IFM Electronic ecomot 300 AC1391 Application guide

Supplementary device manual
EtherCAT interface
in the AS-i controllerE
A
AC1391
AC1392
firmware version RTS 2.x
target from 15
for CoDeSys®from version 2.3
English
7390712_00_UK 2012-02-24

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Contents
2
Revision: 16 December 2011
© All rights reserved by ifm electronic gmbh, Germany.
No part of this manual may be reproduced and used without the
consent of ifm electronic gmbh.
All brand names used are the property of the corresponding rights
holder.
EtherCAT®is a registered trademark and patented technology,
licensed by Beckhoff Automation GmbH, Germany.

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Contents
3
Contents
1On this manual .............................................................................................................................9
1.1 What do the symbols and formats mean?.........................................................................9
1.2 What devices are described in this manual?...................................................................10
1.3 How is this manual structured? .......................................................................................10
1.4 Overview: where is what? ...............................................................................................11
2Safety instructions.....................................................................................................................12
2.1 General............................................................................................................................12
2.2 What previous knowledge is required? ...........................................................................12
2.3 Functions and features....................................................................................................12
3System requirements.................................................................................................................13
3.1 Information about the device ...........................................................................................13
3.2 Information concerning the software ...............................................................................13
3.3 Required accessories......................................................................................................13
4Getting started............................................................................................................................14
4.1 Overview..........................................................................................................................14
4.2 General set-up procedure ...............................................................................................15
4.2.1 Troubleshooting (1)..........................................................................................16
4.2.2 Troubleshooting (2)..........................................................................................17
4.3 Fieldbus Setup (overview)...............................................................................................18
4.4 Connect the Beckhoff industrial PC via EtherCAT ..........................................................19
5Function......................................................................................................................................21
5.1 Data management...........................................................................................................21
5.2 The EtherCAT fieldbus interface .....................................................................................21
5.2.1 Connection of the hardware.............................................................................21
5.2.2 The dual-ported RAM.......................................................................................22
5.3 The fieldbus modules ......................................................................................................23
5.3.1 Module 1 – digital input master 1(A) ................................................................24
Examples for module 1.................................................................................................24
5.3.2 Module 2 – digital output master 1(A)..............................................................25
Examples for module 2.................................................................................................25
5.3.3 Module 3 – digital input master 2(A) ...............................................................26
5.3.4 Module 4 – digital output master 2(A)..............................................................26
5.3.5 Module 5 – digital input master 1(B) ................................................................27
5.3.6 Module 6 – digital output master 1(B)..............................................................28
5.3.7 Module 7 – digital input master 2(B) ................................................................29
5.3.8 Module 8 – digital output master 2(B)..............................................................29
5.3.9 Additional notes on the modules 1...8..............................................................29

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
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5.3.10 Module 9 – analogue multiplex input ...............................................................30
Example for module 9 ..................................................................................................31
5.3.11 Module 10 – analogue multiplex output ...........................................................32
Example for module 10 ................................................................................................33
5.3.12 Module 11 – fieldbus data command channel .................................................34
5.3.13 Module 12 – fieldbus data PLC input...............................................................37
Example for module 12 ................................................................................................37
5.3.14 Module 13 – fieldbus data PLC output.............................................................38
Example for module 13 ................................................................................................38
5.3.15 Module 14 – analogue input master 1 ............................................................39
Example for module 14 ................................................................................................39
Module 14 – table for input data for 4 channels per slave ............................................40
Module 14 – table for input data for 1 channel per slave..............................................43
5.3.16 Module 15 – analogue output master 1 ...........................................................45
Example for module 15 ................................................................................................45
Module 15 – table for output data for 4 channels per slave..........................................46
Module 15 – table for output data for 1 channel per slave............................................49
5.3.17 Module 16 – analogue input master 2 .............................................................51
5.3.18 Module 17 – analogue output master 2 ...........................................................52
5.3.19 Module 18 – fieldbus diagnostic data ..............................................................53
5.3.20 Module 19 – host command channel...............................................................54
6Module 11: fieldbus data command channel ..........................................................................55
6.1 List of commands in module 11.......................................................................................55
6.2 Module 11, command 1 – read master flags...................................................................56
Structure.......................................................................................................................56
6.3 Module 11, command 2 – change operating mode.........................................................57
6.4 Module 11, command 3 – read current slave configuration ............................................58
Structure.......................................................................................................................58
Example: read current slave configuration of slave 7B on AS-i master 1 .....................58
6.5 Module 11, command 4 – read projected slave configuration ........................................59
Structure.......................................................................................................................59
Example: read projected slave configuration of slave 16(A) on AS-i master 1 .............59
6.6 Module 11, command 6 – read slave parameters...........................................................60
Structure.......................................................................................................................60
Example: read slave parameter of slave 2(A) on AS-i master 1...................................60
6.7 Module 11, command 7 – change projected slave parameters ......................................61
Structure.......................................................................................................................61
Example: change projected slave parameters of slave 7B on AS-i master 1 ...............62
6.8 Module 11, command 8 – read LAS (list of active slaves) ..............................................63
Slave group ..................................................................................................................63
Structure.......................................................................................................................63
Example: read LAS (list of active slaves) of slave group 1 on master 1 .......................64

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
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6.9 Module 11, command 9 – read LDS (list of detected slaves) .........................................65
Structure.......................................................................................................................65
Example: read LDS (list of detected slaves) of slave group 3 on AS-i master 2...........65
6.10 Module 11, command 10dec (0Ahex) – read LPF (list of slaves with peripheral fault).......66
Structure.......................................................................................................................66
Example: read LPF (list of slaves with peripheral fault) of slave group 2 on AS-i master
1 ...................................................................................................................................66
6.11 Module 11, command 11dec (0Bhex) – read LPS (list of projected slaves) .......................67
Structure.......................................................................................................................67
Example: read LPS (list of projected slaves) of slave group 2 on AS-i master 1..........68
6.12 Module 11, command 13dec (0Dhex) – read telegram error counter .................................69
Structure.......................................................................................................................69
Example: read telegram error counter of slave 1 on AS-i master 1..............................69
6.13 Module 11, command 14dec (0Ehex) – read configuration error counter...........................70
Structure.......................................................................................................................70
Example: read configuration error counter on AS-i master 2........................................70
6.14 Module 11, command 15dec (0Fhex) – read AS-i cycle counter ........................................71
Structure.......................................................................................................................71
Example: read AS-i cycle counter of AS-i master 1......................................................71
6.15 Module 11, command 16dec (10hex) – change current slave parameters.........................72
Structure.......................................................................................................................72
Example: change slave parameter of slave 7 on AS-i master 1 to the value "F" ..........72
6.16 Module 11, command 19dec (13hex) – Config all...............................................................73
Structure.......................................................................................................................73
Example: Config all on AS-i master 1...........................................................................73
6.17 Module 11, command 21dec (15hex) – save the configuration in flash..............................74
Structure.......................................................................................................................74
Example: save AS-i configuration in flash for AS-i master 1 ........................................74
6.18 Module 11, command 2222dec (16hex) – reset telegram error counter of a slave ............75
Structure.......................................................................................................................75
Example: reset telegram error counter of slave 7(A) on AS-i master 2 ........................75
7The host command channel......................................................................................................76
7.1 Syntax of the host command channel .............................................................................76
7.2 Host commands...............................................................................................................78
7.2.1 Command 0, 16#0 – execute no command.....................................................79
7.2.2 Command 1, 16#1 – write parameters to a connected AS-i slave (change
current slave parameters) ................................................................................80
7.2.3 Command 3, 16#3 – adopt and save currently connected AS-i slaves in the
configuration.....................................................................................................81
7.2.4 Command 4, 16#4 – change the list of the projected AS-i slaves (LPS).........82
7.2.5 Command 5, 16#5 – set the operation mode of the AS-i master ....................83
7.2.6 Command 6, 16#6 – readdress connected AS-i slave ....................................84
7.2.7 Commando 7, 16#7 – set the auto address mode of the AS-i master.............85

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
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7.2.8 Command 9, 16#9 – change the extended ID code 1 in the connected
AS-i slave ........................................................................................................86
7.2.9 Commands 10...20, 16#0A..16#14 – Force analogue data transmission
directly to/from 3 AS-i slaves respectively .......................................................87
7.2.10 Command 28, 16#1C – deactivation of the slave reset when changing
to the protected mode .....................................................................................90
7.2.11 Command 31, 16#1F – one-time execution of the "Extended safety
monitor protocol" in the "Safety at Work" monitor...........................................91
7.2.12 Command 21, 16#15 – read ID string of an AS-i slave with profile S-7.4 .......95
7.2.13 Command 33, 16#21 – read diagnosis string of an AS-i slave with
profile S-7.4.....................................................................................................98
7.2.14 Command 34, 16#22 – read parameter string of an AS-i slave with
profile S-7.4.....................................................................................................99
7.2.15 Command 35, 16#23 – write parameter string of an AS-i slave with
profile S-7.4.................................................................................................. 100
7.2.16 Command 50, 16#32 – read current configuration AS-i
slaves 0(A)…15(A)....................................................................................... 101
7.2.17 Command 51, 16#33 – read current configuration AS-i
slaves 16(A)…31(A)..................................................................................... 101
7.2.18 Command 52, 16#34 – read current configuration AS-i
slaves 0...15B............................................................................................... 101
7.2.19 Command 53, 16#35 – read current configuration AS-i
slaves 16B...31B .......................................................................................... 101
7.2.20 Command 54, 16#36 – read current parameters of a connected
AS-i slave ..................................................................................................... 102
7.2.21 Command 55, 16#37 – read current AS-i slave lists .................................... 103
7.2.22 Command 56, 16#38 – read projected configuration
AS-i slaves 1(A)..15(A) ................................................................................ 105
7.2.23 Command 57, 16#39 – read projected configuration
AS-i slaves 16(A)...31(A) ............................................................................. 105
7.2.24 Command 58, 16#3A – read projected configuration
AS-i slaves 1B…15B.................................................................................... 105
7.2.25 Command 59, 16#3A – read projected configuration
AS-i slaves 16B…31B.................................................................................. 105
7.2.26 Command 96, 16#60 – save data non-volatilely in the flash memory
of the controllerE.......................................................................................... 106
7.2.27 Command 97, 16#61 – carry out various settings in the controllerE............ 107
7.2.28 Command 102, 16#66 – retrieve the status of the controllerE display......... 108
7.2.29 Command 105, 16#69 – read the device properties of the controllerE ........ 109
8Special settings....................................................................................................................... 111
8.1 Setting [Number of channels per analogue slave] ....................................................... 111

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
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9Operating and display elements............................................................................................ 112
9.1 Status LEDs on the network connection ...................................................................... 112
9.1.1 LED [RUN] .................................................................................................... 112
9.1.2 LED [ERR]..................................................................................................... 112
9.1.3 LED [Link/Activity x], x = 1 or 2 ..................................................................... 112
9.2 Display.......................................................................................................................... 113
10 Menu......................................................................................................................................... 114
10.1 Main menu [Quick Setup] ............................................................................................. 114
10.2 Main menu [Fieldbus Setup]......................................................................................... 114
11 Set-up ....................................................................................................................................... 115
11.1 Basic settings of the fieldbus interface......................................................................... 115
11.2 Parameter setting of the controllerE............................................................................. 116
11.2.1 Parameter setting of slaves in the controllerE .............................................. 116
11.3 Setting and reading of the fieldbus parameters ........................................................... 116
11.4 Store system parameters ............................................................................................. 121
12 Terms, abbreviations.............................................................................................................. 122
13 Index......................................................................................................................................... 127

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Contents
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ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
On this manual What do the symbols and formats mean?
9
1 On this manual
In this chapter we will give you an overview of the following points.
What do the symbols and formats mean?
What devices are described in this manual?
How is this manual structured?
1.1 What do the symbols and formats mean?
The following symbols or pictograms depict our notes in this manual:
DANGER
Death or serious irreversible injuries are to be expected.
WARNING
Death or serious irreversible injuries may result.
CAUTION
Slight reversible injuries may result.
NOTICE
Property damage is to be expected or may result.
NOTE
Important notes concerning malfunctions or disturbances.
Info
Other remarks
►... Request for action
> ... Reaction, result
... "see"
abc Cross-reference
[...] Designation of keys, buttons or indications

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
On this manual What devices are described in this manual?
10
1.2 What devices are described in this manual?
This manual describes the AS-i device family controllerE from ifm electronic gmbh.
according to AS-i master specification 3.0 (M4)
with a firmware from version RTS 2.3 onwards
with the target from 15 onwards.
with the option EtherCAT fieldbus interface
In this supplementary manual only the above-mentioned EtherCAT fieldbus interface is described.
Higher-level or general information Basic device manual.
1.3 How is this manual structured?
This manual is a combination of different instruction types. It is for beginners and also a reference for
advanced users.
How to use this manual:
To find a certain subject straight away, please use the table of contents at the beginning of this
manual.
You can also find a requested term quickly with the index at the end of the manual.
At the beginning of a chapter we will give you a brief overview of its contents.
Headers You can find the title of the current chapter in bold in the header of each page.
Next to it you find the current title of the second order.
Footers You can find the number of the page in the footer of each page.
Abbreviations and technical terms →chapter Terms, abbreviations (→page 122).
We reserve the right to make alterations which can result in a change of contents of the instructions.
You can find the current version on ifm's website at:
http://www.ifm-electronic.com/ifmde/web/asi_down.htm
Nobody is perfect. Send us your suggestions for improvements to this manual and you will receive a
little gift from us to thank you.
© All rights reserved by ifm electronic gmbh. No part of this manual may be reproduced and used
without the consent of ifm electronic gmbh.

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
On this manual Overview: where is what?
11
1.4 Overview: where is what?
metal housing IP 20 unlocking key for detaching the unit from a
DIN rail
status LEDs of the
fieldbus interface
(→page 112)
text/graphics display
4 function keys
EtherCAT fieldbus interface
status LEDs
(here: 1 AS-i master)
terminals for the voltage supply 24 V, AS-i
interface(s) and protective wire 6-pin RJ11 socket of RS-232C
as programming interface
figure: overview controllerE

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Safety instructions General
12
2 Safety instructions
In this chapter you will find general safety instructions such as:
General rules
Required previous knowledge
Safety instructions for mounting and installation
When are you allowed to use this device and when not?
2.1 General
→separate basic instructions of the device manual
No characteristics are warranted with the information, notes and examples provided in this manual.
The drawings, representations and examples imply no responsibility for the system and no application-
specific particularities.
The manufacturer of the machine/equipment is responsible for ensuring the safety of the
machine/equipment.
WARNING
Property damage or bodily injury when the notes in this manual are not adhered to!
ifm electronic assumes no liability for this.
►The acting person must have read and understood the safety instructions and the corresponding
chapters in this manual before working on and with this device.
►The acting person must be authorised to work on the machine/equipment.
2.2 What previous knowledge is required?
This manual is intended for persons with knowledge of control technology and PLC programming with
IEC 61131-3 as well as the CoDeSys® software.
The manual is intended for persons authorised to mount, connect and set up the controllerE according
to the EMC and low voltage directives. The controllers must be installed and put into operation by a
qualified electrician.
In case of malfunctions or uncertainties please contact the manufacturer.
2.3 Functions and features
→separate basic instructions of the device manual

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
System requirements Information about the device
13
3 System requirements
3.1 Information about the device
→separate basic instructions of the device manual
This manual describes the AS-i controllerE device family from ifm electronic gmbh with the option
EtherCAT fieldbus interface.
3.2 Information concerning the software
→separate basic instructions of the device manual
3.3 Required accessories
Basic functions separate basic instructions of the device manual
For configuration and programming you also need:
the software "CoDeSys for Automation Alliance™" version 2.3 or higher (CD)
for direct connection of the controllerE to a PC with serial interface:
programming cable art. no. E70320

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Getting started Overview
14
4 Getting started
4.1 Overview
The chapter General set-up procedure (→page 15) illustrates the general set-up procedure for the
controllerE devices AC1391 / AC1392 by means of 2 flowcharts. Possible error states and the
corresponding corrective measures are described in additional tables in this chapter.
The chapter "Connect the Beckhoff industrial PC via EtherCAT " (→page 19) shows a configuration
example of a connection between a Beckhoff industrial PC and the controllerE. These quick
instructions presuppose the following:
16 bytes digital input and 16 bytes digital output data are to be exchanged between the connected
host and the controllerE. Accordingly, the fieldbus modules 1 and 2 are both set to 16 bytes
(→pages 24 and 25).
The controllerE and the industrial PC are switched on and connected to each other via Ethernet.
The following diagram is supposed to give an overview of the system structure and the corresponding
data flow.
controllerE AC1391/92
host PLC (IPC)
signal transmitter
e.g. inductive proximity
sensor
actuator
e.g. relay or
contactor
data flow of the input signals
data flow of the output signals
AS-i network with digital AS-i slaves

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Getting started General set-up procedure
15
4.2 General set-up procedure
START
END
Address AS-i slaves automatically
during assembling?
Install Hardware:
Power supplies, AS-i network, preaddressed
slaves, optional accessories (repeater, tuner etc.)
Switch on power supplies (24 V und AS-i)
Switch ControllerE into "Easy startup" mode: [Menu] >
[Address Slaves] > [Easy Startup] > [AS-i Master x]
Connect all AS-i slaves with address 0 one after
another to the AS-i bus
Check states of things (1)
LED [24 V PWR] = green continuous light
LED [PWR / COM] = green continuous light
LED [PLC RUN] = yellow continuous light
Check slave lists:
[Menu] > [Slave Lists] > [AS-i Master x] >
[Detected Slaves]
yes
no
yes
no
yes
no
Are all states of the things okay?
Are all state of the things okay?
Setup the AS-i projection:
Current state is to be saved as target state:
[Menu] > [Quick Setup] > [Config. all]
Check states of things (2)
LED [CONF / PF] = out
LED [PROJ] = out
Check slave lists:
[Menu] > [Slave Lists] > [AS-i Master x] >
[Projected Slaves]
Address AS-i slaves via addressing unit
(e.g. AC1144)
Install Hardware:
Power supplies, AS-i network, preaddressed
slaves, optional accessories (repeater, tuner etc.)
Switch on power supplies (24 V und AS-i)
Troubleshooting (1)
Troubleshooting (2)

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Getting started General set-up procedure
16
4.2.1 Troubleshooting (1)
Checkpoint Status Possible cause Remedy
LED [24 V PWR] out 24 V voltage supply not ok. ►Check 24 V voltage supply!
out AS-i voltage supply not ok. ►Check AS-i voltage supply!
LED [PWR / COM] green flashing AS-i voltage supply ok but no AS-i
slave detected on the bus.
►Check wiring of the AS-i network!
Adhere to the maximum
admissible cable lengths!
LED [PLC RUN] yellow flashing The controllerE PLC is in the
operating mode STOP.
►Switch PLC to the operating
mode RUN! ([Menu] > [PLC
Setup] > [PLC Settings] > [Run])
►If switching is not possible:
Is the project "CO_M4_xxx.pro"
stored in the controllerE as a boot
project? ([Menu] > [PLC Setup] >
[PLC Info])
Wiring fault in the AS-i network.
►Check wiring of the AS-i network!
Adhere to the maximum
admissible cable lengths!
Slave lists (detected
slaves)
The connected AS-i
slaves are not
detected correctly. There is double addressing, i.e. two
or more participants have been set
to the same AS-i address.
►Check the addresses of the
connected AS-i slaves!

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Getting started General set-up procedure
17
4.2.2 Troubleshooting (2)
Checkpoint Status Possible cause Remedy
red flashing One of the connected AS-i slaves
causes a periphery fault.
►Read the error messages on the
display of the controllerE and
determine the concerned slave
address(es)!
►Read in the corresponding
installation instructions of the
concerned slaves what might
cause a peripheral fault in the
corresponding unit!
►Remove this cause!
The list of activated slaves does not
correspond to the list of projected
slaves.
►Check the wiring of the AS-i
network, in particular the wiring of
the slaves which are projected
but not activated ([Menu] >
[Slave Lists] >...)!
►Adhere to the maximum
admissible cable lengths!
LED [CONF / PF]
red permanently lit
(configuration error)
The configuration of the AS-i
network was changed after
executing the function [Config all]
(slave(s) added, slave(s) removed,
slave(s) replaced by another type).
►Check the AS-i configuration!
►If the configuration is ok and the
LED [CONF / PF] still is
permanently lit:
Repeat the function [Config all]
([Menu] > [Quick Setup] > [Config
all])!
yellow flashing
The AS-i master is in the Config
mode. Switching to the protected
mode is not possible because at
least one slave with the address 0
was detected on the bus.
►Correct the AS-i configuration
according to your requests!
►Repeat the function [Config all]
([Menu] > [Quick Setup] > [Config
all])!
LED [PROJ]
yellow permanently lit The AS-i master is in the config
mode.
►Switch the AS-i master to the
protected mode ([Menu] >
[Master Setup] > [AS-i Master x]
> [Operation Mode] > [Protected
Mode)!

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Getting started Fieldbus setup (overview)
18
4.3 Fieldbus setup (overview)
Start fieldbus setup
Hardware installation
Connect the controllerE to the EtherCAT
network.
Fieldbus setup
►Set the fieldbus modules according to the
data to be transmitted (p. 31): [Menu] >
[Quick Setup] > [Fieldbus Setup]. Changes
in the menu "Fieldbus Setup" are only
applied by the device when the menu has
been exited. Troubleshooting
Are the fieldbus modules set correctly in the
controllerE?
Check the connection configured in the host.
Use also the available diagnostic functions
of the host configuration software!
Is the data exchange ok?
yes
no
End
Configure the connection to the controllerE in the
host (→example page 19)

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Getting started Connect the Beckhoff industrial PC via EtherCAT
19
4.4 Connect the Beckhoff industrial PC via EtherCAT
►Copy manually the XML description file of the controllerE into the TwinCat directory
…\TwinCAT\IO\EtherCAT. This is to be carried out only once: before the controllerE is used with
TwinCAT for the first time.
►Start the software
"TwinCAT System
Manager" on the PC.
►Mark the icon [I/O
devices].
►Click on the icon
[Magic wand] in the
tool bar (figure)
►Select the Ethernet
interface.
►Confirm with [OK].
►Confirm with [Yes].
> The AC1391/92
controller appears
below the selected
interface. The I/O
data set in the
"Fieldbus Setup" are
directly available in
the transmit PDOs
and the receive
PDOs.

ifm Supplementary device manual EtherCAT interface in the AS-i controllerE (AC1391, AC1392) 2012-02-24
Getting started Connect the Beckhoff industrial PC via EtherCAT
20
Input and output data can
be read and written.