hilscher EU5C-SWD-ETHERCAT User Manual

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Page 1

User Manual

SmartWire-DT Gateway

EU5C-SWD-ETHERCAT

Hilscher Gesellschaft für Systemautomation mbH

www.hilscher.com

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Table of Contents 2/98

Table of contents

1 INTRODUCTION.........................................................................................................5

1.1 About this document ...................................................................................................5

1.1.1 Description of the contents...................................................................................5

1.1.2 List of revisions.....................................................................................................5

1.1.3 Conventions in this document ..............................................................................6

1.2 Versions of devices, firmware, software tools, drivers and device description files....7

1.3 Software package .......................................................................................................8

1.3.1 Contents of the product DVD ...............................................................................8

1.3.2 How to use the product DVD..............................................................................10

1.3.3 Notes on installing the USB Driver.....................................................................11

1.4 Documentation overview ..........................................................................................12

1.5 Legal notes ...............................................................................................................13

1.5.1 Copyright ............................................................................................................13

1.5.2 Important notes...................................................................................................13

1.5.3 Exclusion of liability ............................................................................................14

1.5.4 Warranty .............................................................................................................14

1.5.5 Export regulations...............................................................................................15

1.5.6 Registered trademarks .......................................................................................15

2 SAFETY ....................................................................................................................16

2.1 General note .............................................................................................................16

2.2 Intended use .............................................................................................................16

2.3 Personnel qualification..............................................................................................16

2.4 References safety.....................................................................................................16

2.5 Safety instructions to avoid personal injury ..............................................................17

2.5.1 Electrical shock hazard ......................................................................................17

2.5.2 Danger of unintended starting up of machines ..................................................17

2.6 Safety instructions to avoid property damage...........................................................18

2.6.1 General safety instructions concerning supply voltage ......................................18

2.6.2 Device destruction by exceeding allowed supply voltage ..................................18

2.6.3 Electrostatic sensitive device .............................................................................19

2.7 Labeling of safety messages ....................................................................................20

3 DESCRIPTION OF THE EU5C-SWD-ETHERCAT GATEWAY ................................21

3.1 Function ....................................................................................................................21

3.2 Configuration ............................................................................................................22

3.2.1 SmartWire-DT configuration...............................................................................22

3.2.2 EtherCAT configuration ......................................................................................23

3.3 Interfaces ..................................................................................................................23

3.4 Diagnosis ..................................................................................................................23

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3.5 Firmware and device description files.......................................................................23

4 REQUIREMENTS FOR OPERATION.......................................................................24

4.1 Network systems ......................................................................................................24

4.2 Power supply ............................................................................................................24

4.2.1 POW power connection......................................................................................25

4.2.2 AUX power connection.......................................................................................25

5 DEVICE PICTURE, CONNECTORS AND LEDS ......................................................26

5.1 Device picture ...........................................................................................................26

5.2 Positions and meaning of the LEDs..........................................................................27

5.2.1 Positions of the LEDs .........................................................................................27

5.2.2 Descriptions of the LEDs....................................................................................28

5.3 Pinning of the Real-Time Ethernet interface.............................................................30

5.4 Device type label ......................................................................................................31

6 GETTING STARTED................................................................................................. 32

7 INSTALLING GATEWAY...........................................................................................33

7.1 Safety messages ......................................................................................................33

7.2 Mounting gateway.....................................................................................................34

7.2.1 Mounting gateway onto top hat rail ....................................................................34

7.2.2 Removing gateway from top hat rail...................................................................36

7.3 Connecting gateway to power supply .......................................................................37

7.4 Connecting SmartWire-DT........................................................................................39

7.5 Connecting EtherCAT...............................................................................................40

7.6 EMC-conformant wiring of the network.....................................................................41

8 CONFIGURING GATEWAY ...................................................................................... 42

8.1 Configuring SmartWire-DT network in gateway (creating target configuration)........42

8.1.1 Overview.............................................................................................................42

8.1.2 Prerequisites.......................................................................................................43

8.1.3 Step-by-step instructions....................................................................................44

8.2 Configuring gateway in EtherCAT ............................................................................45

8.2.1 Overview.............................................................................................................45

8.2.2 Configuring gateway in TwinCAT .......................................................................45

9 PARAMETERIZATION..............................................................................................52

9.1 Process data.............................................................................................................52

9.2 Configuring SmartWire-DT Coordinator....................................................................53

9.2.1 Overview.............................................................................................................53

9.2.2 Prerequisites.......................................................................................................55

9.2.3 Step-by-step instructions....................................................................................55

9.3 Configuration data of the SWD devices....................................................................58

9.3.1 Overview.............................................................................................................58

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9.3.2 Configuring device options of SmartWire-DT devices in TwinCAT....................59

9.3.3 Configuring device parameters (sensor parameters of I/O modules) ................66

10 ACYCLICAL COMMUNICATION ..............................................................................73

10.1 Overview...................................................................................................................73

10.2 Read request: reading data of an SWD Slave..........................................................75

10.2.1 Activating read request.......................................................................................75

10.2.2 Querying the state of the read request...............................................................76

10.2.3 Example of a read request .................................................................................77

10.3 Write request: writing data in an SWD Slave............................................................78

10.3.1 Activating write request ......................................................................................78

10.3.2 Querying the state of the write request ..............................................................79

10.3.3 Example of a write request.................................................................................80

10.4 Error messages (emergency telegrams) ..................................................................82

10.4.1 Overview.............................................................................................................82

10.4.2 Diagnosis code ...................................................................................................82

10.4.3 Error flags ...........................................................................................................83

11 UPDATING FIRMWARE WITH TWINCAT SYSTEM MANAGER .............................84

11.1 Overview...................................................................................................................84

11.2 Prerequisites.............................................................................................................84

11.3 Step-by-step instructions ..........................................................................................84

12 FIRMWARE RECOVERY VIA HTTP.........................................................................87

12.1 Overview...................................................................................................................87

12.2 Prerequisites.............................................................................................................87

12.3 Step-by-step instructions ..........................................................................................88

13 TECHNICAL DATA ...................................................................................................93

13.1 Technical data EU5C-SWD-ETHERCAT gateway ...................................................93

13.2 Technical data EtherCAT slave ................................................................................95

14 ANNEX......................................................................................................................96

14.1 List of figures ............................................................................................................96

14.2 List of tables..............................................................................................................97

14.3 Contacts....................................................................................................................98

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Introduction 5/98

1 Introduction

1.1 About this document

1.1.1 Description of the contents

This manual describes the Hilscher EU5C-SWD-ETHERCAT

SmartWire-DT Gateway. Here you will find information on how to install, configure and operate the gateway.

This manual is intended for automation technicians and engineers. Detailed

knowledge of the EtherCAT

Real-Time Ethernet protocol is presumed. In

addition, readers should also be familiar with the TwinCAT System

Manager and the SmartWire-DT system.

IMPORTANT!

 To avoid personal injuries or damage of electrical devices, please read

this manual carefully before installing and using the EU5C-SWDETHERCAT Gateway.

 Please first read the Safety chapter on page 16 ff.

1.1.2 List of revisions

Revision Date Chapter Revisions

1 2015-03-17 All Created

Table 1: List of revisions

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1.1.3 Conventions in this document

Notes, operation instructions and results of operation steps are marked as follows:

Notes

Important: <important note>

Note: <note>

<note, where to find further information>

Operating Instructions

1. <Operating step>

2. <Operating step>

and



Results



For a description of the labeling of Safety Messages, see Labeling of

safety m

essages section on page 20.

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1.2 Versions of devices, firmware, software tools, drivers and device description files

The hardware revisions and software versions functionally belong together. This means that certain revisions of the hardware of the gateway need certain versions of firmware, software and drivers, in order to function properly. This section lists the hardware revisions and the versions of the firmware, the configuration software and the drivers which functionally belong together and to which all instructions in this manual refer.

Device and firmware

This manual refers to the following hardware revision and firmware version of the EU5C-SWD-ETHERCAT Gateway:

Device type name Protocol Part number

Hardware revision

Firmware

Firmware version

EU5C-SWD-ETHERCAT EtherCAT® slave 9233.922 3 E030F0U0.nxf 1.0.x.x

Table 2: Reference to hardware and firmware

Software tools

This manual refers to the following software versions:

Software Manufacturer Version

SWD-Assist Eaton 2.xx

TwinCAT System Manager Beckhoff Automation GmbH 2.11

Table 3: Reference to software tools

Drivers

This manual refers to the following driver versions:

Driver File name Version

Windows USB Driver usbser.sys

Depending on Windows version

Table 4: Reference to drivers

Device description files

This manual refers to the following device description files (ESI EtherCAT

Slave Information files):

Device description file File name

ESI for EU5C-SWD-ETHERCAT gateway Hilscher_EU5C-SWD-ETHERCAT_XXXXXXXX.xml

ESI for SWD participants Eaton_EU5C-SWD-ETHERCAT_Modules_XXXXXXXX.xml

ESI for SWD partner devices by Phoenix Phoenix_EU5C-SWD-ETHERCAT_Modules_XXXXXXXX.xml

ESI for SWD partner devices by Wöhner Woehner_EU5C-SWD-ETHERCAT_Modules_XXXXXXXX.xml

Table 5: Reference to device description files

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1.3 Software package

Hilscher offers the optional software package EU5C-SWD-SW (part number

3233.920) for SmartWire-DT Gateways. The package features the

SmartWire-DT Gateway Solutions product DVD and a Mini-USB cable. The SmartWire-DT Gateway Solutions product DVD contains the

EtherCAT

Slave Information files (ESI) necessary for configuring the

EU5C-SWD-ETHERCAT gateway within the EtherCAT

network. If you do not need the whole package with the USB cable, you can download the contents of the product DVD separately and free of charge as ZIP file from our website www.hilscher.com

under Products > Product Groups >

Partner Products > SmartWire-DT > EU5C-SWD-ETHERCAT > Downloads > Software.

Note: The TwinCAT System Manager used in the commissioning example

in this document is not included on the product DVD. TwinCAT can be obtained from the Beckhoff Automation GmbH.

1.3.1 Contents of the product DVD

The SmartWire-DT Gateway Solutions product DVD contains software for

all types of SmartWire-DT gateways. Depending on the gateway type you are using, you will need only certain features of the DVD.

The product DVD includes:

 Device description files

 Firmware

 Eaton SWD-Assist software

 Wizard for installing the software available on the DVD and for

downloading the latest version of the SWD-Assist software from the internet

 Installation program for USB driver (USB driver is needed for connecting

the gateway to a PC in order to use the Eaton SWD-Assist software)

 Installation program for the Hilscher Ethernet Device Configuration Tool

 Documentation in PDF format

 Installation program for Adobe Reader

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The product DVD has the following directories:

Directory Contents

Documentation PDF manuals in German and English and installation program for Adobe Reader

EDS

Electronic device description files and bitmaps, to be imported directly into Master/Controller configuration software.

Firmware Loadable gateway firmware

fscommand Files for start screen of product DVD

Setups & Drivers

SWD-Assist software Folder: SWD-Assist

Wizard for installing the software available on the DVD and for downloading the latest version of the SWD-Assist software from the internet Folder: Setup

Installation program for Ethernet Device Configuration Tool Folder: EnDeviceCfg

Installation program (setup.exe) and .INF- and .CAT- files for Windows USB driver. Folder: USB Driver

Table 6: Directory of the product DVD

Note: You can use the wizard on the product DVD to download updates of

the Eaton SWD-Assist software, or you can download SWD-Assist directly

from the www.moeller.net website under Support > Download Center.

Direct link:

http://downloadcenter.moeller.net/en/software.a487d8b7-da91-486f-b3ba-a7ca2035db99

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1.3.2 How to use the product DVD

Insert the SmartWire-DT Gateway Solutions product DVD into the DVD

drive of your configuration PC. If the auto start function of your DVD drive is enabled, the start screen of the DVD automatically opens. You can also start the DVD by doubleclicking the SmartWire.exe file in the root directory of the DVD.

In the menu of the start screen of the DVD, click Install Planning and Configuration Tools to open a wizard for installing the software programs

stored on the DVD. The wizard also helps you to download the latest version of the Eaton planning software SWD-Assist from the internet. It automatically checks for already installed software components (which e. g. might have been installed for an earlier project), and lists the missing components accordingly. The following options might be offered:

 USB Driver: installs USB driver for Windows on your PC.  Download Center SWD-Assist (manual update): connects your

browser to a web page where you can download the latest version of the

SWD-Assist software.

 SWD Planning Software SWD-Assist Vx.xx: installs the SWD-Assist

software version provided on the DVD.

 Ethernet Device Scanner/Configuration Tool: installs the Hilscher

Ethernet Device Configuration Tool.

 GSDML, EDS, ESI files (HTML page): opens a web page containing

links to the device description files.

In the main menu of the start screen of the DVD, you can furthermore open a web page which provides an overview of all available documents (menu

Documentation). You can also directly open the folder containing the device description files (menu Open Electronic Device Description Files Directory).

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1.3.3 Notes on installing the USB Driver

If you intend to use the SWD-Assist software, you should first install the USB driver on your PC before you connect the EU5C-SWD-ETHERCAT Gateway via USB.

To install the USB driver from the DVD, choose Install Planning and Configuration Tools in the DVD menu to open the installation wizard, and then select the USB driver option. As an alternative, you can use the Windows Explorer to open the Setups & Drivers\USB Driver folder on the DVD, and then double-click the setup.exe file. Just follow the

instructions of the installation routine afterwards.

Note: Under Windows XP, the installation process is not yet finished by the setup. The installation process has to be completed in the Found new Hardware Wizard, which automatically opens when you connect the

gateway to a PC via USB cable for the first time (see below).

Windows XP

When you connect the gateway via USB for the first time to a PC running

under Windows XP, the Found New Hardware Wizard opens:  Answer the question Can Windows connect to Windows Update…?,

with No, not this time. Then click Next button.

 If you have already carried out the setup of the USB driver (as

recommended), you can ignore the wizard’s request to insert a CD or

floppy disk. Answer the What do you want the wizard to do? question by selecting the Install the software automatically option, then click Next button.

 After the installation is complete, click Finish button.

Windows 7 and 8

The USB connection is instantly operative under Windows 7 and 8 if you have carried out the setup of the USB driver before first connecting the USB cable (as recommended).

Uninstall USB Driver

If you want to remove the USB driver from a PC running under Windows

XP, choose Start menu > Control Panel > Add or Remove Programs,

then select:

Windows Driver Package – Hilscher GmbH (hilusbser) Ports entry. Click Change/Remove button to uninstall the driver.

Under Windows 7 and 8, choose Start menu > Control Panel > Uninstall

a program, then select: Windows Driver Package – Hilscher GmbH (hilusbser) Ports entry. Click Uninstall/Change button to uninstall the driver.

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1.4 Documentation overview

Besides this user manual at hand (path on product DVD:

Documentation\english\2. Hardware\EU5C-SWD-ETHERCAT UM xx EN.pdf), the following documents are also relevant for the user of the

EU5C-SWD-ETHERCAT Gateway:

Title Contents Publisher Document ID Path on product DVD

SmartWire-DT Units

Information on engineering, installation and programming of the individual SmartWire-DT slaves.

Eaton

05/11 MN05006001Z-EN

Documentation\english\

3.SmartWire-DT\SmartWireDT – Units\ MN05006001Z_EN.pdf

SmartWire-DT The System

Information on function, installation, commissioning and diagnostics of the SmartWire-DT system.

Eaton

02/11 MN05006002Z-EN

Documentation\english\

3.SmartWire-DT\SmartWireDT - The System\ MN05006002Z_EN.pdf

SWD-Assist Online help

Online help for SWDAssist planning software

Eaton - Included in SWD-Assist software

TwinCAT System Manager Online help

Online help TwinCAT System Manager

Beckhoff - Included in TwinCAT software

Wiring Instructions EtherCAT

Wiring instructions for EtherCAT

devices

Hilscher

DOC121104UMxxEN Documentation\english\5.In

stallation Instructions\ Wiring Instructions EtherCAT UM 01 EN.pdf

Table 7: Documentation overview

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1.5 Legal notes

1.5.1 Copyright

The images, photographs and texts in the accompanying material (user manual, accompanying texts, documentation, etc.) are protected by German and international copyright law as well as international trade and protection provisions. You are not authorized to duplicate these in whole or in part using technical or mechanical methods (printing, photocopying or other methods), to manipulate or transfer using electronic systems without prior written consent. You are not permitted to make changes to copyright notices, markings, trademarks or ownership declarations. The included diagrams do not take the patent situation into account. The company names and product descriptions included in this document may be trademarks or brands of the respective owners and may be trademarked or patented. Any form of further use requires the explicit consent of the respective rights owner.

1.5.2 Important notes

The user manual, accompanying texts and the documentation were created for the use of the products by qualified experts, however, errors cannot be ruled out. For this reason, no guarantee can be made and neither juristic responsibility for erroneous information nor any liability can be assumed. Descriptions, accompanying texts and documentation included in the user manual do not present a guarantee nor any information about proper use as stipulated in the contract or a warranted feature. It cannot be ruled out that the user manual, the accompanying texts and the documentation do not correspond exactly to the described features, standards or other data of the delivered product. No warranty or guarantee regarding the correctness or accuracy of the information is assumed.

We reserve the right to change our products and their specification as well as related user manuals, accompanying texts and documentation at all times and without advance notice, without obligation to report the change. Changes will be included in future manuals and do not constitute any obligations. There is no entitlement to revisions of delivered documents. The manual delivered with the product applies.

Hilscher Gesellschaft für Systemautomation mbH is not liable under any circumstances for direct, indirect, incidental or follow-on damage or loss of earnings resulting from the use of the information contained in this publication.

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1.5.3 Exclusion of liability

The software was produced and tested with utmost care by Hilscher Gesellschaft für Systemautomation mbH and is made available as is. No warranty can be assumed for the performance and flawlessness of the software for all usage conditions and cases and for the results produced when utilized by the user. Liability for any damages that may result from the use of the hardware or software or related documents, is limited to cases of intent or grossly negligent violation of significant contractual obligations. Indemnity claims for the violation of significant contractual obligations are limited to damages that are foreseeable and typical for this type of contract.

It is strictly prohibited to use the software in the following areas:

 for military purposes or in weapon systems;

 for the design, construction, maintenance or operation of nuclear

facilities;

 in air traffic control systems, air traffic or air traffic communication

systems;

 in life support systems;

 in systems in which failures in the software could lead to personal injury

or injuries leading to death.

We inform you that the software was not developed for use in dangerous environments requiring fail-proof control mechanisms. Use of the software in such an environment occurs at your own risk. No liability is assumed for damages or losses due to unauthorized use.

1.5.4 Warranty

Although the hardware and software was developed with utmost care and tested intensively, Hilscher Gesellschaft für Systemautomation mbH does not guarantee its suitability for any purpose not confirmed in writing. It cannot be guaranteed that the hardware and software will meet your requirements, that the use of the software operates without interruption and that the software is free of errors. No guarantee is made regarding infringements, violations of patents, rights of ownership or the freedom from interference by third parties. No additional guarantees or assurances are made regarding marketability, freedom of defect of title, integration or usability for certain purposes unless they are required in accordance with the law and cannot be limited. Warranty claims are limited to the right to claim rectification.

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1.5.5 Export regulations

The delivered product (including the technical data) is subject to export or import laws as well as the associated regulations of different counters, in particular those of Germany and the USA. The software may not be exported to countries where this is prohibited by the United States Export Administration Act and its additional provisions. You are obligated to comply with the regulations at your personal responsibility. We wish to inform you that you may require permission from state authorities to export, re-export or import the product.

1.5.6 Registered trademarks

Adobe Reader ® is a registered trademark of Adobe Systems Incorporated.

EtherCAT

is registered trademark and patented technology, licensed by

Beckhoff Automation GmbH, Germany.

SmartWire-DT

is a registered trademark of Eaton Corporation.

TwinCAT

is registered trademark of Beckhoff Automation GmbH,

Germany.

Windows

XP, Windows® 7 and Windows® 8 are registered trademarks of

the Microsoft Corporation.

All other mentioned trademarks are property of their respective legal owners.

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2 Safety

2.1 General note

The user manual, all accompanying texts and the documentation are written for the use of the products by educated personnel. When using the products, all safety instructions, property damage messages and all valid legal regulations have to be observed. Technical knowledge is presumed. The user has to assure that all legal regulations are obeyed.

2.2 Intended use

The purpose of the EU5C-SWD-ETHERCAT Gateway described in this user manual is to create a connection between SmartWire-DT slaves and an EtherCAT

master in an overriding EtherCAT® network.

2.3 Personnel qualification

The EU5C-SWD-ETHERCAT Gateway must be installed, configured and removed by qualified personnel only. Job-specific technical skills for people professionally working with electricity must be present concerning the following issues:

 Safety and health at work

 Mounting and connecting of electrical equipment

 Measurement and analysis of electrical functions and systems

 Evaluation of the safety of electrical systems and equipment

 Installing and configuring IT systems

2.4 References safety

[S1]

ANSI Z535.6-2006 American National Standard for Product Safety Information in Product Manuals, Instructions, and Other Collateral Materials

[S2]

IEC 60950-1, Information technology equipment - Safety - Part 1: General requirements, (IEC 60950-1:2005, modified); German Edition EN 60950-1:2006

[S3] EN 61340-5-1 and EN 61340-5-2 as well as IEC 61340-5-1 and IEC 61340-5-2

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Safety 17/98

2.5 Safety instructions to avoid personal injury

To ensure your own personal safety and to avoid personal injury, you must read, understand and follow the following safety instructions in this manual and all warning messages before you install and operate the EU5C-SWDETHERCAT Gateway.

2.5.1 Electrical shock hazard

Take care of the following safety measures before installing or uninstalling the gateway:

 First disconnect the power plug of the device.

 Make sure that the device is disconnected from the power supply.

 Cover or enclose neighboring units that are live.

Devices that are designed for mounting in housings or control cabinets must only be operated and controlled after they have been installed with the housing closed. Desktop or portable units must only be operated and controlled in enclosed housings.

2.5.2 Danger of unintended starting up of machines

 Install automation devices and related operating elements in a way that

they are well protected against unintentional operation.

 Emergency stop devices complying with IEC/EN 60204-1 must be

effective in all operating modes of the automation devices. Unlatching the emergency-stop devices must not cause restart.

 You must take safety precautions (emergency switching off) in the

external circuitry of the EU5C-SWD-ETHERCAT and any power modules type EU5C-SWD-PF1-1 or EU5C-SWDPF2-1 that are used. To do so, plan to switch off the power supply to the contactor coils AUX.

 Measures should be taken to ensure the proper restart of programs

interrupted after a voltage dip or failure. This should not cause dangerous operating states even for a short time. If necessary, emergency stop devices should be implemented.

 Wherever faults in the automation system may cause damage to

persons or property, external measures must be implemented to ensure a safe operating state in the event of a fault or malfunction (for example, by means of separate limit switches, mechanical interlocks etc.).

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2.6 Safety instructions to avoid property damage

To avoid damage to your EU5C-SWD-ETHERCAT Gateway or your communication system, you must read, understand and follow the following safety instructions and all safety instructions and warnings in this manual concerning property damage, before you install and operate the gateway.

2.6.1 General safety instructions concerning supply voltage

 In safety-relevant applications the power supply providing power to the

SmartWire-DT system must feature a PELV power feed module (protective extra low voltage).

 Switch off the power supply if you are reconnecting slaves in the

SmartWire-DT system or reconnecting the ribbon cable connection. Otherwise the SmartWire-DT slaves can be destroyed!

 The gateway has protection against polarity reversal for the 24-V-DC-

POW supply. However, if the gateway is connected via the serial interface to an earthed device (for example to a PC), the gateway can be destroyed, if the polarity of the power supply is reversed!

 The functional earth (FE) must be connected to the protective earth (PE)

or to the potential equalization. The system installer is responsible for implementing this connection.

 Connecting cables and signal lines should be installed so that inductive

or capacitive interference does not impair the automation functions.

 Suitable safety hardware and software measures should be

implemented for the I/O interface so that a line or wire breakage on the signal side does not result in undefined states in the automation devices.

2.6.2 Device destruction by exceeding allowed supply voltage

The EU5C-SWD-ETHERCAT Gateway must only be operated with the specified supply voltage.

 Make sure that the limits of the allowed range for the supply voltage are

not exceeded. A supply voltage above the upper limit can cause severe damage of the gateway!

 A supply voltage below the lower limit can cause malfunction of the

gateway!

 Ensure a reliable electrical isolation of the low voltage for the 24 volt

supply. Only use power supply units complying with IEC 60364-4-41 (VDE 0100 Part 410) or HD 384.4.41 S2.

The allowed range for the supply voltage is indicated in the Technical data

EU5C-SW

D-ETHERCAT gateway section on page 93.

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2.6.3 Electrostatic sensitive device

The EU5C-SWD-ETHERCAT Gateway is sensitive to electrostatic discharge, which can cause internal damage and affect its normal operation. Therefore adhere to the necessary safety precautions for components that are vulnerable to electrostatic discharge when you install or remove the gateway. Follow the guidelines listed hereafter when you handle the gateway:

 Touch a grounded object to discharge potential static before you handle

the gateway.

 Wear an approved grounding wrist strap.

 If possible, use a static-safe workstation.

 When not in use, store the device in appropriate static-safe packaging.

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2.7 Labeling of safety messages

In this document the safety instructions and property damage messages are designed according both to the internationally used safety conventions as well as to the ANSI Z535 standard.

 The Section Safety Messages at the beginning of a chapter are

pinpointed particularly. They are highlighted by a specific safety symbol and a signal word according to the degree of endangerment. In the safety message, the nature of the hazard is indicated.

 The Integrated Safety Messages embedded in operating instructions

are highlighted by a signal word according to the degree of endangerment and possibly by a safety symbol. In the safety message, the nature of the hazard is indicated.

Safety symbol

Sort of warning or principle

Warning of personal injury

Warning of property damage by electrostatic discharge

Principle: Disconnect the power plug

Table 8: Safety symbols and sort of warning or principle

Signal word Meaning Meaning USA

Indicates a direct hazard with high risk, which will have as consequence death or grievous bodily harm if it is not avoided.

Indicates a hazardous situation which, if not avoided, will result in death or serious injury.

Indicates a possible hazard with medium risk, which will have as consequence death or (grievous) bodily harm if it is not avoided.

Indicates a hazardous situation which, if not avoided, could result in death or serious injury.

Indicates a minor hazard with medium risk, which could have as consequence personal injury, if it is not avoided.

Indicates a hazardous situation which, if not avoided, may result in minor or moderate injury.

Indicates a property damage message.

Note Indicates an important note in the

manual.

Indicates an important note in the manual.

Table 9: Signal words

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Description of the EU5C-SWD-ETHERCAT gateway 21/98

3 Description of the EU5C-SWD-ETHERCAT gateway

3.1 Function

The EU5C-SWD-ETHERCAT gateway integrates a SmartWire-DT network into an EtherCAT

network. The gateway creates a data connection between the participants (the slave devices) of the subordinate SmartWireDT network and the master device or PLC of the super ordinate EtherCAT

network.

The gateway acts as master (a.k.a. “Coordinator”) in the SmartWire-DT network on the one hand, and on the other hand as modular slave in the EtherCAT

network. It thereby presents each connected SmartWire-DT

participant as individual module to the EtherCAT

master.

The cyclic process data is exchanged transparently between both networks. 1000 Bytes of process input/output data can in sum be exchanged with up to 99 SmartWire-DT participants (slaves). The maximum number of cyclic input data as EtherCAT

slave is 800 bytes,

maximum number of cyclic output data is 641 bytes.

Figure 1: Data flow EU5C-SWD-ETHERCAT Gateway

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Description of the EU5C-SWD-ETHERCAT gateway 22/98

3.2 Configuration

3.2.1 SmartWire-DT configuration

The EU5C-SWD-PROFINET Gateway is easily commissioned by an automated configuration function: On pushing the configuration button on the front of the gateway, the gateway scans the current SmartWire-DT network configuration, the so-called actual configuration. It then stores the actual configuration as target configuration zero voltage-safe in the device, thus making the target configuration available for a comparison of actual and targeted SmartWire-DT configuration, which takes place each time the gateway is being switched on.

When the gateway is switched on after a target configuration has already been stored, the gateway automatically rescans the connected actual configuration and checks it against the target configuration. If the gateway recognizes that a required SmartWire-DT slave cannot be reached or a wrong slave type is determined, it will not go into operation. If the actual configuration complies with the target configuration, the gateway gets ready for EtherCAT

and waits for the EtherCAT® configuration. The gateway

checks the project configuration, which it receives from the EtherCAT

master, against the target configuration. Discrepancies between target and

project configuration are indicated by the Config LED of the gateway.

Eaton SWD-Assist planning software

Despite the fact that you can configure the SmartWire-DT network in the gateway simply by using the configuration button, it is nevertheless recommended to use the SWD-Assist software to plan, dimension and document the SmartWire-DT network.

For further information, please refer to the SWD-Assist online help.

Note: You will find the Eaton SWD-Assist software on the product DVD,

which is included in the EU5C-SWD-SW software package (order number

3233.920) available from Hilscher. You can use the wizard on the product DVD to download updates of the Eaton SWD-Assist software, or you can download SWD-Assist directly from the www.moeller.net website under

Support > Download Center.

Direct link:

http://downloadcenter.moeller.net/en/software.a487d8b7-da91-486f-b3ba-a7ca2035db99

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Description of the EU5C-SWD-ETHERCAT gateway 23/98

3.2.2 EtherCAT configuration

The gateway is commissioned in EtherCAT® by using an EtherCAT® engineering tool (e. g. TwinCAT System Manager) and device description files in XML format, (the so-called EtherCAT

Slave Information or ESI

files). These files are to be imported into the engineering tool. The device description files of the gateway are stored in the EDS\EU5C-SWD- ETHERCAT\Vx.x.x.x directory of the product DVD. The files contain all configuration data and all possible SmartWire-DT slaves as I/O modules.

Note: The device description files contain only I/O information for

SmartWire-DT slaves which were listed as sales products at the time of the creation of the file.

3.3 Interfaces

The gateway features a SmartWire-DT interface (plug, 8-pole), a 2-port switch Ethernet interface (RJ45) and a Mini-USB interface. Via the MiniUSB interface, the gateway can be accessed, configured and diagnosed with the SWD-Assist software.

3.4 Diagnosis

The gateway can be diagnosed by connecting the SWD-Assist software to the Mini-USB interface. For further information, please refer to the SWDAssist online help.

The EtherCAT

protocol also provides diagnostic functions. For further

information, see section Error messages (emergency telegrams) on page

82.

3.5 Firmware and device description files

The EU5C-SWD-ETHERCAT Gateway is shipped with its most recent firmware already loaded. Which firmware version is loaded in the gateway at the time of delivery can be inferred from the device type label (see

Device type label section

on page 31).

EtherCAT

allows you to update the firmware via Ethernet connection by

using the TwinCAT System Manager. For more details on this, please refer

to chapter Updating firmware with TwinCAT System Manager on page 84.

In case of a

missing or defective firmware, a firmware “recovery” process is

possible via HTTP. Please refer to chapter Firmware recovery via HTTP on

page 87 ff.

Device description f

iles (ESI) for the gateway and the SWD participants

(SWD devices) are included on the product DVD in the EDS\EU5C-SWD- ETHERCAT\Vx.x.x.x folder. As an alternative, you can download latest versions of the ESI files from our website www.hilscher.com

under Products > Product Groups > Partner

Products > SmartWire-DT > EU5C-SWD-ETHERCAT > Downloads.

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Requirements for operation 24/98

4 Requirements for operation

The following prerequisites must be fulfilled to operate the EU5C-SWDETHERCAT Gateway:

4.1 Network systems

 SmartWire-DT network with maximum number of up to 99

participants/stations/slaves and maximum extension of up to 600 meters.

 EtherCAT

network with EtherCAT® PLC (master device). Maximum cable length for one segment (i. e. cable between two devices or hubs) is 100 meters.

4.2 Power supply

In safety-relevant applications the power supply providing power for the SmartWire-DT system must feature a PELV power feed module (protective extra low voltage).

Ensure a reliable electrical isolation of the low voltage for the 24 volt supply. Only use power supply units complying with IEC 60364-4-41 (VDE 0100 Part 410) or HD 384.4.41 S2.

You must take safety precautions (emergency switching off) in the external circuitry of the EU5C-SWD-ETHERCAT and any power modules type EU5C-SWD-PF1-1 or EU5C-SWDPF2-1 that are used. To

do so, plan to switch off the power supply to the contactor coils AUX.

Important!

Please take into consideration the total power consumption of your SmartWire-DT network and, if necessary, plan for an additional feeder module EU5C-SWD-PF2. You can find information on the power consumption in the operating manuals of the SmartWire-DT devices.

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Requirements for operation 25/98

4.2.1 POW power connection

A Power supply of 24 V DC for the coupling unit and for the Smart-Wire-DT

slave electronics is needed at the connection POW. On the SmartWire-DT gateway, connect the POW and AUX supply

voltages via separate miniature circuit-breakers or fuses:

Miniature circuit-breaker 24 V DC for POW

 Cable protection in accordance with DIN VDE 0641 Part 11, IEC/EN

60898: Miniature circuit-breaker 24 V DC rated operational current 3 A; trip

types C or Fuse 3 A, utilization class gL/gG

 Cable protection for cable AWG 24 in accordance with UL 508 und CSA-

22.2 No. 14: Miniature circuit-breaker 24 V DC rated operational current 3 A; Tripping characteristics C or Fuse 3 A

4.2.2 AUX power connection

If any switching devices are also to be connected, for example via the DILSWD-32-001/002 SmartWire-DT slaves, a 24 V DC supply will also be

required at the AUX power connection. This provides the supply for

activating the contactor coils. This supply must be protected by an automatic circuit-breaker (3A gG/gl or 3 A miniature circuit-breaker with a Z characteristic). If switching devices with an activation power greater than 3 A are connected, an additional feeder module EU5C-SWD-PF1 or EU5C-SWDPF2 must be used.

On the SmartWire-DT gateway, connect the POW and AUX supply

voltages via separate miniature circuit-breakers or fuses:

Miniature circuit-breaker 24 V DC for AUX

 Cable protection in accordance with DIN VDE 0641 Part 11, IEC/EN

60898: Miniature circuit-breaker 24 V DC rated operational current 3 A; trip type

Z or Fuse 3 A, utilization class gL/gG

 Cable protection for cable AWG 24 in accordance with UL 508 und CSA-

22.2 No. 14: Miniature circuit-breaker 24 V DC rated operational current 2 A; Tripping

characteristics Z or Fuse 2 A

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Device Picture, Connectors and LEDs 26/98

5 Device Picture, Connectors and LEDs

5.1 Device picture

24 V power supply POW

EtherCAT® interface (RJ45)

LEDs EtherCAT® communication status (see subsequent section for details)

Mini-USB interface

Configuration button

LEDs gateway functions (see subsequent section for details)

24 V power supply AUX

SmartWire-DT connection (plug, 8-pole)

Figure 2: Front view EU5C-SWD-ETHERCAT gateway

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Device Picture, Connectors and LEDs 27/98

5.2 Positions and meaning of the LEDs

5.2.1 Positions of the LEDs

POW: System status APL: Application status Config.: Configuration status

SWD: SmartWire-DT status RUN: EtherCAT

bus status

ERR: EtherCAT

bus error

L/A: LINK/Activity for channel 0

Receive/Transmit (RX/TX) for channel 0

L/A: LINK/Activity for channel 1

Receive/Transmit (RX/TX) for channel 1

Figure 3: LEDs EU5C-SWD-ETHERCAT Gateway

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Device Picture, Connectors and LEDs 28/98

5.2.2 Descriptions of the LEDs

LED Color State Meaning

Duo-LED yellow/green

(yellow)

On Operating system running, firmware has been started.

(green/yellow)

Blinking green/yellow

Second Stage Bootloader is waiting for firmware.

(green)

Backup firmware is active. The gateway needs a firmware recovery as described in chapter

Firmware recovery via HTTP on pa

ge 87.

POW System status

Number in picture:

(off)

Off Power supply for device is missing or hardware is defect.

Duo-LED red/green

(green)

Communication on EtherCAT

and SmartWire-DT is in cyclic data

exchange and the gateway function is executed.

(green)

Blinking 1 s off, 1 s on

Gateway is initialized, but the communication on EtherCAT® or SmartWire-DT is not in cyclic data exchange.

(red)

Blinking 1 s off, 1 s on

Gateway is initialized, but the SmartWire-DT configuration is missing or in error.

APL

Application status

Number in picture:

(red)

Gateway has detected an error during the initialization: Missing configuration, error in configuration or internal error.

Duo-LED red/green

(green)

The project configuration complies with the target configuration. Data exchange between gateway and PLC via EtherCAT

possible.

(green)

Blinking

The project configuration does not comply with the target configuration, but is compatible with it. Data exchange between gateway and PLC via EtherCAT

is possible.

(red)

The project configuration and the target configuration are not compatible. Data exchange between gateway and PLC via EtherCAT

is not possible.

Config.

Configuration status

Number in picture:

(off)

Off

No communication with the EtherCAT

PLC, or the gateway does

not have a project configuration.

Duo-LED red/green/orange (orange = red/green at same time)

(green)

The actual configuration complies with the target configuration. Data exchange between gateway and SmartWire-DT slaves takes place.

(red)

Blinking

The gateway misses its target configuration or a necessary SmartWire-DT slave is missing or the target configuration does not comply with the actual configuration. No data exchange between gateway and SmartWire-DT slaves.

(green)

Blinking

Slave addressing is active (after power-on or download of a project configuration containing empty modules). No data exchange between gateway and SmartWire-DT slaves.

(red)

Short-circuit on the 15 V power supply or no SmartWire-DT slave is connected.

No data exchange between gateway and SmartWire-DT slaves.

SWD

Status SmartWire-DT

Number in picture:

(orange)

Blinking

After having pressed the configuration button: The gateway reads the actual configuration and stores it as target configuration.

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Device Picture, Connectors and LEDs 29/98

LED Color State Meaning

Duo-LED red/green

(off)

Off

INIT: The device is in state INIT

(green)

Blinking

PRE-OPERATIONAL: The device is in state PRE-OPERATIONAL

(green)

Single flash

SAFE-OPERATIONAL: The device is in state SAFEOPERATIONAL

RUN

EtherCAT

Bus Status

Number in picture:

(green)

OPERATIONAL: The device is in state OPERATIONAL

Duo-LED red/green

(off)

Off

No error: The EtherCAT

communication of the device is in

working condition

(red)

Blinking

Invalid Configuration: General Configuration Error (Example: State change commanded by master is impossible due to register or object settings.)

(red)

Single flash

Unsolicited State Change: Slave device application has changed the EtherCAT

state autonomously: Parameter "Change" in the AL status register is set to 0x01:change/error (Example: Synchronization Error, device enters Safe-Operational automatically.)

(red)

Double flash

Application Watchdog Timeout: An application watchdog timeout has occurred. (Example: Sync Manager Watchdog timeout)

ERR

EtherCAT® Bus Error

Number in picture:

(red)

PDI Watchdog Timeout: A PDI Watchdog timeout has occurred (Example: Application controller is not responding any more)

LED green

(green)

On Link: Gateway has connection to EtherCAT

(green)

Flashing Activity: Gateway sends/receives EtherCAT frames

L/A (RJ45) Ch0 & Ch1

Numbers in picture:

(off)

Off

Gateway has no connection to EtherCAT

LED yellow (RJ45)

Ch0 & Ch1

Numbers in picture:

(yellow)

- This LED is not used

Table 10: Description of the LEDs

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Device Picture, Connectors and LEDs 30/98

5.3 Pinning of the Real-Time Ethernet interface

The following picture shows the pinning of the Real-Time Ethernet (EtherCAT

) interface of the Gateway:

Figure 4: Pinning of the Ethernet interface (RJ45)

Pin Signal Description

1 TX + Transmit Data +

2 TX – Transmit Data –

3 RX + Receive Data +

4 TERM

5 TERM

Bob Smith Termination

6 RX – Receive Data –

7 TERM

8 TERM

Bob Smith-Termination

Table 11: Ethernet interface channel 0 and channel 1 pin assignment (RJ45)

Note: The Ethernet interface supports auto crossover.

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Device Picture, Connectors and LEDs 31/98

5.4 Device type label

The EU5C-SWD-ETHERCAT Gateway is equipped with a device type label which provides the following information:

Version of firmware (at time of delivery)

Information on power supply for switching devices (AUX)

Information on power supply for Gateway and Smart-Wire-DT slaves (POW)

Information on wire gauge of power supplies

Operating ambient temperature

Device type name

Part number

Hardware revision number

Serial number

Figure 5:Device type label EU5C-SWD-ETHERCAT Gateway

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Getting started 32/98

6 Getting started

The following table provides an overview of the steps necessary for installing and commissioning the EU5C-SWD-ETHERCAT Gateway.

# Step For details see

1 Install gateway

Chapter Installing gateway on page 33

1.1 Take safety precautions Section Safety messages on page 33

1.2 Mount gateway onto top hat rail

Section Mounting gateway onto top hat rail on page 34

1.3 Connect gateway to power supply

Section Connecting gateway to power supply on page 37

1.4 Connect gateway to SmartWire-DT network

Section Connecting SmartWire-DT on

page 39

1.5 Connect gateway to EtherCAT® network

Section Connecting EtherCAT on page

2 Configure gateway Chapter Configuring gateway on page

2.1 Configure SmartWire-DT network in gateway

Section Configuring SmartWire-DT network in gateway on page 42

2.2

Import device description files in EtherCAT® engineering tool (TwinCAT System Manager)

2.3 Configure gateway in EtherCAT® engineering tool

Section Configuring gateway in TwinCAT on page 45

Configure SmartWire-DT devices in engineering tool

Section Configuration data of the SWD devices on page 58

3.1

Configure SmartWire-DT network coordinator parameters (if other than default settings are used)

Section Configuring SmartWire-DT Coordinator on page 53

3.2

Configure Device Options (if other than default settings are used)

Section Configuring device options of SmartWire-DT devices in TwinCAT on

page 59

3.3

Configure Device Parameters (if other than default settings are used)

Section Configuring device parameters (sensor parameters of I/O modules) on

page 66

Table 12: Getting started

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Installing gateway 33/98

7 Installing gateway

7.1 Safety messages

Please observe the following safety messages when you install and handle the gateway!

 First disconnect the power plug of the device.  Make sure that the power supply is off at the device.  Cover or enclose neighboring units that are live.

Electrostatic Sensitive Device

The gateway is sensitive to electrostatic discharge, which can cause internal damage and affect its normal operation. Therefore adhere to the necessary safety precautions for components that are vulnerable to electrostatic discharge, when you install or handle the gateway.

 Do not touch the metal pins of the connectors of the gateway.

 Touch a grounded object to discharge potential static.

 Wear an approved grounding wrist strap.

 If available, use a static-safe workstation.

 When not in use, store the device in an appropriate static-safe

packaging.

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Installing gateway 34/98

7.2 Mounting gateway

No tools are required for mounting the EU5C-SWD-ETHERCAT Gateway onto a top hat rail. The back of the gateway

carries a spring-fitted bolt ,

by which the gateway can be clamped to the rail

Figure 6: Mounting principle of the gateway

7.2.1 Mounting gateway onto top hat rail

To mount the gateway onto the top hat rail, proceed as follows:

 Make sure that the gateway is disconnected from any power supply.  Cover or enclose neighboring units that are live.



Tilt the gateway slightly and hook it into the upper railing from above, thereby pushing down the gateway with slight force, in order to overcome the resistance of the spring in the bolt.

Figure 7: Hook gateway to upper railing

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Installing gateway 35/98



Keep on pushing the gateway downwards and tilt it back into vertical position, thereby hooking the gateway into the lower railing.

Figure 8: Hook gateway to lower railing



Let go of the gateway. The spring inside the bolt automatically pushes the gateway upwards into the railings, thereby fixing the gateway to the top hat rail.

Figure 9: Gateway is clamped to top hat rail

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Installing gateway 36/98

7.2.2 Removing gateway from top hat rail

To remove the gateway from the top hat rail, proceed as follows:

 First disconnect the power plugs from the gateway.  Make sure that the power supply is off at the gateway.  Cover or enclose neighboring units that are live.



Push down the gateway with slight force (to overcome the resistance of the spring in the bolt), then unhook the gateway first from the lower railing and then from the upper railing.

Figure 10: Unhook gateway

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Installing gateway 37/98

7.3 Connecting gateway to power supply

Danger of lethal injuries by unexpected starting up of motors or machinery!

If you have already integrated devices into a system, secure the operating range of any connected parts of the system against access, so that nobody is endangered by motors or machinery starting up unexpectedly.

In safety-relevant applications, the power supply providing power to the SmartWire-DT system must feature a PELV power feed module (protective extra low voltage).

You must take safety precautions (emergency switching off) in the external circuitry of the EU5C-SWD-ETHERCAT Gateway and any power modules type EU5C-SWD-PF1-1 or EU5C-SWDPF2-1 that are used. To do so, plan to switch off the power supply to the contactor coils

AUX.

Important!

 Connect the 24 V DC voltage to the POW terminals on the front side of

the gateway. The POW connection provides the voltage for the gateway

itself and for the SmartWire-DT slave electronics.

Note: For the 15 V supply of the SmartWire-DT slaves, the gateway

contains an additional power feed module with an amperage of 0.7 A.

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Installing gateway 38/98

 If necessary, connect the 24 V DC voltage for the contactor coils to the

AUX terminals on the front side of the gateway.

Figure 11: Gateway power supply

Note: The AUX supply is required if any switching devices are also to be

connected, for example, via the DIL-SWD-32-001/002 SmartWire-DT

slaves. The AUX connection provides the supply for activating the

contactor coils. This supply must be protected by an automatic circuit-breaker (3A gG/gl or 3 A miniature circuit-breaker with a Z characteristic). If switching devices with an activation power greater than 3 A are connected, an additional feeder module EU5C-SWD-PF1 or EU5C-SWDPF2 must be used.

Potential conditions between the components

The entire SmartWire-DT system operates on a common supply voltage. Provide a common star point for the earth wiring. In this way, the various slaves in the SmartWire-DT system will not be electrically isolated from one another. The EtherCAT

network and the SmartWire-DT system are electrically

isolated from one another.

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Installing gateway 39/98

7.4 Connecting SmartWire-DT

 Connect the SmartWire-DT network to the gateway. To do so, use the

SmartWire-DT cable SWD4-100LF8-24 and the SWD4-8MF2 relevant blade terminal or prefabricated cables of type SWD4-(3/5/10)F8-24-2S.

Figure 12: Connecting SmartWire-DT to gateway

Switch off the power supply, before you are reconnecting slaves in the SmartWire-DT system or reconnecting the ribbon cable connection. Otherwise the SmartWire-DT slaves can be destroyed!

Note: Detailed instructions on adapting the SmartWire-DT external device

plug (SWD4-8SF2-5) to the 8 pole Smart-Wire-DT cable are provided in

chapter Fitting external device plugs SWD4-8SF2-5 of the manual

SmartWire-DT – The System, MN05006002Z-EN (previously AWB27231617en).

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Installing gateway 40/98

7.5 Connecting EtherCAT

Important: Please note that data exchange between the gateway and

the EtherCAT

network can only take place after a SmartWire-DT

network has been connected and configured in the gateway.

 Connect the RJ45 plug of the EtherCAT

cable to the upper Ethernet

socket (labeled LAN1-IN) on the gateway.

Figure 13: Connecting EtherCAT network to gateway

Important: Please observe the following notes on EtherCAT

cabling:

 Use shielded Ethernet cables that meet the requirements of at least

category 5 (Cat 5) according to EN 50173 or ISO/IEC 11801.

 Do not use hubs in an EtherCAT

network.

 Do not use switches in a productive system. Use a switch for

diagnostic purpose only and only between EtherCAT

master and first

EtherCAT

slave device (100 MBit/s, Full Duplex). A switch has

influence to the real-time characteristics of the EtherCAT network.

 The cable length between two EtherCAT

devices must not exceed

100 meter.

See also the user manual Wiring Instructions EtherCAT,

DOC121104UMxxEN, stored on the product DVD in the

Documentation\english\5.Installation Instructions

directory.

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Installing gateway 41/98

7.6 EMC-conformant wiring of the network

Undesired faults can occur on the bus due to electromagnetic interference. This can be minimized beforehand by the implementation of suitable EMC measures. These include:

 EMC-conformant system configuration,

 EMC compliant cable routing,

 Measures that do not allow the occurrence of large differences in

potential and

 correct installation of the EtherCAT

system (cables, connection of the

bus connectors, etc.)

The effects of electromagnetic interference can be significantly reduced by fitting a shield.

For more detailed information on this, please refer to the IAONA Industrial Ethernet -Planning and Installation Guide by IAONA e.V. Magdeburg,

Germany.

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8 Configuring gateway

For data exchange between the gateway and the EtherCAT® master, the gateway needs a valid target configuration and a valid project configuration. The target configuration of the SmartWire-DT network can be created and stored in the gateway by using the configuration button on the gateway device. The project configuration must be created and transferred to the gateway by means of the EtherCAT

engineering tool (i. e. TwinCAT). This chapter describes how to create and store these configurations in the gateway.

8.1 Configuring SmartWire-DT network in gateway (creating target configuration)

8.1.1 Overview

When you commission the gateway, you have to read-in the actual configuration of the SmartWire-DT network (i. e. the line-up of the participants/devices connected to the SWD bus) and store it as target configuration.

Reading and storing the SmartWire-DT network configuration takes place by pressing the configuration button on the gateway (for the position of the

configuration button, see figure Front view EU5C-SWD-ETHERCAT gateway on page 26). All SmartWire-DT slaves are re-addressed in

ascending o

rder by this process.

This process should only take place in the case of:

 initial commissioning,

 replacement of a defective slave or

 deliberate change to the configuration.

Hazard of device damage by disruption of voltage supply while creating target configuration!

Do not interrupt the voltage supply while creating the target configuration of the gateway. Power failure during a writing process within the file system can cause severe malfunctioning of the device.

Important!

If there is a faulty configuration and the configuration button is pressed, only the slaves up to the failed device are addressed and stored. Use of the remaining slaves is not possible until the defective slave has been replaced and the configuration has been read-in again by pressing the configuration button.

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Configuring gateway 43/98

The remanently stored target configuration is compared with the current configuration (actual configuration) each time the gateway is restarted and during bus operation. If the gateway recognizes that a required SmartWireDT slave cannot be reached or a wrong slave type is determined, the gateway will not go into operation or stops operating. This depends in each case on the setup of the network which has been defined in the planned/project configuration. In case of error, the SmartWire-DT status LED (SWD LED) starts to blink in red (for the position of the SWD LED, see

Positions of the LEDs section on pag

e 27).

If a SmartWire-DT slave has failed, the SmartWire-DT network can still be operated with the remaining slaves, depending on the settings in the planned/project configuration (even after a repeated power up of the gateway). The failure is reported to the application.

8.1.2 Prerequisites

Prerequisites for reading-in the SmartWire-DT configuration are:

 All SmartWire-DT slaves are connected to the SmartWire-DT line.

 The SmartWire-DT status LEDs of the individual SmartWire-DT slaves

are on or are flashing.

 The SmartWire-DT network is connected to the gateway.

 The voltage POW is applied to the gateway and the power POW LED is

on.

 The EtherCAT

network is connected to the gateway and the gateway is

either in INIT or PRE-OP state (the RUN LED is off or is blinking, see

also Descriptions of the LEDs sectio

n on page 28).

 The voltage AUX is applied (if necessary).

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Configuring gateway 44/98

8.1.3 Step-by-step instructions

To read-in the SmartWire-DT configuration, proceed as follows:

 Press the configuration button on the gateway for at least two seconds

(for the position of the configuration button, see figure Front view EU5C-

SWD-ETHERCAT gate

way on page 26).

Note: Take care to push-in the button properly. You have to feel and

overcome a slight resistance at the end when pushing the button into the gateway, otherwise the button won’t trigger.

 The SmartWire-DT status LED (SWD LED) on the gateway begins to

flash orange. The SmartWire-DT status LEDs on the SmartWire-DT slaves also flash. All slaves are addressed in sequence, the complete configuration is stored retentively as gateway target configuration.

Hazard of device damage by disruption of voltage supply while creating target configuration!

 The SmartWire-DT status LED (SWD LED) on the gateway shows

steady green.

Note: As an alternative, you can generate and store the target

configuration by using the SWD-Assist software. For this, the gateway must be connected to SWD-Assist via USB. For details, please refer to the SWD-Assist online help.

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8.2 Configuring gateway in EtherCAT

8.2.1 Overview

The EU5C-SWD-ETHERCAT Gateway is integrated as slave in the EtherCAT

network. Configuring the gateway in the EtherCAT® engineering tool requires two device description files in XML format containing standardized descriptions of the gateway and the SmartWire devices.

You will find the device description files on the product DVD in the EDS\EU5C-SWD-ETHERCAT\Vx.x.x.x directory. You can also download the latest versions of the files from our website www.hilscher.com

under

Products > Product Groups > Partner Products > SmartWire-DT > EU5C-SWD-ETHERCAT > Downloads.

Copy the device description files to the relevant directory of your EtherCAT

engineering tool or use the corresponding import function of the tool. For further information on this, please refer to the documentation of your engineering tool.

Important: Please note that data exchange between the gateway and

the EtherCAT

network can only take place after a SmartWire-DT

network has been connected and configured in the gateway (see section

Configuring SmartWire-DT network in gateway (creating target configuratio

n) on page 42).

8.2.2 Configuring gateway in TwinCAT

This section describes how to create the project configuration for the EU5C-SWD-ETHERCAT gateway by using the TwinCAT System Manager V2.11 on a standard PC. In this example, TwinCAT in combination with the standard Ethernet network adapter of the PC serve also as Soft PLC and EtherCAT

master device simultaneously. Please note that commissioning the gateway in an EtherCAT

network controlled by a “real” hardware PLC

is not subject of this document.

8.2.2.1 Prerequisites

 EU5C-SWD-ETHERCAT gateway

 The gateway is connected to a SmartWire-DT network

 The gateway contains a valid SmartWire-DT configuration (the SWD

LED shows steady green light)

 PC with installed TwinCAT System Manager and Ethernet adapter

 The Ethernet adapter of the PC is connected to the gateway via

EtherCAT

network

 Device description files of the EU5C-SWD-ETHERCAT gateway

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8.2.2.2 Step-by-step instructions

1. Copy device description files into TwinCAT directory.

 In the Windows Explorer, open the directory where the device

description files are stored. On the product DVD, this is the EDS\EU5C- SWD-ETHERCAT\Vx.x.x.x directory.

 Copy the device description files.

Note: You need the Phoenix_EU5C-SWD- ETHERCAT_Modules_XXXXXXXX.xml and Woehner_EU5C-SWDETHERCAT_Modules_XXXXXXXX.xml files only if the Smart-Wire-DT

network includes partner devices by Phoenix or Wöhner.

 Copy the files to the TwinCAT\Io\EtherCAT directory of the TwinCAT

installation on your configuration PC.

 The device description files of the gateway and the SmartWire devices

are now available in the TwinCAT System Manager.

2. Start TwinCAT.

 In the Windows start menu, select All Programs > TwinCAT System >

TwinCAT System Manager.

 The TwinCAT System Manager opens:

Figure 14: TwinCAT start screen

If you already dispose of a project into which you want to integrate the gateway, open the corresponding project file.

If you haven’t created a project yet, you first have to configure the Ethernet adapter of your PC as EtherCAT® master device.

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3. Configure Ethernet adapter as EtherCAT® master device.

 In the Menu, choose Options > Show Real Time Ethernet

Compatible Devices…

 The Installation of TwinCAT RT-Ethernet Adapters dialog window

opens:

Figure 15: Installing TwinCAT Ethernet adapter (1)

Note: TwinCAT features two different drivers for Ethernet network

adapters:

 The TwinCAT Driver for Real-Time Ethernet provides “hard” RTE

support for EtherCAT

applications, but can only be used with Intel-

based network adapters. Adapters on your PC recognized by TwinCAT

and supported by this driver are listed under Compatible devices (see

picture above).

 The TwinCAT Real-Time Ethernet Intermediate Driver can be used

for network adapters without an Intel chip set, but lacks “hard” RTE support for EtherCAT

. Adapters on your PC recognized by TwinCAT

and supported by this driver are listed under Incompatible devices.

 Select the network adapter which you want to use as TwinCAT master

device, then click Install Button.

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 After successful installation, the selected network adapter will be

displayed as “TwinCAT Ethernet Adapter” under Installed and ready to use devices:

Figure 16: Installing TwinCAT Ethernet adapter (2)

 Close the dialog window by clicking on the red button in the upper right

corner of the dialog window.

4. Scan for EtherCAT® devices.

 In the navigation tree of the TwinCAT System Manager, select I/O

Devices element, then choose Scan Devices… entry from the context

menu.

Figure 17: Scan devices

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 A message appears, telling you that not all types of devices can be

found automatically:

Figure 18: Message prior to device scan

 Acknowledge with OK.  The New devices found dialog window opens:

Figure 19: New devices found dialog window

 Activate the check box in front of the device which you want to use as

EtherCAT

master device, then click OK.

 The New devices found dialog window closes and the selected master

device is inserted in the navigation tree below the I/O Devices element. Also, the System Manager asks you to Scan for boxes… (i. e.

EtherCAT

slave devices):

Figure 20: Scan for boxes

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 Start the scanning for boxes process by clicking Yes.

 If a “ready-for-operation” EU5C-SWD-ETHERCAT gateway has been

properly connected to the EtherCAT

master device (i. e. the

corresponding Ethernet adapter of your PC), the gateway will be found

and displayed as Box [x] (EU5C-SWD-ETHERCAT) below the master

device in the navigation tree. The SmartWire slaves connected to the gateway will also be found and added to the gateway entry as subordinate modules.

The System Manager asks you to activate the Free Run mode:

Figure 21: EU5C-SWD-ETHERCAT Gateway found as new box

 Activate the Free Run mode by clicking Yes.  In Free Run mode, the TwinCAT configuration data is being transferred

to the gateway. Cyclic data between the EtherCAT

master and the

SmartWire slaves (modules) via the gateway are being exchanged.

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5. Testing cyclic data exchange with SmartWire slaves.

 In the navigation tree of the TwinCAT System Manager, click on the

plus symbol in front of the gateway element Box [x] (EU5C-SWD- ETHERCAT) to expand the tree structure.

 The SmartWire slaves connected to the gateway are being displayed in

the navigation tree below the gateway as Module 1, Module 2 etc.

Figure 22: EU5C-SWD-ETHERCAT Gateway process data (1)

 Select the gateway in the navigation tree, then open the Online tab in

the main window.

 When Free Run mode is active, the Current State field in the State

Machine area displays OP state (operational). The lower area of the

main window shows the I/O data of the SmartWire slaves.

 Create output data at one of the SmartWire slaves. In this example, the

switch of a device connected to the DIL-SWD-32-001 slave (Module 1)

is being toggled.

 This event is indicated by a changed value in the Online field of the first

IB0 object in the lower area of the main window:

Figure 23: EU5C-SWD-ETHERCAT Gateway process data (2)

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9 Parameterization

9.1 Process data

Cyclic data in EtherCAT

is exchanged via so-called Process Data

Objects (PDOs).  Output data of a SmartWire-DT device is mapped to object RxPDO,

index 0x1600, sub index 0x00 and following.

 Input data of a SmartWire-DT device is mapped to object TxPDO, index

0x1A00, Sub index 0x00 and following.

The EtherCAT

master adds all configured PDOs to the RxPDO Assign

Object index 0x1C12 and to the TxPDO Assign Object index 0x1C13.

The EtherCAT

master loads this configuration data into the gateway via

SDOs when the gateway is in state Pre-Operational.

Figure 24: Process data mapping in TwinCAT

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9.2 Configuring SmartWire-DT Coordinator

9.2.1 Overview

Being the master device in the SmartWire-DT network, the EU5C-SWDETHERCAT gateway serves as a so-called “Coordinator” controlling the data transfer procedure within the SmartWire-DT network in accordance with the SmartWire-DT protocol. Via the Coordinator, you can configure the following properties:

 the Baud rate of the SmartWire-DT network (SWD Baud rate)  allowing the use of compatible SmartWire-DT devices (Compatible

devices permissible)

 the handling of failing SmartWire-DT devices (All devices are optional)

 the handling of the replacement of SmartWire-DT devices during bus

operation (Replacement during operation permissible)

In the EtherCAT

engineering tool (i. e. TwinCAT), these Coordinator parameters are mapped to the following configuration elements and indices (all values in hex):

Coordinator Config: index 0x2100

SWD Baud rate: sub index 01 Compatible devices permissible: sub index 04 All devices are optional: sub index 05 Replacement during operation permissible: sub index 08

In the TwinCAT System Manager, the configuration elements of the Coordinator look as follows:

Figure 25: Configuration data of the SWD Coordinator (gateway) in TwinCAT

The EtherCAT® master loads this configuration data into the gateway via

SDOs when the gateway is in state Pre-Operational.

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In the configuration elements of the Coordinator, you can set the following parameters:

Element Enter byte value Index Parameter Description

Settings and their meaning

Dez Hex

125 kBit/s (Default)

125 0x7D

0x2100:01 SWD Baud rate

Baud rate of the SmartWireDT network

250 kBit/s

250 0xFA

FALSE(0): The devices in the project configuration must comply 100 % with the devices in the target configuration. If not, no data interchange takes place with the EtherCAT

master. (Default)

0 0x00

0x2100:04

Compatible devices permissible

Allows replacement/substitution of SmartWire-DT devices by compatible devices

TRUE(1): Data exchange with the EtherCAT® master takes place, if the connected SmartWire-DT devices are different but compatible with the devices in the project configuration. (This condition is indicated by the gateway Config LED blinking green.)

1 0x01

FALSE(0): You can configure for each SmartWire-DT device individually, whether it is allowed to be missing. (Default) (See section Configuring device

options of SmartWire-DT devices in TwinCAT on page 59.)

0 0x00

0x2100:05

All devices are optional

Individual configuration whether a SmartWire-DT device can be missing is allowed

TRUE(1): Data exchange with the EtherCAT

master takes place even if there is a random number of missing devices in the SmartWireDT network. The corresponding settings in the device options of the individual SmartWire-DTdevice slaves thus have no effect and are overruled.

1 0x01

FALSE(0): Not allowed; new SmartWire-DT devices must always be read into the SWD configuration by pushing the configuration button. (Default)

0 0x00

TRUE(1): Allows online replacement of SmartWire-DT devices during bus operation without having to push the configuration button afterwards in order to read them into the SWD configuration.

1 0x01

0x2100:08

Replacement during operation permissible

Online replacement of SmartWire-DT devices during bus operation is allowed

Note: If this parameter is set to TRUE, the All devices are optional parameter must also be set to TRUE,

otherwise the whole SWD bus will be turned off after losing communication with one or several SWD devices. Please note also that online replacement during bus operation is only possible if SWD4-FFR-PF/ST…. power supply module/cable adapters are being used. Otherwise replacement must take place while power is switched off at the gateway. After return of voltage suppy, the network will automatically be reconfigured (without having to push the configuration button).

Table 13: Parameter settings of SWD Coordinator

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The following exemplary step-by-step instructions show how to change the baud rate of the SmartWire-DT network from 125 kBit/s to 250 kBit/s.

9.2.2 Prerequisites

 PC with installed TwinCAT System Manager V2.11 and Ethernet adapter

 You have created a valid project configuration (see Configuring gateway

in TwinCAT section

on page 45) and have opened the project

configuratio

n in the TwinCAT System Manager

9.2.3 Step-by-step instructions

 In the navigation tree of the TwinCAT System Manager, select the

gateway, then open the Startup tab in the main window.

 The configuration elements are listed in the Startup tab:

Figure 26: Editing parameters of SWD Coordinator (1)

 Search the list for the configuration element of the Coordinator

parameter that you want to edit. A Coordinator parameter can be recognized by the index 0x2100:XX and the Coordinator Config:

[Parameter] entry in the Comment column.

 For this example, select the element marked with the index 0x2100:01

and the Comment entry Coordinator Config: SWD Baud rate (125/250 kBaud/s), then click Edit button (or double-click the

element).

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 The Edit CANopen Startup Entry dialog window opens. The Data

(hexbin) field displays the preset hexadecimal value of the byte

configuring this parameter. In case of the baud rate, this is the value 7D 00 (the 00 byte is a reserved byte):

Figure 27: Editing parameters of SWD Coordinator (2)

 In the Data (hexbin) field, enter the new hexadecimal value of the

parameter. Omit the 0x prefix; i. e. enter the value 0xFA simply as string FA. You can delete the reserved second byte (i. e. the 00 byte).

Note: Entering the value FA (decimal = 250) in this example causes the

Coordinator (i. e. the gateway) to run the SmartWire-DT network with a 250 kBaud/s rate. What value has to be entered for other parameters is shown in table

Parameter settings of SWD Coordinator on page 54.

 Take over the new value by clicking the OK button.

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 The Data column of the Startup tab displays the changed value (the

corresponding decimal value is displayed in brackets behind the hexadecimal value).

Figure 28: Editing parameters of SWD Coordinator (3)

 In the main menu of the TwinCAT System Manager, choose Actions >

Activate Configuration… to download the changed configuration data.

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9.3 Configuration data of the SWD devices

9.3.1 Overview

Besides information on process data, the ESI files of the SmartWire-DT

device also contain device-specific information like module ID (Product code), configuration data (CFG), device options (Options) and additional device parameters (Parameters).

When a SmartWire-DT device (i. e. a module) is added to the project configuration, the EtherCAT

engineering tool (i. e. TwinCAT) maps these

data sets to the following elements (all values in hex):

Device (Module) 1: index 0x8000

Module ID (Product code): sub index 06 Configuration data (CFG): sub index 20 Device options (Options): sub index 21 Device parameters (Parameters): sub index 22

Device (Module) 2: index 0x8010

Module ID (Product code): sub index 06 Configuration data (CFG): sub index 20 Device options (Options): sub index 21 Device parameters (Parameters): sub index 22

etc...

In the TwinCAT System Manager, the configuration elements of the SWD-

devices DIL-SWD-32-001 and PKE-SWD-32 Profile 2 for instance look as

follows:

Figure 29: Configuration data elements of SWD devices in TwinCAT

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The EtherCAT® master loads this configuration data into the gateway via

SDOs when the gateway is in state Pre-Operational. Also, the device parameters (Parameters) of sub index 22 are loaded into

the corresponding SmartWire-DT device, if the device is an I/O module (the purpose of the device parameters is to configure the sensors of I/O modules).

The module ID (Product code) of sub index 06 and the configuration data (CFG) of sub index 20 are needed by the gateway for identification and configuration purposes and must not be changed. The device options (Options) of sub index 21 and the device parameters (Parameters) of sub index 22 on the other hand can be edited if necessary. This is

described in the following sections.

9.3.2 Configuring device options of SmartWire-DT devices in TwinCAT

9.3.2.1 Overview

Each SWD device carries an element for configuring certain device options

in TwinCAT. With this Options element (sub index 21), you can determine

for each device individually, whether its presence in the SmartWire-DT network is mandatory or whether it may be substituted by an M22-SWDNOP universal module. The preset defaults for all devices are:

 Presence in SmartWire-DT network: device must be present

 Replacement/substitution by universal module: not allowed

Note: If you reconfigure the “presence option” of an individual device in

order to allow it to be missing in the SmartWire-DT network, this option

will only be effective if the All Modules Optional (index 0x2100:08) parameter of the Coordinator is being kept at its default 0x00 setting.

This allows you to configure the “presence option” for each device individually in its device options element.

See also Configuring SmartWire-DT Coordinator section o

n page 53.

The parameters of the Options element (i. e. the device options) are

configured by entering a single hexadecimal options byte. Please note that this byte does not only define the two options mentioned above (i. e. presence in the SWD network and replacement by universal module), but also defines other parameters like e. g. payload formats. The presets of these other parameters may vary from device to device and must not be changed by the user. Each parameter is represented by a single bit in the options byte, each bit set TRUE has an individual byte value. The assignment of parameters to bits and their byte values are shown in the subsequent table:

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Byte value Bit

Parameter (function)

Description Configuration

Dez Hex

FALSE(0): Device has no extended parameters

0 0x00

Parameter (Device)

Extended parameters

(Do not change this parameter!)

TRUE(1): Device has extended parameters

1 0x01

FALSE(0): Device may be absent in current SWD bus configuration

0 0x00

Presence (Coordinator)

Presence in SmartWire-DT network

TRUE(1): Device must be present in current SWD bus configuration (default)

2 0x02

FALSE(0): Device sends its cyclic input data without CRC8

0 0x00

CRC8 (Coordinator)

Cyclic input data with CRC8

(Do not change this parameter!)

TRUE(1): Device sends its cyclic input data followed by CRC8

4 0x04

FALSE(0): Device codes/decodes payload data words in its own little-endian format

0 0x00

Motorola (Coordinator)

Format of payload data words

(Do not change this parameter!)

TRUE(1): Device codes/decodes payload data words in big-endian format

8 0x08

FALSE(0): Replacement of device by universal module is not allowed (default)

0 0x00

4 Replacement

Substitution by universal module

TRUE(1): Device can be replaced by universal module

16 0x10

5 Reserved

Bit is not used (0)

0 0x00

FALSE(0): Device does not have different data profiles

0 0x00

Profile (Device)

Support of data profiles

(Do not change this parameter!)

TRUE(1): Device supports different data profiles and requires the Coordinator to set the profile accordingly

64 0x40

FALSE(0): Device does not have acyclic data objects

0 0x00

AcycService (Device)

Support of acyclic data requests

(Do not change this parameter!)

TRUE(1): Device supports acyclic read/write requests from Coordinator

128 0x80

Table 14: Bit assignment of parameters of options byte

The logically ORed byte values of the individual bits amount to the value of the options byte. To change an individual parameter, you have to look at the bit representing this parameter. After having set the bit on TRUE in order to activate the corresponding parameter (respectively the desired function), you have to logically OR the new byte value of the changed bit with the byte values of the other TRUE bits. For examples of how to

perform such a calculation, see Examples of calculating the options byte

section on p

age 63.

The followin

g exemplary step-by-step instructions show how to change the

default options of the DIL-SWD-32-001 device, in order to allow the replacement of the device by an universal module.

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9.3.2.2 Prerequisites

 PC with installed TwinCAT System Manager V2.11 and Ethernet adapter

 You have created a valid project configuration (see Configuring gateway

in TwinCAT section on p

age 45) and have opened the project

configuratio

n in the TwinCAT System Manager

 The project features the DIL-SWD-32-001 SmartWire-DT contactor

module

9.3.2.3 Step-by-step instructions

 In the navigation tree of the TwinCAT System Manager, select the

gateway, then open the Startup tab in the main window.

 The configuration elements are listed in the Startup tab:

Figure 30: Editing device options of SWD device (1)

 Search the list for the SmartWire-DT device and the Options element

that you want to edit. An Options element can be recognized by the index 0x8XXX:21 and the Options [device name] entry in the Comment column.

 Select the Options element, then click Edit button (or double-click the

element).

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 The Edit CANopen Startup Entry dialog window opens. The Data

(hexbin) field displays the preset hexadecimal value of the options

byte. In case of the DIL-SWD-32-001 device, this is the value 02:

Figure 31: Editing device options of SWD device (2)

 Enter the new hexadecimal value of the options byte into the Data

(hexbin) field. Omit the 0x prefix; i. e. enter the value 0x12 simply as

string 12.

Note: Individual parameters of the Options element (i. e. the device

options) can only be configured by entering a single hexadecimal options byte. For changing one or several parameters, you therefore have to recalculate the whole options byte of the device. The outcome of this calculation depends on the parameter bits you have changed and on the default settings of the device. Entering the value 12 in this example means that the device may in future be replaced by an universal module in the SmartWire-DT network.

For examples of how to calculate the options byte, see Examples of

calculat

ing the options byte section on page 63.

 Take over the new value by clicking the OK button.

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 The Data column of the Startup tab displays the changed hexadecimal

value of the options byte (the corresponding decimal value is displayed in brackets).

Figure 32: Editing device options of SWD device (3)

 In the main menu of the TwinCAT System Manager, choose Actions >

Activate Configuration… to download the changed configuration data.

9.3.2.4 Examples of calculating the options byte

Individual parameters of the Options element (i. e. the device options) can

only be configured by entering a single hexadecimal options byte. The logically ORed byte values of the individual bits representing the configuration parameters amount to the value of the options byte. To change an individual parameter, you have to look at the bit representing this parameter. After having set the bit on TRUE in order to activate the corresponding parameter (respectively the desired function), you have to “logically OR” (i. e. “add up”) the new byte value of the changed bit with the byte values of the other TRUE bits. Please note that each active bit (i. e. each bit set TRUE) has a different byte value. The assignment of

parameters to bits and their byte values are shown in table Bit assignment

of param

eters of options byte on page 60. Because all bits set to FALSE

have the byt

e value 0, you can ignore all FALSE bits in the addition.

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Example 1

This example shows how to calculate the default value 0x02 of the options byte of the DIL-SWD-32-001 SWD device.

The 02 value of the options byte results from the fact that all bits except Bit 1 have been set to FALSE, thus all having the byte value 0; Bit 1 on the other hand has been set to TRUE, thus having the byte value 02, which after logical ORing amounts to the value 0x02 for the whole options byte:

Bit 0 (Extended parameters) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 1 (Presence in SmartWire-DT network) =

TRUE(1)

2 (Dez)

0x02 (Hex)

+ Bit 2 (Cyclic input data with CRC8) =

FALSE(0)

0 (Dez)

0x00 (Hex)

+ Bit 3 (Format of payload data words) =

FALSE(0)

0 (Dez)

0x00 (Hex)

+ Bit 4 (Substitution by universal module) =

FALSE(0)

0 (Dez)

0x00 (Hex)

+ Bit 5 (reserved) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 6 (Support of data profiles) =

FALSE(0)

0 (Dez)

0x00 (Hex)

+ Bit 7 (Support of acyclic data requests) =

FALSE(0)

(Dez)

0x00 (Hex)

= Options Byte

(Dez)

0x02 (Hex)

This options byte means for the DIL-SWD-32-001 device that it must be present in the current bus configuration (Bit 1 = TRUE), but that is has no extended parameters (Bit 0 = FALSE) and does not use CRC8 with its cyclic input data (Bit 2 = FALSE) etc.

If you now want to allow the substitution of the device within the SmartWireDT bus by an universal module, you have to set Bit 4 to TRUE and then add the newly created byte value (in this case 16

[Dez] respectively 0x10

[Hex]) to the other byte values in order to calculate options byte:

Bit 0 (Extended parameters) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 1 (Presence in SmartWire-DT network) =

TRUE(1)

(Dez)

0x02 (Hex)

+ Bit 2 (Cyclic input data with CRC8) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 3 (Format of payload data words) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 4 (Substitution by universal module) =

TRUE(1)

(Dez)

0x10 (Hex)

+ Bit 5 (reserved) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 6 (Support of data profiles) =

FALSE(0)

0 (Dez)

0x00 (Hex)

+ Bit 7 (Support of acyclic data requests) =

FALSE(0)

(Dez)

0x00 (Hex)

= Options Byte

(Dez)

0x12 (Hex)

0x12 thus is the value you have to enter as options byte for the device in TwinCAT, in case you want to allow its replacement by universal module.

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Example 2

This example shows how to calculate the default value 0xC2 of the options byte of the PKE-SWD-32-Profile 2 SWD device.

Bit 0 (Extended parameters) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 1 (Presence in SmartWire-DT network) =

TRUE(1)

(Dez)

0x02 (Hex)

+ Bit 2 (Cyclic input data with CRC8) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 3 (Format of payload data words) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 4 (Substitution by universal module) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 5 (reserved) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 6 (Support of data profiles) =

TRUE(1)

(Dez)

0x40 (Hex)

+ Bit 7 (Support of acyclic data requests) =

TRUE(1)

128

(Dez)

0x80 (Hex)

= Options Byte

194 (Dez) = 0xC2 (Hex)

If you now want to allow the device to be missing within the SmartWire-DT bus and also that it may be replaced by an universal module, you have to set Bit 1 to FALSE and Bit 4 to TRUE. The calculation for this looks as follows:

Bit 0 (Extended parameters) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 1 (Presence in SmartWire-DT network) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 2 (Cyclic input data with CRC8) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 3 (Format of payload data words) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 4 (Substitution by universal module) =

TRUE(1)

(Dez)

0x10 (Hex)

+ Bit 5 (reserved) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 6 (Support of data profiles) =

TRUE(1)

(Dez)

0x40 (Hex)

+ Bit 7 (Support of acyclic data requests) =

TRUE(1)

128

(Dez)

0x80 (Hex)

= Options Byte

208 (Dez)

0xD0 (Hex)

0xD0 thus is the value you have to enter as options byte for the device in TwinCAT.

Hint:

The Windows calculator (if configured accordingly) can be used to display the corresponding bit values of a hexadecimal byte value. Thus you can check, which of the bits are being set to FALSE (0) and which of the bits are being set to TRUE (1) when you enter a certain byte value:

Figure 33: “Programmer” view of Windows 7 calculator

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9.3.3 Configuring device parameters (sensor parameters of I/O modules)

9.3.3.1 Overview

For some SmartWire-DT devices, individual device parameters can be configured.

Configurable parameters of the SmartWire-DT devices are described in

the manual SmartWire-DT Units, Doc ID MN05006001Z-EN, which is

stored on the product DVD in the directory

Documentation\english\3.SmartWire-DT\SmartWire-DT – Units\MN05006001Z_EN.pdf

This section describes how to configure sensor type, refresh rate and averaging of the inputs/outputs modules EU5E-SWD-4AX, EU5E-SWD- 2A2A and EU5E-SWD-4PT by editing their Parameters element (sub index

22) in TwinCAT.

Please note that this section is of exemplary nature. You always have to look up the definite bit assignment of the parameter byte of individual devices in the latest documentation of the device’s manufacturer.

The subsequent tables show the bit assignments of the Parameters bytes of the SmartWire-DT devices EU5E-SWD-4AX, EU5E-SWD-2A2A and

EU5E-SWD-4PT:

EU5E-SWD-4AX

Byte value Bit

Parameter (function)

Configuration

Dez Hex

FALSE(0): Voltage (default)

0 0x00

Sensor selector Input 1

TRUE(1): Current

1 0x01

FALSE(0): Voltage (default)

0 0x00

Sensor selector Input 2

TRUE(1): Current

2 0x02

FALSE(0): Voltage (default)

0 0x00

Sensor selector Input 3

TRUE(1): Current

4 0x04

FALSE(0): Voltage (default)

0 0x00

Sensor selector Input 4

TRUE(1): Current

8 0x08

Bit 5 Bit 4

Milli seconds

FALSE(0) FALSE(0)

20 ms

0 0x00

FALSE(0) TRUE(1)

100 ms (default)

16 0x10

TRUE(1) FALSE(0)

200 ms

32 0x20

4 - 5 Reading refresh rate

TRUE(1) TRUE(1)

500 ms

48 0x30

FALSE(0): off

0 0x00

Mean value (averaging)

TRUE(1): on (default)

64 0x40

7 Reserved

FALSE(0)

0 0x00

Table 15: Bit assignment of parameter byte of EU5E-SWD-4AX

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EU5E-SWD-2A2A

Byte value Bit

Parameter (function)

Configuration

Dez Hex

FALSE(0): Voltage (default)

0 0x00

Sensor selector Input 1

TRUE(1): Current

1 0x01

FALSE(0): Voltage (default)

0 0x00

Sensor selector Input 2

TRUE(1): Current

2 0x02

FALSE(0): Voltage (default)

0 0x00

Actuator selector Output 1

TRUE(1): Current

4 0x04

FALSE(0): Voltage (default)

0 0x00

Actuator selector Output 2

TRUE(1): Current

8 0x08

Bit 5 Bit 4

Milli seconds

FALSE(0) FALSE(0)

20 ms

0 0x00

FALSE(0) TRUE(1)

100 ms (default)

16 0x10

TRUE(1) FALSE(0)

200 ms

32 0x20

4 - 5 Reading refresh rate

TRUE(1) TRUE(1)

500 ms

48 0x30

FALSE(0): off

0 0x00

Mean value (averaging)

TRUE(1): on (default)

64 0x40

7 Reserved

FALSE(0)

0 0x00

Table 16: Bit assignment of parameter byte of EU5E-SWD-2A2A

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Parameterization 68/98

EU5E-SWD-4PT

Byte 1:

Byte value Bit Parameter Configuration Dez Hex

Bit 1 Bit 0 Sensor type

FALSE(0) FALSE(0)

Not used (default)

0 0x00

FALSE(0) TRUE(1)

PT100

1 0x01

TRUE(1) FALSE(0)

PT1000

2 0x02

0 - 1

Sensor selection Input 1

TRUE(1) TRUE(1)

NI1000

3 0x03

Bit 3 Bit 2 Sensor type

FALSE(0) FALSE(0)

Not used (default)

0 0x00

FALSE(0) TRUE(1)

PT100

4 0x04

TRUE(1) FALSE(0)

PT1000

8 0x08

2 - 3

Sensor selection Input 2

TRUE(1) TRUE(1)

NI1000

12 0x0C

Bit 5 Bit 4 Sensor type

FALSE(0) FALSE(0)

Not used (default)

0 0x00

FALSE(0) TRUE(1)

PT100

16 0x10

TRUE(1) FALSE(0)

PT1000

32 0x20

4 - 5

Sensor selection Input 3

TRUE(1) TRUE(1)

NI1000

48 0x30

Bit 7 Bit 6 Sensor type

FALSE(0) FALSE(0)

Not used (default)

0 0x00

FALSE(0) TRUE(1)

PT100

64 0x40

TRUE(1) FALSE(0)

PT1000

128 0x80

6 - 7

Sensor selection Input 4

TRUE(1) TRUE(1)

NI1000

192 0xC0

Table 17: Bit assignment of parameter byte 1 of EU5E-SWD-4PT

Byte 2:

Byte value Bit Parameter Configuration Dez Hex

Bit 1 Bit 0 Unit

FALSE(0) FALSE(0)

Degrees Celsius (default)

0 0x00

FALSE(0) TRUE(1)

Degrees Fahrenheit

1 0x01

0 - 1

Measurement display

TRUE(1) FALSE(0)

Binary value

2 0x02

Bit 3 Bit 2 Rate

FALSE(0) FALSE(0)

0.25 s (default)

0 0x00

FALSE(0) TRUE(1)

1 s

4 0x04

TRUE(1) FALSE(0)

2.5 s

8 0x08

2 - 3

Reading refresh rate

TRUE(1) TRUE(1)

10 s

12 0x0C

4 Reserved

FALSE(0)

0 0x00

5 Reserved

FALSE(0)

0 0x00

6 Reserved

FALSE(0)

0 0x00

7 Reserved

FALSE(0)

0 0x00

Table 18: Bit assignment of parameter byte 2 of EU5E-SWD-4PT

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Parameterization 69/98

The following exemplary step-by-step instructions show how to change the parameter “Reading refresh rate” of the EU5E-SWD-4AX device from 100 ms (default) to 200 ms.

9.3.3.2 Prerequisites

 PC with installed TwinCAT System Manager V2.11 and Ethernet adapter

 You have created a valid project configuration (see Configuring gateway

in TwinCAT section on p

age 45) and have opened the project

configuratio

n in the TwinCAT System Manager

 The project features the EU5E-SWD-4AX SmartWire-DT I/O module

9.3.3.3 Step-by-step instructions

 In the navigation tree of the TwinCAT System Manager, select the

gateway, then open the Startup tab in the main window.

 The configuration elements are listed in the Startup tab:

Figure 34: Editing device parameters of SWD device (1)

 Search the list for the SmartWire-DT device and the Parameters

element that you want to edit. An Parameters element can be recognized by the index 0x8XXX:22 and the Parameters [device name] entry in the Comment column.

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Parameterization 70/98

 Select the Parameters element, then click Edit button (or double-click

the element).

 The Edit CANopen Startup Entry dialog window opens. The Data

(hexbin) field displays the preset hexadecimal value of the parameter

byte. In case of the EU5E-SWD-4AX device, this is the value 02 50:

Figure 35: Editing device parameters of SWD device (2)

Important: Please note that the first byte in the Data (hexbin) field (in this example 02) is the “length byte” denoting the total number of bytes

contained in the Parameters element. This first length byte must not be changed. In case of the devices EU5E-SWD-4AX and EU5E-SWD-2A2A, the Parameters element consists of two bytes of which you are allowed to change only the second byte. In case of the EU5E-SWD-4PT device, the Parameters element consists of three bytes of which you are allowed to change only the last two bytes.

 In the Data (hexbin) field, change the value of the second byte. Omit

the 0x prefix; i. e. enter the value 0x60 simply as string 60.

Note: The Parameters can only be configured by entering hexadecimal

byte values. For changing the parameters, you therefore have to recalculate a new byte value. The outcome of this calculation depends on the parameter bits you are changing and on the default settings of the device. Entering the value 60 in this example changes the “Reading refresh rate” of the device from 100 ms (default) to 200 ms.

For an example of how to calculate the parameters byte, see Example of

calculat

ing the parameters byte section on page 71.

 Take over the new value by clicking the OK button.

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Parameterization 71/98

 The Data column of the Startup tab displays the changed hexadecimal

value of the parameters byte (the corresponding decimal value is displayed in brackets).

Figure 36: Editing device parameters of SWD device (3)

 In the main menu of the TwinCAT System Manager, choose Actions >

Activate Configuration… to download the changed configuration data.

9.3.3.4 Example of calculating the parameters byte

This example shows how to calculate the default value 0x50 of the parameter byte of the EU5E-SWD-4AX SWD device.

Bit 0 (Sensor selector input 1) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 1 (Sensor selector input 2) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 2 (Sensor selector input 3) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 3 (Sensor selector input 4) =

FALSE(0)

0 (Dez)

0x00 (Hex)

+ Bit 4 (Reading refresh rate) =

TRUE(1)

(Dez)

0x10 (Hex)

+ Bit 5 (Reading refresh rate) =

FALSE(0)

0 (Dez)

0x00 (Hex)

+ Bit 6 (Mean value/averaging) =

TRUE(1)

(Dez)

0x40 (Hex)

+ Bit 7 (Reserved) =

FALSE(0)

0 (Dez)

0x00 (Hex)

= Parameter Byte

(Dez)

0x50 (Hex)

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Parameterization 72/98

If you want to change the “Reading refresh rate” of the device from 100 ms (default) to 200 ms, you have to set Bit 4 to FALSE and Bit 5 to TRUE (see table Bit assignment of parameter byte of EU5E-SWD-4AX o

n page 66):

Bit 0 (Sensor selector input 1) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 1 (Sensor selector input 2) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 2 (Sensor selector input 3) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 3 (Sensor selector input 4) =

FALSE(0)

(Dez)

0x00 (Hex)

+ Bit 4 (Reading refresh rate) =

FALSE(0)

0 (Dez)

0x00 (Hex)

+ Bit 5 (Reading refresh rate) =

TRUE(1)

32 (Dez)

0x20 (Hex)

+ Bit 6 (Mean value/averaging) =

TRUE(1)

(Dez)

0x40 (Hex)

+ Bit 7 (Reserved) =

FALSE(0)

0 (Dez)

0x00 (Hex)

= Parameter Byte

(Dez)

0x60 (Hex)

0x60 thus is the value you have to enter as parameter byte for the device in TwinCAT.

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10 Acyclical communication

10.1 Overview

The EtherCAT® master exchanges acyclic data with individual SmartWire-

DT slaves via gateway by using the index 0x2200, sub index 1 object and the index 0x2200, sub index 2 object.

The subsequent section describes a typical acyclic communication process (see also diagram on the following page):

1. The EtherCAT

master sends a task (read or write request) for a

SmartWire-DT slave to the index 0x2200, sub index 1 object by using an SDO Download Request. The gateway acknowledges the reception of the task by sending back an SDO Download Confirmation.

2. The gateway forwards the task to the SWD slave. The SWD slave executes the requested read or write task in the specified SWD Index.

3. While the gateway is waiting for an answer from the SWD slave, the EtherCAT

master regularily queries the state of the task by sending

SDO Upload Requests to the index 0x2200, sub index 2 object. As

long as the gateway has not yet received the answer from the SWD slave (SmartWire DT communication is slower than EtherCAT

communication) the SDO Upload Confirmation conveys the Request State 1 (= „in progress“).

The EtherCAT

master thus has to keep on sending SDO Upload

Requests to the gateway.

4. The answer from the SWD slave arrives in the gateway, where it is

stored in the index 0x2200, sub index 2 object. In case the task has been successfully executed, the Request State is set to 2 (=

„finished“).

5. On the next SDO Upload Request, the newly arrived answering data

from the SWD slave is being sent from the gateway to the EtherCAT

master in the SDO Upload Confirmation. In case of a read request, it

contains the data which was read from the SWD Index of the SWD

slave. The Request State and the Error Code, which are also contained in the SDO Upload Confirmation, indicate to the master

whether the task has been finished successfully or if an error occurred.

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Figure 37: Conducting acyclical communication

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Acyclical communication 75/98

10.2 Read request: reading data of an SWD Slave

10.2.1 Activating read request

A reading task (Read Request) for a SmartWire-DT slave is conveyed in an SDO Download Request from the EtherCAT

master to the index 0x2200, sub index 1 object in the gateway. The SDO Download Request contains the following elements:

Element Description Data type

Value / value range

Header

Address Node ID of the gateway (according to project configuration) uint16

0…65535

Index Object index for acyclical communication uint16

0x2200

Sub index Index for SDO Download uint8

0x01

Size Amount of data of the SDO Download -

10 Bytes

Data for SWD slave

Slave Address

Address of the SWD slave that you want to read (according to project configuration)

uint8

1…99

SWD Index

SWD-specific index of the SWD slave. Determines which kind of data you want to read, e. g. error counter or firmware version.

uint8

0…255

Request Type

Type of request. A read request must have the value 1

uint8

Length

Maximum length of the expected response in bytes. Must be at least as long as the SWD object (in bytes).

uint8

1…120

Job ID Freely selectable value, serves as job identification uint8

0…255

Reserved Bytes Five reserved bytes uint8[5]

0x00, 0x00, 0x00, 0x00, 0x00

Table 19: Elements SDO Download of a read request

The gateway acknowledges the reception of the task by sending back an

SDO Download Confirmation to the EtherCAT

master. The gateway also forwards the task to the SWD slave, where the reading task is performed in the specified SWD Index. The SWD slave then sends back the answer to

the gateway, where it is stored in the index 0x2200, sub index 2 object.

The EtherCAT

master can then fetch the answer by sending an SDO

Upload Request.

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10.2.2 Querying the state of the read request

Querying the state of the read request

The SDO Upload Request sent by the EtherCAT

master to the gateway

contains the following elements:

Element Description Data type Value / value range

Address

Node ID of the gateway (according to project configuration)

uint16

0…65535

Index Object index for acyclical communication uint16

0x2200

Sub index Index for SDO Upload uint8

0x02

Table 20: Elements of SDO Upload Request for a read request

Answer from the gateway

The SDO Upload Confirmation sent by the gateway to the EtherCAT

master contains the following elements:

Element Description Data type Value / value range

Header

Address

Node ID of the gateway (according to project configuration)

uint16

0…65535

Index Object index for acyclical communication uint16

0x2200

Sub index Index for SDO Upload uint8

0x02

Size Amount of data of the SDO Upload -

10 Bytes + n *

Data of SWD slave

Slave Address Address of the SWD slave of which data has been read. uint8

1…99

SWD Index

SWD index of the data which has been read, e. g. error counter or firmware version.

uint8

0…255

Request Type

Type of request. A read request has the value 1

uint8

0x01

Length Length of the received response (payload data) in bytes uint8

1…120

Job ID Freely selectable value, serves as job identification uint8

0…255

State State of the response uint8

Idle = 0 In Progress = 1 Finished = 2 Error = 3

Error Code Error detected by the gateway uint32

No error = 0x00000000

JOBID_BUFFER_FULL = 0xC0AD0002

JOB_DENIED = 0xC0AD0003

NOT_AVAILABLE = 0xC0AD0004

Data

Payload data which has been read according to SWD Index, e. g. error counter or firmware version.

uint8 [n-1] * (…)

* n = amount of read bytes

Table 21: Elements of SDO Upload Confirmation for a read request

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Note: If no answer from the SWD slave has yet arrived at the gateway, the State element (state of the response) has the value 1 (= „in progress“) and the Data element (payload data) is omitted.

10.2.3 Example of a read request

10.2.3.1 Activating read request

In case the EtherCAT® master wants to read the error counter (SWD Index

127) of the 5

SmartWire-DT slave (slave address 5), and the expected

response should be no longer than 120 Bytes, the SDO Download Request sent to the gateway looks as follows (gateway has Node ID 3 in

this example):

Syntax

Header Data

Address

Object index

Sub index

Size

Slave Address

SWD Index

Request Type

Length Job ID

Reserved Bytes

0x03 0x2200 0x01 0xA 0x05 0x7F 0x01 0x78 0x01

0x00, 0x00, 0x00, 0x00, 0x00

Table 22: Example SDO Download Request for a read request

10.2.3.2 Querying the state of the read request

Querying the state of the read request

The SDO Upload Request sent by the EtherCAT

master to the gateway

looks as follows:

Syntax

Address Object index Sub index

0x03 0x2200 0x02

Table 23: Example SDO Upload Request for a read request

Answer of the gateway in case of an unfinished read request

If the gateway has not yet received the answer from the SWD slave, the

SDO Upload Confirmation sent by the gateway to the EtherCAT

master

looks as follows:

Syntax

Header Data

Address

Object index

Sub index

Size

Slave Address

SWD Index

Request Type

Length Job ID State Error Code

0x03 0x2200 0x02 0xA 0x05 0x7F 0x01 0x00 0x01 0x01 0x00000000

Table 24: Example SDO Upload Confirmation for an unfinished read request

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Answer of the gateway in case of a finished read request If the answer from the SWD slave has arrived, the SDO Upload

Confirmation sent by the gateway to the EtherCAT

master looks as

follows:

Syntax

Header Data

Address

Object index

Sub index

Size

Slave Address

SWD Index

Request Type

Length Job ID State

Error Code

Data

0x03 0x2200 0x02 0x82 0x05 0x7F 0x01 0x78 0x01 0x02 0x000

00000

(…)

Table 25: Example SDO Upload Confirmation for a finished read request

10.3 Write request: writing data in an SWD Slave

10.3.1 Activating write request

A writing task (Write Request) for a SmartWire-DT slave is conveyed in an SDO Download Request from the EtherCAT

master to the index 0x2200, sub index 1 object in the gateway. The SDO Download Request contains the following elements:

Element Description Data type Value / value range

Header

Address

Node ID of the gateway (according to project configuration)

uint16

0…65535

Index Object index for acyclical communication uint16

0x2200

Sub index Index for SDO Download uint8

0x01

Size Amount of data of the SDO Download -

10 Bytes + n *

Data for SWD slave

Slave Address

Address of the SWD slave that you want to read (according to project configuration)

uint8

1…99

SWD Index

SWD-specific index of the SWD slave. Determines where to write the data to.

uint8

0…255

Request Type

Type of request. A write request must have the value 2

uint8

Length Length of the data (in bytes) to be written. uint8

1…120

Job ID Freely selectable value, serves as job identification uint8

0…255

Reserved Bytes Five reserved bytes uint8[5]

0x00, 0x00, 0x00, 0x00, 0x00

Data Data to be written (payload data) uint8[n-1] * (...)

* n = amount of bytes to be written

Table 26: Elements SDO Download of a write request

The gateway acknowledges the reception of the task by sending back an

SDO Download Confirmation to the EtherCAT

master. The gateway also forwards the write request to the SWD slave, where the writing is performed in the specified SWD Index. The SWD slave then sends back an

acknowledgement to the gateway, where it is stored in the index 0x2200, sub index 2 object. The EtherCAT

master can then fetch the

acknowledgement from there by sending an SDO Upload Request.

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10.3.2 Querying the state of the write request

Querying the state of the write request

The SDO Upload Request sent by the EtherCAT

master to the gateway

contains the following elements:

Element Description Data type Value / value range

Address

Node ID of the gateway (according to project configuration)

uint16

0…65535

Index Object index for acyclical communication uint16

0x2200

Sub index Index for SDO Upload uint8

0x02

Table 27: Elements of SDO Upload Request for a write request

Answer from the gateway

The SDO Upload Confirmation sent by the gateway to the EtherCAT

master contains the following elements:

Element Description Data type Value / value range

Header

Address

Node ID of the gateway (according to project configuration)

uint16

0…65535

Index Object index for acyclical communication uint16

0x2200

Sub index Index for SDO Upload uint8

0x02

Size Amount of data of the SDO Upload -

10 Bytes

Data of SWD slave

Slave Address Address of the SWD slave of which data has been read. uint8

1…99

SWD Index SWD index into which the data was written uint8

0…255

Request Type

Type of request. A write request has the value 2

uint8

0x02

Length Length of the written data in bytes uint8

1…120

Job ID Freely selectable value, serves as job identification uint8

0…255

State State of the response uint8

Idle = 0 In Progress = 1 Finished = 2 Error = 3

Error Code Error detected by the gateway uint32

No error = 0x00000000

JOBID_BUFFER_FULL = 0xC0AD0002

JOB_DENIED = 0xC0AD0003

NOT_AVAILABLE = 0xC0AD0004

Table 28: Elements of SDO Upload Confirmation for a write request

Note: If no acknowledgement from the SWD slave has yet arrived at the gateway, the State element (state of the response) has the value 1 (= „in

progress“).

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10.3.3 Example of a write request

10.3.3.1 Activating read request

In case the EtherCAT® master wants to reset the error counter (SWD Index

127) of the 5

SmartWire-DT slave (slave address 5) to zero (i. e. Data =

0), the SDO Download Request sent to the gateway looks as follows (gateway has Node ID 3 in this example):

Syntax

Header Data

Address

Object index

Sub index

Size

Slave Address

SWD Index

Request Type

Length Job ID

Reserved Bytes

Data

0x03 0x2200 0x01 0xB 0x05 0x7F 0x02 0x01 0x01

0x00, 0x00, 0x00, 0x00,0x00

0x00

Table 29: Example SDO Download Request for a write request

10.3.3.2 Querying the state of the write request

Querying the state of the write request

The SDO Upload Request sent by the EtherCAT

master to the gateway

looks as follows:

Syntax

Address Object index Sub index

0x03 0x2200 0x02

Table 30: Example SDO Upload Request for a write request

Answer of the gateway in case of an unfinished write request

If the gateway has not yet received the acknowledgement from the SWD

slave, the SDO Upload Confirmation sent by the gateway to the

EtherCAT® master looks as follows:

Syntax

Header Data

Address

Object index

Sub index

Size

Slave Address

SWD Index

Request Type

Length Job ID State Error Code

0x03 0x2200 0x02 0xA 0x05 0x7F 0x02 0x01 0x01 0x01 0x00000000

Table 31: Example SDO Upload Confirmation for an unfinished write request

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Answer of the gateway in case of a finished write request If the acknowledgement from the SWD slave has arrived, the SDO Upload

Confirmation sent by the gateway to the EtherCAT

master looks as

follows:

Syntax

Header Auftragsdaten

Address

Object index

Sub index

Size

Slave Address

SWD Index

Request Type

Length Job ID State Error Code

0x03 0x2200 0x02 0xA 0x05 0x7F 0x02 0x01 0x01 0x02 0x00000000

Table 32: Example SDO Upload Confirmation for a finished write request

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10.4 Error messages (emergency telegrams)

10.4.1 Overview

Emergency messages of the SWD slaves are reported by means of an emergency telegram (error entry). The telegram has the following structure:

Error Code Error Register Additional Information 2 Bytes/UNSIGNED16 1 Bytes/UNSIGNED8 5 Bytes/UNSIGNED64 Entry type (first Byte)

Address

(second Byte)

Error type Diagnosis code Error flags

Bit 0: Generic error

For details see

section Diagnosis code o

n page 82

or details see

section Error flags on

pag

e 83

Bit 1: Current too high

Bit 2: Voltage error

Bit 3: Temperature error

Bit 4:

Communication error between SWD slave and sub module

Bit 5:

Device profile specific error

Bit 6:

Reserved/not used

0x00

= Error reset (no error) 0xFF

= device specific error 0x70

= module specific error

[Address of SmartWire device]

Bit 7:

Manufacturer specific error

Unused bytes have value 0

Table 33: Structure of emergency telegram

10.4.2 Diagnosis code

If Error Code 0x70XX (module specific error) is displayed, byte 0 of the Additional Information field features a diagnostic code.

The ID of the SmartWire slave reporting the error is displayed in the second

byte (Address) of the Error Code. The subsequent table lists some

examples of extended diagnostic messages of various SmartWire-DT devices.

Diagnostic code Meaning Used by

0x00

No diagnostic message active

All devices that support the extended diagnosis

0x10

Contact in middle position

RMQ

0x11

Contact short-circuit RMQ

0x13

Output overload I/O module

Table 34: Examples of Diagnosis Codes

If the gateway recognizes that the project configuration does not comply with the target configuration, it sends diagnosis code 0xF3. In this case, the

second byte (Address) of the Error Code is filled with the value 0x00.

More detailed information about the diagnosis codes of the individual

SmartWire-DT devices can be found in the manual SmartWire-DT Units,

05/11 MN05006001Z-EN by Eaton.

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10.4.3 Error flags

If Error Co de 0xFF00 is displayed, the Additional Information field (byte

1 to 4) features a 32-bit variable with error flags.

In this case, byte 0 (i. e. the Diagnosis code) of the Additional

Information is 0x00.

Byte Bit dwBit Hex Relevance Meaning

0 0 0x01 - -

1 1 0x02 - -

2 2 0x04 - -

3 3 0x08 - -

4 4 0x10 - -

5 5 0x20 - -

6 6 0x40 - -

7 7 0x80 - -

0 8 0x01 - -

1 9 0x02 - -

2 10 0x04 Info SWD: Checking project configuration

3 11 0x08 - -

4 12 0x10 Info SWD: Extended diagnosis of a device is present

5 13 0x20 - -

6 14 0x40 - -

7 15 0x80 - -

0 16 0x01 Error SWD: Mandatory SmartWire-DT device is missing

1 17 0x02 Warning SWD: Optional SmartWire-DT device is missing

2 18 0x04 - -

3 19 0x08 - -

4 20 0x10 - -

5 21 0x20 Error SWD: No valid project configuration

6 22 0x40 - -

7 23 0x80 - -

0 24 0x01 Error

SWD: Short circuit in the 15V voltage supply of the SmartWire-DT bus

1 25 0x02 Error SWD: Internal error of the SmartWire-DT coordinator

2 26 0x04 Info

SWD: At least one SmartWire-DT device sends basic diagnosis

3 27 0x08 Error SWD: No SmartWire-DT device detected

4 28 0x10 Info SWD: Using compatible devices is allowed

5 29 0x20 Info SWD: All devices are registered as „optional“

6 30 0x40 Info

SWD: Comparison of project configuration with target configuration disabled

7 31 0x80 - -

Table 35: Error Flags if Error Code = 0xFF00

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11 Updating firmware with TwinCAT System Manager

11.1 Overview

The EU5C-SWD-ETHERCAT Gateway is shipped with its most recent firmware already loaded. The version of the loaded firmware is stated on the device type label. When you perform a firmware update, the old firmware file in the gateway will automatically be overwritten. The project configuration and the target configuration in the gateway remain untouched by the firmware update.

This section describes how to update the firmware of the EU5C-SWDETHERCAT gateways by using the TwinCAT System Manager V2.11.

Hazard of device damage by disruption of voltage supply during firmware update!

Do not interrupt the voltage supply while updating the firmware of the gateway. Power failure during a writing process within the file system can cause severe malfunctioning of the device.

Note: In case of a missing or defective firmware (which is indicated by a green POW LED), the “regular” firmware update process described in this

chapter is not working. In this case, proceed as described in chapter

Firmware recovery via HTTP on page 87 ff.

11.2 Prerequisites

 The gateway is connected to a SmartWire-DT network

 The gateway contains a SmartWire-DT configuration

 PC with installed TwinCAT System Manager V2.11 and Ethernet adapter

 The Ethernet adapter of the PC is connected to the gateway via

EtherCAT

network

 You have access to the new firmware file which you want to download to

the EU5C-SWD-ETHERCAT gateway

11.3 Step-by-step instructions

 Open your EU5C-SWD-ETHERCAT project in the TwinCAT System

Manager or create a new project as described in the Configuring

gateway in

TwinCAT section on page 45.



Select the gateway in the navigation tree of the TwinCAT System

Manager, then open the Online tab in the main window.

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Figure 38: “Online” tab

 In the File Access over EtherCAT area of the Online tab, click

Download... button.

 The Windows file the selection dialog window opens:

Figure 39: Select Firmware

 In the Files of type drop-down list, select All Files (*.*), then navigate

to the directory where the firmware intended for download is stored.

 Select E030F0U0.nxf file, then click Open button.

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 The Edit FoE Name dialog window opens:

Figure 40: Edit firmware name (1)

 In the String field, add the file name extension .nxf

Important: You must enter the file name extension .nxf here, otherwise

the gateway will not accept the file (“nxf” stands for “netX firmware”). Take care to also enter the dot between name and extension !

Figure 41: Edit firmware name (2)

 Click OK button.

 The download of the firmware is started. The download process can

take several minutes. The progress of the download is indicated by a progress bar in the footer of the TwinCAT System Manager.

Hazard of device damage by disruption of voltage supply during firmware update!

Do not interrupt the voltage supply while downloading the firmware of the gateway. Power failure during a writing process within the file system can cause severe malfunctioning of the device.

 Wait until the download has been completed, then reset the gateway

(i. e. briefly disconnect the gateway from the voltage supply) in order to start the new firmware.

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12 Firmware recovery via HTTP

12.1 Overview

If the POW system status LED of the gateway shows steady green light

after power return, the “regular” firmware of the gateway is defective or

missing (for the position of the POW LED see Positions of the LEDs section

on page 27). In this case only the so-called “backup firmware” is running and the device is not ab

le to perform its normal gateway functions. This state can be resolved by downloading a fresh (i. e. uncorrupted) firmware file into the gateway via HTTP protocol. The backup firmware (which is part of the boot strap loader running in the gateway) carries a “web server” functionality for downloading a firmware file comfortably via its Ethernet interface.

For this, you just have to connect the gateway via its Ethernet interface to an active DHCP server and a configuration PC. The purpose of the DHCP server is to assign an IP address to the gateway. This assigned IP address can then be used by the configuration PC to connect to the download function of the backup firmware running in the gateway, in order to download the new firmware file via ordinary web browser. If you do not know the exact IP address assigned to the gateway by the

DHCP server, you can use the Hilscher Ethernet Device Configuration

Tool on your configuration PC (included on the product DVD) in order to “read out” the newly assigned IP address from the gateway. (The tool uses the netIDENT protocol to search for all Hilscher devices within the connected IP network, and then lists all found devices and their IP addresses.)

Note: This chapter describes only how to download the recovery

firmware. Instructions on how to configure and operate a DHCP server are not subject of this manual. For information on using a DHCP server, please consult your local network administrator.

12.2 Prerequisites

 The EU5C-SWD-ETHERCAT gateway is disconnected from the

EtherCAT

network

 The gateway is connected to an active DHCP server via local Ethernet

network

 The gateway is connected via local Ethernet network to a configuration

PC with installed standard web browser

 You have access to the firmware file which you want to download to the

EU5C-SWD-ETHERCAT gateway (the firmware file is stored on the

SmartWire-DT Gateway Solutions product DVD in the Firmware\EU5C-SWD-ETHERCAT folder)

 The gateway is supplied with voltage and the backup firmware inside the

device is running (this is indicated by steady green light at the POW

LED)

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 You know the IP address, which the DHCP server has assigned to the

gateway. If not, install the Hilscher Ethernet Device Configuration Tool on your configuration PC. This tool allows you to check the current

IP address of the gateway (if the configuration PC and the gateway are connected to the same local Ethernet network). An installer for this program can be found on the product DVD in the Software\EnDeviceCfg folder (the program can also be installed by using the menu of the product DVD.)

12.3 Step-by-step instructions

1. Use DHCP server to assign IP address to gateway.

 Disconnect the gateway from the voltage supply.

 Plug a cable connected to the local Ethernet network (in which a DHCP

server is active) into one of the Ethernet RJ45 sockets (labeled LAN1IN or LAN2-OUT) on the front side of the gateway.

 Reconnect the gateway to the voltage supply.

Note: The L/A LINK/Activity LEDs of the Ethernet RJ45 sockets remain

dark when an Ethernet cable is plugged-in while the backup firmware is running – even if a successful IP communication with an local Ethernet network has been established.

 The backup firmware running in the device now sends a so-called

DHCPDISCOVER message broadcast into the Ethernet network,

requesting an IP address from a DHCP server. If a DHCP service is available in the network, the gateway should be receiving a valid IP address from the server within a few seconds.

2. Check IP address.

 In the Windows Start menu of your configuration PC, select All

Programs > Hilscher GmbH > Ethernet Device Configuration, to

start the Ethernet Device Configuration Tool.

 The Ethernet Device Configuration tool opens:

Figure 42: Ethernet Device Configuration Tool

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 Click Search Devices button, to start searching for the gateway within

the local Ethernet network.

 The tool starts scanning for devices and lists all found Hilscher devices

and their IP addresses:

Figure 43: Found gateway in Ethernet Device Configuration Tool

 Note or write down the IP address.

Note: If the default IP address 0.0.0.0 is displayed, the gateway has

not yet received an IP address from a DHCP server. Make sure that the gateway is connected to a subnet with an active DHCP server. Then restart the gateway by briefly disconnecting the voltage supply while the Ethernet cable remains plugged-in. Wait a few seconds after reconnecting

the voltage supply, then click the Search Devices button in the Ethernet Device Configuration Tool again.

3. Open web page for firmware download.

 Start the web browser on your configuration PC.

 In the address bar of your browser, enter the IP address of the gateway:

http://<IP address>

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 The Firmware Update page opens:

Figure 44: Firmware recovery via HTTP (as depicted in Internet Explorer)

4. Select firmware file for download.

 Click Browse… button, to open a dialog window for selecting the

firmware file you want to download.

 Navigate to the directory in which the firmware file is stored, select the

file, then click Open.

Note: The name of the firmware file for the EU5C-SWD-ETHERCATgateway is E030F0U0.nxf

 Path and name of the selected file are displayed in the field next to the

Browse… button.

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5. Download firmware file to gateway.

 Click Transfer button to download the new firmware file to the gateway.  After you have started the download by clicking the Transfer button, the

validity of the firmware file is being checked by the system. If the file fails the validity check, an error message will be displayed. If the file passes, the gateway requests you to perform a reset in order to start the new firmware:

Figure 45: Reset after firmware download via HTTP (as depicted in Internet Explorer)

6. Perform reset.

 Activate the checkbox in front of Please confirm… to acknowledge that

you want to reset the gateway.

Note: You can use the Cancel button to uncheck the checkbox in front of Please confirm...

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 Click Submit button to start the reset.

 After successful reset, the following message is displayed:

Figure 46: Successful device reset message (as depicted in Internet Explorer)

 The POW system status LED at the gateway shows steady yellow light.

The new firmware has been loaded and the gateway is ready for operation.

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13 Technical data

13.1 Technical data EU5C-SWD-ETHERCAT gateway

Category Parameter Value

Part number 9233.922

Dimensions (W x H x D)

35 x 90 x 127 mm

Weight 160 g

Mounting Top hat rail 35 mm (IEC/EN 60715)

Mounting position Vertical

Standards IEC/EN 61131-2

Communication controller netX 50 processor

Configuration and diagnostic interface

Mini-USB

General

Integrated memory

8 MB SDRAM 4 MB serial Flash EPROM

Protection type (IEC/EN 60529, EN50178, VBG 4)

IP20

Vibrations (IEC/EN 61131-2:2008)

Constant amplitude 3.5 mm: 5 – 9 Hz Constant acceleration 1 g: 9 – 150 Hz

Mechanical shock resistance (IEC/EN 60068-2-27)

Semi-sinusoidal 15 g/11 ms: 9 Shocks

Drop to (IEC/EN 60068-2-31)

Drop height: 50 mm

Ambient mechanical conditions

Free fall, packaged (IEC/EN 60068-2-32)

Drop height: 1 m

Operating ambient temperature (IEC 60068-2)

-25…+55 °C

Condensation Prevent by suitable measures

Storage -40…+70 °C

Ambient climatic conditions

Relative humidity, non-condensing (IEC/EN 60068-2-30)

5…95 %

Pollution degree 2

Electrostatic discharge (IEC/EN 61131-2:2008)

Air discharge (Level 3): 8 kV Contact discharge (Level 2): 4 kV

Electromagnetic fields (IEC/EN 61131-2:2008)

80 – 1000 MHz: 10 V/m

1.4 – 2 GHz: 3 V/m 2 – 2.7 GHz: 1 V/m

Radio interference suppression (SmartWire-DT)

EN 55011 Class A

Burst (IEC/EN 61131-2:2008, Level 3)

Supply cables: 2 kV EtherCAT

bus cable: 1 kV

SmartWire-DT cables: 1 kV

Surge (IEC/EN 61131-2:2008, Level 1)

Supply cables: 0.5 kV EtherCAT

bus cable: 1 kV

Electromagnetic compatibility (EMC)

Radiated RFI (IEC/EN 61131-2:2008, Level 3)

0.15 – 80 MHz, 10 V, 80% AM / 1 KHz

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Category Parameter Value

Rated operational voltage

24 V DC

-15 % +20 %

Input voltage residual ripple ≤ 5 %

Protection against polarity reversal Yes

max. current I

max

3 A Note: If contactors with a total power consumption > 3 A are connected, a power feeder module EU5C-SWD-PF1/2 has to be used.

Short-circuit strength No, external fuse FAZ Z3

Heat dissipation Typ. 1 W

Potential isolation No

Supply voltage U

AUX

Rated operating voltage of 24-V-DC slaves

Typical U

AUX

-0,2 V

Supply voltage

24 V DC

-15 % +20 %

Input voltage residual ripple ≤ 5 %

Protection against polarity reversal Yes

Rated operational current I 111 mA (with two participants)

Heat dissipation at 24 V DC 2.66 W (with two participants)

Potential isolation between U

POW

and 15-V-SmartWire-DT supply voltage

Bridging voltage dips 10 ms

Repeat rate 1 s

Supply voltage U

POW

Status display

POW LED

Rated operational voltage Ue 15 V ± 3 %

max. current I

max

0.7 A Note: If contactors with a total power consumption > 0.7 A are connected, a power feeder module EU5C-SWD-PF2 has to be used.

SmartWire-DT supply voltage

Short-circuit strength Yes

Connection type Push-in terminals

solid 0.2 – 1.5 mm2 (AWG 24 – 16)

Connection supply voltages

Flexible with ferrule 0.25 – 1.5 mm

Participant type SmartWire-DT master

SmartWire-DT Master ASIC SWD-80P-RS485

Number of SmartWire-DT slaves 99

Baud rate 125 / 250 kBd

SmartWire-DT network

Address setting Automatic

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Category Parameter Value

Status display

SmartWire-DT master: SWD LED, duo color red/green Configuration: Config LED, duo color red/green

Connections Plug, 8-pole

Plug connectors Blade terminal SWD4-8MF2

Function of gateway EtherCAT® Slave

Baud rate 100 MBit/s

Interface type 100 BASE-TX

Auto-Negotiation Supported

Auto-Crossover Supported

Address setting By project configuration

Status display

EtherCAT

LEDs: RUN und ERR,

duo color red/green

Connector socket 2 x RJ45

Connector plug RJ45

Ethernet EtherCAT® network

Potential isolation Yes

Table 36: Technical data EU5C-SWD-ETHERCAT gateway

13.2 Technical data EtherCAT slave

Parameter Description

Maximum number of cyclic input data 800 bytes (restricted by SWD)

Maximum number of cyclic output data 641 bytes (restricted by SWD)

Maximum number of cyclic input/output data in sum

1000 bytes (restricted by SWD)

Acyclic communication SDO

SDO Master-Slave

SDO Slave-Slave (depending on master capability)

Type Complex Slave

Functions Emergency

FMMUs 8

SYNC Manager 4

Baud rate 100 MBit/s

Data transport layer Ethernet II, IEEE 802.3

Reference to firmware/stack version V4.2.x.x

Table 37: Technical data EtherCAT slave protocol

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14 Annex

14.1 List of figures

Figure 1: Data flow EU5C-SWD-ETHERCAT Gateway 21 Figure 2: Front view EU5C-SWD-ETHERCAT gateway 26 Figure 3: LEDs EU5C-SWD-ETHERCAT Gateway 27 Figure 4: Pinning of the Ethernet interface (RJ45) 30 Figure 5:Device type label EU5C-SWD-ETHERCAT Gateway 31 Figure 6: Mounting principle of the gateway 34 Figure 7: Hook gateway to upper railing 34 Figure 8: Hook gateway to lower railing 35 Figure 9: Gateway is clamped to top hat rail 35 Figure 10: Unhook gateway 36 Figure 11: Gateway power supply 38 Figure 12: Connecting SmartWire-DT to gateway 39 Figure 13: Connecting EtherCAT network to gateway 40 Figure 14: TwinCAT start screen 46 Figure 15: Installing TwinCAT Ethernet adapter (1) 47 Figure 16: Installing TwinCAT Ethernet adapter (2) 48 Figure 17: Scan devices 48 Figure 18: Message prior to device scan 49 Figure 19: New devices found dialog window 49 Figure 20: Scan for boxes 49 Figure 21: EU5C-SWD-ETHERCAT Gateway found as new box 50 Figure 22: EU5C-SWD-ETHERCAT Gateway process data (1) 51 Figure 23: EU5C-SWD-ETHERCAT Gateway process data (2) 51 Figure 24: Process data mapping in TwinCAT 52 Figure 25: Configuration data of the SWD Coordinator (gateway) in TwinCAT 53 Figure 26: Editing parameters of SWD Coordinator (1) 55 Figure 27: Editing parameters of SWD Coordinator (2) 56 Figure 28: Editing parameters of SWD Coordinator (3) 57 Figure 29: Configuration data elements of SWD devices in TwinCAT 58 Figure 30: Editing device options of SWD device (1) 61 Figure 31: Editing device options of SWD device (2) 62 Figure 32: Editing device options of SWD device (3) 63 Figure 33: “Programmer” view of Windows 7 calculator 65 Figure 34: Editing device parameters of SWD device (1) 69 Figure 35: Editing device parameters of SWD device (2) 70 Figure 36: Editing device parameters of SWD device (3) 71 Figure 37: Conducting acyclical communication 74 Figure 38: “Online” tab 85 Figure 39: Select Firmware 85 Figure 40: Edit firmware name (1) 86 Figure 41: Edit firmware name (2) 86 Figure 42: Ethernet Device Configuration Tool 88 Figure 43: Found gateway in Ethernet Device Configuration Tool 89 Figure 44: Firmware recovery via HTTP (as depicted in Internet Explorer) 90 Figure 45: Reset after firmware download via HTTP (as depicted in Internet Explorer) 91 Figure 46: Successful device reset message (as depicted in Internet Explorer) 92

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14.2 List of tables

Table 1: List of revisions 5 Table 2: Reference to hardware and firmware 7 Table 3: Reference to software tools 7 Table 4: Reference to drivers 7 Table 5: Reference to device description files 7 Table 6: Directory of the product DVD 9 Table 7: Documentation overview 12 Table 8: Safety symbols and sort of warning or principle 20 Table 9: Signal words 20 Table 10: Description of the LEDs 29 Table 11: Ethernet interface channel 0 and channel 1 pin assignment (RJ45) 30 Table 12: Getting started 32 Table 13: Parameter settings of SWD Coordinator 54 Table 14: Bit assignment of parameters of options byte 60 Table 15: Bit assignment of parameter byte of EU5E-SWD-4AX 66 Table 16: Bit assignment of parameter byte of EU5E-SWD-2A2A 67 Table 17: Bit assignment of parameter byte 1 of EU5E-SWD-4PT 68 Table 18: Bit assignment of parameter byte 2 of EU5E-SWD-4PT 68 Table 19: Elements SDO Download of a read request 75 Table 20: Elements of SDO Upload Request for a read request 76 Table 21: Elements of SDO Upload Confirmation for a read request 76 Table 22: Example SDO Download Request for a read request 77 Table 23: Example SDO Upload Request for a read request 77 Table 24: Example SDO Upload Confirmation for an unfinished read request 77 Table 25: Example SDO Upload Confirmation for a finished read request 78 Table 26: Elements SDO Download of a write request 78 Table 27: Elements of SDO Upload Request for a write request 79 Table 28: Elements of SDO Upload Confirmation for a write request 79 Table 29: Example SDO Download Request for a write request 80 Table 30: Example SDO Upload Request for a write request 80 Table 31: Example SDO Upload Confirmation for an unfinished write request 80 Table 32: Example SDO Upload Confirmation for a finished write request 81 Table 33: Structure of emergency telegram 82 Table 34: Examples of Diagnosis Codes 82 Table 35: Error Flags if Error Code = 0xFF00 83 Table 36: Technical data EU5C-SWD-ETHERCAT gateway 95 Table 37: Technical data EtherCAT slave protocol 95

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14.3 Contacts

Headquarters

Germany

Hilscher Gesellschaft für Systemautomation mbH Rheinstrasse 15 65795 Hattersheim Phone: +49 (0) 6190 9907-0 Fax: +49 (0) 6190 9907-50 E-Mail: info@hilscher.com

Support

Phone: +49 (0) 6190 9907-99 E-Mail: de.support@hilscher.com

Subsidiaries

China

Hilscher Systemautomation (Shanghai) Co. Ltd. 200010 Shanghai Phone: +86 (0) 21-6355-5161 E-Mail: info@hilscher.cn

Support

Phone: +86 (0) 21-6355-5161 E-Mail: cn.support@hilscher.com

France

Hilscher France S.a.r.l. 69500 Bron Phone: +33 (0) 4 72 37 98 40 E-Mail: info@hilscher.fr

Support

Phone: +33 (0) 4 72 37 98 40 E-Mail: fr.support@hilscher.com

India

Hilscher India Pvt. Ltd. Pune, Delhi, Mumbai Phone: +91 8888 750 777 E-Mail: info@hilscher.in

Italy

Hilscher Italia S.r.l. 20090 Vimodrone (MI) Phone: +39 02 25007068 E-Mail: info@hilscher.it

Support

Phone: +39 02 25007068 E-Mail: it.support@hilscher.com

Japan

Hilscher Japan KK Tokyo, 160-0022 Phone: +81 (0) 3-5362-0521 E-Mail: info@hilscher.jp

Support

Phone: +81 (0) 3-5362-0521 E-Mail: jp.support@hilscher.com

Korea

Hilscher Korea Inc. Seongnam, Gyeonggi, 463-400 Phone: +82 (0) 31-789-3715 E-Mail: info@hilscher.kr

Switzerland

Hilscher Swiss GmbH 4500 Solothurn Phone: +41 (0) 32 623 6633 E-Mail: info@hilscher.ch

Support

Phone: +49 (0) 6190 9907-99 E-Mail: ch.support@hilscher.com

USA

Hilscher North America, Inc. Lisle, IL 60532 Phone: +1 630-505-5301 E-Mail: info@hilscher.us

Support

Phone: +1 630-505-5301 E-Mail: us.support@hilscher.com