QUANTUM X CX27 User manual

I2720-2.0 en
Operating Manual
CX27 Gateway

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HBMQuantumX
1 Safety instructions 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Documentation 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 General information 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 EtherCAT connection 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Setting isochronous data transfer 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Configuration with TwinCAT 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Configuration with EtherCAT Studio 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 EtherCAT 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Basic principles 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Principle of operation 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Configuration 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Communication 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Synchronization 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 CX27-object specifications 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Detailed object description 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Emergency messages 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Connections 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Supply voltage (socket X104) 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 FireWire (sockets X5/X6/X101/X102) 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Ethernet (sockets X7/X100) 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4 EtherCAT (sockets X8/X9) 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5 Digital inputs and outputs 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Status display 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 System LED 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 Ethernet 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 EtherCAT 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 Accessories 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 System accessories 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.1 BPX001 active backplane 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2 Housing connection elements 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Voltage supply 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 Power pack NTX001 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Supply cable 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 FireWire 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 FireWire cable (module to module; IP20) 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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10 Abbreviations 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 Support 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5Safety instructions
HBMQuantumX
1 Safety instructions
Appropriate use
The module and the connected transducers may be used for measurement and directly
related control tasks only. Any other use is not appropriate.
To ensure safe operation, the module may only be used as specified in the operating
manual. It is also essential to follow the respective legal and safety regulations for the
application concerned during use. The same applies to the use of accessories.
Each time, before starting up the modules, you must first run a project planning and risk
analysis that takes into account all the safety aspects of automation technology. This
particularly concerns personal and machine protection.
Additional safety precautions must be taken in plants where malfunctions could cause major
damage, loss of data or even personal injury. In the event of a fault, these precautions
establish safe operating conditions.
This can be done, for example, by mechanical interlocking, error signaling, limit value
switches, etc.
Safety rules
A module must not be connected directly to a power supply network. The maximum
permissible supply voltage is 10 to 30 V (DC).
The supply connection, as well as the signal and sense leads, must be installed in such a
way that electromagnetic interference does not adversely affect device functionality (HBM
recommendation: ”Greenline shielding design”, downloadable from the Internet at
http://www.hbm.com/Greenline).
Automation equipment and devices must be covered over in such a way that adequate
protection or locking against unintentional actuation is provided (such as access checks,
password protection, etc.).
When devices are working in a network, these networks must be designed in such a way that
malfunctions in individual nodes can be detected and the nodes shut down.
Safety precautions must be taken both in terms of hardware and software, so that a line
break or other interruptions to signal transmission, such as via the bus interfaces, do not
cause undefined states or loss of data in the automation device.

6Safety instructions
HBM QuantumX
Conditions on site
For modules with degree of protection IP20:
−Protect the modules from humidity or effects of the weather such as rain, snow, etc.
−The permissible relative humidity at 31°C is 80% (non-condensing); linear reduction down
to 50%, at 40°C.
−Ensure that the ventilation openings on the sides are not covered.
For all modules:
−Do not expose the instrument to direct sunlight.
−Observe the maximum permissible ambient temperatures given in the specifications.
Maintenance and cleaning
The modules are maintenance-free. Please note the following when cleaning the housing:
−Before cleaning, disconnect the equipment completely.
−Clean the housing with a soft, slightly damp (not wet!) cloth. Never use solvents, since
these could damage the labelling on the front panel and the display.
−When cleaning, ensure that no liquid gets into the module or connections.
General dangers of failing to follow the safety instructions
The module is a state-of-the-art device and as such is failsafe. The module may give rise to
further dangers if it is inappropriately installed and operated by untrained personnel. Any
person instructed to carry out installation, commissioning, maintenance or repair of the
module must have read and understood the Operating Manuals and in particular the
technical safety instructions.
Remaining dangers
The scope of supply and performance of the module covers only a small area of
measurement technology. In addition, equipment planners, installers and operators should
plan, implement and respond to the safety engineering considerations of measurement
technology in such a way as to minimize remaining dangers. Prevailing regulations must be
complied with at all times. There must be reference to the remaining dangers connected with
measurement technology. After making settings and carrying out activities that are
password-protected, you must make sure that any controls that may be connected remain in
a safe condition until the switching performance of the module has been tested.
Working safely
Error messages should only be acknowledged once the cause of the error is removed and
no further danger exists.

7Safety instructions
HBMQuantumX
Conversions and modifications
The module must not be modified from the design or safety engineering point of view except
with our express agreement. Any modification shall exclude all liability on our part for any
resultant damage.
In particular, any repair or soldering work on motherboards (replacement of components) is
prohibited. When exchanging complete modules, use only original parts from HBM.
The module is delivered from the factory with a fixed hardware and software configuration.
Changes can only be made within the possibilities documented in the manuals.
Qualified personnel
Qualified personnel means persons entrusted with the installation, fitting, commissioning and
operation of the product who possess the appropriate qualifications for their function. This
module is only to be installed and used by qualified personnel, strictly in accordance with the
specifications and the safety rules and regulations.
This includes people who meet at least one of the three following requirements:
•Knowledge of the safety concepts of automation technology is a requirement and as
project personnel, you must be familiar with these concepts.
•As automation plant operating personnel, you have been instructed how to handle the
machinery and are familiar with the operation of the modules and technologies described
in this documentation.
•As commissioning engineers or service engineers, you have successfully completed the
training to qualify you to repair the automation systems. You are also authorized to
activate, to ground and label circuits and equipment in accordance with safety
engineering standards.
It is also essential to comply with the legal and safety requirements for the application
concerned during use. The same applies to the use of accessories.
NOTE
The safety instructions in this document also apply to the NTX001 power supply and
the BPX001 backplane.

8Safety instructions
HBM QuantumX
In this manual, the following symbols are used to point out residual dangers:
Symbol: DANGER
Meaning: Maximum danger level
Warns of an imminently dangerous situation in which failure to comply with safety
requirements will result in death or serious bodily injury.
Symbol: WARNING
Meaning: Dangerous situation
Warns of a potentially dangerous situation in which failure to comply with safety
requirements can result in death or serious bodily injury.
Symbol: CAUTION
Meaning: Potentially dangerous situation
Warns of a potentially dangerous situation in which failure to comply with safety
requirements could result in damage to property or some form of bodily injury.
Symbol:
Meaning: Electrostatic Sensitive Devices
Devices marked with this symbol can be destroyed by electrostatic discharge. Please
observe the precautions for handling electrostatic-sensitive devices.
Symbol: On the equipment
Meaning: Observe information provided in the operating manual.

9Safety instructions
HBMQuantumX
Symbols pointing out notes on use and waste disposal as well as useful information:
Symbol: NOTE
Points out that important information about the product or its handling is being given.
Symbol:
Meaning: CE mark
The CE mark enables the manufacturer to guarantee that the product complies with the
requirements of the relevant EC directives (the declaration of conformity is available at
http://www.hbm.com/hbmdoc).
Symbol:
Meaning: Statutory marking requirements for waste disposal
National and local regulations regarding the protection of the environment and recycling of
raw materials require old equipment to be separated from regular domestic waste for
disposal.
For more detailed information on disposal, please contact the local authorities or the dealer
from whom you purchased the product.

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2 Documentation
Purpose of this operating manual
This operating manual gives you information about the CX27 EtherCAT Gateway to the
measurement modules of the QuantumX DAQ family. It should support you in integrating the
QuantumX family into your real-time automation jobs.
The QuantumX family documentation consists of
•A printed quick start guide for initial start up (printed version)
•This operating manual (PDF format)
•The QuantumX operating manual (PDF format)
•A comprehensive HTML help with index and easy search options, which is available after
the installation of a software package (e.g. QuantumX Assistant, catmanEASY)
We reserve the right to modification and revision of this documentation. Updates will be
published on the relevant product pages of our Internet site, www.hbm.com.
Further Information
EtherCAT is an open standard (IEC/FDIS 61158), so please take the information available on
www.ethercat.org as further reference to this operating manual.
CANopen documentation can be obtained from the user organization, CAN in Automation
(CiA) (www.can-cia.de).

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HBMQuantumX
3 General information
The CX27 QuantumX module is a so-called gateway. A gateway allows networks based on
totally different protocols to communicate with each other.
The main task of the Ethernet/EtherCAT CX27 Gateway is to receive and forward the data of
the modules connected via FireWire.
CX27 sync
Digital platform
Ethernet
FireWire
FireWire
FireWire
I
N
EtherCAT
IN
Ethernet
OUT
Front Back
Fig. 2.1: CX27 Gateway; block diagram
Data are transferred, module timing is synchronized and optimum voltage is supplied via the
FireWire connections. Data transmission is asynchronous (all nodes) or isochronous (to a
specific node, e.g. CX27).
You can interconnect a total of twelve modules in series via FireWire.
The connection to the modules can either be made with appropriate FireWire connection
cables (1-KAB269-x), or via the BPX001 backplane (see Fig. 2.2). The backplane
interconnects up to nine modules, without the need for complicated cabling, and can link
these to additional modules or backplanes via two additional FireWire sockets. The FireWire
interfaces of the individual modules are actively connected to each other.

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CX27
EtherCAT IN/OUT
BPX001
FireWire
CX27
Ethernet
Fig. 2.2: CX27 connection via the BPX001 backplane
The CX27 Gateway has two Ethernet interfaces and one EtherCAT interface (IN/OUT) for a
network connection. The Ethernet interfaces at the front and back of the module are
equivalent, and are implemented as RJ45 sockets.
The Ethernet interface at the front of the module is designed for measurement and servicing
purposes and is used with a backplane mounting.
The Ethernet interface at the back of the module can be used in distributed operation (see
Fig. 2.3).
Measurement tasks: the central interface to all the connected modules and their measured
values.
Service tasks: the central interface to all the connected modules for diagnosis or update.
Note: the factory settings of the modules can be restored with the QuantumX Assistant.
Note
The Ethernet interfaces at front and back of the Gateway must have different IP
addresses! You can configure both interfaces with the QuantumX Assistant. With a
BPX001 backplane mounting, only the Ethernet socket at the front is available.

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HBMQuantumX
Ethernet connection
10 V −30 V DC
1-Kab269-2
2 m connection cable
FireWire connection
CX27
MX...
MX...
max. 1.5 A Alternative Ethernet connection
at the front
X101
X102
X101
X102
X101
X102
Fig. 2.3: Example: Ethernet connection to a PC/laptop via CX27

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The RJ45 connecting sockets at the front, X8 and X9, are designed for connection to the
EtherCAT fieldbus with real-time capability (Ethernet for Controller and Automation
Technology).
EtherCAT connection
10 V −30 V DC
FireWire
MX...
MX...
Master
CX27
(slave)
X9
Further slaves
Fig. 2.4: Example: QuantumX-EtherCAT connection via CX27

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4 EtherCAT connection
EtherCAT connection basically comprises the following steps:
1. One-off module/channel setup for isochronous data traffic with the QuantumX Assistant
(possibly also channel configuration).
2. Setting and configuring the individual channels via EtherCAT:
•channel configuration (SDO)
•process data assignment (PDO)
The following EtherCAT configuration tools are currently available:
•EtherCAT Studio (König PA)
•TwinCAT (Beckhoff)
The XML file required for configuration can be found on the QuantumX System CD or on the
HBM Internet site. You can also perform the configuration via a network scan or the
information stored in the EEPROM.
4.1 Setting isochronous data transfer
You must first configure the relevant module channels for isochronous data transmission with
the QuantumX Assistant (”Signals” tab) and via Ethernet TCP/IP:
1. Connect your modules in the deactivated state to the CX27 Gateway via FireWire cable
1-KAB269 (from connection X102 to X101, etc.), or use the active 1-BPX001 backplane
for connection.
2. Connect your PC to the CX27 Gateway via an Ethernet cable.
3. Switch on the supply voltage.
4. Launch the QuantumX Assistant.
5. In the ”Signals” tab, activate isochronous data transfer for the required channels (see
Fig.2.1).
activate
Fig.2.1: Activating isochronous data transfer
You can now work via the EtherCAT Gateway and configure your modules for EtherCAT
applications.

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4.2 Configuration with TwinCAT
Always use the current software version!
•Start TwinCAT
•Run TwinCAT system manager
•Right-click on I/O Device node and select ”Scan devices”, validate next dialog boxes (the
EtherCAT node is then added to the devices)
•Right-click on the EtherCAT device node and click on ”Append” box
•Highlight and insert ”HBM CX27” slave
(the HBM CX27 node is then added below the EtherCAT device)
•Select CX27 box and click the ”Process Data” tab
•Click ”Load PDO info from device” to refresh the object dictionary
•Highlight the inputs address field under the ”Sync Manager” dialog
•Activate ”PDO Assignment” and mark amount of PDOs (= QuantumX isochronous
signals)
•Run EtherCAT Master and check PDO data from CX27 Slave (basic measurement)
Select Inputs
Check amount
of PDOs
32
Note
You need the relevant Device Description File (HBM_CX27.xml) for the device to
integrate the QuantumX EtherCAT Gateway into the network. If there is a version
conflict, you can find the XML Device Description File on the QuantumX System CD or
on the relevant Download sites at ”www.hbm.com”.

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HBMQuantumX
4.3 Configuration with EtherCAT Studio
Always use the current software version!
•Start EtherCAT Studio
•Right-click on EtherCAT Master in ”Append” dialog, select ”HBM Communication modules
−> HBM CX27”
•Attach master and accept ”Online Operations” for network scan
•Select CX27 Slave and click ”CoE Online” tab
•Refresh object dictionary and check identifiers (AI_connector_identification)
•Select ”FMMU/SM” tab on CX27 slave
•Under Sync Manager Configuration field, highlight inputs address field
•Activate ”PDO assignment” and mark amount of PDOs (= QuantumX isochronous signals)
Inputs
PDOs
MX840: 8
Note
You need the relevant Device Description File (HBM_CX27.xml) for the device to
integrate the QuantumX EtherCAT Gateway into the network. If there is a version
conflict, you can find the XML Device Description File on the QuantumX System CD or
on the relevant Download sites at ”www.hbm.com”.

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5 EtherCAT
5.1 Basic principles
EtherCAT (Ethernet for Control Automation Technology) is an open and standardized
fieldbus system, characterized by a high performance capability and corresponding in
principle to a specifically adapted Ethernet solution (standard: IEC/FDIS 61158):
EtherCAT uses Ethernet Frames as defined in IEEE 802.3 and supports the use of other
Ethernet protocols in the same network.
End users of EtherCAT have banded together in the EtherCAT Technology Group (ETG) to
support and promote EtherCAT technology
(www.ethercat.org).
EtherCAT replaces the classic Ethernet hubs and switches star topology (although this can
still be used) with an easy-to-cable line topology. Branches or stub lines are supported. The
grouping here is usually one master and additional slaves.
MX840 MX ...
FireWireEtherCAT
Master IN
OUT
CX27
Fig.5.5: Example: CX27 Gateway to EtherCAT, modules connected via FireWire
5.2 Principle of operation
In contrast to standard Ethernet, the Ethernet Frames from the slaves are processed in
passing (IN and OUT sockets). The standard Ethernet Frame sent by the master (as per
IEEE 802.3) is not first received, then interpreted and the process data copied at every
interconnection, as is the case with other industrial Ethernet solutions. The EtherCAT slave
devices read the data relevant to them as the telegram passes through the device. Input data
are also inserted into the telegram in passing. So a frame is not fully received before being
processed, the processing starts as early as possible. Sending also occurs with a minimal
time offset of just a few bits. The master relies on a standard Ethernet controller.

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5.3 Configuration
Most of the effort required for implementation is usually taken on by the configuration tool.
Clearly defined interfaces have been created to minimize this effort. The configuration tool
learns about the device properties from the XML file (Device Description File = DDF). In turn,
the configuration tool also generates an XML file containing all the relevant information about
the network topology, the process data layout, startup and diagnosis. The actual master
implementation only has to load this file and extract the Ethernet frames required to start and
operate the network.
The QuantumX EtherCAT slaves can be configured either via DDF or via a scan and the
EEPROM integrated in the slave. This allows the SM/FMMU information (SYNC
Manager/Fieldbus Memory Management Unit) to be read out.
5.4 Communication
By default, EtherCAT uses CANopen (CoE −CANopen over EtherCAT) as the application
layer.
CANopen (CAN: Controller Area Network) is the open protocol standard for CAN in
automation technology and has been standardized in the ”CAN in Automation” (CiA)
association. The protocol uses CANBus as the transmission medium and specifies the basic
structures for network management, the use of the CAN Identifier (message address), the
behavior on the bus over time, the type of data transmission, and application-specific
profiles. This should ensure that CANopen modules from different manufacturers can be
combined (that the devices speak the same language). CANopen defines the application
layer (OSI Layer 7) as the communication profile specified by the CiA in Standard DS30x as
the same for all applications. It establishes how communication is to take place. As with
some other fieldbuses, a distinction is made between real-time data and parameter data.

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CANopen uses communication objects with different properties:
Service Data Objects (SDO)
In the parameter channel, all the CX27 parameters can be read and modified by the SDO
service. The required parameter is addressed within an SDO telegram by index and
sub-index.
SDOs form the communication channel for transmitting device parameters, such as the ADC
sample rate. As these parameters are transmitted acyclically (for example, once only, when
powering up the network), SDOs have a subordinate priority.
Process Data Objects (PDO)
A PDO telegram is used, for example, to transmit cyclic measurement data in real time,
which in turn is used for controlling, regulating and observing the ongoing process. The
transmission times here are linked to the cycle times/clock rates specified by a master. No
objects are addressed in the telegram, instead the content of previously selected parameters
is directly sent.
All the device parameters are stored in an object dictionary. This object dictionary contains
the description, data type and structure of the parameters, as well as the address (index).
For the QuantumX CX27 Gateway, the standardized DS404 device profile for the
sensor/controller group is enlisted, with meaningful additions, and this is shown in Chapter 6.
Only the indexes required for configuration are described here, starting from 0x6000. For a
description of the other index ranges, please refer to the CiA Standard.
Object dictionary DS404 (Version 1.2.2)
The object dictionary is the compilation of all the variables and parameters (objects) of a
CANopen device. This gives the data the process image and the parameters can be used to
influence the operating behavior of a CANopen device.
An object dictionary is structured in such a way that some parameters are mandatory for all
the devices of this category and others can be freely defined and used. In CANopen, objects
are primarily given a number (the so-called index), which uniquely identifies them and can
also be used to address them. Objects can be implemented as simple data types, such as
bytes, integers, longs or also strings. With more complex structures, such as arrays and
structures, a sub-index is introduced to address the individual elements.
The structure of the object dictionary, the assignment of index numbers, and some
mandatory entries are specified in the device profiles. For the user, the object dictionary is
stored as an EDS file (Electronic Data Sheet). In the EDS file, all the objects are stored with
index, sub-index, name, data type, default value, minima, maxima and access options
(read/write, transmission by SDO only or also by PDO, etc.). This means that the EDS file
describes the full functionality of a a CANopen device.
CANopen standard objects (from address 0x1xxx) can be obtained from the CiA
(www.can-cia.de).