Wieland Electric samos PRO COMPACT User Manual
samos
®
PRO
samos
®
PRO
COMPACT
Manual
Doc. no. BA000970
Last Update: 11/2016 (Rev. F)
-Gateways
Info
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
2
Info
810920587
Copyright
This document is copyright-protected. The rights derived from this copyright are reserved for
Wieland Electric. Reproduction of this document or parts of this document is only permissible
within the limits of the statutory provision of the Copyright Act. Any modification or abridgment of the document is prohibited without the express written agreement of Wieland Electric.
samos is a registered trademark of WIELAND Electric GmbH
Allen-Bradley, CompactBlock Guard I/O, CompactLogix, ControlFLASH, ControlLogix, DH+,
FactoryTalk, FLEX, GuardLogix, Kinetix, Logix5000, MicroLogix, PanelBuilder, PanelView, PhaseManager, PLC-2, PLC-3, PLC-5, POINT I/O, POINT Guard I/O, Rockwell Automation, Rockwell
Software, RSBizWare, RSFieldbus, RSLinx, RSLogix 5000, RSNetWorx, RSView, SLC, SoftLogix, Stratix, Stratix 2000, Stratix 5700, Stratix 6000, Stratix 8000, Stratix 8300, Studio 5000,
Studio 5000 Logix Designer, SynchLink, and Ultra are registered trademarks of Rockwell Automation, Inc.
ControlNet, DeviceNet, and EtherNet/IP are registered trademarks of ODVA, Inc.
TwinCAT is a registered trademark of Beckhoff Automation GmbH.
EtherCAT is a registered trademark and a patented technology licensed by Beckhoff Automation GmbH.
Microsoft, Windows 98, Windows NT, Windows 2000, Windows XP, Windows 7, Windows 8,
and .NET Framework are registered trademarks of the Microsoft Corporation.
Any other product or trade names listed in this manual are the trademarks or registered trademarks of the respective owners.
Subject to change.
Subject to technical changes for reasons of continued development.
Table of Contents
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
3
1
About this manual
8
1.1
Function of this document
8
1.2
Scope of validity and applicable documents
9
1.3
Target audience
9
1.4
Information depth
10
1.5
Abbreviations and Definitions
11
1.6
Symbols/icons and writing style/spelling standard used
14
2
Safety
15
2.1
Qualified persons
15
2.2
Proper use
15
2.3
Environmentally friendly behavior
16
2.3.1
Disposal
16
2.3.2
Sorting of materials
16
3
Product description
17
3.1
Version, compatibility, and features
17
3.2
Equipment variants
18
3.3
Data transferred to the network (network input data sets)
19
3.3.1
Direct gateway output values
22
3.3.2
Module state / input and output values
22
3.3.3
Transmission of data from a second network
23
3.3.4
Configuration test values (CRCs)
23
3.3.5
Error and state information for the modules
23
3.4
Data received from the network (network output data sets)
27
4
Installation and basic configuration
28
4.1
Installing/removing
28
4.1.1
Installing modules on standard rail
28
4.1.2
Removing modules from normal rail
31
4.2
Electrical installation
33
4.3
Initial configuration steps
34
5
Configuration of gateways
35
5.1
The graphic user interface (‘Gateway’ view)
35
5.1.1
When the "Gateway" view is active
35
5.1.2
Work area
37
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5.1.3
Sidebars
39
5.1.4
Commands
41
5.2
Function and basic settings
42
5.2.1
Routing
42
5.2.2
Basic settings for the operating data
42
5.3
Configuring the gateway output values (tab 1)
44
5.4
Editing the gateway input values (tab 2)
46
5.5
Monitoring operating data
48
6
Modbus TCP gateway
49
6.1
Interfaces and operation
49
6.2
Basic configuration – allocation of an IP address
50
6.3
Configuration of the Modbus-TCP interface to the PLC - how the
data are transferred
52
6.4
Diagnosis and troubleshooting
59
6.5
State bits
61
7
PROFINET IO-Gateway
62
7.1
Interfaces and operation
62
7.2
Basic configuration - Assigning a device name and an IP address
63
7.3
PROFINET configuration of the gateway - how the data are transferred
65
7.4
PROFINET configuration of the gateway - which data are transferred
68
7.5
Diagnostics and troubleshooting
73
7.6
Deactivation of the PROFINET IO function
75
7.7
State bits
75
8
EtherNet/IP gateway
76
8.1
Interfaces and operation
76
8.2
Datasheet
76
8.3
Basic setup
77
8.3.1
Basic configuration of PLC
77
8.3.2
Basic configuration of the controller module
81
8.3.3
Configuring the data to PLC
82
8.3.4
Configuring the usage of data from PLC
83
8.4
Supported CIP Objects
84
8.4.1
Identity Object
84
8.4.2
Assembly Object
85
8.4.3
Discrete Input Point Object
86
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8.4.4
Discrete Output Point Object
88
8.4.5
Discrete Input Group Object
89
8.4.6
Discrete Output Group Object
90
8.4.7
PCCC Object
91
8.4.7.1
PCCC Telegram Structure
91
8.4.7.2
Word Range Write
92
8.4.7.3
Word Range Read
92
8.4.7.4
Typed Write
93
8.4.7.5
Typed Read
93
8.4.7.6
Protected Typed Logical Read with 2 Address Fields
95
8.4.7.7
Protected Typed Logical Write with 2 Address Fields
95
8.4.7.8
Protected Typed Logical Read with 3 Address Fields
96
8.4.7.9
Protected Typed Logical Write with 3 Address Fields
96
8.4.8
Vendor Object
97
8.4.8.1
Instance 1
97
8.4.8.2
Instance 2
97
8.4.8.3
Instance 3
97
8.4.8.4
Instance 4
97
8.4.8.5
Instance 5
97
8.4.8.6
Instance 6
98
8.4.8.7
Instance 7
98
8.5
Supported Assembly data
101
8.5.1
List of Assembly data
101
8.5.2
Assembly Instances for Logic Output Bytes
103
8.5.2.1
Assembly Instance 37 = 0x25
103
8.5.2.2
Assembly Instances 138 = 0x8a to 141 = 0x8d
103
8.5.3
Assembly Instances for Logic Input Bytes
104
8.5.3.1
Assembly Instance 57 = 0x39
104
8.5.3.2
Assembly Instances 167 = 0xa7
104
8.6
Accessing to CIP objects
106
8.6.1
Explicit Messaging
106
8.6.2
Implicit Messaging
106
8.6.3
Symbolic Addressing
107
8.7
Adjust Performance
108
8.8
Connection with more than one PLC
108
8.9
Diagnostics and troubleshooting
109
8.9.1
Notifications via network
109
8.9.1.1
Explicit Message Connection
109
8.9.1.2
Implicit Message Connection
109
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8.9.2
LED States
109
8.9.2.1
MS (Module Status)
109
8.9.2.2
NET (Network Status)
110
8.9.2.3
LINK
111
8.9.2.4
ACT (Activity Status)
111
8.9.3
Diagnostic functions in the configuration software
112
8.10
State bits
113
9
PROFIBUS DP gateway
114
9.1
Interfaces and operation
114
9.2
Projecting
118
9.3
PROFIBUS configuration of the gateway - how the data are transferred
121
9.4
Diagnosis and troubleshooting
127
10
CANopen gateway
129
10.1
Interfaces and operation
129
10.2
CANopen configuration of the gateway - how the data are transferred
134
10.3
CANopen configuration of the gateway - which data are transferred
137
10.4
NMT – network management
138
10.5
SYNC
139
10.6
Emergency
140
10.7
Node guarding
144
10.8
PDO communication
145
10.9
SDO communication
147
10.10
SDO object directory
149
10.11
Guarding protocols
155
10.12
Error objects
157
10.13
CANopen diagnostic examples
160
10.14
Diagnosis and troubleshooting
163
11
EtherCAT Gateway
166
11.1
Interfaces and operation
167
11.2
EtherCAT basics
170
11.3
EtherCAT state machine
172
11.4
Bus topology and cabling
174
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11.5
Data transferred into the network
175
11.5.1
Data set 1
176
11.5.2
Data set 2
180
11.5.3
Data set 3
181
11.6
Data received from the network
183
11.7
Configuring an EtherCAT network
185
11.8
EtherCAT configuration of the gateway - how the data are transferred
186
11.9
Diagnostic LEDs on the gateway and troubleshooting
189
12
Technical data
192
12.1
Modbus TCP, PROFINET IO and EtherNet/IP gateway
192
12.2
EtherCAT gateway
192
12.3
PROFIBUS DP
192
12.4
CANopen gateways
193
12.5
Technical data for supply circuit
193
12.6
General technical data
194
12.7
Dimensional drawings
195
12.7.1
Controller module
195
12.7.2
CANopen and PROFIBUS gateways
196
12.7.3
EtherCAT gateway
197
13
Order data
198
13.1
Hardware modules and accessories
198
13.2
Modules for contact expansion
200
About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
8
gateway manual
not
software manual
Hardware manual
installation instructions/brief instructions
1
1.1
About this manual
910719883
Please read this section carefully before you work with these operating instructions and the
samosPRO gateways.
Function of this document
910721419
There are three manuals for the samosPRO system with clearly delineated areas of application
as well as installation instructions and brief instructions for each module.
• This
• The
• The
• Each module contains the
This manual contains original operating instructions in accordance with the Machinery Directive.
describes all samosPRO gateways and their functions in detail. It instructs the technical staff of the machine manufacturer or machine operator in the safe installation, configuration, electrical installation, commissioning, operation and maintenance
of the samosPRO gateways.
This manual does
provide operating instructions for the machine, which incorporates
modular samosPRO safety controls and a samosPRO gateway. Information in this regard is
provided in the operating instructions for each machine.
This manual is only valid in combination with the other samosPRO manuals (see
validity and applicable documents [ch. 1.2, p. 9]
describes the software-supported configuration and parameterizati-
).
Scope of
on of the samosPRO safety control. In addition, the software manual contains a description
of the important diagnostic functions for operation and detailed information for identifying
and eliminating errors. Use the software manual mainly when configuring, commissioning
and operating samosPRO safety controls.
describes all of the modules and their functions in detail. Use the
hardware manual mainly for designing devices.
. These instructions
provide information on the fundamental technical specifications of the modules and contain simple installation instructions. Use the installation instructions/brief instructions when
installing the samosPRO safety control.
About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
9
Document
Title
Item number
Software manual
samosPLAN5+ software
BA000968
Hardware manual
samosPRO hardware
BA000966
Gateway manual
samosPRO gateways
BA000970
samosPRO)
fety control)
control)
(samosPRO-PROFIBUS-DP gateway)
(samosPRO-CANopen gateway)
(samosPRO EtherCAT gateway)
planners, developers
operators
1.2
1.3
Scope of validity and applicable documents
910727051
This manual applies to the following gateway modules:
• SP-EN-MOD
• SP-EN-PN
• SP-EN-IP
• SP-PROFIBUS-DP
• SP-CANopen
• SP-EN-ETC
Table 1: Overview of the samosPRO documentation
Operating instructions
Operating instructions
Operating instructions
Operating instruc-
SP-COPx
(Controller modules of the modular safety control
SP-SDI/SP-SDIO
(Expansion modules of the modular samosPRO sa-
SP-DIO
(Expansion module of the modular samosPRO safety
SP-PROFIBUS-DP
BA000978
BA000515
BA001033
BA000572
tions
Operating instruc-
SP-CANopen
BA000683
tions
Operating instruc-
SP-EN-ETC
BA000959
tions
Target audience
910723979
This manual is aimed at the
modular samosPRO safety controls and that want to exchange data with a field bus (controls)
via a gateway.
It is also aimed at persons commissioning a samosPRO gateway system for the first time or
maintaining such a system.
and
of systems that incorporate
About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
10
ATTENTION
Observing safety information and protective measures
1.4
Information depth
910725515
This manual contains information about the following topics related to samosPRO gateways:
• Installation
• Integration into the network
• Configuration with the samosPLAN5+ software
• Data transmission to and from the network
• State information, projection and associated mapping
• Item numbers
Observe the safety information and protective measures for the samosPRO gateways described in this manual.
Downloads are provided at the following link http://www.wielandinc.com/
Also consult our website on the Internet. At the following link http://www.wielandinc.com/,
you will find:
• the samosPLAN5+ software
• The samosPRO manuals available for display and printing in various languages:
– This gateway manual (BA000970)
– The hardware manual (BA000966)
– The software manual (BA000968)
• The GSD file of the SP-PROFIBUS-DP for PROFIBUS-DP
Important information
• The EDS file of the SP-CANopen for CANopen
About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
11
Term
Explanation
0b
The following are specified in binary format
ACD
Address Collision Detection
ANSI
American National Standards Institute, specified character coding
AOI
Add On Instruction
AOP
Add On Profile
API
Actual Packet Interval
NET IO between the PLC and the device
Attribute
Characteristic or property of an object
Bit
Data unit with a value of 0 or 1
which each of the 8 bits is viewed individually
CIP
Common Industrial Protocol
Cyclic Redundancy Check, a type or the result of a hash function for
revealing errors in the area of data storage or transmission
12 bytes of the relevant data set (depending
on the gateway used).
state data. A data set can consist of several data blocks.
I/O
Input/output
EPATH
Encoded Path, especially for CIP applications
technologies with CIP
Net/IP, PROFIBUS DB, CANopen, Modbus TCP, etc.
ID
An identifier or an identity
specification, version 3.18)
attribute values. (Reference: CIP specification, version 3.18)
ment
1.5
Abbreviations and Definitions
1127430283
{ } An element array or an element structure
0x The following are specified in hexadecimal format
Procedure error A procedure error occurs if, in redundant input circuits, the two
input signals are not equal. Monitoring of inequality is frequently
carried out within a tolerated time window.
AR Application Relation, unique communication relationship in PROFI-
BOOL Data type specified for CIP devices; stands for a value of 1 byte, in
Byte, BYTE Data unit, representing a sequence of 8 bits; without a plus/minus
sign, if not specified
Controller module Controller from the samosPRO COMPACT product family
CRC
Data block A data block contains 2-
Data set Describes a quantity of associated data, e.g. logic values or system
EtherNet/IP Industrially-used Ethernet network, combines standard Ethernet
Gateway Connection module for industrially-used networks, such as Ether-
Instance The physical representation of an object within a class. It stands for
one of several objects within the same object class. (Reference: CIP
IP Internet protocol
Class A series of objects representing a similar system component. A
class is a generalization of the object, a template for defining variables and methods. All the objects within a class are identical with
regard to function and behavior. However, they may have differing
LSB Low Significant Byte
MPI Measured Packet Interval; shows the API at the time of measure-
About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
12
Term
Explanation
MSB
Most Significant Byte
O→T
Originator to Target (sender to target device)
ODVA
Open Device Vendor Association
PC
Personal Computer
PLC
Programmable Logic Controller
RX
Receive
modules.
Examples: GetAttributeSingle, SetAttributeSingle
byte per character, 1 byte length code)
sion gateways and I/O modules.
puts and gateway functions, amongst other things
( PLC)
input circuits or using test pulses in input and output circuits.
immediate error recognition.
T→O
Target to Originator
transport layer specified in RFC 793
offs / interruptions in input
nuous basis.
ve test result and thus switch-off of the affected safety circuits.
TX
Transmit / Send
UCMM
Unconnected Message Manager
Data type specified for CIP applications
col, Internet standard protocol for the transport
layer specified in RFC 793
PCCC Programmable Controller Communication Command
RPI Requested Packet Interval
S/N Serial number
samosPLAN5+ Configuration software for controller modules of type SP-COP. The
software can be run on a PC and communicates with the controller
Service Service to be performed
SHORT_STRING Data type specified for CIP devices; stands for a character string (1
SINT Short integer = 1 byte
SP-COP Safety controller consisting of a controller module of the samosPRO
COMPACT product family, as well as optionally connectable expan-
SP-COP2-ENI Controller module, which is equipped with safety inputs and out-
PLC Programmable Logic Controller
Stuck-at high Stuck-at high is an error in which the input or output signal gets
stuck at On. The causes for a Stuck-at high can be short-circuits to
other input and output lines, often called cross-references, or defective switching elements. Stuck-at high errors are discovered
through plausibility tests, such as sequence errors in two-channel
Stuck-at low Stuck-at low is an error in which the input or output signal gets
stuck at Off. The causes of a stuck-at low can be line interruptions
in input circuits or defect switching elements. Stuck-at low errors
are discovered through plausibility tests and usually do not require
TCP Transmission Control Protocol, Internet standard protocol for the
Test pulses or scan
gaps
Test pulse error Test pulse errors are undetected test pulses, which lead to a negati-
Test pulses or scan gaps are brief switchand output circuits, which are generated in a targeted manner to
detect stuck-at high errors quickly. Test pulses check the switch-off
ability of switching elements during operation on an almost conti-
UDINT Unsigned double integer = 4 Bytes = 2 Words
UDP User Datagram Proto
About this manual
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
13
Term
Explanation
UDT
User Defined Type
Data type specified for CIP applications
without a plus/minus symbol
UINT Unsigned double integer = 2 Bytes = 1 Word
USINT Data type specified for CIP applications, which stands for 1 byte
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
14
NOTICE
These are notes that provide you with information regarding particularities of a device or a
software function.
Warning!
Please read and follow the warnings carefully!
to occur.
bold font
Edit
File
1.6
ATTENTION
About this manual
Symbols/icons and writing style/spelling standard used
840010507
A warning lets you know about specific or potential hazards. It is intended to protect you
from accidents and help prevent damage to devices and systems.
•
Failure to do so may negatively impact the safety functions and cause a hazardous state
Menus and commands
The names of software menus, submenus, options, and commands, selection fields, and
windows are written in
. Example: Click on
in the
menu.
Safety
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
15
and
and
ATTENTION
Do not operate a samosPRO gateway on a safety field bus!
related field bus data (state bytes) for control and diagnostic
cation within a safety network.
Do not use data from a samosPRO gateway for safety-related applications!
checked by a safety specialist.
ATTENTION
The safety instructions and precautions for use of samosPRO gateways must be adhered
to!
NOTICE
• Please follow the standards and guidelines valid in your country when installing and ope-
2
2.1
2.2
Safety
910731659
This section is intended to support your safety and the safety of the system users.
Please read this section carefully before you work with a samosPRO system.
Qualified persons
911377675
A safety controller with samosPRO gateways may only be installed, commissioned, and maintained by qualified persons.
Qualified persons are those who
• have suitable technical training
• have been trained by the machine operator in the operation and applicable safety guidelines
• have access to the samosPRO system operating instructions and have read them and duly
noted their contents.
Proper use
911379211
The samosPRO gateways can only be operated in conjunction with a samosPRO safety controller. The firmware version of the connected controller modules must be at least V1.0.0 and the
version of the samosPLAN5+ configuration software must be at least 1.0.0.
The samosPRO gateways do not have their own power supply.
The gateway modules are not suitable for operation with a safety field bus!
They do not only generate safetypurposes. They do not support any safety mechanisms that would be required for communi-
The samosPRO gateways can be used to integrate non-safety-related data into the logic editor in such a way that the safety function of the samosPRO system may be adversely affected.
ATTENTION
• Never integrate a gateway into a samosPRO system without having this source or risk
These modules may only be operated by qualified staff and may only be used on a machine on
which they have been installed and commissioned for the first time by a qualified person in accordance with this manual.
In the event of any other use or any changes to the device – including within the scope of
installation – this shall nullify any warranty claim with respect to Wieland Electric GmbH.
rating the samosPRO gateways.
• The national/international legal regulations apply to the installation and use of the modular samosPRO safety controls as well as for the commissioning and repeated technical
testing, particularly the following:
– EMC Directive 2004/108/EC,
– the Use of Work Equipment Directive 2009/104/EC,
– the accident prevention / safety regulations.
• The manual must be provided to the operator of the machine on which the samosPROsystem is to be used. The machine operator must be trained by qualified persons and is
required to read this manual.
Safety
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
16
ATTENTION
May only be used in an industrial environment
NOTICE
We will be happy to help you in disposing of these devices.
Simply contact us.
ATTENTION
Important information
Components
Disposal
electric connecting pieces
Cardboard, paper
Paper/cardboard recycling
2.3
2.3.1
2.3.2
The samosPRO system fulfills the requirements for class A (industrial applications) according
to the "Emitted interference" basic technical standard. The samosPRO system is therefore
only suitable for use in an industrial environment.
Environmentally friendly behavior
888332555
The modular samosPRO safety control and the corresponding modules are designed such that
they stress the environment as little as possible. They use only a minimum of power and resources.
Make sure that you also carry out work while always considering the environment.
Disposal
888334091
The disposal of unusable or irreparable devices should always be done in accordance with the
respectively valid country-specific waste-elimination guidelines (e.g. European Waste Code 16
02 14).
Sorting of materials
888335627
• The sorting of materials may only be carried out by qualified persons!
• Care must be used when disassembling the devices. There is a risk of injuries during this
process.
Before you can route the devices to the environmentally-friendly recycling process, it is necessary to sort the various materials of the samosPRO devices.
Separate the housing from the rest of the components (particularly from the PC board).
Place the separated components into the corresponding recycling containers (see the
following table).
Table 2: Overview of disposal according to components
Product
Housing
PC boards, cables, connectors, and
Packaging
Plastic recycling
Electronics recycling
Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
17
ATTENTION
Do not operate a samosPRO gateway on a safety field bus!
related field bus data (state bytes) for control and diagnostic
cation within a safety network.
NOTICE
Where not otherwise indicated, this manual always considers the data exchanged between
system and the relevant network from the point of view of the network master
data received from the network is termed output data.
Available with controller module version and higher
Feature/
functionality
SP-COP1-x
SP-COP2-EN-x
SP-COP2-ENI-x
samosPLAN5+
Modbus TCP
---
---
A-01
V1.0
PROFINET IO
---
---
B-01.xx
V1.2
EtherCAT (SP-EN-ETC)
C-01.xx
C-01.xx
C-01.xx
V1.3
EtherNet/IP
---
---
D-01.xx
V1.4
PROFIBUS DP
A-01
A-01
A-01
V1.0
CANopen
A-01
A-01
A-01
V1.0
3
3.1
Product description
910740875
samosPRO gateways allow a samosPRO system to transmit non-safety-related data for control
and diagnostic purposes to the external field bus system and to receive them.
The gateway modules are not suitable for operation with a safety field bus!
They do not only generate safety-
Important safety information
purposes. They do not support any safety mechanisms that would be required for communi-
Information on the function, configuration and designations
the samosPRO
(PLC). Thus data sent to the network from the samosPRO system is termed input data, while
Configuration of samosPRO gateways takes place via the samosPLAN5+ configuration software, using a PC or Notebook connected to the SP-COPx main module via the USB interface
or RJ45 Ethernet interface.
The safety-related logic of the samosPRO system works independently of the gateway. However, if the system has been configured in such a way that non-safety-related information from
the field bus can be integrated into the logic editor, switching off the gateway may result in
availability problems.
A samosPRO gateway can only be operated on a samosPRO system. It does not have its own
power supply. A maximum of two samosPRO gateways can be operated simultaneously for
each system.
The gateway for Modbus TCP, PROFINET IO or EtherNet/IP is integrated into the SP-COP2-ENI
controller module, while the gateways for Profibus-DP, CANopen or EtherCAT are housed in a
22.5 mm wide installation housing for 35 mm standard rails in accordance with EN 60715.
Order information:
Order data [ch. 13, p. 198]
Version, compatibility, and features
1184672907
There are various module versions and function packages for the samosPRO product family
that enable various functions. This section will give you an overview as to which module version, which function package, and/or which version of the samosPLAN5+ software you will
need to be able to use a certain function or a certain device.
Table 3: Required versions of the controller module
Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
18
Gateway
Module name
Versions
EtherCAT
SP-EN-ETC
A-011)
A-021)
PROFIBUS DP
SP-PROFIBUS-DP
A-02
A-03
CANopen
SP-CANopen
A-01
A-02
CANopen emergency messages are fully functional.
S/N
Gateway
Network type
Ethernet TCP/IP socket interface
slave operation
SP-EN-PN
PROFINET IO device
-
SP-EN-IP
EtherNet/IP device
-
SP-PROFIBUS-DP
PROFIBUS DP slave
–
SP-EN-ETC
EtherCAT slave
-
NOTICE
You will find the manufacturing date of a device on the type label in the S/N field in the for-
calendar week).
3.2
Table 4: Versions of the gateway modules
1)
The EtherCAT node ID cannot be saved in the gateway.
2)
The manufacturer-specific expanded diagnostics are fully functional.
3)
2)
3)
Info
• You can find the module version on the type plate of the modules.
• You will find the samosPLAN5+ software version in the main menu.
• The latest software version is available in the Internet at the following address
http://www.wielandinc.com/.
• Newer modules are backwards-compatible, which means that each module can be replaced with a module having a higher module version.
• You can find the date of manufacture for a device on the type plate in the
format <Product no.>yywwnnnnn (yy = year, ww = calendar week).
field in the
Equipment variants
910741899
There are three samosPRO gateways for various network types.
The Modbus TCP / PROFINET IO and EtherNet/IP gateway of the SP-COP2-ENI controller module or the external SP-EN-ETC gateway are suitable for Ethernet networks. The SPPROFIBUS-DP gateway and the SP-CANopen gateway are external field bus gateways without
an Ethernet function.
Table 5: Equipment variants and their main characteristics
SP-EN-MOD Modbus TCP with master and
Client/Server on Port 502
SP-CANopen CANopen slave –
mat yywwnnnn (yy = year, ww = calendar week, nnnn = consecutive serial number within a
Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
19
Logic results from
Input values
Output values
Output data
Test values
Error and state information
Data set 1
Data set 2
Data set 3
Data set 4
3.3
Data transferred to the network (network input data sets)
910743435
Available data
The samosPRO gateways can provide the following data:
• Operating data
–
37]
)
–
–
Module state / input and output values [ch. 3.3.1, p. 22]
–
samosPRO system (see
• Diagnostics
–
–
23]
Data sets
The physical modules are not presented as typical hardware modules in the network. Instead,
the data provided by the samosPRO system has been arranged in four
•
samosPLAN5+. In the form in which it is delivered, the content of data set 1 is preconfigured; it can be freely modified.
Details: see table
For the SP-PROFIBUS-DP gateway, data set 1 was divided into five input data blocks, with
data blocks 1–4 each containing 12 bytes and data block 5 two bytes.
For the SP-CANopen gateway, data set 1 was divided into four blocks, each with 8 bytes.
You will find more detailed information in the corresponding section for each gateway.
•
See table "Overview of input data sets 1-3 (basic settings for Modbus TCP)" below
•
four (4) bytes per module, with the controller module comprising 3 x 4 bytes. Details: see
table
"Meaning of module state bits" [ch. 3.3.5, p. 23]
•
(CRCs): (see
(max. 50 bytes) contains the operating data. It can be compiled with the aid of
(32 bytes) contains the test values (CRCs) for the system configuration.
(60 bytes) contains the state and diagnostic data for the various modules, with
(60 bytes) is currently filled with reserved values.
the samosPRO safety controller (see
(HIGH/LOW) for all samosPRO input expansion modules in the system
(HIGH/LOW) for all samosPRO input/output expansion modules (see
from another network, i.e. data received from a second gateway in the
Routing table [ch. 5.1.2, p.
)
Transmission of data from a second network [ch. 3.3.3, p. 23]
Configuration test values (CRCs) [ch. 3.3.4, p. 23]
:
Error and state information for the modules [ch. 3.3.5, p.
"Overview of input data sets" [ch. 3.3, p. 20]
input data sets
)
.
)
Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
20
Data set 1
Data set 2
Data set 3
Data set 4
EtherNet/IP
EtherNet/IP
EtherNet/IP
DP
(SDOs)1)
(SDOs)1)
CANopen gateway may be found here:
CANopen gateway [ch. 10, p. 129]
Readable with instance 2 of class 120
Readable with instance 3 of class 120 and byte 52 to 111 of assembly 167
Data set 1
Data set 2
Data set 3
Data set 4
Byte 0
Input values for Module 0 (I1..I8)
Module state SP-COPx
(IQ1..IQ4)
module inputs
(Q1..Q4, IQ1..IQ4)
module inputs
module inputs
module inputs
module inputs
Byte 7
Direct data (Off) 3
Reserved
le outputs
Byte 10
Direct data (Off) 6
Reserved
Byte 12
Input values for Module 1
State of Module 1
Byte 14
Input values for Module 3
State of Module 1
Byte 15
Input values for Module 4
State of Module 1
Byte 16
Input values for Module 5
State of Module 2
Byte 17
Input values for Module 6
State of Module 2
Byte 18
Input values for Module 7
State of Module 2
Byte 19
Input values for Module 8
State of Module 2
Byte 20
Input values for Module 9
State of Module 3
Byte 21
Input values for Module 10
State of Module 3
The following table provides an overview of which data sets are provided by which gateway.
Table 6: Availability of data sets 1–4
SP-COP2-ENI Modbus TCP
PROFINET IO
SP-EN-ETC EtherCAT EtherCAT EtherCAT -
SP-PROFIBUS-
PROFIBUS DP – – –
SP-CANopen CANopen CANopen
1)
The SP-CANopen is used to provide diagnostic data via CANopen SDO (service data ob-
jects). More information about how to provide state and diagnostic data with the aid of the
2)
3)
Table 7: Overview of input data sets 1–3 (basic setting for Modbus TCP)
Byte 1 Input values for Module 0 (I9..I16)
Byte 2 Input values for Module 0
Byte 3 Output values for Module 0
Modbus TCP
PROFINET IO
Project CRC
Modbus TCP
PROFINET IO
CANopen
Module state SP-COPx
Test pulse comparison, controller
Test pulse comparison, controller
Modbus TCP
PROFINET IO
–
Reserved
Byte 4 Direct data (Off) 0 System CRC
Test pulse comparison, controller
(PROFIBUS
Byte 5 Direct data (Off) 1 State of two-channel controller
DP and
EtherCAT)
Byte 6 Direct data (Off) 2 State of two-channel controller
Byte 8 Direct data (Off) 4 Reserved Stuck-at error at controller modu-
Byte 9 Direct data (Off) 5 Stuck-at error at controller modu-
le outputs
Byte 11 Direct data (Off) 7 Reserved
Byte 13 Input values for Module 2 State of Module 1
Reserved
Reserved
Reserved
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
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Data set 1
Data set 2
Data set 3
Data set 4
Byte 22
Input values for Module 11
State of Module 3
Byte 23
Input values for Module 12
State of Module 3
Byte 24
Output values for Module 1
State of Module 4
Byte 25
Output values for Module 2
State of Module 4
Byte 26
Output values for Module 3
State of Module 4
Byte 27
Output values for Module 4
State of Module 4
Byte 28
Output values for Module 5
State of Module 5
Byte 29
Output values for Module 6
State of Module 5
Byte 30
Output values for Module 7
State of Module 5
Byte 31 Output values for Module 8 State of Module 5
Byte 32
Output values for Module 9
State of Module 6
Byte 34
Output values for Module 11
State of Module 6
Status of Module 9
Byte 48
State of Module 10
Byte 49
State of Module 10
Byte 50
State of Module 10
Byte 51
State of Module 10
Status of Module 11
Byte 56
State of Module 12
Byte 57
State of Module 12
Byte 58
State of Module 12
Byte 59
State of Module 12
Length
50 bytes
32 bytes
60 bytes
60 bytes
NOTICE
When two-channel input or output elements have been configured for an I/O module, only
put or output state (on/off) for the corresponding element. It is
put/output.
NOTICE
The input values in data set 1 do not represent the physical state at the input terminals, but
the pre-processed input values that are used for logic processing.
Not available
Byte 33 Output values for Module 10 State of Module 6
Byte 35 Output values for Module 12 State of Module 6
Byte 36
…
Not allocated State of Module 7
…
Byte 47
Product description
Reserved
Byte 52
…
Byte 55
Not available
State of Module 11
…
the lowest bit constitutes the in
represented by the tag name of the element. The highest bit represents the state of this in-
Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
22
Module state
Size
Meaning
Assignment
Input data state
0 = error 1 = no error
reserved
Output data state
NOTICE
The input and output states of the SP-SDI and SP-SDIO modules is only available from firmware version V2.00.0.
Input values for I/O modules
Output values for I/O modules
3.3.1
3.3.2
Direct gateway output values
910745483
It is possible to write values directly from the logic editor to a gateway. Four bytes have been
reserved for this purpose in the basic settings for data set 1; however, up to the total number
of 50 bytes of data set 1 may be configured as direct gateway output values. You can obtain
additional information at:
Module state / input and output values
910746507
Direct gateway output values [ch. 5.3, p. 44]
The samosPRO gateways can transmit the input and output states of all modules connected to
the samosPRO system to the network. Data set 3 contains a non-modifiable configuration. Moreover, data set 1 can be adapted to contain up to 4 bytes of collective state information. Only
the input and output values for data set 1 have been predefined and these can be freely adapted. You will find more detailed information in the section on the relevant gateway, as well as
in the following section:
Configuration of gateways [ch. 5, p. 35]
Module state
The samosPRO gateways can transfer the state of the linked modules to the network. A total
of 4 bytes are available for this purpose.
Table 8: Module state
.
2 bytes One sum bit per module for the state
of the module inputs
Bit 0 = SP-COPx
Bit 1 = 1.
Extension module
2 bytes One sum bit per module for the state
of the module outputs
0 = error 1 = no error
Bit 2 = 2.
Expansion module …
Bit 13 = 1.
Gateway Bit 14 = 2.
Gateway Bit 15 =
You will find information about the meaning of the state bits at: software manual, Status bits
for controller modules (reference)
Input and output values for the modules
•
1 byte for data set 1 is available for every expansion module. The input values show the
state of the preliminary evaluation of the I/O module. This corresponds to the state of the
element in the controller module logic. The level at the associated terminal cannot be
clearly detected from this, as the data may be set to low, irrespectively of the level at the
input terminal, by means of the cross-connection detection or two-channel evaluation (e.g.
I1-18).
When two-channel input elements have been configured for an I/O module, only the lower-value bit represents the pre-evaluation state of the corresponding element (e.g. bit 0
for I1 and I2, bit 2 for I3 and I4, bit 4 for I5 and I6, bit 6 for I7 and I8). The higher-value bit
(bit 1, 3, 5 and 7) is used as follows in this case:
0 = error 1 = no error
•
1 byte for data set 1 is available for every module with outputs. The output values indicate
the state of the control information from the logic of the controller module for the relevant
element of the I/O module. The level of the associated terminals cannot be clearly detected
from this, as the output may be switched off via the cross-connection detection or the
overload connection function.
When two-channel output elements have been configured for an I/O module, only the lo-
Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
23
NOTICE
You can find an explanation of the technical terms used below here:
Abbreviations and Defi-
nitions [ch. 1.5, p. 11]
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 0
shut-off
state
state
Byte 1
current
current
current
current
3.3.3
3.3.4
3.3.5
wer-value bit represents the control information (e.g. bit 0 for Q1 and Q2, bit 2 for Q3 and
Q4, bit 4 for Q5 and Q6, bit 6 for Q7 and Q8). The higher-value bit (bit 1, 3, 5 and 7) is not
used as follows in this case (low):
Transmission of data from a second network
910747531
If your samosPRO system contains two gateways, it is possible to forward information which
the first gateway receives from a network (e.g. from a Modbus PLC) via the second gateway to
a second network (e.g. to a PROFIBUS master) and vice versa.
Configuration test values (CRCs)
910749067
Data set 2 contains the following configuration check values of the samosPRO system:
• Project CRC of the project file created with samosPLAN5+
• System-CRC, uniquely assigned to a module version, consisting of internal software and
hardware version
The CRCs are each 4 bytes in length. Data set 2 can be read only.
The project CRC with Modbus/TCP is transmitted in Big Endian format.
The system CRC is available from module version B-01.01 for PROFIBUS DP and EtherCAT.
Error and state information for the modules
910750603
Data set 3 and 4 contain the state information for the modules that will be transferred to the
network.
Ten bytes are transmitted for SP-COPx controller module. For each SP-SDI and SP-SDIO I/O
module, four bytes are transmitted in the Little Endian format, e.g. as a 32-bit word, with the
first byte being placed into the least significant byte of the whole number (extreme left) and
the fourth byte into the most significant byte of the whole number (extreme right).
Data sets 3 and 4 cannot be adapted.
Module state bits of the controller module SP-COPx
The module state bits have the following meaning, if not otherwise indicated:
0 = error
1 = no error
Reserved bits have the value 1
B2 state Collective
Module
Table 9: Meaning of module state bits of controller module SP-COPx (only for Modbus)
state output data
error fast
Module
state of
input data
B1 state Configura
tion state
Reserved Reserved IQ3+IQ4
A1 state External
module
IQ1+IQ2
power
requirement
0: Excess
current
1: no
excess
power
require-
ment
0: Excess
current
1: no
excess
Internal
module
Q3+Q4
power
requirement
0: Excess
current
1: no
excess
Reserved
Q1+Q2
power
requirement
0: Excess
current
1: no
excess
Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
24
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 2
son
son
son
son
son
son
son
son
Byte 3
son
son
son
son
son
son
son
Byte 4
son
son
son
son
Byte 5
not used
not used
not used
not used
not used
not used
not used
not used
Byte 6
not used
not used
Byte 7
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Byte 8
low
high
low
high
low
high
low
high
Byte 9
low
high
low
high
low
high
low
high
NOTICE
The module state bits for the SP-SDI and SP-SDIO modules are only fully supported from
firmware version 1.2.x.
I8 vs. T2/4
test pulse
compari-
I16 vs.
T2/4 test
pulse
compari-
Reserved Reserved Reserved Reserved IQ4 vs.
I15/I16
twochannel
state
0: Error
1: ok or
I7 vs. T1/3
test pulse
compari-
I15 vs.
T1/3 test
pulse
compari-
I13/I14
twochannel
state
0: Error
1: ok or
I6 vs. T2/4
test pulse
compari-
I14 vs.
T2/4 test
pulse
compari-
I11/I12
twochannel
state
0: Error
1: ok or
I5 vs. T1/3
test pulse
compari-
I13 vs.
T1/3 test
pulse
compari-
I9/I10
twochannel
state
0: Error
1: ok or
I4 vs. T2/4
test pulse
compari-
I12 vs.
T2/4 test
pulse
compari-
T2/4 test
pulse
compari-
I7/I8
twochannel
state
0: Error
1: ok or
I3 vs. T1/3
test pulse
compari-
I11 vs.
T1/3 test
pulse
compari-
IQ3 vs.
T1/3 test
pulse
compari-
I5/I6
two-
channel
state
0: Error
1: ok or
I2 vs. T2/4
test pulse
compari-
I10 vs.
T2/4 test
pulse
compari-
IQ2 vs.
T2/4 test
pulse
compari-
I3/I4
twochannel
state
0: Error
1: ok or
Reserved Reserved Reserved Reserved Reserved Reserved IQ3/IQ4
twochannel
state
0: Error
1: ok or
I1 vs. T1/3
test pulse
compari-
I9 vs. T1/3
test pulse
comparison
IQ1 vs.
T1/3 test
pulse
compari-
I1/I2
twochannel
state
0: Error
1: ok or
IQ1/IQ2
twochannel
state
0: Error
1: ok or
Q4
Stuck at
IQ4 (Out-
put)
Stuck at
Q4
Stuck at
IQ4 (Output)
Stuck at
Q3
Stuck at
IQ3 (Output)
Stuck at
Q3
Stuck at
IQ3 (Output)
Stuck at
Q2
Stuck at
IQ2 (Output)
Stuck at
Q2
Stuck at
IQ2 (Out-
put)
Stuck at
Q1
Stuck at
IQ1 (Output)
Stuck at
Q1
Stuck at
IQ1 (Output)
Stuck at
Module state bits of the I/O modules SP-SDI and SP-SDIO
The module state bits have the following meaning, if not otherwise indicated:
0 = error
1 = no error
Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
25
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 0
valid.
Byte 1
I7–I8
I5–I6
I3–I4
I1–I2
Byte 2
X2
X1
X2
X1
X2
X1
X2
X1
Byte 3
stuck-at
stuck-at
stuck-at
stuck-at
stuck-at
stuck-at
stuck-at
stuck-at
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 0
IY5-IY8
Byte 1
put data
data
Byte 2
Reserved
Byte 3
Reserved
Reserved Collective
Module
Test im-
Q4 Stuck-
Table 10: Meaning of the module state bits of the safe I/O modules SP-SDI and SP-SDIO
state of
output
data
pulse
comparison I8 vs.
at low
0: Stuck-at
error
1: no
error fast
shut-off
Module
state of
input data
Test impulse
comparison I7 vs.
Q4 Stuckat high
0: Stuck-at
error
1: no
Power
supply for
Q1 .. Q4
Reserved Reserved Two-
Test impulse
comparison I6 vs.
Q3 Stuckat low
0: Stuck-at
error
1: no
Configuration of this
module is
Test impulse
comparison I5 vs.
Q3 Stuckat high
0: Stuck-at
error
1: no
Not used
(error history flag)
channel
evaluation
of input
Test impulse
comparison I4 vs.
Q2 Stuckat low
0: Stuck-at
error
1: no
External
module
state
Two-
channel
evaluation
of input
Test im-
pulse
compari-
son I3 vs.
Q2 Stuck-
at high
0: Stuck-at
error
1: no
Internal
module
state
Twochannel
evaluation
of input
Test impulse
comparison I2 vs.
Q1 Stuckat low
0: Stuck-at
error
1: no
Not used
("executing state")
Twochannel
evaluation
of input
Test impulse
comparison I1 vs.
Q1 Stuckat high
0: Stuck-at
error
1: no
Module state bits of the SP-DIO I/O module
The module state bits have the following meaning if not otherwise indicated; normally only the
first byte of the total state is transmitted:
0 = error
1 = no error or reserved
Reserved Reserved Power
Module
Table 11: Meaning of the module state bits of the SP-DIO expansion module
state out-
Module
state input
Configura-
supply Y1-
tion state
Y4 and
Reserved Reserved Reserved Reserved Reserved Reserved
Not used
(error history flag)
External
module
state
Internal
module
state
Not used
("executing state")
Product description
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26
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 0
data
flag)
Byte 1
Reserved
Byte 2
Reserved
Byte 3
Reserved
Byte address
00
01
02 … 03
11
04
12
05
13
06
14
07
15
08
16
09
17
10
18
11
19
…
Byte
0
… 0 11
Value
EF
FB
FB
EF
Meaning
SDIO)
State of module 2 (
SDIO)
Bit # 7 6 5 4 3 2 1 0
Value 1 1 1 1 1 0 1 1
Bit # 7 6 5 4 3 2 1 0
Value 1 1 1 0 1 1 1 1
NOTICE
• Reserved (for future use) = static 1 (no state change)
• If there is no module, all values - including the reserved values - are set to logical 1.
Module state bit of the gateways
The module state bits have the following meaning if not otherwise indicated; normally only the
first byte of the total state is transmitted:
0 = error
1 = no error
Table 12: Meaning of gateway module state bits
Reserved Module
state
output
Module
state
input data
Configuration state
Not used
(error
history
Reserved Internal
module
state
Not used
("executing state")
Example
Module 2 (SP-SDIO) has a short-circuit after high (24 V) at output 3. The following module state is transmitted to the network (only the first 20 of 60 bytes are shown):
3
FF FF FF FF FF FF FF FF
CPU state State of module 1 (SP-
2 1 1
3 0 2 1 1 2 0 3 3 0 2 1 1 2 0 3 …
FF FF
SP-
…
…
The first relevant byte for the module 2 error described above is module state byte 0 for module 2. This is byte 11 with the hexadecimal value FB (1111 1011):
This corresponds to the error message "Summary of bits 0.5 ibs 0.7 (external error)", byte 0, bit
2 in the following table:
25]
"Meaning of module state bits of the secure I/O modules" [ch. 3.3.5, p.
The second relevant byte is the module state byte 3 for module 2. This is byte 08 with the hexadecimal value EF (1110 1111):
This corresponds to the error message "Short circuit monitoring of output 3, short circuit after
high", byte 3, bit 4 in the following table:
dules" [ch. 3.3.5, p. 25]
"Meaning of module state bits of the secure I/O mo-
• Not used (can be 0 or 1 ), both values occur.
Product description
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
27
Size of output data block
Gateway
Block 1
Block 2
Block 3
Block 4
Block 5
PROFINET IO
SP-CANopen
8 bytes
8 bytes
8 bytes
8 bytes
–
EtherNet/IP
NOTICE
• In order to use network data in the logic editor or as input for another network, you must
Bits without specific tag names will not be available in the logic editor or for routing via a
You can monitor current communication with the network with the aid of input data state
hen a connection is closed while others remain available, the LED MS or LED state will
flash red/green for a total of 10 seconds and an entry will be made in the error log. In this
case the state bits are not affected.
Do not use the same output data block number for two different PLC connections or
TCP/IP sockets!
te the data received earlier.
3.4
Data received from the network (network output data sets)
910751627
The data from data set 1 (max. 50 bytes) received from the network may be differently arranged, depending on the protocol. For the Modbus TCP, this data set was divided into five data
blocks, each with 10 bytes. In the SP-PROFIBUS-DP gateway, output data blocks 1-4 each
contain 12 bytes, while output data block 5 contains 2 bytes. CANopen only defines 4 data
blocks, each with 8 bytes.
Table 13: Output data block 1–5 of the various gateways
SP-PROFIBUS-DP /
SP-EN-ETC /
12 bytes 12 bytes 12 bytes 12 bytes 2 bytes
10 bytes 10 bytes 10 bytes 10 bytes 10 bytes
Modbus TCP /
The content of the output data blocks can be used in the logic editor, as well as made available
for another network via a second gateway within the samosPRO system.
assign a tag name for each bit to be used.
•
second gateway. Detailed information about how to assign tag names for the data received may be found in the corresponding sections of the chapters on the various gateways.
•
bits for receiving data from the network and the output data state bit for transmitting data to the network in the logic editor. When the gateway detects a communication error,
both the content of the data sets and the associated state bit are set to zero (logical 0).
• When all communication fails, the data of the output data sets and the input data state
bit are set to zero (logical 0).
• W
The output data block of the Ethernet gateways can be described in parallel via all communication interfaces or TCP/IP sockets (e.g. Modbus TCP/IP and Ethernet TCP/IP) if they make
ATTENTION
use of the same output data block number. In this case the last message will always overwri-
Installation and basic configuration
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
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ATTENTION
This is only for switchboxes with protection class IP 54 or higher!
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4.1
4.1.1
Installation and basic configuration
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Installing/removing
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Installing modules on standard rail
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The samosPRO system is only suitable for installations in a switchbox having at least protection class IP 54.
Info
• Basic safety
Gateways must not be removed or added when the operating voltage is switched on.
• Grounding
The DIN rails must be conductively connected to the protective conductor (PE).
• ESD protection measures
Note the suitable ESD protection measures during installation.
Failure to do so could result in damage to the bus (internal safety bus).
• Protect connector openings
Undertake suitable measures so that no foreign bodies can penetrate connector openings,
particularly those for the program removable storage.
• Module width:
The modules are placed in a mounting box that is 22.5 mm or 45 mm wide depending on
type.
• Quality of standard rail
The mounting boxes are suitable for 35-mm standard rails as per EN 60715.
• Sequence of modules:
The SP-COPx controller module is inserted all the way to the left in a samosPRO system.
The two optional gateways follow directly to the right next to the controller module.
• Save space for subsequent model replacement
The modules are connected via the plug connection integrated into the housing. Note that
the samosPRO modules must be pulled about 10 mm apart for a module replacement before the corresponding module can be removed from the standard rail.
• Standards to be considered
Installation according to EN 50274
Installation and basic configuration
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
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Important!
Step 1: Installing a controller module
Using a screwdriver, pull the snap-on foot outward.
Hang the module on the standard rail.
The shielding spring of the module must be placed on the standard rail so that it is secure
and has good electrical conduction.
Make sure that the shielding spring is seated correctly.
Fold the module onto the standard rail.
Using a screwdriver, move the snap-on foot against the standard rail until the snap-on foot
latches into position with an audible click.
Make sure that the module is securely seated on the standard rail.
Attempt to pull the module from the standard rail using slight pressure. If the module stays
connected to the rail during this test, then the installation is correct.
Installation and basic configuration
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
30
Important!
Step 2: Installation of gateways or expansion modules
Hang the module on the standard rail.
The shielding spring of the module must be placed on the standard rail so that it is secure
and has good electrical conduction.
Make sure that the shielding spring is seated correctly.
Using slight pressure, fold the module onto the rail in the direction of the arrow until the
module audibly latches into position.
Make sure that the module is securely seated on the standard rail.
Attempt to pull the module from the standard rail using slight pressure. If the module stays
connected to the rail during this test, then the installation is correct.
If you are installing multiple modules:
Push the modules together individually in the direction of the arrow until the lateral plug
connection between the modules audibly latches into position.
Install an end terminal into the module furthest to the left and another end terminal into
After installation
Once you have installed the modules, the following steps are required:
• Connect the modules electrically.
• Configure modules (see: software manual).
• Check the installation before first commissioning.
the module furthest to the right.
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