Kunbus KUNBUS-COM User manual

User Manual
KUNBUS-COM EtherCat
PR100033 • 16/09/2015

Table of Contents KUNBUS GmbH
ii KUNBUS-COM EtherCAT
Table of Contents
1 General information ........................................................................................................................4
1.1 Disclaimer..................................................................................................................................4
1.2 Notes regarding this user manual..............................................................................................4
1.3 Validity .......................................................................................................................................5
1.4 Limitation of Liability ..................................................................................................................5
1.5 Customer Service ......................................................................................................................5
2 Safety Guidelines ............................................................................................................................6
2.1 User ...........................................................................................................................................6
2.2 Symbols.....................................................................................................................................6
2.3 General Safety Guidelines.........................................................................................................7
2.4 Environmental Conditions..........................................................................................................7
3 Overview ..........................................................................................................................................8
3.1 Introduction................................................................................................................................8
3.2 Spacer bolt ................................................................................................................................9
3.3 Application Interface ................................................................................................................11
3.4 Fieldbus Connection Socket....................................................................................................15
3.5 Status LEDs.............................................................................................................................16
4 Components ..................................................................................................................................18
4.1 Module Components ...............................................................................................................18
4.2 Storage Unit.............................................................................................................................19
4.3 Data Broker .............................................................................................................................20
4.4 Fieldbus Interface ....................................................................................................................28
4.5 CDI - Configuration and Debug Interface ................................................................................28
4.6 DPR - Dual Port RAM..............................................................................................................29
4.7 SDI - Serial Data Interface.......................................................................................................31
4.8 Synchronous serial interface ...................................................................................................32
4.9 Scripter ....................................................................................................................................44
5 Commissioning .............................................................................................................................45
5.1 Installation ...............................................................................................................................45
5.2 Configuration ...........................................................................................................................46
5.3 Firmware Update .....................................................................................................................46
6 Memory Register ...........................................................................................................................47
6.1 Overview of the Memory Register ...........................................................................................47
6.2 General Device Parameters ....................................................................................................50
6.3 Register for the Mapping .........................................................................................................75
6.4 Memory of the Communication Channels ...............................................................................78
6.5 Fieldbus specific Registers......................................................................................................81
6.6 Reserve Register.....................................................................................................................89

KUNBUS GmbH Table of Contents
KUNBUS-COM EtherCAT iii
7 Communication model .................................................................................................................90
7.1 EtherCAT Object Directory ......................................................................................................90
8 CDI .................................................................................................................................................93
8.1 Setting up a Serial Connection ................................................................................................93
8.2 CDI Menus...............................................................................................................................96
9 Disposal .......................................................................................................................................132
9.1 Dismantling and Disposal ......................................................................................................132
10 Technical data .............................................................................................................................133
10.1Technical data .......................................................................................................................133
11 Appendix......................................................................................................................................134
11.1Configuration via Modpoll ......................................................................................................134

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1 General information
1.1 Disclaimer
© 2015 KUNBUS GmbH, Denkendorf (Deutschland)
The contents of this user manual have been prepared by the
KUNBUS GmbH with the utmost care. Due to the technical
development, the KUNBUS GmbH reserves the right to change or
replace the contents of this user manual without prior notice. You can
always obtain the latest version of the user manual at our homepage:
www.kunbus.de
The KUNBUS GmbH shall be liable exclusively to the extent
specified in General Terms and Conditions (www.kunbus.de/
agb.html).
The contents published in this user manual are protected by
copyright. Any reproduction or use for the in-house requirements of
the user is permitted. Reproduction or use for other purposes are not
permitted without the express, written consent of the KUNBUS
GmbH. Contraventions shall result in compensation for damages.
Trademark protection
– KUNBUS is a registered trademark of the KUNBUS GmbH
– Windows® and Microsoft® are registered trademarks of the Microsoft,
Corp.
– Modbus is a registered trademark of the Modbus-IDA Organization.
KUNBUS GmbH
Heerweg 15 c
73770 Denkendorf
Deutschland
www.kunbus.de
1.2 Notes regarding this user manual
This user manual provides important technical information that can
enable you, as a user, to efficient, safe and convenient integration of
the COMS-Module into your applications and systems. It is intended
for trained, qualified personnel, whose sound knowledge in the field
of electronic circuits and expertise of EtherCATTM is assumed.
As an integral part of the module, the information provided here
should be kept and made available to the user.
General information

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1.3 Validity
This document describes the application of the KUNBUS COMS-
Moduls with the product number:
– PR100033, Release 02
1.4 Limitation of Liability
Warranty and liability claims will lapse if:
– the product has been used incorrectly,
– damage is due to non-observance of the operating manual,
– damage is caused by inadequately qualified personnel,
– damage is caused by technical modification to the product (e.g.
soldering).
1.5 Customer Service
If you have any questions or suggestions concerning this product,
please do not hesitate to contact us:
KUNBUS GmbH
Heerweg 15 C
[phone]
[email protected]
www.kunbus.de
General information

KUNBUS-COM EtherCAT 6 / 135
2 Safety Guidelines
2.1 User
The Modul may only be assembled, installed and put into operation
by trained, qualified personnel. Before assembly, it is absolutely
essential that this documentation has been read carefully and
understood. Expertise in the following fields is assumed:
– Electronic circuits,
– Basic knowledge of EtherCAT,
– work in electrostatic protected areas,
– Locally applicable rules and regulations for occupational safety.
2.2 Symbols
The symbols used have the following meaning:
DANGER Hazard
Observe this information without fail!
There is a safety hazard that can lead to serious injuries and death.
CAUTION Caution
There is a safety hazard that can result in minor injuries and material
damage.
NOTICE Note
Here you will find important information without a safety hazard.
Safety Guidelines

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2.3 General Safety Guidelines
DANGER Danger of electric shock
If unsuitable power supply is used, this can cause an electric shock.
ØThis can cause death, serious injuries and material damage to your
systems and modules.
èOnly use a power supply that complies with the regulations for safety
extra-low voltage (SELV) or protective extra-low voltage (PELV).
CAUTION Fault due to mechanical load
A continuous mechanical load of over 5G or shock loads of over 15G can
cause faults on your modules.
èComply with these load limits and avoid any unnecessary loads.
CAUTION Fault due to missing or unsuitable spacer bolt
Incorrect or missing spacer bolts can result in high mechanical loads on
your module and control board. This can cause faults.
èAlways use spacer bolts suitable for the connector height of the circuit
board so that the module does not lie on the circuit board.
You can find detailed information in section "Spacer bolt [}9]"
CAUTION Damage due to subsequent processing
Avoid subsequent processing of theCOMS-Modul.
ØSoldering can cause components to become detached and thus
damage or destroy the module.
ØPlease note that the warranty shall become invalid if the products are
changed technically.
èSpeak to your contact person at the KUNBUS GmbH about customised
solutions.
2.4 Environmental Conditions
Operate the COMS-Modul only in an environment that complies with
the operating conditions in order to prevent any damage.
Suitable Environmental Conditions:
Operating temperature 0 to +60°C
Humidity 0% not 95%, non-condensing
Safety Guidelines

KUNBUS-COM EtherCAT 8 / 135
3 Overview
3.1 Introduction
With the KUNBUS COMS-Modul you can make a sensor or actuator
fieldbus-capable. To do this, simply insert the module into your
application and connect it to the fieldbus.
The COMS-Modul thereby saves you time-consuming in-house
developments.
Illustration1: Overall view
Overview

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3.2 Spacer bolt
There are three holes on the module for spacer bolts. These spacer
bolts have 2 tasks:
– they stabilise the COMS module with a direct connection to the main
board
– they are part of the earthing concept.
Illustration2: Holes for spacer bolts
Suitable spacer bolts Suitable spacer bolts have the following properties:
– Conductive material
– Holes for M3 screws
– Diameter: maximum 8mm
Connections These spacer bolts are an important part of the earthing concept of
the COMS-Modul.
– Connect hole 1 to protective earth on the fieldbus side
– Hole 2 is not electrically connected.
– Connect the spacer bolts of hole 3 to GND (earth power supply)
Overview

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Height of spacer bolts The height of the spacer bolts depends on the height of the plug
connector used on the application side.
We recommend using the ERNI 254589 plug connector. The spacer
height for this plug connection is 10.75 to 12.3 mm above the circuit
board.
WARNING Fault due to missing or unsuitable spacer bolt
Incorrect or missing spacer bolts can result in high mechanical loads on
your module and control board. This can cause faults.
èAlways use spacer bolts suitable for the connector height of the circuit
board so that the module does not lie on the circuit board.
Overview

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3.3 Application Interface
The main board is connected to the device controller via a 32-pin
connector strip. You have the option to plug the module in directly.
CAUTION Mechanical loads can lead to faults on the module
èUse suitable spacer bolts to prevent mechanical loads. (e.g.
Ord.No.9774110360 from Würth Elektronik).
Illustration3: Application Interface
Pin assignment on the
application interface The module can be operated in serial or parallel mode. In serial
mode you can choose whether you want to use the module as
master or slave.
You can activate the modes via logical levels:
Mode Switchover level
Serial slave mode "a14": +3.3V, "a6" +3.3V
Serial master mode "a14": +3.3V, "a6": 0V
Parallel mode "a"14" GND
You can change over the operating mode via pin a14.
Overview

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Slave Mode ("a14": +3.3V, "a6" +3.3V)
Pin Designation Direction Comment
a1 CDI.TX [OUT] Send CDI
a2 receive CDI.RX [IN] CDI
a3 GND Supply
a4 SPI.SCK [IN] SPI Clock
a5 SPI.MOSI [IN] SPI Data In
a6 SPI.MODE.DIR [IN] SPI Mode
1 = Slave
a7 SPI.MID [IN] SPI Middle
a8 UART.TX [OUT] Send SDI
a9 UART.TE [OUT] SDI 1 = transmitter activ-
ated
for RS485 operation
a10-a13 Reserved Do not connect!
a14 MODE [IN] Mode-Select
1 = Serial Mode
a15 RESET [IN] Module-Reset ( low-active )
a16 GND Supply
b1-b2 Reserved Do not connect!
b3 GND Supply
b4 SPI.MISO [OUT] SPI Data Out
b5 SPI.CS [IN] SPI Chip-Select
b6 SPI.READY [OUT] SPI Ready
b7 SPI.RESET [OUT] Reset signal for the SSC
b8 UART.RX [IN] Receive SDI
b9-b15 Reserved Do not connect!
b16 +3V3 Supply
Overview

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SSC Master ("a14": +3.3V "a6": 0V)
Pin Designation Direction Comment
a1 CDI.TX [OUT] Send CDI
a2 receive CDI.RX [IN] CDI
a3 GND Supply -
a4 SPI.SCK [OUT] SPI Clock
a5 SPI.MOSI [OUT] SPI Data Out
a6 SPI.MODE.DIR [IN] SPI Mode
0 = Master
a7 SPI.MID [IN] SPI Middle
a8 UART.TX [OUT] Send SDI
a9 UART.TE [OUT] SDI 1 = transmitter activ-
ated
for RS485 operation
a10-a13 Reserved Do not connect!
a14 MODE [IN] Mode-Select
1 = Serial Mode
a15 RESET [IN] Module-Reset ( low-active )
a16 GND Supply
b1-b2 Reserved Do not connect!
b3 GND Supply -
b4 SPI.MISO [IN] SPI Data In
b5 Reserved Do not connect!
b6 SPI.LOAD [OUT] Load signal for the SSC
b7 SPI.RESET [OUT] Reset signal for the SSC
b8 UART.RX [IN] Receive SDI
b9-b15 Reserved Do not connect!
b16 +3V3 Supply
Overview

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Parallel Operating Mode ("a"14" GND)
Pin Designation Direction Comment
a1 CDI.TX [OUT] Send CDI
a2 receive CDI.RX [IN] CDI
a3 GND Supply
a4 ADDR0 [IN] Address-Bit 0
a5 ADDR1 [IN] Address-Bit 1
a6 ADDR2 [IN] Address-Bit 2
a7 ADDR3 [IN] Address-Bit 3
a8 ADDR4 [IN] Address-Bit 4
a9 ADDR5 [IN] Address-Bit 5
a10 ADDR6 [IN] Address-Bit 6
a11 ADDR7 [IN] Address-Bit 7
a12 ADDR8 [IN] Address-Bit 8
a13 ADDR9 [IN] Address-Bit 9
a14 MODE [IN] Mode-Select
0 = Parallel Mode
a15 RESET [IN] Module-Reset ( low-active )
a16 GND Supply
b1-b2 Reserved Do not connect!
b3 GND Supply
b4 DATA0 [IN/OUT] Databus-Bit 0
b5 DATA1 [IN/OUT] Databus-Bit 1
b6 DATA2 [IN/OUT] Databus-Bit 2
b7 DATA3 [IN/OUT] Databus-Bit 3
b8 DATA4 [IN/OUT] Databus-Bit 4
b9 DATA5 [IN/OUT] Databus-Bit 5
b10 DATA6 [IN/OUT] Databus-Bit 6
b11 DATA7 [IN/OUT] Databus-Bit 7
b12 CS_B [IN] Chip-Select
(low-active)
b13 WR_B [IN] Write-Enable
(low-active)
b14 RD_B [IN] Read-Enable
(low-active)
b15 Reserved Do not connect!
b16 +3.3V Supply
Overview

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3.4 Fieldbus Connection Socket
The module has a two Ethernet sockets for connecting to the
fieldbus.
Illustration4: Fieldbus Connection Socket
Pin assignment forEtherCAT
Pin Assignment
1 TX+
2 TX-
3 RX+
4 Not assigned.
Pin 4 and 5 are interconnected and
laid via a filter on PE for better EMC
response.
5
6 RX-
7 Not assigned.
Pin 4 and 5 are interconnected and
laid via a filter on PE for better EMC
response.
8
Overview

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3.5 Status LEDs
The COMS-Module are fitted with LEDs for status indication.
Lightpipes guide the LED signals to the side.
Illustration5: Status LEDs
No. LED Status Meaning Note
1 Module Error
(red)
Off No error has
occurred
Flash-
ing
Configuration
error
At least one system component
does not function due to a con-
figuration error.
On Internal system
error
A fatal, internal error has oc-
curred.
Flash-
ing
Start-up phase At least one system component
has not yet finished the start-up
phase.
On A serious error
has occurred
A fatal error has occurred.
Overview

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2 Operating
Mode (green)
Off Module not
running
Flash-
ing
Start-up phase At least one system component
has not yet finished the start-up
phase.
On Normal opera-
tion
All system components function
faultlessly.
3 Link Activity
OUT
off No connection
flashe
s
Connection
and data traffic
on Connection
4 Link Activity IN off No connection
flashe
s
Connection
and data traffic
on Connection
Overview

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4 Components
4.1 Module Components
The module is divided into independent components to ensure a high
level of flexibility in the application.
The following pages describe the individual components:
Illustration6: Components
Components

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4.2 Storage Unit
The storage unit is the central component for all functions of the
COMS-Module. It is subdivided into individual Memory Register with
a width of 16 bits each. In these Memory registers the following
information is stored:
– Input and output data
– Configuration settings
– Module Status
– Error states
The functionality of the addressing was incorporated from Modbus.
The register assignment depends on the application and is not
specified by the Modbus specification. A Memory Register according
to this specification has a register number between 1 (0x0001) and a
maximum of 65536 (0x10000), of which the module only uses a small
part, however.
With 8-bit values, 1 byte remains unused. 32-bit values are stored in
2 registers.
The 16-bit values are stored internally in the memory in Little Endian
order. This must be taken into account when you access data via the
fieldbus interface, SDI or SSC.
NOTICE!In the description of the individual memory registers
and CDI, the memory registers are also referred to as Modbus
registers.
In section Overview of the Memory Register [}47] we have
compiled a detailed overview of registers for you.
Components

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4.3 Data Broker
The Data Broker decouples individual components from each other
and distributes the data streams between the interfaces. The
targeted forwarding of the data ensures a high level of functionality
between the data sources and data sinks of the module.
Illustration7: Internal mapping by the Data Broker
Mapping
You have the option to define the allocation (mapping) yourself. This
allows you to define which input register the Data Broker should
accept data from and which output register it should transfer data to.
You can define up to 8 register areas with freely definable lengths in
the respective output register area for each of the interfaces. Any
register area of the same length is assigned to the output register
areas from one of the input register areas of all interfaces. Here, the
8 target areas are always on consecutive output register positions,
starting with the lowest register address for the respective interface.
Components