molex Brad HarshIO 600 User Manual

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User’s Manual

HarshIO 600

IP67 Motor Drive Roller IO Module for

EtherNET/IP

Brad™ from Molex

Version 1.4

October 24th, 2018

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Revision History

Date

Author

Changes

Revision

May 22th, 2018

Samuel Savary

Initial version

1.0

June 5th, 2018

Samuel Savary

Fixing information added (Dimension chapter)

1.1

July 2sd, 2018

Samuel Savary

MOD Led behavior & Operating temperature

1.2

October 9th, 2018

Youssef Ouassif

- Dynamic Braking of Itoh Denki motor

- General diagnostic on Drive rollers added to Web Server

- Minor changes

1.3

October 24th, 2018

Samuel Savary

Interroll & Itoh Denki speed table update

1.4

Although every effort has been made to ensure the accuracy of this document, all information is subject to change without notice. Molex takes no liability for any errors in this document or for direct, indirect, or consequential damage resulting from the use of this manual.

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STATEMENT OF LIMITED WARRANTY

Brad™ from Molex, manufacturer of HarshIO products, warrants to Buyer that products, except software, manufactured by Brad™ will be free from defects in material and workmanship. Brad™ obligation under this warranty will be limited to replacing the defective parts within one year of the date of purchasing. Products may be returned by Buyer only after permission has been obtained from Brad™. Buyer will prepay all freight charges to return any products to the facility designated by Brad™.

Brad™ further warrants that any software supplied as part of a product sale, except obsolete products, will be free from non-conformances with Brad™ published specifications for a period of 90 days from the time of delivery. While Brad™ endeavors to improve the features and performance of software associated with its products, no effort on the part of Brad™ to investigate, improve or modify HarshIO modules firmware at the request of a customer will obligate Brad™ in any way.

For the convenience of existing customers, Brad™ continues to supply certain products that are classified as obsolete. No warranty on the software features of these products is stated or implied and Brad™ specifically is not obligated to improve the design of these products in any way. Information about the status of any product is available upon request and customers are advised to inquire about the status of older products prior to making a purchase.

This limited warranty does not cover losses or damages which occur in shipment to or from Buyer or due to improper installation, maintenance, misuse, neglect or any cause other than ordinary commercial or industrial applications. In particular, Brad™ makes no warranties whatsoever with respect to implied warranties of merchantability or fitness for any particular purpose. All such warranties are hereby expressly disclaimed. No oral or written information or advice given by Brad™ or Brad's representative shall create a warranty or in any way increase the scope of this warranty. This limited warranty is in lieu of all other warranties whether oral or written, expressed or implied. Brad’s liability shall not exceed the price of the individual units, which are the basis of the claim. In no event shall Brad™ be liable for any loss of profits, loss of use of facilities or device, or other indirect, incidental or consequential damages.

Although every effort has been made to ensure the accuracy of this document, all information is subject to change without any notice. Brad™ takes no liability for any errors in this document or for direct, indirect, or consequential damage resulting from the use of this manual. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Brad™ cannot assume responsibility or liability for actual use based on the examples and diagrams.

COPYRIGHTS and TRADEMARKS

Reproduction of the contents of this manual, in whole or in part, without written permission of Brad™ is prohibited.

Mini-Change®, Ultra-Lock™, Brad™ are all registered trademarks of Molex, Inc. All other products or trademarks are the property of their respective owners.

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Table of contents

1. General Safety Instructions ................................................................ 6

General information ................................................................................................. 6

Personnel qualifications .......................................................................................... 6

Preventive messages .............................................................................................. 6

Usage compliance ................................................................................................... 6

Device installation and set-up ................................................................................. 7

Device operation ..................................................................................................... 8

Electrical, mechanical and thermal specifications ................................................... 8

Preventive and corrective maintenance .................................................................. 8

2. General description ............................................................................. 9

Introduction .............................................................................................................. 9

Overview ............................................................................................................... 10

3. Technical Data ................................................................................... 17

Dimensions (mm) .................................................................................................. 17

Power Data ............................................................................................................ 18

Electrical Signal Data ............................................................................................ 18

EtherNET/IP .......................................................................................................... 20

Mechanical and Environmental Data .................................................................... 21

4. System Description ........................................................................... 22

Physical description............................................................................................... 22

Power connector ................................................................................................... 23

Ethernet connectors and encoding switches ........................................................ 26

I/O connectors ....................................................................................................... 30

MDR connectors .................................................................................................... 32

Protective and functional earth connection ........................................................... 34

5. I/O Data mapping ............................................................................... 36

I/O Messaging ....................................................................................................... 36

EtherNet/IP Assembly instances ........................................................................... 37

Assembly #101 – Input Process & Error Status Data ........................................... 38

Assembly #102 – Input Process, Error Status & Operating information Data ...... 39

Assembly #103 – Output Process & Control Data ................................................ 40

Assembly #104 – Output Process / Control Data & Reset Operating information 43

Assembly #105 – Configuration Data .................................................................... 44

6. MDR Features & Behaviors ............................................................... 44

MDR Startup .......................................................................................................... 44

MDR Operating Speed .......................................................................................... 45

7. Getting started ................................................................................... 46

Packaging content ................................................................................................. 46

Out of box settings ................................................................................................ 46

Connection instructions ......................................................................................... 46

Rockwell Studio 5000 ............................................................................................ 47

8. Web Server Interface ......................................................................... 48

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Hardware/Firmware Module information ............................................................... 48

Ethernet network information ................................................................................ 49

EtherNET/IP diagnostic information ...................................................................... 50

Event logger .......................................................................................................... 51

Power supply information and channel status ...................................................... 52

Motorized Drive Roller information ......................... Error! Bookmark not defined.

Energy ................................................................................................................... 57

9. EtherNet/IP Object Classes ............................................................... 58

Identity (0x01) ........................................................................................................ 58

Message Router (0x02) ......................................................................................... 60

Assembly (0x04) .................................................................................................... 61

Connection Manager (0x06) .................................................................................. 62

TCP/IP Interface (0xF5) ........................................................................................ 63

Ethernet Link (0xF6) .............................................................................................. 64

File (0x37) ............................................................................................................. 65

DLR (0x47) ............................................................................................................ 66

QoS (0x48) ............................................................................................................ 67

10. Firmware update ................................................................................ 68

11. Product Support ................................................................................ 68

Technical Support ................................................................................................. 68

Web Site ................................................................................................................ 69

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1. General Safety Instructions

General information

The current documentation is intended for persons technically qualified to install, use and service the products described herein. It contains the necessary information for proper use of the products. However, for advanced use of our products, please contact your nearest dealer for additional information.

The content of this documentation is not binding and cannot extend or limit warranties.

Personnel qualifications

Only qualified persons are authorized to install, use and service the products. Use by unqualified persons or failure to follow the safety instructions of this document, the manuals and/or those affixed to the devices, can result in irremediable harm or damage to persons and equipment. The following personnel are deemed to be qualified persons for:

• Equipment operation: Personnel who operates the machines and/or processes connected to the Brad™ products. Brad™ HarshIO must be used by persons who have received training and have

been informed of the major risks involved in working in an industrial environment.

• Preventive and corrective maintenance: Persons who modify Brad™ products hardware and software configuration and install the product updates supplied by the manufacturer. These persons must:

o be trained in Brad™ products and operation o have the experience and technical knowledge required to be aware of the risks (electrical

hazards in particular) involved in their job and the ways of reducing these risks for themselves, third parties and the equipment being used.

Preventive messages

Preventive messages are designed to identify the particular risks likely to affect personnel and/or hardware. Different message types, both in the documentation and on the products, indicate different degrees of risk:

Danger messages indicate immediate hazards that could result in death or serious injury if not averted. Warning messages indicate situations that could result in death, serious injury or material damage. Caution messages indicate potentially dangerous situations that could cause bodily harm or material damage.

Usage compliance

The products described in the current documentation comply with currently applicable European Directives (EC labeling). However, they can only operate correctly with the applications for which they were intended as described in the documentation, and with approved products.

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As a general rule, if all the handling, transportation, and storage recommendations and installation, operation and maintenance instructions are followed, the products will operate correctly without risk for personnel or hardware.

Device installation and set-up

It is important to follow the rules below when installing and setting up the Brad™ HarshIO. If system installation includes products more than thirty meters away from each other, the basic cabling rules must be closely followed.

• Strict compliance with the safety instructions provided in this documentation or on the equipment to be installed and implemented, is absolutely essential.

• Make sure that the installation is carried out in compliance with regulations of the user country,

• Install the equipment in a suitable environment. As a closed equipment, the Brad™ HarshIO may be

installed in two ways:

o In a casing (cabinet, chest) or, o Directly without any additional protection, if the associated systems (power supply, cables,

sensors, etc.) already carry a protection index equivalent to IP67 or higher.

Always connect the Brad™ HarshIO to the protective earth (PE) in compliance with existing standards (for

example: use the green/yellow wires in accordance with the NFC 15 100 standard).

• LV (Low Voltage) circuits must have a protective earth connection to ensure dangerous voltage detection.

• Before powering up the device, check that the nominal voltage is the same as the mains voltage.

• Only use Extra Low Voltage power supplies (PELV-/SELV-) which comply with existing standards.

• Check that the power voltages are within the tolerance ranges defined in the technical specifications

for the devices.

• Always ensure that power restoration (immediate, hot or cold) will not create a hazard for personnel or equipment.

• Ensure that emergency stop devices remain effective in any equipment operation mode, even when abnormal (for example, in the event of a cut wire). Resetting these devices should not result in uncontrolled or undefined restarts.

• Position the signal cables so that the automation functions will not be disrupted by any capacitive, inductive or electromagnetic influences, etc.

• Install the automation devices and their controlling devices so that they are protected against any adverse incident.

• Adequate safety precautions must be applied to inputs and outputs to prevent the lack of signals from causing undefined states in the automation devices.

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Device operation

Because Brad™ HarshIO devices are components of a control system, the safety of the entire automated system, including that of the installation and the application, cannot be dealt with in this document. For further information, see IEC 61131-4, describing risk reduction measures for PLC users.

See the documentation of the specific products involved for more information on operation safety.

Electrical, mechanical and thermal specifications

Detailed information about the electrical, mechanical and thermal specifications of the device is available in the associated technical documentation (installation manuals, service instructions).

Preventive and corrective maintenance

Servicing

• When replacing parts or components, only use factory approved parts.

• In all cases, before servicing a Brad™ HarshIO, disconnect the power supply from the device (unplug

the power cord or open the power cut-out device).

• Before servicing an onsite mechanical Brad™ HarshIO, disconnect its power supply and mechanically lock the moving parts.

• On positive logic outputs or negative logic inputs, take all the necessary precautions to prevent any disconnected wires from coming into contact with the mechanical ground (risk of unwanted commands).

Product end-of-life

Contact your local dealer for information on how to dispose of used products in compliance with current regulations.

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2. General description

Introduction

Brad™ HarshIO 600 EtherNET/IP Motorized Drive Roller IO module (also called HarshIO) is a reliable solution for connecting industrial controllers to Motor Drive Rollers & I/O devices in harsh duty environments. Contained in an IP67 rated housing, Brad I/O modules can be machine mounted and are able to withstand areas where liquids, dust or vibration may be present. This makes them ideally suited for many applications including material handling and automated assembly.

All Brad™ HarshIO modules, with Micro-Change® (M12) ports, accept both standard threaded cordsets and the Molex Ultra-Lock™ system.

Ultra-Lock™ connection System! The fastest, easiest and most secure connection ever designed. Ultra-Lock™ technology is designed for higher performance and reliability. Discover how the push-to-lock technology of the Ultra-Lock connection system can eliminate your downtime, increase your productivity and lower your costs. More information visit: www.molex.com .

Brad™ HarshIO includes advanced diagnostic features. Each module embeds visible LEDs to provide maintenance personnel the ability to easily determine I/O module and network status. These statuses are also available through the process data image or via extended slave diagnostics.

Brad™ HarshIO main features include:

▪ Module is housed in an IP67 rated enclosure that when properly installed—according to IEC 60529—

provides protection against the ingress of dust, water

▪ 8 digital user configurable I/O channels (DIO) + 4 ports for Interroll or Itoh Denki Motor Drive Roller

control.

▪ 4 or 5-pole Mini-Change (7/8) power supply connector ▪ Digital input and output short circuit protection ▪ Integrated 2-port unmanaged Ethernet switch with cross-over and MRP capabilities ▪ Diagnostic visible LEDs ▪ Rotary switches for IP address, firmware update and factory reset modes ▪ ODVA Conformance tested ▪ Certifications:

o CE compliant for all applicable EC directives o FCC Title 47, Part 15, Subpart B, Class A o Protection against electrical shocks IEC 61131-2:2007 Chap 12/13/14 o EMC directive for industrial use o UL94-V1 o ODVA certified

Part Number Table

SAP No

Material No

Description

112095-5156

TCDEI-8YMP-DYU-G

IP67 module for EtherNET/IP, 4-pin power supply connector with Isolated grounding, 8 digital user configurable I/O channels (DIO) + 4 ports for Interroll & Itoh Denki Motor Drive Rollers control.

112095-5157

TCDEI-8YMP-D1U-G

IP67 module for EtherNET/IP, 5-pin power supply connector with Isolated grounding, 8 digital user configurable I/O channels (DIO) + 4 ports for Interroll & Itoh Denki Motor Drive Rollers control.

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Overview

The HarshIO module is consisted of three main parts.

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Power distribution

HarshIO module can be powered up through 4/5-pole Mini-Change (7/8”) male power supply connector. It can

supply or transfer total amperage of 8A per pin.

The maximum power cable length shall be 30 meters. This is a recommendation but not a limitation. The module will still work if the cable is longer. The danger is potentially to destroy the module if a lightning occurs (very rare).

It can be powered by 2 separate power supplies:

• UB power supply is used to power:

o Module’s logic o Sensor power (Pin 1) o Digital Inputs / Outputs channels (C0 to C7)

• UL power supply is used to power the motor drive rollers There is no separate grounding between UB and UL. It means that 0V (UB) and 0V (UL) are connected. The +24 voltage can be applied on UB and UL from separate or unique power supply source.

Note!

UB & UL support a power interruption according to EN 60204-1.

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Network topologies

HarshIO EtherNET/IP modules can be used with a protocol compliant controller as part of control system architecture. The built-in unmanaged 2-port Ethernet switch allows flexibility in the network topology to meet your application needs. These topologies include the following:

• Star

• Daisy-chain

• Ring (using DLR protocol)

• Combination of all above

Star topology Star topology allows you to connect mixed I/O modules or additional equipment. This topology allows

maintenance on one module – for example, by removing the network cable, or by power cycling to the module – without affecting the other modules.

HMI

Ethernet

Switch

PLC

Daisy-chain topology The daisy-chain topology allows you to connect I/O modules or additional equipment in one line, from one

device to the next in an optimized way along the production line. When considering the daisy chain topology, note that

• If a module, somewhere in the middle of the chain, has the network cable disconnected or power to the module is removed then communications to any module located down the chain will be lost.

• The embedded dual port Ethernet switch located in each module eliminates the need for additional Ethernet switches.

HMI

Ethernet

Switch

PLC

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Ring topology Ring topology allows you to include mixed HarshIO modules and additional devices in a ring. Performing

maintenance on one module – for example, by removing the network cable, or by removing a module – does not affect other modules as the disruption can be detected and the EtherNET/IP communication can be then routed adequately. To manage the ring, a protocol called DLR (Device Level Ring) is required.

Note

When considering DLR ring topology:

A device called DLR Supervior shall be present in the ring to control the administration and detects the network failures. The other participants are called DLR Devices.

Combination of various topologies Combining star and daisy-chain topologies allows you to connect HarshIO modules with mixed HarshIO

modules or additional network devices.

HMI

Ethernet

Switch

PLC

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Signal

The HarshIO module supports up to 8 I/O ports:

• 4 I/O ports with 8 standard input / Output user configurable channels. (C0 to C7).

• 4 M ports for Motor Drive Roller (M0 to M3).

The I/O ports with configurable digital output on Pin 2 / Pin 4 can deliver up to 2A (4A Peak) for actuators with high power requirements.

The M port for Motorized Drive Roller (MDR) can control the following rollers:

• Interroll EC310

• Itoh Denki PM500XE / PM500XP

Only 1 MDR can be connected on each M port. Up to 4 Interroll EC310 or 4 Itoh Denki PM500XE/XP can be connected at the same time (See below). But no mixed Interroll / Itoh Denki MDR configuration is supported.

4 I/O configurable ports

4 Motor Drive Roller ports

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Typical application

Brad® MDR Conveyor Classic HarshIO Modules provide a reliable solution when connected with commonly used 24V DC Motorized Drive Rollers (MDR’s).

Contained in an IP67 rated housing, Brad® MDR Conveyor Classic HarshIO Modules can withstand areas where liquids, dust or vibration may be present, making them ideal for use in material handling applications.

For general motorized roller conveyor, it avoids protecting the IO module and its wiring by an enclosure constructed with conveyor frame and frame cover conform to UL50 Type 1 or greater.

NOTE

The MDR can be connected to the M port via 5 wires M12/M8 converter cable with a maximum length of 3m.

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3. Technical Data

Dimensions (mm)

The following figures show the external dimensions of the I/O module.

NOTE

When fixing the MDR module, tighten all the four screws otherwise the module may be greatly affected by vibration, causing failure of the module. When installing the module, tighten screws within the following torque range:

- M4 Mounting screw: 0.83 to 1.11 Nm.

- M3 Screw for a Functional Earth metal fitting: 0.43 to 0.57 Nm.

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Power Data

Module

4/5-pin power version

Power IN connector

Mini Change (7/8”), 4/5-pin, male, Maximum 8 A

Module & Input power (UB)

24 VDC, -20%/+25% (19.2 VDC / 30 VDC) protected against power crossing)

Warning, a voltage over 30 VDC may destroy the module

Operating current (UB)

90 mA (no I/O device connected)

Operating current (UL)

20 mA (no I/O device connected)

Max current consumption (UB)

8.2 Amps

Output Power (UL)

24 VDC, -10%/+10% (21.6 VDC / 26.4 VDC) for Itoh Denki

24 VDC, -10%/+10% (21.6 VDC / 28 VDC) for Interroll

(protected against power crossing)

Warning, a voltage over 30 VDC may destroy the module

Max current consumption (UL)

8.2 Amps

Galvanic isolation between UB & UL

500 V min

Electrical Signal Data

I/O Ports

Max draw current per I/O ports

4 A

Sensor power pin

Pin 1 (L+ / Sensor power supply)

Sensors draw current from

Sensors draw current (Pin 1)

200mA Nominal / 400mA Peak

Channels

Pin 2 (configured as)

Pin 4 (configured as)

Standard Digital Inputs

Number of Channel

4 channels max

Input type

PNP, compliant to IEC 61131-2 Type 3

On-state current

2.5 mA typ.

Off-state current

1 mA max.

Input channel voltage (“1”)

10 V … 30 V

12 V … 30 V

Input channel voltage (“0”)

-5 V … 5 V

-5 V … 9 V

Input filter

1ms

Standard Digital Outputs

Outputs draw current from

Channels

4 channels max

Output voltage (min)

UB – 1V

Output type

PNP, current sourcing

Output current

2 A per channel (4A peak)

Maximum output current

8.0 A at 25°C: total for all outputs combined

8.0 A at 25°C: total for all outputs combined with all sensor supply current

Short circuit current (typical)

up to 6.5 A

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MDR ports

MDR port

Pin 1 (UL)

Pin 2 (output)

Pin 3 (GND)

Pin 4 (I/O)

Pin 5 (analog)

Operating current

2A nominal / 6A peak

24mA nominal

Operating voltage

+24VDC

0-10VDC

Input type / /

PNP, compliant to

IEC 61131-2 Type 3

Output type

PNP, current sourcing

PNP, current

sourcing

Warning!

The digital outputs of the product are internally protected against voltage spike due to inductive load switching. Nevertheless, an external protection (freewheeling diode) could be added if necessary.

Note!

Shields of I/O connectors are not connected to earth. If shielded cable is used, then customer should connect the cable shield to the earth.

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EtherNET/IP

EtherNET/IP Fieldbus

Ethernet connectors

2 x M12, 4-pin, female, D-Coded, shielded

IP setting

DHCP (based on MAC & on Client_ID), Static IP, Stored IP

Protocol

EtherNet/IP Adapter according specification Vol 1-3.17 (CIP) and Vol 2 – 1.18 (EtherNet/IP)

Data access

Implicit messages for I/O data transfer

Communication Class

Real Time Conform Class B (RT CC-B) – No IRT supported

Implicit (I/O) connection

• 1x Exclusive Owner (EO) connection (with configuration data only)

• Up to 7 Listen Only (LO) connections (with or without configuration data) • Up to 8 Input

Only (IO) connections (with or without configuration data)

• 8 simultaneous connections (Ex: 1EO+ 4IO +3LO)

Explicit (EM) connection

Up to 8 Class 3 connections (Connected and unconnected)

Supported CIP Objects

• 0x01 – Identity

• 0x02 – Message Router

• 0x04 – Assembly

• 0x06 – Connection Manager

• 0xF5 – TCP/IP Interface

• 0xF5 – Ethernet Link

• 0x37 – File (EDS Upload)

• 0x47 – DLR

• 0x48 – QoS

Integrated Switch

• 2x ports integrated switch (with MRP capability)

• Speed: 100Mbps

• Auto negotiation

• Auto crossing

• Auto polarity

• 1x status Led / port

• Storm Protection against network loop (Broadcast, Multicast and Unicast packets)

Ethernet Packet

Manage up to 9000 packet/sec

Request Packet Interval (RPI)

from 1 ms up to 65535 ms (default 30 ms)

IP Address Conflict Detection

Yes

Quick Connect

Yes

DLR (Device Level Ring)

Yes (Ring Node, Beacon-Based)

QoS (Quality of Service)

Yes (Layer 3 supported only)

ODVA conformance

Yes (CT15)

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Mechanical and Environmental Data

Mechanical

Housing dimensions

See chapter Dimensions

Housing material

PBT VALOX 420 SEO Black

Flammability Standard

UL 94 V-1

Corner mounting holes

4 mounting holes, 5 x10 mm

Ground stud

Yes (allows the continuity of the ground when the module is mounted on the chassis machine)

Operating temperature

-30°c to +50°c

Storage temperature

-40°c to +70°c

Vibration resistance

Operating: 3.5 mm p-p (5-8.4Hz), 1g (8.4Hz to 150Hz), 3 axis

Shock resistance

Operating: 15g, 11ms, 3 axis

Electro-magnetic compatibility

EN 61000-6-2 / EN 61000-6-4

Relative humidity

5 % to 95 %, non-condensing

Protection Class

IP67

Approval

CE (according IEC 61131-2), UL / cUL

Environmental

RoHS and REACH

MTBF

100.000 Hours @ 50°C

Note!

This product was EMC tested for use in industrial areas. If it is to be used in personal or business and trade environments, the resulting system must go through EMC qualification.

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4. System Description

Physical description

Power IN (Ui)

Grounding screw (Protective Earth - PE)

I/O Connector

Plastic label

Plastic Window 3x Rotary switches

Ethernet Port (ETH1)

Ethernet Port (ETH2)

Mounting screw (Functional Earth #2 - FE2)

Port 0

Port 1

Port 2

Port 3

Port 4

Port 5

Port 6

Port 7

Shield Plate

Mounting screw (Functional Earth #1 – FE1)

MDR Connector

Mounting hole

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Power connector

Pinout and orientation

5 pins Power Connector - Description

0 V (UL Ground)

0 V (UB Ground)

PE (Protective Earth)

24 VDC (UB – Unit & user configurable I/O power)

24 VDC (UL - Auxiliary power for Motors (Start/Stop, Rotation, Speed))

LEDs

UL indicator

UB indicator

4 pins Power Connector - Description

0 V (UL Ground)

0 V (UB Ground)

24 VDC (UB – Unit & user configurable I/O power)

24 VDC (UL - Auxiliary power for Motors (Start/Stop, Rotation, Speed))

LEDs 6

UL indicator

UB indicator

6 7 5 3 4 2 1 6 7 4 5 1

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Note!

The Power IN connector (Ui) is connected to grounding screw. Refer to Earth connection part

Note!

7/8” accessories (cordsets, plugs …) connected to the module power connectors shall

be screwed with a torque of 2.0 Nm to ensure a correct sealing to achieve IP67 rating.

Warning!

The maximum amperage capability of the power connectors is limited to 8A and users must verify that the current consumption of the HarshIO module and the connected devices to the IO ports would not exceed this consumption limit.

Warning!

An overcurrent protection (ex: fuse) shall be added in front of IO modules to avoid possible destruction in case of over-current situation

LEDs and status bits

The table below shows the LEDs state according to power supply voltages applied and the corresponding status bits.

LEDs

LED

indication

pattern

Status bit

State & Power supply voltages

Off

UVUL=1

Voltage not present (UL=0 V)

Fixed green

Operating range 21.6 V ≤ UL ≤ 26.4 V for Itoh Operating range 21.6 V ≤ UL ≤ 28 V for Interroll

Fixed red*

UVUL=1

MDR Sx=1

Under voltage UL < 21.6 V

OVUL=1

MDR Sx=1

Over voltage when:

- UL > 26.4 V with no MDR connected

- UL > 26.4 V with Itoh MDR connected

- UL > 28 V with Interroll MDR connected

OLUB=1

MDR Sx=1

Overload UL > 8.2 A

Off / Voltage not present (UB=0 V)

Fixed green

Operating range 19.2 V ≤ UB ≤ 30 V

Fixed Red*

UVUB=1

Under voltage UB < 19.2 V

OVUB=1

Overvoltage UB > 30 V

OLUB=1

Overload UB > 8.2 A

* Fallback strategy applied – see below

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Refer to the Input assemblies UVx: Under Voltage (x = UL or UB)

OVx: Over Voltage (x = UL or UB) OLx: Over Load (x = UL or UB) MDR Sx: MDR Status (x= MDR port)

Fallback strategies

The following fallback strategy will be applied on all ports/channels when an electrical error (Under voltage / Over voltage / Over current) is detected on UB:

- MDR Ports

- Pin1 set to 24V (Power)

- Pin2 set to 0V (Direction - counterclockwise)

- Pin5 set to 0V (Speed)

- Pin4 set to 0V (Stop - Itoh Denki only)

Note When the fallback strategy is applied:

- The Interroll MDR will be braked and stopped immediately.

- The Itoh MDR will continue to turn until it stops by itself.

- I/O configurable channels configured as Digital Output. (when Over voltage only)

- Channel LEDs go to red

- Pin 2 / Pin 4 set to 0V.

The following fallback strategy will be applied on all ports/channels when an electrical error (Under voltage / Over voltage / Over current) is detected on UL:

- MDR Ports

- MDR led goes to fixed red.

- Pin1 set to 0V (Power)

- Pin2 set to 0V (Direction - counterclockwise)

- Pin5 set to 0V (Speed)

- Pin4 set to 0V (Stop - Itoh Denki only)

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Ethernet connectors and encoding switches

Pinout and orientation

Note!

Shell of each connector (FE1 & FE2) is connected to its own FE screw tab. FE: Functional Earth

Note!

M12 Ethernet connector shall be screwed with a torque of 2.0 Nm to ensure a correct sealing to achieve IP67 rating.

Ethernet LEDs

LED

LED indication pattern

Meaning

LINK ETH 1& 2

Fixed yellow

10MB* + No Activity

Blinking yellow

10MB* + Activity

Fixed Green

100MB + No Activity

Blinking Green

100MB + Activity

(*): 10MB is not supported (100MB only)

Description

TX+

RX+

TX-

RX-

Link ETH1 indicator

Link ETH2 indicator

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Networks LEDs

The left side bi-color red/green LED is network status indicator (NET) and the right side bi-color red/green LED is internal module status indicator (MOD).

LED

LED indication pattern

Meaning

NET

OFF

No UB power supply or no IP address assigned

Blinking Red

IP address assigned & connection time-out Rotary position changed while IO exchange running

Fixed Red

IP Conflict detected (Duplicate IP)

Fixed Green

IP address assigned & connection established (no communication problem)

Blinking Green

IP address assigned & no connection established

MOD

OFF

No UB power supply

Blinking Red

Major Recoverable Fault

- IP Conflict detected

- Rotary position changed while IO exchange running

- Configuration Control changed (Set attr3 object 0xF5)

- Interface Configuration changed (Set attr5 object 0xF5)

- IP lost (Ex : DHCP mode) Electrical / over temperature faults The module is in Firmware upgrade mode (rotary position 999).

Blinking Green

Module is started and operational (Connection established and in Run mode)

Fixed Red

Major Unrecoverable Fault

Quick Blinking Green/red

Self-test on power up

NET indicator

MOD indicator

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Use of the rotaries

3 decimal rotary switches are located under the window and oriented as shown below. “x100 x10 x1” labels are printed below of the rotary (PCB silkscreen).

Note!

The module window shall be screwed with a torque of 0.3 Nm to ensure a correct sealing to achieve IP67 rating and shall be closed during working operation. The user shall check regularly that the torque of module window is respecting the screwing value 0.3 Nm

The rotary switch position is only read at the boot of the HarshIO module. Any modification of the position will require a power cycle (ON  OFF  ON) or a reset of the module The HarshIO module is out-of-box configured with rotary position 000. This configuration corresponds to stored IP address mode 500 with DHCP mode activated. When connecting to a network with a DHCP server, an IP address is automatically assigned to the module. Assigning an IP address using 0xF5 TCP/IP Object allows defining permanently this IP address for the following module startup. No rotary switches modification would be required. To change or set the IP address, the operator has the possibility to use one of the following methods:

Mode

x100

rotary

x10

rotary

Descriptions

Static Address

[0 to 2]

[0 to 9]

[1 to 9]

Overwrite the 4th byte of the IP address stored in non-volatile memory. IP Address: 192.168.1.xyz (xyz from 1 to 254) IP mask:

255.255.255.0 Gateway: 192.168.1.1

Note!

If the IP address is 192.168.1.1 then the gateway will be 0.0.0.0

Note!

When using static IP address mode, the IP address is stored in the Flash memory of the module.

DHCP Mode

(based on MAC

address)

4 0 0

HarshIO module gets its IP address, IP mask address and gateway address according DHCP method based on MAC address. It will send the DHCP request indefinitely until receiving an IP

DHCP Mode

(based on Client

ID=”BRAD_xy”)

[0 to 9]

[1 to 9]

HarshIO module gets its IP address, IP mask address and gateway address according DHCP method based on Client ID=”BRAD_xy”. It will send the DHCP request indefinitely until receiving an IP (yz) in the range from 1 to 99 can be allocated

x100

x10

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Stored IP

Address

5 0 0

HarshIO module gets its IP address, IP mask address and gateway address according information stored in its nonvolatile memory

Note!

The module will start in DCHP mode until a new mode is configured via Explicit messages (attr3 object 0xF5)

Module Reset

9 0 0

EtherNet/IP protocol is not started. Factory default values below will be applied at the next power cycle with new rotary position.

▪ IP address: DHCP ▪ Subnet mask: 0.0.0.0 ▪ Gateway: 0.0.0.0 ▪ ETH1 port: Auto negotiation + Auto-MDI ▪ ETH2 port: Auto negotiation + Auto-MDI ▪ ACD Enabled ▪ QuickConnect Disabled

Update

Firmware

9 9 9

The module enters in the update firmware mode.

All other rotary

positions

a b c

Same behavior than position 5 0 0

Note When switching from DHCP mode to Static IP mode (attr3 of object TCP/IP 0xF5), the mask of the IP address will always be 255.255.255.0.

Note When switching from DHCP mode to Stored IP mode (attr3 of object TCP/IP 0xF5), the IP address and the mask will be the ones obtained from the DHCP mode

Note The IP mask address and gateway address are the ones stored in the Flash memory of the module. If you want to change these parameters, you can send explicit messages command to the module (attr5 of object TCP/IP 0xF5). See section here.

Note When using Static IP and DHCP modes, it is not possible to store an IP address using CIP Explicit messages (attr5 of object TCP/IP 0xF5)

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I/O connectors

Pinout and orientation

M12 Ultra-Lock, 5-pole, female, A-Coded

I/O Connector - Description

24VDC (L+)

Configurable Digital Input (DI) or Output (DO) -

GND (L-)

Configurable Digital Input (DI) or Output (DO)

Not connected

LEDs

6 Two-color red/green LED for even channel indicator– Pin4

Two-color red/green LED for odd channel indicator– Pin2

Note

The 4 I/O Ports are powered by UB. Shell of each I/O Port connector is connected to Protective Earth. Refer to Chapter

Protective and functional earth connection.

Note

M12 accessories (cordsets, plugs …) connected to the module I/O and network

connectors shall be screwed with a torque of 2.0 Nm to ensure a correct sealing to achieve IP67 rating.

Note At the module start up and before the first connection with the PLC, Pin #2 & Pin #4 are configured as Digital Input.

Warning!

Do not connect a MDR to the I/O port. It may damage the MDR and the IO module

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Channel LEDS and status bits

The table below shows the LEDs behavior, the description and the corresponding status bits.

LEDs channels

LED indication pattern

Input process data (Status bit)

State & Description

C0 to C7 (Pin 2 & 4)

OFF

No error

DI configured but not activated DO configured but not energized

Fixed green

No error

DI activated. DO energized.

Fixed red

CSx=1

DO: when shorted to ground

OVUB =1

DO energized and UB overvoltage

OLUB =1

DO energized and UB overload

UVUB =1

DO energized and UB under voltage

OVUL =1

DO energized and UL overvoltage

UVUL =1

DO energized and UL under voltage

OLUL=1

DO energized and UL overload

PSx=1

L+ is shorted (Pin 1)

CSx: Channel Status (x = Channel number) UVx: Under Voltage (x = UL or UB) OVx: Over Voltage (x = UL or UB) OLx: Over Load (x = UL or UB) PSx: Port Status (x = Channel number) - state of the pin1 (L+)

Note If L+ is shorted (Pin 1) or Pin4/Pin2 are shorted, the 2 LEDs port will be fixed red but the digital outputs will continue to be driven by the PLC.

Note There is no short detection on Pin 3 and Pin 5. They are all protected against short.

Communication breakdown strategy

In the event of loss of bus communication (released or lost) or when ETHERNET/IP scanner goes to Idle mode (PROG mode), the following strategy will be applied:

- the configurable digital outputs fallback values (reset or hold) will be applied.

- the digital inputs keep reporting to the ETHERNET/IP scanner (no impact)

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MDR connectors

Pinout and orientation

M12 Ultra-Lock, 5-pole, female, A-Coded

Itoh Denki PM500XE/XP MDR Connector -

Description

Interroll EC310 MDR Connector -

Description

+24 VDC

Direction rotation (Output)

0 VDC

Status (Input – Interroll only)

Start / Stop (Output- Itoh only) 5 Analog speed (0-10V) *

LEDs

Two-color red/green LED for MDR diagnostic

* Admissive tolerance: 0.2V

Note

The 4 MDR ports are powered by UL. Shell of each MDR Port connector is connected to Protective Earth. Refer to Chapter

Protective and functional earth connection.

Note Each MDR Port connector shall be screwed to the M12 cable connector with a torque of

2.0 Nm to ensure a correct sealing to achieve IP67 rating.

Warning!

Do not connect an IO device to the MDR port. It may damage the IO device and the IO module

1 2 3

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Port LEDS and status bits

LEDs

LED indication pattern

Input process data (Status bit)

State & Description

M0 to M3

OFF UVUL=1

UL not present

MDR TDx=0

No MDR connected / detected

Fixed green

MDR TDx=1 or 2 MDR OSx=0

MDR powered up, detected & stopped with counterclockwise direction

Blinking green

MDR TDx=1 or 2 MDR OSx≠0

MDR powered up, detected & running with counterclockwise direction

Fixed orange

MDR TDx=1 or 2 MDR OSx=0

MDR powered up, detected & stopped with clockwise direction

Blinking orange

MDR TDx=1 or 2 MDR OSx≠0

MDR powered up, detected & running with clockwise direction

Fixed red*

MDR Sx=1

MDR error

- electrical or temperature errors

- Interroll error status on Pin4 activated

Blinking red

MDR detection fault (ex: Mixed MDR configuration)

* Fallback strategy applied – see below

Fallback strategies

The following fallback strategy will be applied on a specific port where L+ is shorted (Pin 1):

- MDR LEDs go to fixed red.

- Pin1 set to 0V (Power)

- Pin2 set to 0V (Direction - counterclockwise)

- Pin5 set to 0V (Speed)

- Pin4 set to 0V (Stop - Itoh Denki only)

The following fallback strategy will be applied on a specific port where over temperature (>85°) is detected:

- MDR LED will be fixed red

- Pin1 set to 24V (Power)

- Pin2 set to 0V (Direction - counterclockwise)

- Pin5 set to 0V (Speed)

- Pin4 set to 0V (Stop - Itoh Denki only)

Therefore, the Interroll MDR will be braked and stopped immediately while the Itoh Denki MDR will continue to turn until it stops by itself.

Communication breakdown strategy

In the event of loss of bus communication (released or lost) or when the ETHERNET/IP scanner goes to Idle mode (Prog mode), the following strategy will be applied on all ports:

- MDR LEDs will be fixed green/orange

- Pin1 set to 24V (Power)

- Pin2 set to 0V (Direction - counterclockwise)

- Pin5 set to 0V (Speed)

- Pin4 set to 0V (Stop - Itoh Denki only) In such case, the MDRs will be braked by applying the stop ramp (if enabled) and will be restarted by applying the start ramp (if enabled) once the communication is back.

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Protective and functional earth connection

The protective earth (PE) shall always be connected to ground to ensure proper operation of the module. The two-functional earth (FE1 & FE2) are not connected to the protective earth (PE).

Note!

3 screw terminals protective and functional earth connections (PE / FE1 / FE2) are galvanically isolated.

Protective Earth (PE)

Functional Earth N°1 (FE1)

Functional Earth N°2 (FE2)

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35 • IP67 MDR for EtherNET/IP

According to its position, the shield plate offers different functional earth connection to ground.

Switch

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5. I/O Data mapping

I/O Messaging

HarshIO module supports up to a maximum of 8 I/O connections. Fewer connections allow faster data I/O update rates (RPI value).

I/O Connections: HarshIO module supports 2 transport Class 1 I/O connections (Cyclic and Change-Of-State triggers):

- 1x Exclusive Owner

- Unicast or Multicast (T=>O) connection

- Unicast (O=>T) connection o 7x Listen Only or Input Only (8 Input Only connection if no Exclusive Owner connection)

- Multicast or Unicast (T=>O) connection

Note!

Listen Only connection allows a second Ethernet/IP scanner connected to the network to listen the Input process data. For example, this feature is useful to share easily Inputs with a HMI/Scada application.

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EtherNet/IP Assembly instances

The I/O process data are available through the EtherNet/IP assembly instances. Below the list according to the connection type.

Input Assembly

Data length (bytes)

Output Assembly

Data length (bytes)

Configuration Assembly

Data length (bytes)

EDS entry Exclusive Owner

Digital I/O

101

103

105

2 (or 0 )

Exclusive Owner

Digital I/O & Diagnostic

102

104

105

2 (or 0 )

Exclusive Owner with Diagnostic data

Input Only

Digital Input

101

198 0 105

2 (or 0 )

Input Only

Digital Input & Diagnostic

102

198 0 105

2 (or 0 )

Input Only with Diagnostic data

Listen Only

Digital Input

101

199 0 105

2 (or 0 )

Listen Only

Digital Input & Diagnostic

102

199 0 105

2 (or 0 )

Listen Only with Diagnostic data

Note!

If your EtherNet/IP scanner configuration tool does not support the management of EDS files, you may have to configure manually the assembly numbers to access the process data.

– Example of HarshIO assembly setting

in Rockwell Automation RSLogix 5000 software –

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Assembly #101 – Input Process & Error Status Data

Input Process Data (56 bytes)

Bit

Offset (in byte)

7 6 5 4 3 2 1 0 00

PS7

PS6

PS5

PS4

PS3

PS2

PS1

PS0

CS7

CS6

CS5

CS4

CS3

CS2

CS1

CS0

reserved

OLUL

OVUL

UVUL

reserved

OLUB

OVUB

UVUB

reserved

OTP3

OTP2

OTP1

OTP0

reserved

MDR S3

MDR S2

MDR S1

MDR S0

MDR TD0

MDR TD1

MDR TD2

MDR TD3

MDR OS0

MDR OS1

MDR OS2

MDR OS3

Input data, information & Error status

Cx: Channel (x = Channel number) as digital input - Pin2/Pin4 1: input activated 0: input disactivated

PSx: Port Status (x = Port number) - state of the pin1 (L+) 1: Overload / short detected 0: No error

CSx: Channel Status (x = Channel number) – State of the Digital Output – Pin2/Pin4 1: short circuit detected 0: No error

UVx: Under Voltage (x = UL or UB) 1: Under voltage detected 0: No error

OVx: Over Voltage (x = UL or UB) 1: Over voltage detected 0: No error

OLx: Over Load (x = UL or UB) 1: Over load detected 0: No error

OTPx: Over Temperature (x = MDR port number) This error status indicates when one of the module’s port reaches the temperature >85°. It is cleared when the port cools to the temperature <70°. 1: Over temperature detected 0: No error

Note!

If the temperature reaches 85° too frequently, the back label may be degraded due to altered resin. But there is no negative impact. The module will keep operating accurately.

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MDR Sx: MDR Status (x = port number). 1: Error detected 0: No error

MDR TDx: MDR Type Detected (x = MDR port number) 0: No MDR detected 1: Interroll EC310 2: Itoh Denki (PM500XE or PM500XP) There is no way to know what Itoh Denki models is detected

MDR OSx: MDR Operating Speed (x = MDR port number) Possible values:

- 0 to 15 for Interroll.

- 0 to 10 for Itoh Denki This input byte is not the real image of the current MDR dynamic speed. Refer to MDR Operating Speed

Assembly #102 – Input Process, Error Status & Operating information Data

Input Process Data (56 bytes)

Bit

Offset (in byte)

7 6 5 4 3 2 1

PS7

PS6

PS5

PS4

PS3

PS2

PS1

PS0

CS7

CS6

CS5

CS4

CS3

CS2

CS1

CS0

reserved

OLUL

OVUL

UVUL

reserved

OLUB

OVUB

UVUB

reserved

OTP3

OTP2

OTP1

OTP0

reserved

MDR S3

MDR S2

MDR S1

MDR S0

MDR TD0

MDR TD1

MDR TD2

MDR TD3

MDR OS0

MDR OS1

MDR OS2

MDR OS3

14 to 17

MDR SU0

17 to 21

MDR SU1

22 to 25

MDR SU2

26 to 29

MDR SU3

30 to 33

MDR OT0

34 to 37

MDR OT1

37 to 38

MDR OT2

39 to 43

MDR OT3

44 to 47

MSUT

48 to 49

VUL

50 to 51

CUL

52 to 53

VUB

54 to 55

CUB

Input data, information & Error status Operating information For Input data, information & Error status, please refer to Assembly #101 – Input process & error status data.

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MDR SUx: MDR Start-Up (x = MDR port number) This counter is incremented each time the start-up command is received. The value is stored in a non-volatile memory. A reset command is available in the output process data

MDR OTx: MDR Operating Time (x = MDR port number) This timer in second is the accumulated time elapsed between each start / stop command. The value is stored in a non-volatile memory. A reset command is available in the output process data

MSUT: Module System Up Time This is the time in second elapsed since the last module start-up (power-up or reset command).

Vx: Voltage applied in mV (x = UL/UB). Cx: Current applied in mA (x = UL/UB).

Assembly #103 – Output Process & Control Data

Output Process Data (8 bytes)

Bit

Offset (in byte)

7 6 5 4 3 2 1

reserved

MDR D1

MDR D2

MDR D1

MDR D0

reserved

MDR SS3

MDR SS2

MDR SS1

MDR SS0

reserved

MDR SP0

MDR SP1

MDR SP2

MDR SP3

MDR ST R0

MDR ST R1

MDR ST R2

MDR ST R3

MDR SP R0

MDR SP R1

MDR SP R2

MDR SP R3

Output data & Control Cx: Channel (x = Channel number) as digital output - Pin2/Pin4

1: output energized 0: output not energized

MDR Dx: MDR Direction (x = port number) 0: Counterclockwise 1: Clockwise

MDR SSx: MDR Start / Stop (x = port number) 0: Stop 1: Start

Note!

When MDR SSx is toggled from 1 to 0, Itoh Denki MDR will keep turning for a while until

it stops by itself (dynamic brake produced by his natural magnet of the motor’s

Rotor/Stator) while the Interroll MDR is stopped immediately. For any additional details, please contact Itoh Denki & Interroll.

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MDR SPx: MDR Set Speed (x = port number) Value from 0 to 15 – See the tables below

Interroll (meter/minute)

Reduction

Pin5

Voltage

9:1

12:1

16:1

20:1

24:1

36:1

48:1

64:1

96:1

1,75

1,31

0,98

0,78

0,65

0,44

0,33

0,25

0,16

9.96v

1,63

1,22

0,92

0,73

0,61

0,41

0,31

0,23

0,15

9.44v

1,51

1,13

0,85

0,68

0,57

0,38

0,28

0,21

0,14

8.9v

1,39

1,04

0,78

0,62

0,52

0,35

0,26

0,20

0,13

8.35v

1,27

0,95

0,72

0,57

0,48

0,32

0,24

0,18

0,12

7.8v

1,15

0,86

0,65

0,52

0,43

0,29

0,22

0,16

0,11

7.25v 9 1,03

0,78

0,58

0,47

0,39

0,26

0,19

0,15

0,10

6.7v 8 0,92

0,69

0,52

0,41

0,34

0,23

0,17

0,13

0,09

6.15v 7 0,80

0,60

0,45

0,36

0,30

0,20

0,15

0,11

0,07

5.6v

0,68

0,51

0,38

0,31

0,25

0,17

0,13

0,10

0,06

5.05v 5 0,56

0,42

0,32

0,25

0,21

0,14

0,11

0,08

0,05

4.5v

0,44

0,33

0,25

0,19

0,17

0,11

0,08

0,06

0,04

3.95v 3 0,32

0,24

0,18

0,15

0,12

0,08

0,06

0,05

0,03

3.4v 2 0,21

0,15

0,12

0,09

0,08

0,05

0,04

0,03

0,02

2.85v 1 0,09

0,07

0,05

0,04

0,03

0,02

0,01

2.4v

0 0 0

0 0 0 0 0 0 0v

Note: Admissible tolerance is 0.2v

Itoh Denki (meter/minute)

Reduction

Pin5

Voltage

Code 60

Code 30

Code 17

1,03

0,49

0,29

9.65v ±0.35 9 0,94

0,45

0,27

8.5v ±0.2

0,77

0,37

0,22

7.5v ±0.2 7 0,69

0,33

0,19

6.5v ±0.2

0,60

0,28

0,17

5.5v ±0.2 5 0,52

0,24

0,15

4.5v ±0.2 4 0,34

0,16

0,10

3.5v ±0.2 3 0,26

0,12

0,07

2.5v ±0.2

0,17

0,08

0,05

1.5v ±0.2 1 0,13

0,06

0,04

0.45v ±0.45

0,13

0,06

0,04

0.45v ±0.45

Note: Register value > 10 has no effect

Warning!

If the Itoh Denki start bit is set to 1 while the speed is set to 0, the motorized drive roller will turn. Please refer to the Itoh Denki user’s manual for more details

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MDR ST Rx: MDR Start Ramp (x = port number) The start ramp is the acceleration time that determines time that elapses for a MDR to increase its speed from 0 (stopped) to the set speed. The time range is 0 to 2.5s in 10ms increments. 0: inactive 1 to 250: 0.01s to 2.5s Example: MDR connected: Interroll EC310 with reduction 9:1 The MDR Speed register set to 7. The max speed value will be 0.8 m/s The MDR SR is set to 150. The start ramp will be 1.5s.

MDR SP Rx: MDR Stop Ramp (x = port number) The stop ramp is the deceleration time that determines time that elapses for a MDR to decrease its speed from the set speed to 0 (stopped). The time range is 0 to 2.5s in 10ms increments. 0: inactive 1 to 250: 0.01s to 2.5s Example: MDR connected: Interroll EC310 with reduction 9:1 The MDR Speed register set to 7. The max speed value will be 0.8 m/s The MDR SR is set to 150. The Stop ramp will be 1.5s.

0.8 m/s

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Assembly #104 – Output Process / Control Data & Reset Operating information

Output Process Data (8 bytes)

Bit

Offset (in byte)

7 6 5 4 3 2 1

reserved

MDR D1

MDR D2

MDR D1

MDR D0

reserved

MDR SS3

MDR SS2

MDR SS1

MDR SS0

reserved

MDR SP0

MDR SP1

MDR SP2

MDR SP3

MDR ST R0

MDR ST R1

MDR ST R2

MDR ST R3

MDR SP R0

MDR SP R1

MDR SP R2

MDR SP R3

reserved

MDR RC3

MDR RC2

MDR RC1

MDR RC0

Output Process & Control data Reset operating information

For Output Process / Control data, please refer to Assembly #103 MDR RCx: MDR Reset Counters (x = port number)

0: no reset 1: Reset both counters MDR SU & MDR OT for the concerned port number.

Note!

This is possible to read or write (reset) MDR SU & MDR OT counters independently using EtherNET/IP. Please contact the technical support to know how to proceed.

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Assembly #105 – Configuration Data

Output Process Data (8 bytes)

Bit

Offset (in byte)

7 6 5 4 3 2 1

CC7

CC6

CC5

CC4

CC3

CC2

CC1

CC0

FV7

FV6

FV5

FV4

FV3

FV2

FV1

FV0

CCx: Channel (x = Channel number) I/O Configuration This parameter allows to configure each channel as Digital Input or Digital Outputs 0: Input 1: output

FVx: Fallback value (x = Channel number). This parameter allows to configure the fallback value for each channel configured as digital output. 0: Set to 0 1: Hold last value (last output value will be maintained)

The fallback output behavior will be applied on digital outputs when:

- When the EtherNET/IP scanner is switched from RUN to PROG mode (Idle mode).

- In the event of power error and of loss of bus communication (released or lost).

6. MDR Features & Behaviors

MDR Startup

To start the MDR, the following steps need to be followed:

1- Set the speed register on each port 2- Set the desired direction (Clockwise / Counterclockwise) on each port 3- Enable / disable the RAMP function 4- Set the start signal register on each port 5- Check the status register to know the status

Note Because of switching on the power supply and the start signal at the same time results in peak currents in exceed of 5A, a time delay of 500ms will apply to avoid any damage to the MDR.

Note At the module start up and before the first connection with the PLC, the MDR ports are in Detection mode in a very short time. Therefore, the MDR should be connected to the port before powering up the module to ensure proper detection. If the MDR is connected to the port after the Detection mode is elapsed, no MDR will be detected (MDR TDx = 0). Moreover, the MDR type detected during the Detection mode will still be considered as being present if you disconnect the cable after the Detection mode. Therefore, we strongly recommend to not swap 2 different MDR types without a module power cycle.

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MDR Operating Speed

MDR OSx: MDR Operating Speed (x = MDR port number) Possible values:

- 0 to 15 for Interroll.

- 0 to 10 for Itoh Denki This byte is not the image of the current MDR dynamic speed. It is strongly dependent on MDR Start / Stop

(MDR SSx), MDR Start Ramp (MDR ST Rx), MDR Stop Ramp (MDR SP Rx) and MDR Set Speed (MDR SPx). It works as follows.

- When MDR SSx is toggled from 0 to 1:

▪ If MDR ST Rx = 0 and MDR SP =5, MDR OSx is toggled from 0 to 5 instantaneously.

▪ If MDR ST Rx = 100 (1000ms) and MDR SP = 5, MDR OSx value will increase from 0 to 5 within 1s.

- When MDR SSx is toggled from 1 to 0:

▪ If MDR SP Rx=0 and MDR SP = 5, MDR OSx is toggled from 5 to 0 instantaneously

In such case, the Interroll MDR is stopped while Itoh Denki MDR keeps turning. See Output process

data mapping MDR Start / Stop bit.

0.56 m/s

0.56 m/s 5

0.56 m/s

0.44 m/s

0.32 m/s

0.21 m/s

0.09 m/s

0.56 m/s

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▪ If MDR SP Rx = 100 (1000ms) and MDR SP= 5, MDR OSx value will decrease from 5 to 0 within 1s.

In such case, the Interroll MDR is stopped while Itoh Denki MDR keeps turning. See Output process

data mapping MDR Start / Stop bit.

7. Getting started

Packaging content

Each product packaging includes:

• 1x HarshIO 600 MDR IO module

• 9 x plastic labels (for digital channel labeling)

• 4 x M12 male closure caps (for sealing unused ports)

• Flyer

Out of box settings

IP address: DHCP Subnet mask: 0.0.0.0 Gateway: 0.0.0.0 ETH1 port: Auto negotiation + Auto-MDI ETH2 port: Auto negotiation + Auto-MDI ACD Enabled

Connection instructions

1. I/O wiring

Wire the inputs and/or outputs devices according to the drawings of chapter I/O connectors by using M12/Ultra-Lock (A-code) connectors.

0.56 m/s

0.44 m/s

0.32 m/s

0.21 m/s

0.09 m/s

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Connect the MDR on the ports

2. Power wiring

• Connect 24 VDC power supply to the Power connectors (to both UL and UB) of the HarshIO

module.

3. Communication wiring

• Connect the first HarshIO module to the EtherNet/IP scanner with the appropriate Ethernet

network cable and the desired topology

4. Apply Power

Switch on the power supply module and observe the LEDs status indicator. If the module is correctly wired, then the following LEDs status indicator should be:

LED

indication

pattern

Module state

Fixed green

Actuator voltage present

Fixed green

Logic/Communications/sensor voltage present

Cx LEDs (Pin 2 & Pin4)

OFF

DI is not set / D0 is not energized

MDR LEDs

Fixed orange

MDR powered up, detected & stopped with counterclockwise direction

Link ETHx

Blinking green

100 MB + No activity

NET (Network fault)

OFF

No IP address assigned

MOD (Module fault)

Blinking green

Module is started but no configuration received from the PLC

Note!

The result above is applicable if there is no EtherNET/IP connection between the EtherNet/IP scanner and the HarshIO module.

Rockwell Studio 5000

We provide multiple materials for a better integration of the HarshIO module into Studio 5000 from this link:

- The technical note “Getting started with RS Studio5000” for better integration.

- EDS file.

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8. Web Server Interface

The web server interface offers the user a convenient and simple method for the diagnosis of HarshIO through a web browser (Internet Explorer, Firefox…).

To do so:

• Connect your computer to the HarshIO module

• Launch your web browser

• Enter the HarshIO IP address into your web browser

Note!

There is no login and no password to access the web interface.

Hardware/Firmware Module information

This page shows the main information about the selected HarshIO module.

Figure 13-1

Note!

Be careful about your Internet Explorer options; parameters like “Proxy Server” can block the access to the HarshIO web server interface.

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Ethernet network information

This page shows the status of the Ethernet switch ports.

Figure 13-2

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EtherNET/IP diagnostic information

This page shows the current connection status (in relation with the EtherNET/IP scanner) of the HarshIO module.

Figure 13-3

The Status of the module could be:

• Connected

• Connection lost (TIMEOUT)

• Connection closed

• No connection

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Event logger

This page lists all the events of the HarshIO module.

Figure 13-4

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Power supply information and channel status

This page shows some power supply diagnostic information and channel status.

Figure 13-5

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General Drive Rollers information

This page shows the main information about the current state (Start/Stop, Direction, Speed Ramp) of each connected Motors simultaneously.

Figure 13-6

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Figure 13-7

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Figure 13-8

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Motor X information

This page provides some diagnostic & operating information of each motor.

Figure 13-6

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Energy

This page provides some information about the voltage and current consumed.

Figure 13-7

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9. EtherNet/IP Object Classes

The following services are accessible by using EtherNet/IP Explicit Messaging.

Identity (0x01)

This object allows reading the identity of the module.

Class Attributes

Description

Get

Set

Limits

Revision

⚫



Max Instance

⚫



Number of instances

⚫



⚫ Supported  Not supported

Class Services

Service

Param. Options

01h

Get_Attributes_All

0Eh

Get_Attribute_Single

Instance Attributes

Description

Get

Set

Values

4 Pins

5 Pins

01h

Vendor Id

⚫



02h

Device Type

⚫



03h

Product Code

⚫



0x755

0x756

04h

Revision

⚫



Not yet defined

05h

Status

⚫



See table below

06h

Serial Number

⚫



12 digits

07h

Product Name

⚫



TCDEI-8YMP-DYU-G

TCDEI-8YMP-D1U-G

⚫ Supported  Not supported

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Description

Values

Owned

Set to 1 when at least one EO connection is present

Configured

Set to 1

Minor Recoverable fault

- Set when UB detect an under voltage

Major Recoverable fault

- Set when Rotary position changes

- Set when Configuration Control changes (attr3, 0xF5)

- Set when Interface Configuration changes (attr5, 0xF5)

- Set when IP address is lost.

Extended Status

At least one faulted I/O connection

Managed by stack.

No IO connection established

Managed by stack

Major Fault

Same as “Major Recoverable fault”

At least one I/O connection in Run mode

Managed by stack

At least one I/O connection established, all in Idle mode

Managed by stack

Instance Services

Service

Param. Options

01h

Get_Attributes_All

05h

Reset

0: supported

1: supported

2: supported

0Eh

Get_Attribute_Single

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Message Router (0x02)

Class Attributes

Description

Get

Set

Limits

Revision



4 Optional Attribute List



5 Optional Service List



6 Max ID of class attributes



7 Max ID of instance attributes



 Supported  Not Supported

Class Services

Service

Param. Options

Get_Attributes_All



Get_Attribute_Single



 Supported  Not Supported

Instance Attributes

Description

Get

Set

Limits

Object List



2 Maximum connections supported



3 Number of active connections



4 Active connections list



 Supported  Not Supported

Instance Services

Service

Param. Options

Get_Attributes_All



Get_Attribute_Single



 Supported  Not Supported

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Assembly (0x04)

This object allows to access I/O process data.

Class Attributes

Description

Get

Set

Limits

Revision

⚫



Max Instance

⚫



199

Number of instances

⚫



⚫ Supported  Not supported

Class Services

Service

Param. Options

0Eh

Get_Attribute_Single

Instance Attributes

Description

Get

Set

Limits

Data

⚫

Set command is not allowed if an exclusive owner connection is established

⚫ Supported  Not supported

Instance Services

Service

Param. Options

0Eh

Get_Attribute_Single

10h

Set_Attribute_Single

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Connection Manager (0x06)

Class Attributes

Description

Get

Set

Limits

Revision

⚫



Max Instance

⚫



Number of instances

⚫



⚫ Supported  Not supported

Class Services

Service

Param. Options

01h

Get_Attributes_All

0Eh

Get_Attribute_Single

Instance Attributes

Description

Get

Set

Limits

Open Requests

⚫



2 Open Format Rejects

⚫



3 Open Resource Rejects

⚫



Open Other Rejects

⚫



5 Close Requests

⚫



6 Close Format Requests

⚫



7 Close Other Requests

⚫



8 Connection Timeouts

⚫



⚫ Supported  Not supported

Instance Services

Service

Param. Options

01h

Get_Attributes_All

0Eh

Get_Attribute_Single

4Eh

Forward_Close

54h

Forward_Open

Class 1 / Class 3

5Bh

Large_Forward_Open

Class 3 only

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TCP/IP Interface (0xF5)

Class Attributes

Description

Get

Set

Limits

Revision

⚫



Max Instance

⚫



Number of instances

⚫



⚫ Supported  Not supported

Class Services

Service

Param. Options

01h

Get_Attributes_All

0Eh

Get_Attribute_Single

Instance Attributes

Id Description

Get

Set

Values

NRAM

Rotary

DHCP

Static

DHCP

Static

Status

⚫



Obtained by BOOTP, DHCP or stored Value

Valid con obtained by hardware setting

I/F Configuration Pending: The bit 5 shall be set to 1 when the Interface configuration has changed (Set new IP parameters in the attribute #5 or rotaries change).

ACD Fault: The bit 6 shall be set to 1 if the attribute #11 is not empty.

Configuration Capability

⚫



- DHCP Client

- Config. Settable

- Hardware Configurable

- Interface Configuration change requires reset

- ACD capable

→ Expected values = 0xF4

Configuration Control

⚫

DHCP

Stored Value

DHCP

Stored Value

Physical Link

⚫



0x20 0xF6 0x24 0x03

Interface Configuration

⚫

Current values (see Rotaries chapter for details on how IP is calculated when set by rotaries)

Host Name

⚫

Values from DHCP server

Last saved values

Value is cleared at each reboot when IP is configured using rotaries thus:

- Empty if no “set attribute” has been done since last reboot.

- Current values in other cases

Safety Network Number



N/A 8 TTL Value



N/A

Mcast Config



N/A

Select ACD

⚫

Current ACD configuration

LastConflictDetected

⚫

If a conflict was detected return the last values else all values to 0

EtherNet/IP Quick_Connect

⚫

Current Quick Connect

Encapsulation Inactivity Timeout

⚫

Current Values (default 120)

⚫ Supported  Not supported

Instance Services

Service

Param. Options

01h

Get_Attributes_All

0Eh

Get_Attribute_Single

10h

Set_Attribute_Single

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Ethernet Link (0xF6)

Class Attributes

Description

Get

Set

Limits

Revision

⚫



Max Instance

⚫



Number of Instance

⚫



⚫ Supported  Not supported

Class Services

Service

Param. Options

01h

Get_Attributes_All

0Eh

Get_Attribute_Single

Instance Attributes

Description

Get

Set

Values

Instance 1

(ETH 1)

Instance 2

(ETH 2)

Instance 3

Internal Port

Interface Speed

⚫



Current Speed

100

Interface Flags

⚫



Link Status: shall be set is a link is present on module Half/Full Duplex: shall reflect the duplex of the port Negotiation Status:

- If no Link : Auto-negotiation not attempted (in this case Link Status and Half/Full

Duplex forced to “not set”)

- If Link and attr6 not in Auto-negotiate: Auto- negotiation not attempted

- Other case: Current auto-negotiation result

- Link Status set

- Half/Full Duplex set

- Auto-negotiation no attempted set

Physical Address

⚫



Mac address (All line below shall be consistent):

- Displayed on the back label and on side label.

- use by the module on Ethernet

Interface Counters

⚫



Media Counters

⚫



Interface Control

⚫

Current configuration

Interface Type



Twisted-Pair

The I/F is internal to the device

Interface State



The interface is enabled

Admin State

⚫



Enable the interface

Interface Label

⚫



ETH1

ETH2

Internal Port

Capabilities

⚫



100, Half (0) / 100, Full (1)

100, Full (1)

⚫ Supported  Not supported

Instance Services

Service

Param. Options

01h

Get_Attributes_All

0Eh

Get_Attribute_Single

10h

Set_Attribute_Single

4Ch

Get_and_Clear

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File (0x37)

Class Attributes

Description

Get

Set

Limits

Revision

⚫



Max Instance

⚫



200

Number of Instance

⚫

