DEUTSCHMANN AUTOMATION UNIGATE CL EtherCAT User manual

Instruction Manual
Universal Fieldbus-Gateway
UNIGATE®CL - EtherCAT
Deutschmann Automation GmbH & Co. KG
www.deutschmann.com | wiki.deutschmann.de

Manual Art.-No.: V3679E

29.6.20 UNIGATE®Feldbus-Gateway UNIGATE®CL - EtherCAT®V. 2.6 3
Deutschmann Automation GmbH & Co. KG
1 Information on CE marking of the module . . . . . . . . . . . . . . . . 8
1.1 EU Directive EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Scope of application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Note installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Installation of the unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.5 Working on switch cabinets . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Information for the machine manufacturers . . . . . . . . . . . . . . . 9
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 EU Machinery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 UNIGATE®CL software flow-chart . . . . . . . . . . . . . . . . . . . . 11
3.2 UNIGATE®application diagram . . . . . . . . . . . . . . . . . . . . . . 12
4 Operation modes of the Gateway. . . . . . . . . . . . . . . . . . . . 13
4.1 Configuration mode (config mode) . . . . . . . . . . . . . . . . . . . . 13
4.2 Test mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.3 Data exchange mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5 RS-interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.1 RS-interfaces at the UNIGATE®CL . . . . . . . . . . . . . . . . . . . . 14
5.2 Buffer sizes at the UNIGATE®CL . . . . . . . . . . . . . . . . . . . . . 14
5.3 Framing Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
6 SSI-interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.1 Initiation of the SSI-interface . . . . . . . . . . . . . . . . . . . . . . . 15
6.2 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.2.1 Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.2.2 SSI Encoder Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.2.3 Parameter sample frequency (Clock stretch) . . . . . . . . . . . . . . . . . . 15
6.2.4 Parameter Encoder monitoring (Check Encoder) . . . . . . . . . . . . . . . . 16
6.3 Hardware-wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7 The Debug-interface . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7.1 Overview of the Debug-interface . . . . . . . . . . . . . . . . . . . . . 17
7.2 Starting in the Debug-mode . . . . . . . . . . . . . . . . . . . . . . . . 17
7.3 Communication parameter for the Debug-interface . . . . . . . . . . . . 17
7.4 Possibilities with the Debug-interface . . . . . . . . . . . . . . . . . . . 17
7.5 Commands of the Debug-interface . . . . . . . . . . . . . . . . . . . . 17
8 Mode of operation of the system . . . . . . . . . . . . . . . . . . . . 18
8.1 General explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.2 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.3 Data exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.4 Possible data lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.5 Startup phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
9 Generating a Script . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
9.1 What is a Script? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
9.2 Memory efficiency of the programs . . . . . . . . . . . . . . . . . . . . 19
9.3 What can you do with a Script device? . . . . . . . . . . . . . . . . . . 19
9.4 Independence of buses . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Deutschmann Automation GmbH & Co. KG
4UNIGATE
®Feldbus-Gateway UNIGATE®CL - EtherCAT®V. 2.6 29.6.20
9.5 Further settings at the Gateway . . . . . . . . . . . . . . . . . . . . . . 19
9.6 The use of the Protocol Developer . . . . . . . . . . . . . . . . . . . . 20
9.7 Accuracies of the baud rates . . . . . . . . . . . . . . . . . . . . . . . 20
9.8 Script processing times . . . . . . . . . . . . . . . . . . . . . . . . . . 21
10 Implemented protocols in UNIGATE®CL with Universal Script . . . . 22
10.1 Protokoll: Transparent . . . . . . . . . . . . . . . . . . . . . . . . . . 22
10.1.1 Data structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
10.2 Protocol: Universal 232 . . . . . . . . . . . . . . . . . . . . . . . . . . 22
10.2.1 Data structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
10.2.2 Fieldbus parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
10.2.3 RS232 parameter table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
10.2.3.1 Start character (232 Start character) . . . . . . . . . . . . . . . . . . . . . . . . . 23
10.2.3.2 Length 232 (232 Length) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
10.2.3.3 Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
10.2.3.4 End character (232 End character) . . . . . . . . . . . . . . . . . . . . . . . . . . 23
10.2.4 Communication sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
10.3 Protocol „Universal Modbus RTU Slave“ . . . . . . . . . . . . . . . . . 24
10.3.1 Data structure on the fieldbus side e.g.: PROFIBUS . . . . . . . . . . . . . . .24
10.3.1.1 Example: FC1 + FC2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
10.3.1.2 Example: FC3 (Read Holding Register) + FC4 (Read Input Register) . . . . . . . . 25
10.3.1.3 Example: Write Single Coil FC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
10.3.1.4 Example: Write Single Register FC6 . . . . . . . . . . . . . . . . . . . . . . . . . 27
10.3.1.5 Example: Force multiple coils FC 15 . . . . . . . . . . . . . . . . . . . . . . . . . 28
10.3.1.6 Example: Preset multiple register FC16 . . . . . . . . . . . . . . . . . . . . . . . . 29
10.4 Protocol „Universal Modbus RTU Master“ . . . . . . . . . . . . . . . . 29
10.4.1 Data structure Fieldbus side (e.g. PROFIBUS): . . . . . . . . . . . . . . . . .29
10.4.2 Data structure Application side: . . . . . . . . . . . . . . . . . . . . . . . . . 29
10.4.3 Configuration: via Wingate since wcf Datei Version 396 . . . . . . . . . . . . .31
10.4.3.1 Example: Read coil status FC1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
10.4.3.2 Example: Read input status FC2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
10.4.3.3 Example: Read multiple register FC3 . . . . . . . . . . . . . . . . . . . . . . . . . 34
10.4.3.4 Example: Read input registers FC4 . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10.4.3.5 Example: Force single coil FC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
10.4.3.6 Example: Preset single register FC6 . . . . . . . . . . . . . . . . . . . . . . . . . 36
10.4.3.7 Example: Force multiple coils FC15 . . . . . . . . . . . . . . . . . . . . . . . . . . 36
10.4.3.8 Example: Preset multiple register FC16 . . . . . . . . . . . . . . . . . . . . . . . . 37
10.5 Protocol „Universal Modbus ASCII Master/Slave“ . . . . . . . . . . . . 38
10.6 Protocol SSI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
10.7 The trigger byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
10.8 The length byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
11 Hardware ports, switches and LEDs . . . . . . . . . . . . . . . . . . 39
11.1 Device labeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
11.2 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
11.2.1 Connector to the external device (RS-interface) . . . . . . . . . . . . . . . . . 39
11.2.2 Connector supply voltage and DEBUG-interface. . . . . . . . . . . . . . . . .40
11.2.3 EtherCAT®-connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
11.2.4 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

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Deutschmann Automation GmbH & Co. KG
11.3 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
11.3.1 LED "EtherCAT®Power" . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
11.3.2 LED "Link / Act. In" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
11.3.3 LED "Link / Act. Out" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
11.3.4 LED “(EtherCAT®) State“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
11.3.5 LED "Power". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
11.3.6 LED "State" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
11.3.7 LEDs (Error No. / Select ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
11.4 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
11.4.1 Termination Rx 422 + Tx 422 (serial interface) . . . . . . . . . . . . . . . . . 42
11.4.2 Rotary coding switches S4 + S5 (serial interface). . . . . . . . . . . . . . . . 42
11.5 The Debug cable for UNIGATE®CL . . . . . . . . . . . . . . . . . . . 42
12 Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
12.1 Error handling at UNIGATE®CL . . . . . . . . . . . . . . . . . . . . . 43
13 Installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . 45
13.1 Installation of the module . . . . . . . . . . . . . . . . . . . . . . . . . 45
13.1.1 Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
13.1.2 Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
13.2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
13.2.1 Connection systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
13.2.1.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
13.2.1.2 Equipotential bonding connection. . . . . . . . . . . . . . . . . . . . . . . . . . . 45
13.2.2 EtherCAT®communication interface . . . . . . . . . . . . . . . . . . . . . . 46
13.2.3 Line routing, shield and measures to combat interference voltage . . . . . . . 46
13.2.4 General information on line routing . . . . . . . . . . . . . . . . . . . . . . . 46
13.2.4.1 Shielding of lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
14 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
14.1 Device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
14.1.1 Interface data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
15 Commissioning guide . . . . . . . . . . . . . . . . . . . . . . . . . . 50
15.1 Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
15.2 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
15.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
15.4 Dimensional drawing UNIGATE®CL - EtherCAT®. . . . . . . . . . . . 50
15.5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
15.6 EtherCAT®connection . . . . . . . . . . . . . . . . . . . . . . . . . . 51
15.7 Connection to the process device . . . . . . . . . . . . . . . . . . . . . 51
15.8 Shield connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
15.9 Connecting the supply voltage . . . . . . . . . . . . . . . . . . . . . . 51
15.10 Project planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
16 Servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
16.1 Returning a device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
16.2 Downloading PC software . . . . . . . . . . . . . . . . . . . . . . . . . 52
17 Annex. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
17.1 Explanations of the abbreviations . . . . . . . . . . . . . . . . . . . . . 53
17.2 Hexadecimal table . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Deutschmann Automation GmbH & Co. KG
6UNIGATE
®Feldbus-Gateway UNIGATE®CL - EtherCAT®V. 2.6 29.6.20

29.6.20 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 7
Deutschmann Automation GmbH & Co. KG
Disclaimer of liability
We have checked the contents of the document for conformity with the hardware and software
described. Nevertheless, we are unable to preclude the possibility of deviations so that we are
unable to assume warranty for full compliance. The information given in the publication is,
however, reviewed regularly. Necessary amendments are incorporated in the following editions.
We would be pleased to receive any improvement proposals which you may have.
Copyright
Copyright (C) Deutschmann Automation GmbH & Co. KG 1997 – 2020. All rights reserved.
This document may not be passed on nor duplicated, nor may its contents be used or disclosed
unless expressly permitted. Violations of this clause will necessarily lead to compensation in
damages. All rights reserved, in particular rights of granting of patents or registration of
utility-model patents.
EtherCAT®is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.

Information on CE marking of the module Deutschmann Automation GmbH & Co. KG
8 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 29.6.20
1 Information on CE marking of the module
1.1 EU Directive EMC
The following applies to the module described in this User Manual:
Products which bear the CE mark comply with the requirements of EU Directive „Electromagnetic
Compatibility“ and the harmonized European Standards (EN) listed therein.
The EU Declarations of Conformity are available at the following location for perusal by the
responsible authorities in accordance with the EU Directive, Article 10:
Deutschmann Automation GmbH & Co. KG, Carl-Zeiss-Straße 8, 65520 Bad Camberg, Ger-
many.
1.2 Scope of application
1.3 Note installation guidelines
The module complies with the requirements if you
1. comply with the installation guidelines described in the User Manual when installing and oper-
ating the module.
2. also follow the rules below on installation of the equipment and on working on switch cabinets.
1.4 Installation of the unit
Modules must be installed in electrical equipment rooms/areas or in enclosed housings (e.g.
switch boxes made of metal or plastic). Moreover, you must earth the unit and the switch box
(metal box) or at least the top-hat rail (plastic box) onto which the module has been snapped.
1.5 Working on switch cabinets
In order to protect the modules against static electrical discharge, the personnel must discharge
themselves electrostatically before opening switch cabinets or switch boxes.
The modules are designed for use in the industrial sector and comply with the following
requirements.
Scope of application Requirement applicable to
Emitted interference Interference immunity
Industry EN 55011, cl. A (2007) EN 61000-6-2 (2005)

29.6.20 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 9
Deutschmann Automation GmbH & Co. KG Information for the machine manufacturers
2 Information for the machine manufacturers
2.1 Introduction
The UNIGATE®module does not constitute a machine as defined by the EU "Machinery“
Directive. Consequently, the module does not have a Declaration of Conformity in relation to the
EU Machinery Directive.
2.2 EU Machinery Directive
The EU Machinery Directive stipulates the requirements applicable to a machine. The term
"machine" is taken to mean a totality of connected parts or fixtures (see also EN 292-1, Para-
graph 3.1)
The module is a part of the electrical equipment of the machine and must thus be included by the
machine manufacturer in the Declaration of Conformity process.

Introduction Deutschmann Automation GmbH & Co. KG
10 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 29.6.20
3 Introduction
The UNIGATE®CL-EtherCAT®module serves to adapt a serial port to EtherCAT®networks. The
terminal unit’s protocol is converted in the UNIGATE®via a Script.
The module CL-EtherCAT®essentially consists of the following hardware components:
•Electrically isolated EtherCAT®-Interface
•EtherCAT®controller ET1100
•Microprocessor 89C51RD2
•RAM and EEROM
•Optionally electrically isolated on the RS-side
•Serial interface (RS232, RS485 and RS422) to the device connected externally

29.6.20 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 11
Deutschmann Automation GmbH & Co. KG Introduction
3.1 UNIGATE®CL software flow-chart

Introduction Deutschmann Automation GmbH & Co. KG
12 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 29.6.20
3.2 UNIGATE®application diagram
The following graph shows a typical connection scheme.

29.6.20 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 13
Deutschmann Automation GmbH & Co. KG Operation modes of the Gateway
4 Operation modes of the Gateway
4.1 Configuration mode (config mode)
The configuration mode serves to configure the Gateway. The following adjustments are possible
in this mode.
•Loading a Script (e. g. by means of the software WINGATE with "Write Script" under
"File")
•Updating the firmware (e. g by means of the software "FDT")
The Gateway will be starting in this mode in case both switches S4 as well as S5 are set on posi-
tion "F" when switching on the Gateway. Right after switching on the Gateway in the configura-
tion mode it will be sending its starting message, that looks analog with the following message:
"RS-EC-CL (232/422/485) V0.1 [30] (c)dA Switch=0xFF Script(8k)="Leer"
Author="Deutschmann Automation GmbH" Version="1.0" Date=21.08.2001 SN=47110001“.
In the configuration mode the Gateway always operates with the settings 9600 Bauds, no Parity,
8 Databits and 1 Stopbit, the RS-State LED will always be flashing red, the "Error No/Select ID"
LEDs are of no account for the user. All software revisions contain the configuration mode.
4.2 Test mode
Setting of the test mode
The test mode is set by bringing the switches S4 and S5 in position "E". All other switches will not
be taken into consideration for the setting of the test mode. Now the Gateway has to be restarted
with these settings (by a short disconnection from the power supply).
In the test mode the Gateway always operates with the settings 9600 baud, no parity, 8 databits
and 1 stopbit.
The test mode may be helpful to integrate the Gateway in the relevant environment, for instance
to test the parameters of the RS-interfaces.
Mode of operation of the test mode
After the restart in the test mode the Gateway will be sending the values 0-15 in hexadecimal
representation ("0".."F") in ASCII-coding on the serial side every second. Simultaneously the
same values are issued binary on the fieldbus-interface.
In this mode the State-LED on the RS-side will be flashing red, the "Error No/Select ID" LEDs will
be displaying the value in a binary way, that is issued that moment. Additionally each character
that is received at one of the interfaces will also be output at the same interface as a local echo.
On the fieldbus-side only the first byte will be used for the local echo, that means on receiving as
well as on transmitting only the first byte of the bus data is looked at, the other bus data do not
change compared to the last data.
4.3 Data exchange mode
The Gateway has to be in the data exchange mode, so that a data exchange between the
RS-side of the Gateway and the fieldbus is possible. As long as the Gateway is not in the config-
uration mode or the test mode, the data exchange mode is active. In the data exchange mode
the Gateway will execute the downloaded Script.

RS-interface Deutschmann Automation GmbH & Co. KG
14 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 29.6.20
5 RS-interface
5.1 RS-interfaces at the UNIGATE®CL
The UNIGATE®CL - EtherCAT®has the interfaces RS232, RS422 and RS485 available. The
hardware always features a DEBUG-interface, see chapter 7.
5.2 Buffer sizes at the UNIGATE®CL
UNIGATE®CL features at the serial side a buffer with the size of 1024 bytes for input data and
output data each.
The FIFO of the application interface (RS-interface) can be changed in any Gateway form Script
revision 26 on, that is capable for Script. For it please check in the Protocol Developer under
"Device Control" - "Hardware".
5.3 Framing Check
The length of the stop bit received by the Gateway is checked through the function "Framing
Check". Here the stop bit generated by the Gateway is always long enough, so that connected
participants can evaluate the stop bit.
Please be aware that the function "Framing Check" becomes effective only in case of 8 data bit
and the setting "No parity".
An error is detected and indicated by the Error LEDs in case the stop bit does not show the
length 1 bit during the activated check.
The possible setting for this parameter can be controlled by the Script (see online help from Pro-
tocol Developer). The presetting for the "Stop Bit Framing Check" is "enabled".

29.6.20 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 15
Deutschmann Automation GmbH & Co. KG SSI-interface
6 SSI-interface
The UNIGATE®also supports the connection of applications or products, that communicate via
SSI.
6.1 Initiation of the SSI-interface
The configuration of the SSI-interface is executed in the config mode with the WINGATE soft-
ware, Protocol SSI. The encoder type and the sampling frequency are defined via the parameter
"Resolution" (1 bit..15 bit, 24 bit...25 bit), "SSI Encoder Type" (Binary or Gray code) and "Clock
stretch".
6.2 Parameter
6.2.1 Resolution
The range extends from 1 bit to 25 bits. This enables single-turn SSI encoders and multi-turn SSI
encoders to be configured.
6.2.2 SSI Encoder Type
This can be selected between binary and gray code.
6.2.3 Parameter sample frequency (Clock stretch)
You can change the sampling frequency. For this purpose a "Stretch value" is passed that inserts
a waiting period after each clock edge.
If a 0 is passed, there is no waiting time.
Thus the following SSI sample frequencies may vary slightly:

Waiting time = 0 →SSI-Clock ~ 333kHz (No Stretch)
Waiting time = 1 →SSI-Clock ~ 185kHz
Waiting time = 2 →SSI-Clock ~ 150kHz
Waiting time = 3 →SSI-Clock ~ 125kHz
Waiting time = 4 →SSI-Clock ~ 110kHz
Waiting time = 5 →SSI-Clock ~ 100kHz
Waiting time = 6 →SSI-Clock ~ 88kHz
Waiting time = 7 →SSI-Clock ~ 80kHz
Waiting time = 8 →SSI-Clock ~ 72kHz
Waiting time = 9 →SSI-Clock ~ 67kHz
Waiting time = A →SSI-Clock ~ 62kHz
Waiting time = B →SSI-Clock ~ 58kHz
Waiting time = C →SSI-Clock ~ 54kHz
Waiting time = D →SSI-Clock ~ 50kHz
Waiting time = E →SSI-Clock ~ 48kHz
Waiting time = F →SSI-Clock ~ 45kHz
The bit time from which these frequencies were derived, calculate as follows:
t = 3μs + (2* (+ 0.6µs (n* 0.6µs))), where n corresponds to the "Stretch value" (1.. F).
Without clock extension (n = 0) remains at 3μs →333kHz!
The max. Bit length of 32 bits and the slowest clock this results in a total readout time of
32 * = 22μs ~ 700μs.

SSI-interface Deutschmann Automation GmbH & Co. KG
16 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 29.6.20
6.2.4 Parameter Encoder monitoring (Check Encoder)
An encoder monitoring can be activated via the parameter "Check encoder", as long as the used
SSI-encoder supports this function. After the last read encoder bit it is verified if the data line is
still at Low for at least one bit. If the UNIGATE®does NOT detect this bit on Low, error 12 is
issued. For example it can detect a cable break or a not connected encoder. However, it can also
be a misconfigured bit length, or a too slow read out clock.
6.3 Hardware-wiring
The clock wires of the SSI-interface are placed onto the Tx-wires of the RS422-interface and the
data wires onto the Rx-wires at the UNIGATE®.
X1 (3pin + 4pin screw-plug-connector):
Pin no. Name Function at SSI
1 Rx 232 n. c.
2 Tx 232 n. c.
3 AP-GND n. c.
4 Rx 422+ SSI DAT+
5 Rx 422- SSI DAT-
6 Tx 422+ SSI CLK+
7 Tx 422- SSI CLK-

29.6.20 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 17
Deutschmann Automation GmbH & Co. KG The Debug-interface
7 The Debug-interface
7.1 Overview of the Debug-interface
The UNIGATE®IC features a Debug-interface, that allows a step-by-step processing of a Script.
Normally this interface is only required for the development of a Script.
7.2 Starting in the Debug-mode
When applying power to the UNIGATE®(power up) the firmware will output the binary character
0 (0x00) after a self-test was carried out on this interface. If the UNIGATE®receives an
acknowledgement via this interface within 500 ms, it is in the Debug-mode. The
acknowledgement is the ASCII-character O (0x4F).
With the start in the Debug-mode the further execution of Script commands will be put to a stop.
7.3 Communication parameter for the Debug-interface
The Debug-interface is always operating with 9600 baud, no parity, 8 data bit, 1 stop bit. It is not
possible to change this parameter in the Protocol Developer. Please consider the fact that these
settings have to be in accordance with those of the PC-COM-interface and that the flow control
(protocol) has to be set on „none“ there.
7.4 Possibilities with the Debug-interface
Usually the Protocol Developer is connected to the Debug-interface. With it a step-by-step pro-
cessing of a Script, monitoring jumps and decisions and looking at memory areas is possible.
Moreover breakpoints can be set. It basically possesses all characteristics a software-develop-
ment tool is typically supposed to have. However, it is also possible to carry out a Scrip-update
via this interface.
From Script version [27] on you can also output data with the Script command
"SerialOutputToDebugInterface". Please also pay attention to the remark in the manual
’Protocol Developer’.
7.5 Commands of the Debug-interface
The commands for the use of the Debug-interface are described in the instruction manual Proto-
col Developer.

Mode of operation of the system Deutschmann Automation GmbH & Co. KG
18 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 29.6.20
8 Mode of operation of the system
8.1 General explanation
Communication can be split into seven layers, Layer 1 to Layer 7, in accordance with the
ISO/OSI model.
The Deutschmann Automation Gateways convert Layers 1 and 2 of the customized bus system
(RS485 / RS232 / RS422) to the corresponding Fieldbus system. Layers 3 to 6 are empty. Layer
7 is converted in accordance with chapter 8.3.
8.2 Interfaces
The Gateway features the RS232-, RS422- and RS485-interfaces.
8.3 Data exchange
All data is transferred by the Gateway in dependence of the downloaded Script.
8.4 Possible data lengths
The table below shows the maximum transferable data:
8.5 Startup phase
The Master sets up a connection to the Gateway during the startup phase. Only after a correct
termination of the startup phase the data exchange with external devices will take place.
input data max. 512 byte variable: here maximum value
output data max. 512 byte variable: here maximum value

29.6.20 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 19
Deutschmann Automation GmbH & Co. KG Generating a Script
9 Generating a Script
9.1 What is a Script?
A Script is a sequence of commands, that are executed in that exact order. Because of the fact
that also mechanisms are given that control the program flow in the Script it is also possible to
assemble more complex processes from these simple commands.
The Script is memory-oriented. It means that all variables always refer to one memory area.
While developing a Script you do not have to take care of the memory management though. The
Protocol Developer takes on this responsibility for you.
9.2 Memory efficiency of the programs
A Script command can carry out e. g. a complex checksum like a CRC-16 calculation via data.
For the coding of this command only 9 byte are required as memory space (for the command
itself). This is only possible when these complex commands are contained in a library.
A further advantage of this library is, that the underlying functions have been in practical use for a
couple of years and therefore can be described as ’void of errors’. As these commands are also
present in the native code for the controller, at this point also the runtime performance of the
Script is favorable.
9.3 What can you do with a Script device?
Our Script devices are in the position to process a lot of commands. In this case a command is
always a small firmly outlined task. All commands can be put into classes or groups. A group of
commands deals with the communication in general. This group’s commands enable the Gate-
way to send and receive data on the serial side as well as on the bus-side.
9.4 Independence of buses
Basically the Scripts do not depend on the bus, they are supposed to operate on. It means that a
Script which was developed on a PROFIBUS Gateway can also be operated on an Interbus with-
out changes, since the functioning of these buses is very similar. In order to also process this
Script on an Ethernet Gateway, perhaps further adjustments have to be made in the Script, so
that the Script can be executed reasonably.
There are no fixed rules how which Scripts have to operate properly. When writing a Script you
should take into account on which target hardware the Script is to be executed, so the necessary
settings for the respective buses can be made.
9.5 Further settings at the Gateway
Most devices require no further adjustments, except for those made in the Script itself. However,
there are also exceptions to it. These settings are made by means of the software WINGATE. If
you know our UNIGATE®-series, you are already familiar with the proceeding with it. An example
is the adjustment of the IP-address and the net-mask of an Ethernet-Gateway. These values
have to be known as fixed values and are not available for the runtime. Another reason for the
configuration of the values in WINGATE is the following: After an update of the Script these val-
ues
remain untouched, i. e. the settings that were made once are still available after a change of
the Script.
Only this way it is also possible that the same Script operates on different Ethernet-Gateways,
that feature different IP-addresses.

Generating a Script Deutschmann Automation GmbH & Co. KG
20 UNIGATE®Fieldbus Gateway UNIGATE®CL - EtherCAT®V. 2.6 29.6.20
9.6 The use of the Protocol Developer
The software tool Protocol Developer can be downloaded from our website
http://www.deutschmann.de
It is a tool for an easy generation of a Script for our Script Gateways. Its operation is exactly
aimed at this use. After starting the program the Script that was loaded the last time is loaded
again, provided that it is not the first start.
Typical for Windows Script commands can be added by means of the mouse or the keyboard. As
far as defined and required for the corresponding command, the dialog to the corresponding
command is displayed, and after entering the values the right text is automatically added to the
Script. The insertion of new commands by the Protocol Developer is carried out in a way that
existing commands will not be overwritten. Generally a new command is inserted in front of the
one where the cursor is positioned. Of course the commands can also be written by means of the
keyboard or already written commands can also be modified.
9.7 Accuracies of the baud rates
The baud rate of the serial interface is derived from the processor’s crystal frequency.
Meanwhile all Script-Gateways are working with a crystal frequency of 40 MHz.
You can enter any desired integer baud rate into the Script. After that the firmware adjusts the
baud rate, that can be derived the most precisely from the crystal frequency.
The baud rate the Gateway is actually working with (BaudIst) can be determined as follows:
BaudIst = (F32 / K)
F32 = Crystal frequency [Hz] / 32
K = Round (F32 / BaudSoll);
Round () is a commercial roundoff
Example:
The actual baud rate is to be calculated, when 9600 baud are pre-set, where the Gateway is
operated with 40 MHz:
F32 = 40000000 / 32 = 1250000
K = Round(1250000 / 9600) = Round(130.208) = 130
BaudIst = 1250000 / 130 = 9615.38
I. e.: The baud rate actually adjusted by the Gateway is 9615.38 baud
The resulting error in per cent can be calculated as follows:
Error[%] = (abs(BaudIst - BaudSoll) / BaudSoll) * 100
In our example the following error results:
Error = (abs(9615.38 - 9600) / 9600) * 100 = 0.16%
In practise errors below 2% can be tolerated!