A 0x0000 Echo query data
Bus Communication Answer Counter (Subfunction 11)
Returns the number of communication answers.
Sub-function Data field (query) Data field (response)
0x000B 0x0000 Counter value
BC9000 and BC9100 71Version: 4.0.0
Fieldbus system
Error Answer Counter (Subfunction 13)
This counter contains the number of error answer telegrams that the coupler has sent.
Sub-function Data field (query) Data field (response)
0x000D 0x0000 Counter value
The following functions contain the counter states for various units. This means that the Modbus telegrams
can be distinguished through their units, if, for example, a coupler is accessed by different masters.
Slave Answers (Subfunction 14)
Contains the number of answers that the slave has sent.
Sub-function Data field (query) Data field (response)
0x000E 0x0000 Counter value
Number of unanswered telegrams (Subfunction 15)
Contains the number of answers that the slave has not sent.
Sub-function Data field (query) Data field (response)
0x000F 0x0000 Counter value
Number of Error Answers (Subfunction 16)
Contains the number of error answers that the slave has sent.
Sub-function Data field (query) Data field (response)
0x0010 0x0000 Counter value
7.5.4.9 Force multiple coils (Function 15)
The Force multiple coils function can be used to set or reset a number of digital outputs at the same time.
The first 20 digital outputs are written in this example. The digital outputs start at an offset of 0x0000. Here
the offset always describes a bit. Offset 0x0003 writes to the fourth bit in the output process image. The
length indicates the number of bits, and the Byte count is composed from the combination all the bytes that
are to be written.
Sample: 20 bits count is 3 bytes (round up to the nearest byte)
The data bytes contain the values for the individual bits. In this example, the bits 0 to 15 are set to TRUE,
while bits 17 to 20 are set to FALSE.
Query
Byte name Sample
Function code 15
Start address high 0
Start address low 0
Length high 0
Length low 20
Byte count 3
Data 1 bit 0..7 255
Data 2 bit 8..15 255
Data 3 bit 16..23 0
BC9000 and BC910072 Version: 4.0.0
Fieldbus system
Response
The Bus Coupler answers with the same telegram.
Byte name Sample
Function code 15
Start address high 0
Start address low 0
Length high 0
Length low 20
7.5.4.10 Preset single register (Function 16)
The Preset multiple register function can be used to write a number of outputs. The first two analog output
words are written in this example. The outputs start at an offset of 0x0800. Here the offset always describes
a word. Offset 0x0003 writes to the fourth word in the output process image. The length indicates the number
of words, and the Byte count is formed from the combination of all the bytes that are to be written.
Sample: 4 words - correspond to a byte count of 8
The data bytes contain the values for the analog outputs. In this example, two words are to be written. The
first word is to receive the value 0x7FFF, and the second word is to receive the value 0x3FFF.
Query
Byte name Sample
Function code 16
Start address high 8
Start address low 0
Length high 0
Length low 2
Byte count 4
Data 1 byte 1 127
Date 1byte 2 255
Date 2byte 1 63
Data 2 byte 2 255
Response
The coupler replies with the start address and the length of the transmitted words.
Byte name Sample
Function code 16
Start address high 8
Start address low 0
Length high 0
Length low 2
7.5.4.11 Read / write registers (Function 23)
A number of analog outputs can be written and a number of analog inputs read with one telegram using the
Read/write registers function. In this example the first two analog output words are written, and the first two
analog inputs are read. The analog outputs start at offset 0x0800, while the inputs start at offset 0x0000.
BC9000 and BC9100 73Version: 4.0.0
Fieldbus system
Here the offset always describes a word. Offset 0x0003 writes to the fourth word in the output process
image. The length indicates the number of words, and the Byte count is formed from the combination of all
the bytes that are to be written. Sample: 4 words - correspond to a byte count of 8
The data bytes contain the values for the analog outputs. In this example, two words are to be written. The
first word is to receive the value 0x3FFF, and the second word is to receive the value 0x7FFF.
Query
Byte name Sample
Function code 23
Read start address high 0
Read start address low 0
Read length high 0
Read length low 2
Write start address high 8
Write start address low 0
Write length high 0
Write length low 2
Byte count 4
Data 1 high 63
Data 1 low 255
Data 2 high 127
Data 2 low 255
Response
The coupler replies with the start address and the length of the bytes to be transferred in Byte count. The
data information follows. In this example the first word contains 0x0038 while the second word contains
0x3F0B.
Byte name Sample
Function code 23
Byte count 4
Data 1 high 0
Data 1 low 56
Data 2 high 63
Data 2 low 11
7.5.5 Examples for ModbusTCP
Examples for Modbus TCP are contained in this help text.
Simple example: Modbus TCP via VB6.0 https://infosys.beckhoff.com/content/1033/bc9000/Resources/
zip/4351427467.zip
Example: ModbusTCP via VB6.0, set and reset of the watchdog:https://infosys.beckhoff.com/content/1033/
bc9000/Resources/zip/4351429643.zip
BC9000 and BC910074 Version: 4.0.0
Fieldbus system
7.6 Description of parameters
7.6.1 Properties of the Bus Terminal Controller
7.6.1.1 Register settings, Table 0
Using the KS2000 configuration software you can set the register values via the dialog window or write them
directly into the registers.
Register Description Default Bus Terminal Controller
19 Byte offset digital outputs %Q... 0 BC2000, BC3100, BC4000, BC7300, BC8x00,
BC9000
20 Byte offset digital inputs %I... 0 BC2000, BC3100, BC4000, BC7300, BC8x00,
BC9000
7.6.1.2 Register settings, Table 1
Using the KS2000 configuration software you can set the register values via the dialog window or write them
directly into the registers.
BC9000 and BC9100 75Version: 4.0.0
Fieldbus system
Register Description Default Bus Terminal Controller
0 Byte offset PLC variables %I. 128 BC2000, BC3100, BC4000,
1 Length of the PLC variables %I... 16 BC2000, BC3100, BC4000,
2 Byte offset PLC variables %Q... 128 BC2000, BC3100, BC4000,
3 Length of the PLC variables %Q... 16 BC2000, BC3100, BC4000,
4…11 Bus Terminal assignment BC2000, BC3100, BC4000,
4.0…4.1 Assignment of the 1st Bus Terminal 11
00
Fieldbus process image complex
bin
10
Fieldbus process image compact
bin
11
Local process image
bin
4.2…4.3 Assignment of the 2st Bus Terminal 00
m.n...1..m.n Assignment of the nth Bus Terminal 00
bin
bin
bin
12 PLC cycle time 5ms
(20ms in the case of BC9000/
BC9100)
13 Background Time 2ms
(10ms in the case of BC9000/
BC9100)
14.0 Enable remanent data 1
14.2…14.3 Execution of the K-bus update 00
00
before and after the PLC
bin
01
before the PLC
bin
10
after the PLC
bin
14.6 Switch on Bus Terminal checking 1
bin
bin
bin
15 Size of the NOVRAM (remanent data) 64[bytes] BC2000, BC3100, BC4000,
17.0…17.7 Terminal bus autorefresh:
Cycle in [ms]
17.8…17.15 Terminal bus autorefresh:
0x0000 Disable
(0x005F for BC9000)
(0x035F for BC9100)
max. retries
18 Size of the NOVRAM
0 BC2000, BC3100, BC4000,
Persistent data R18<R15
27 Byte offset KL6xx1 bus terminal emulation %Q... 500 BC8x00
28 Byte offset KL6xx1 bus terminal emulation %I... 500 BC8x00
32 Baud rate 2 BC8x00
0 38400Bd
1 19200Bd
2 9600Bd
3 57600Bd
4 1200Bd
5 2400Bd
6 4800Bd
33 Mode 2 BC8x00
0 7data bits, even parity
1 7data bits, odd parity
2 8data bits, no parity
3 8data bits, even parity
4 8data bits, odd parity
34 Number of stop bits 0 BC8x00
0 one stop bit
1 two stop bits
BC7300, BC8x00, BC9000
BC7300, BC8x00, BC9000
BC7300, BC8x00, BC9000
BC7300, BC8x00, BC9000
BC7300, BC8x00, BC9000
BC2000, BC3100, BC4000,
BC7300, BC8x00, BC9000
BC2000, BC3100, BC4000,
BC7300, BC8x00, BC9000
BC2000, BC3100, BC4000,
BC7300, BC8x00, BC9000
BC2000, BC3100, BC4000,
BC7300, BC8x00, BC9000
BC2000, BC3100, BC4000,
BC7300, BC8x00, BC9000
BC2000, BC3100, BC4000,
BC7300, BC8x00, BC9000
BC2000, BC3100, BC4000,
BC7300, BC8x00, BC9000
BC2000, BC3100, BC4000,
BC7300, BC8x00, BC9000
BC7300, BC8x00, BC9000
BC2000, BC3100, BC4000,
BC7300, BC8x00, BC9000
BC7300, BC8x00, BC9000
BC9000 and BC910076 Version: 4.0.0
Fieldbus system
7.6.1.3 Register settings, Table 100
The registers can be set through a dialog using the KS2000 configuration software, or it is possible to write
into the registers directly.
Register Description Default Bus Terminal Controller
0-1 IP address 0xAC, 0x10, 0x11,
0x00
2-3 IP mask 0xFF, 0xFF, 0x00,
0x00
4-13 Device Name BC9000 BC9000, BC9100,
14 Watchdog AMS/ADS 1000ms BC9000, BC9100,
15.0 0
1
15.1 0
1
16.8 0
1
16.12 0
1
16.13 0
1
enable ModbusTCP 0
bin
disable ModbusTCP
bin
enable AMS/ADS 0
bin
disable AMS/ADS
bin
Ethernet mode half duplex 1
bin
Ethernet mode full duplex
bin
Autobaud off 1
bin
Autobaud on
bin
10 Mbaud 1
bin
100 Mbaud
bin
bin
bin
bin
bin
bin
17-18 Default Gateway 0x00, 0x00, 0x00,
0x00
24 Watchdog ModbusTCP 1000ms BC9000, BC9100,
25.0 Entry of a fieldbus error (connection to switch
0
bin
interrupted) in the flags area diagnosis [}39]
0 Error was not entered
1 Error was entered
26 ModbusTCP port no. 502 BC9000, BC9100,
27 ADS connection service life 10s BC9000, BC9100,
28 Modbus connection service life 10s BC9000, BC9100,
29.0 ModbusTCP mode 0
1
Fast ModbusTCP
bin
bin
BC9000, BC9100,
BK9000, BK9050,
BK9100
BC9000, BC9100,
BK9000, BK9050,
BK9100
BK9000, BK9050,
BK9100
BK9000, BK9050,
BK9100
BC9000, BC9100,
BK9000, BK9050,
BK9100
BC9000, BC9100,
BK9000, BK9050,
BK9100
BC9000, BC9100,
BK9000, BK9050,
BK9100
BK9000, BK9050,
BK9100
BC9000, BC9100
BK9000, BK9050,
BK9100
BK9000, BK9050,
BK9100
BK9000, BK9050,
BK9100
BC9000, BC9100,
BK9000, BK9050,
BK9100
BC9000 and BC9100 77Version: 4.0.0
Error handling and diagnosis
8 Error handling and diagnosis
8.1 Diagnostic LEDs
BK9000, BK9100, BC9000, BC9100
After switching on, the Bus Coupler immediately checks the connected configuration. Error-free start-up is
indicated when the red I/O ERR LED goes out. If the I/O ERR LED blinks, an error in the area of the
terminals is indicated. The error code can be determined from the frequency and number of blinks. This
permits rapid rectification of the error.
The Bus Coupler has two groups of LEDs for the display of status. The upper group with four LEDs indicates
the status of the respective fieldbus. The significance of the fieldbus status LEDs is explained in the
appropriate sections of this manual. It corresponds to the usual fieldbus display.
On the upper right hand side of the Bus Couplers are two more green LEDs that indicate the supply voltage.
The left hand LED indicates the presence of the 24V supply for the Bus Coupler. The right hand LED
indicates the presence of the supply to the power contacts.
Fig.49: BC9000 - LEDs
BC9000 and BC910078 Version: 4.0.0
Error handling and diagnosis
Fig.50: BC9100 - LEDs
LEDs for power supply diagnostics
LED Meaning
Left LED off Bus Coupler has no power
Right LED off No power supply 24VDC connected at the power contacts
LEDs for fieldbus diagnostics
LED on off
LINK (BK9000/BC9000 only) Physical connection present No physical connection present
ACT (BK9000/BC9000 only) Flashing: Bus traffic present No bus traffic (bus idle)
COM (BK9100/BC9100 only) Flashing: data received at the controller no data are received
ERROR LED flashes slowly if DHCP or BootP is enabled and the
Bus Coupler has not yet been allocated an IP address
LED flashes quickly (5 times, only when switching on): the
Bus Coupler was addressed with ARP. The settings on the
DIP SWITCH are not valid.
LED permanently on (only in RT-Ethernet mode)
Note: task time set too fast
PLC (BC9000/BC9100 only) PLC program is in RUN mode
LED flashes while the boot project is being saved.
WDG (BK9000 only) Watchdog is triggered:
- No error
No error
PLC program is in stop mode
Watchdog expired or not triggered:
- Start communication
- Reset watchdog error
BC9000 and BC9100 79Version: 4.0.0
Error handling and diagnosis
LEDs for K-bus diagnostics
Error code Error code argu-
Persistent, continuous flashing
1 pulse 0 EEPROM checksum error Enter factory settings with the KS2000 configura-
2 pulses 0 Programmed configuration has an incorrect
3 pulses 0 K-bus command error • No Bus Terminal inserted
4 pulses 0 K-bus data error, break behind the Bus
5 pulses n K-bus error in register communication with
6 pulses 0 Error at initialization Exchange Bus Coupler
7 pulses
(BC9000/BC9100
only)
9 pulses
(BC9000/BC9100
only)
10 pulses
(BC9000/BC9100
only)
14 pulses n nth Bus Terminal has the wrong format Start the Bus Coupler again, and if the error occurs
15 pulses n Number of Bus Terminals is no longer cor-
16 pulses n Length of the K-bus data is no longer cor-
ment
1 Code buffer overflow Insert fewer Bus Terminals. Too many entries in
2 Unknown data type Software update required for the Bus Coupler
n (n > 0) Table comparison (Bus Terminal n) Incorrect table entry
n Break behind Bus Terminal n Check whether the bus end terminal 9010 is con-
1 Internal data error Perform a hardware reset on the Bus Coupler
2 DIP switch changed after software reset
4 DIP switch incorrect for BootP
8 Internal data error Perform a hardware reset on the Bus Coupler
16 Error in IP socket Perform a hardware reset on the Bus Coupler
0 Note: Cycle time was exceeded
0 Checksum error in Flash program Transmit program to the BC again
1 Incorrect or faulty library implemented Remove the faulty library
n Bus Terminal n is not consistent with the
Description Remedy
EMC problems • Check power supply for undervoltage or
table entry
Coupler
Bus Terminal n
from firmware BC9000 BB and BC9100 B0:
from firmware BK9000 BA and BK9100 B0:
IP address already exists in the network
(see Table 1 Register 17 [}75])
configuration that existed when the boot
project was created
rect
rect
overvoltage peaks
• Implement EMC measures
• If a K-bus error is present, it can be
localized by a restart of the coupler (by
switching it off and then on again)
tion software
the table for the programmed configuration
Check programmed configuration for correctness
• One of the Bus Terminals is defective; halve
the number of Bus Terminals attached and
check whether the error is still present with
the remaining Bus Terminals. Repeat until
the defective Bus Terminal is located.
Check whether the n+1 Bus Terminal is correctly
connected; replace if necessary
nected
Exchange the nth Bus Terminal
(switch off and on again)
Hardware reset of the Bus Coupler (switch off and
back on again)
Assign another IP address
Set 1-8 to on or off, see BootP [}75]
(switch off and on again)
(switch off and on again)
Warning: the set cycle time was exceeded. This
note (flashing of the LED) can only be reset by rebooting the BC.
Remedy: increase the cycle time
Check the nth Bus Terminal. The boot project must
be deleted if the insertion of an nth Bus Terminal is
intentional.
again then exchange the Bus Terminal.
Start the Bus Coupler again. If the error occurs
again, restore the manufacturers setting using the
KS2000 configuration software
Start the Bus Coupler again. If the error occurs
again, restore the manufacturers setting using the
KS2000 configuration software
LEDs for switch diagnosis (BK9100/BC9100 only)
LED on Flashes off
LINK/ACT Physical connection present Communication available No physical connection present
10 / 100 Mbit/s100Mbit/s - 10Mbit/s
BC9000 and BC910080 Version: 4.0.0
Error handling and diagnosis
8.2 General errors
No data exchange after replacing a bus coupler
You have exchanged the Ethernet Bus Coupler and set the same TCP/IP number, but data is not
exchanged.
Every Ethernet device has its own, unique MAC-ID. This number is saved when connecting to an Ethernet
node, and stored in a table. This table contains the correspondences between the MAC-ID and the TCP/IP
number. You must delete this table. Do this in a DOS window, by entering the command "arp -d" and the
TCP/IP number of the Bus Coupler.
Sample: >arp -d 172.16.17.203<
If the DHCP protocol or the BootP protocol is active it is necessary to set the MAC-ID of the new coupler in
the DHCP server or BootP server after changing the Bus Coupler.
Communication errors when online *
After a period in the online state (logged in via Ethernet/AMS) the message Communication error - logging
out always occurs.
The data traffic through the Ethernet interface is jamming.
Remedy:
• reduce the level of data communication.
• Stop the cyclical data traffic, or lengthen the task time.
• Reduce the number of windows open in the online display.
• Log in via the serial interface.
* BC9000, IL230x-C900 only
8.3 ADS diagnostics
Status inputs
It is possible to monitor the BK/BC9000, B/C900 Bus Coupler's communication in the system manager. Each
Bus Coupler has status inputs that can be found in the hardware tree.
Fig.51: Status inputs of the BC9000
Coupler state
Value Meaning
0x0000 No error
0x0001 Bus Terminal error; there is a K-bus error
0x0002 Configuration error; the parameterized configuration does not match the actual configuration
BC9000 and BC9100 81Version: 4.0.0
Error handling and diagnosis
MissedCnt
Ideal configuration:
The task time is always longer than the Ethernet transmission time. An Ethernet telegram is transmitted at
the beginning of the task, and it returns it to the PC again after a period of time, t
. If the time t
Eth
is always
Eth
smaller than the task time that has been set, the value in the MissedCnt counter remains constant.
Fig.52: Task time longer than Ethernet propagation delay
If, after the task time has elapsed, an Ethernet telegram has still not arrived at the PC, only reaching it after
the next task has started, then TwinCAT will continue to work with the old input data. In addition, the
MissedCnt counter is incremented.
Fig.53: Task time shorter than Ethernet propagation delay
This can have the following causes:
• The chosen task time is too short. Set
◦ 100 ms or more for TCP.
◦ 20 ms or more for UDP.
• Too many collisions in the network: use switches instead of hubs!
• The bus loading is too high: change to 100 MBaud!
• You are logged in to the BC9000, C900: this consumes additional processing capacity in the
Controller, which lengthens the response time.
The two following diagnostic inputs have different meanings, depending on the transmission type.
TCP/IP diagnosis
BoxState
Value Meaning
0x0000 No error
0x0001 No current inputs
BC9000 and BC910082 Version: 4.0.0
Error handling and diagnosis
MissedCnt
Value Meaning
0xyyyy Number of telegrams that have not returned in time for the start of the task. This value should
remain almost constant. If the value keeps rising, the task time should be lengthened.
UDP/IP diagnosis
BoxState
Value Meaning
0x0000 No error
0x0001 No current inputs
0x0002 Outputs are written as zero
0xxxzz xx - warning level. The value here is incremented by one each time the data is not received in
time. When data is exchanged correctly, the value is decremented by one. When the maximum
warning level (default value 100) is reached, zero is written to the output data, and it is only
enabled again for the normal process image when the warning level has reached zero.
MissedCnt
Value Meaning
0xyyyy Number of telegrams that have not returned in time for the start of the task. This value should
remain almost constant. If the value keeps rising, the task time should be lengthened.
8.4 ModbusTCP diagnostic
• See Modbus diagnostic function [}71]
• See ModbusTCP error answers [}67]
BC9000 and BC9100 83Version: 4.0.0
Appendix
9 Appendix
9.1 General operating conditions
The following conditions must be met in order to ensure flawless operation of the fieldbus components.
Environmental conditions
Operation
The components may not be used without additional protection in the following locations:
• in difficult environments, such as where there are corrosive vapors or gases, or high dust levels
• in the presence of high levels of ionizing radiation
Condition Permissible range
Permissible ambient temperature during operation see technical data
Installation position variable
Vibration resistance According to EN60068-2-6
Shock resistance According to EN60068-2-27
EMC resistance According to EN61000-6-2
Emission According to EN61000-6-4
Transport and storage
Condition Permissible range
Permissible ambient temperature during storage -25°C... +85°C
Relative humidity 95 %, no condensation
Free fall up to 1 m in the original packaging
Protection classes and types
Condition Permissible range
Protection class in accordance with IEC 536 (VDE
0106, Part 1)
Protection class conforms to IEC 529 IP20 (protection against contact with a standard test
Protection against foreign objects Less than 12mm in diameter
Protection against water no protection
Component identification
Every supplied component includes an adhesive label providing information about the product's approvals.
For example, on the BK2000:
A protective conductor connection to the mounting rail is
necessary!
finger)
BC9000 and BC910084 Version: 4.0.0
Fig.54: Sticker with information about the BK2000 Bus Coupler certification
The following information is printed on the label:
Appendix
Printed item Meaning for this label
Precise product
identification
Supply voltage 24 V
Data transfer rate 2.5 Mbit/s
Manufacturer Beckhoff Automation GmbH
CE mark Conformity mark
UL mark Mark for UL approval. UL stands for the Underwriters Laboratories Inc., the
Production identification From left to right, this sequence of characters indicates the week of production
Lightbus Coupler BK2000
DC
leading certification Organisation for North America, based in the USA.
C = Canada, US = USA, LISTED 22ZA (the test results can be inspected
under this entry)
(2 characters), the year of production (2 characters), the software version (2
characters) and hardware version (2 characters), along with any special
indications (4 characters).
This case therefore is a BK2000
- produced in the 9th calendar week
- in the year 2001
- containing the BF firmware version
- and using the 6th hardware version
- with no special indications
9.2 Approvals
Underwriter laboratories
UL E172151
Conformity mark
CE
BC9000 and BC9100 85Version: 4.0.0
Appendix
Protection class
IP20 conforms to EN60529
9.3 Test standards for device testing
EMC
EN61000-6-2
EN61000-6-4
Vibration resistance
EN60068-2-6vibration test
EN60068-2-27/29shock test
9.4 Bibliography
TCP/IP
TCP/IP (German)
Aufbau und Betrieb eines TCP/IP Netzes (Structure and Operation of a TCP/IP Network)
by Kevin Washburn and Jim Evans
Publisher: ADDISON-WESLEY Longmann Verlag
TCP/IP (English)
Illustrated, Volume1 The Protocols
by W. Richard Stevens
Publisher: ADDISON-WESLEY Longmann Verlag
Modbus/TCP
http://www.modicon.com/
http://www.modbus.org
TwinCAT
BECKHOFF Information System
http://infosys.beckhoff.com
9.5 List of Abbreviations
ADS
Automation Device Specification
IP (20)
Bus Terminal protection class
IPC
Industrial PC
BC9000 and BC910086 Version: 4.0.0
Appendix
I/O
Inputs and outputs
K-bus
Terminal bus
KS2000
Configuration software for Bus Terminals, Bus Couplers, Bus Terminal Controllers, fieldbus box modules,
etc.
PE
The PE power contact can be used as a protective earth.
TwinCAT
The Windows Control and Automation Technology
BC9000 and BC9100 87Version: 4.0.0
Appendix
9.6 Support and Service
Beckhoff and their partners around the world offer comprehensive support and service, making available fast
and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff
products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet
pages:
http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20
33415 Verl
Germany
Phone: +49(0)5246/963-0
Fax: +49(0)5246/963-198
e-mail: info@beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of
individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components
Hotline: +49(0)5246/963-157
Fax: +49(0)5246/963-9157
e-mail: support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service
• repair service
• spare parts service
• hotline service
Hotline: +49(0)5246/963-460
Fax: +49(0)5246/963-479
e-mail: service@beckhoff.com
BC9000 and BC910088 Version: 4.0.0
List of illustrations
List of illustrations
Fig. 1 Principle of the Bus Terminal....................................................................................................... 8
Fig. 2 BC9000 and BC9100................................................................................................................... 10
Fig. 3 Dimensions .................................................................................................................................. 13
Fig. 4 Electrical isolation ........................................................................................................................ 16
Fig. 5 Ethernet layout in star topology ................................................................................................... 17
Fig. 6 Ethernet layout in linear topology ................................................................................................ 18
Fig. 7 RJ45 connector (Western plug) ................................................................................................... 19
Fig. 8 Ethernet connection via hub or switch ......................................................................................... 19
Fig. 9 Direct Ethernet connection (crossover cable).............................................................................. 19
Fig. 10 Start-up behavior of the Bus Terminal Controller ........................................................................ 22
Fig. 11 Network classes........................................................................................................................... 24
Fig. 12 BK9000, BK9100, BC9000, BC9100 ........................................................................................... 25
Fig. 13 BK9050 ........................................................................................................................................ 25
Fig. 14 Configuration of the Beckhoff BootP server................................................................................. 27
Fig. 15 Adressing by name ...................................................................................................................... 28
Fig. 16 Testing the IP address using the Ping command ........................................................................ 29
Fig. 17 Security settings .......................................................................................................................... 30
Fig. 18 Reading the connected Bus Couplers and Bus Terminals .......................................................... 31
Fig. 19 Setting the router memory ........................................................................................................... 31
Fig. 20 The IP Address tab ...................................................................................................................... 32
Fig. 21 PLC tab........................................................................................................................................ 33
Fig. 22 Sample configuration of a Bus Terminal Controller ..................................................................... 35
Fig. 23 Program running time .................................................................................................................. 36
Fig. 24 Task Time .................................................................................................................................... 37
Fig. 25 Bus Terminals in the BC's local process image........................................................................... 37
Fig. 26 Assign bus terminals to the higher level controller ...................................................................... 38
Fig. 27 Selection of the target platform.................................................................................................... 42
Fig. 28 Communication parameters......................................................................................................... 42
Fig. 29 The menu behind the TwinCAT icon ........................................................................................... 43
Fig. 30 TwinCAT system properties......................................................................................................... 43
Fig. 31 Add remote connection................................................................................................................ 44
Fig. 32 TwinCAT System Manager.......................................................................................................... 44
Fig. 33 Selection of the target platform.................................................................................................... 45
Fig. 34 Choose Target System ................................................................................................................ 45
Fig. 35 Function block RW_FIELDBUSPRMBC9000 .............................................................................. 47
Fig. 36 Function block RW_PARAMETERBC9000 ................................................................................. 48
Fig. 37 Function block FB_SNTP ............................................................................................................ 49
Fig. 38 User Datagram Protocol (UDP) ................................................................................................... 52
Fig. 39 Protocols running on top of TCP/IP and UDP/IP ......................................................................... 52
Fig. 40 The ADS protocol as a transport layer within the TwinCAT system ............................................ 54
Fig. 41 Structure of the ADS protocol ...................................................................................................... 55
Fig. 42 Displaying the AMS routing table using the KS2000 configuration software ............................... 60
Fig. 43 ADS connection ........................................................................................................................... 61
Fig. 44 Bus structure for cross communication........................................................................................ 62
BC9000 and BC9100 89Version: 4.0.0
List of illustrations
Fig. 45 Cross communication from one PC to two BC9000s................................................................... 62
Fig. 46 Command >ipconfig< in the DOS window ................................................................................... 63
Fig. 47 Display of the AMS Net ID ........................................................................................................... 63
Fig. 48 ModbusTCP Protocol................................................................................................................... 64
Fig. 49 BC9000 - LEDs ........................................................................................................................... 78
Fig. 50 BC9100 - LEDs ........................................................................................................................... 79
Fig. 51 Status inputs of the BC9000 ........................................................................................................ 81
Fig. 52 Task time longer than Ethernet propagation delay ...................................................................... 82
Fig. 53 Task time shorter than Ethernet propagation delay..................................................................... 82
Fig. 54 Sticker with information about the BK2000 Bus Coupler certification.......................................... 85
BC9000 and BC910090 Version: 4.0.0
Loading...