IXXAT IEM-200 Powerlink Owner's manual

Hard- / Software Manual

Industrial Ethernet Module

Modbus-TCP

IXXAT Automation GmbH

Leibnizstr. 15

88250 Weingarten

Germany

Tel.: +49 751 56146-0

Fax: +49 751 56146-29

Internet: www.ixxat.com

E-Mail: info@ixxat.com

Support

In case of unsolvable problems with this product or other IXXAT products

please contact IXXAT in written form:

Fax: +49 751 56146-29

E-Mail: support@ixxat.de

Further international support contacts can be found on our webpage

www.ixxat.com

Copyright

Duplication (copying, printing, microfilm or other forms) and the electronic

distribution of this document is only allowed with explicit permission of

IXXAT Automation GmbH. IXXAT Automation GmbH reserves the right to

change technical data without prior announcement. The general business

conditions and the regulations of the license agreement do apply. All

rights are reserved.

Registered trademarks

All trademarks mentioned in this document and where applicable third

party registered are absolutely subject to the conditions of each valid

label right and the rights of particular registered proprietor. The absence

of identification of a trademark does not automatically mean that it is not

protected by trademark law.

Document number: 4.01.0220.00000

Version: 1.5

Introduction

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IEM Manual, 1.5

1 Introduction .................................................................................... 11

1.1 Definitions, acronyms and abbreviations ............................... 11

1.2 References ................................................................................ 13

1.3 Important user information ...................................................... 14

1.4 Conventions Used in This Manual .......................................... 14

1.5 Support ..................................................................................... 14

1.6 Returning hardware ................................................................. 14

1.7 Key features .............................................................................. 15

1.8 Overview ................................................................................... 15

1.8.1 Working principle .......................................................................... 16

1.8.2 Ethernet ports ............................................................................... 16

1.8.3 Board-to-Board Connector ............................................................ 16

1.8.4 Memory interface .......................................................................... 16

1.8.4.1 Communication ...................................................................... 17

1.8.4.2 Process data .......................................................................... 17

1.8.5 Software concept .......................................................................... 20

1.8.5.1 Command channel ................................................................. 20

1.8.5.2 Service channels .................................................................... 20

1.8.5.3 State control ........................................................................... 20

2 Getting started ............................................................................... 23

2.1 Software directory structure .................................................... 23

2.2 EMI – Ethernet Module Interface ............................................. 25

2.3 IEM demo application overview .............................................. 26

2.3.1 Startup .......................................................................................... 26

2.3.2 Configuration phase ...................................................................... 27

2.3.3 Service Channel access ............................................................... 28

2.3.4 Creation of variables ..................................................................... 28

2.3.5 Process data exchange ................................................................ 30

2.3.5.1 Data mapping ......................................................................... 30

2.3.5.2 Characteristics ....................................................................... 31

2.3.6 Storing/Restore configuration parameter ...................................... 31

2.3.7 Configuration structure ................................................................. 31

2.3.8 Registering events ........................................................................ 32

2.3.9 Error handling ............................................................................... 32

2.3.10 Generic structure of the demo application .................................... 32

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2.3.11 First steps in the demo application ............................................... 33

2.3.11.1 Preparation and setup ............................................................ 34

2.3.11.1.1 Selection of the module access ....................................... 34

2.3.11.1.2 Startup .............................................................................. 34

2.3.11.1.3 Mode selection ................................................................. 35

2.3.11.1.4 Initial configuration ........................................................... 36

2.3.11.1.5 Creation of variables ........................................................ 36

2.3.11.1.6 Registering events ........................................................... 39

2.3.11.1.7 Starting the communication .............................................. 40

2.3.11.1.8 DemoMain ........................................................................ 40

3 Porting of the host application ..................................................... 41

3.1 Host system relevant units ...................................................... 41

3.1.1 Adaption of the Board support package (BSP) ............................. 41

3.1.2 Adaption of the memory management (GEO) .............................. 42

3.1.3 Adaption of the SPI driver ............................................................. 42

3.1.3.1 Data packet design ................................................................ 42

3.1.3.2 SPI bus performance ............................................................. 43

3.1.3.3 SPI - Serial Peripheral Interface (SPI.h, SPI.c)...................... 43

3.1.3.3.1 Types and Macros ............................................................ 43

3.1.3.3.2 Functions .......................................................................... 43

3.2 Configuring ............................................................................... 44

3.2.1 Endianess ..................................................................................... 44

3.2.2 Config.h ........................................................................................ 45

3.2.3 Target.h......................................................................................... 48

3.2.4 Integral.h ....................................................................................... 48

3.3 Scaling ...................................................................................... 48

3.3.1 Service channels .......................................................................... 48

3.3.2 Administration queues .................................................................. 49

3.3.3 Memory management ................................................................... 49

4 Ethernet Module Interface (EMI) – API Description ..................... 50

4.1 EMI - Ethernet Module Interface .............................................. 50

4.1.1 Types and Macros ........................................................................ 50

4.1.1.1 EMI_k_MAX_FTP_USER_NAME_PASSWORD_LEN .......... 50

4.1.1.2 EMI_t_API_CONFIG .............................................................. 50

4.1.2 Functions ...................................................................................... 51

4.1.2.1 EMI_cmdPowerOnReset() ..................................................... 51

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4.1.2.2 EMI_cmdBrdReset()............................................................... 51

4.1.2.3 EMI_cmdBrdInit() ................................................................... 52

4.1.2.4 EMI_cmdBrdRelease() ........................................................... 52

4.1.2.5 EMI_cmdBrdInfoReq() ........................................................... 53

4.1.2.6 EMI_cmdBrdInfoQuery() ........................................................ 54

4.1.2.7 EMI_cmdFirmwareVerGet() ................................................... 54

4.1.2.8 EMI_cmdHardwareVerGet() .................................................. 55

4.1.2.9 EMI_cmdProtocolGet() .......................................................... 55

4.1.2.10 EMI_cmdNumExtPortsGet() .................................................. 56

4.1.2.11 EMI_cmdChannelOpen() ....................................................... 56

4.1.2.12 EMI_cmdChannelClose() ....................................................... 57

4.1.2.13 EMI_cmdChannelStart() ........................................................ 58

4.1.2.14 EMI_cmdChannelStop() ......................................................... 58

4.1.2.15 EMI_cmdChannelReset() ....................................................... 59

4.1.2.16 EMI_cmdChannelConfigure() ................................................ 60

4.1.2.17 EMI_cmdCfgStore() ............................................................... 60

4.1.2.18 EMI_cmdCfgRestore() ........................................................... 61

4.1.2.19 EMI_cmdCommandRespQuery() ........................................... 62

4.1.2.20 EMI_cmdNetworkTimeReq() .................................................. 62

4.1.2.21 EMI_cmdNetworkTimeQuery() .............................................. 63

4.1.2.22 EMI_cmdNetworkInfoReq() .................................................... 63

4.1.2.23 EMI_cmdNetworkInfoQuery() ................................................ 64

4.1.2.24 EMI_evtEventRegister() ......................................................... 64

4.1.2.25 EMI_evtEventUnRegister() .................................................... 65

4.1.2.26 EMI_evtEventCheck() ............................................................ 66

4.1.2.27 EMI_srvRemoteConnOpen() ................................................. 66

4.1.2.28 EMI_srvRemoteConnClose() ................................................. 67

4.1.2.29 EMI_srvreqSend() .................................................................. 68

4.1.2.30 EMI_srvrespQuery() ............................................................... 69

4.1.2.31 EMI_srvrespSegmentQuery() ................................................ 70

4.1.2.32 EMI_srvrespServiceCompleted() ........................................... 71

4.1.2.33 EMI_srvconfSend() ................................................................ 71

4.1.2.34 EMI_srvindQuery() ................................................................. 72

4.1.2.35 EMI_srvindSegmentQuery() .................................................. 73

4.1.2.36 EMI_srvServiceHandle() ........................................................ 74

4.1.2.37 EMI_srvTransferContinue() .................................................... 75

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4.1.2.38 EMI_stsStatusQuery() ............................................................ 75

4.1.2.39 EMI_stsLedQuery() ................................................................ 76

4.1.2.40 EMI_stsLinkQuery() ............................................................... 77

4.1.2.41 EMI_ioCyclDataReadAcquire() .............................................. 77

4.1.2.42 EMI_ioCyclDataReadRelease() ............................................. 78

4.1.2.43 EMI_ioCyclDataWriteAcquire() .............................................. 79

4.1.2.44 EMI_ioCyclDataWriteRelease() ............................................. 79

4.1.2.45 EMI_ioAcyclDataRead() ......................................................... 80

4.1.2.46 EMI_ioAcyclDataWrite() ......................................................... 81

4.1.2.47 EMI_ioCyclWriteImageSizeGet() ........................................... 81

4.1.2.48 EMI_ioCyclReadImageSizeGet() ........................................... 82

4.1.2.49 EMI_ioAcyclImageSizeGet() .................................................. 82

4.1.2.50 EMI_cmdIoctrl() ...................................................................... 83

4.1.2.51 EMI_cmdFtpUserSet() ........................................................... 83

5 Communication Protocols ............................................................ 85

5.1 PROFINET ................................................................................. 85

5.1.1 Device Description File ................................................................. 85

5.1.2 PROFINET device model ............................................................. 85

5.1.3 Variable access ............................................................................ 87

5.1.4 Process data mapping .................................................................. 88

5.1.5 Services ........................................................................................ 89

5.1.5.1 Connection management ....................................................... 89

5.1.5.2 Device structure management ............................................... 89

5.1.5.3 PROFINET specific indications from the IEM ........................ 89

5.1.5.4 Alarms .................................................................................... 90

5.1.5.5 I&M data (Identification and Maintenance) ............................ 90

5.1.6 States and events ......................................................................... 91

5.1.7 Managing persistent data ............................................................. 91

5.1.8 LEDs ............................................................................................. 92

5.2 Ethernet/IP ................................................................................ 93

5.2.1 Device Description File ................................................................. 93

5.2.2 Variable access ............................................................................ 93

5.2.2.1 Object model .......................................................................... 95

5.2.3 Ethernet/IP specific variable mapping ........................................ 100

5.2.3.1 Process data mapping ......................................................... 100

5.2.3.2 Configuration assembly ....................................................... 102

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5.2.3.3 Signal access ....................................................................... 102

5.2.4 Services ...................................................................................... 102

5.2.4.1 Ethernet/IP Services ............................................................ 102

5.2.4.2 Remote Access .................................................................... 103

5.2.5 States and events ....................................................................... 103

5.2.6 Class 1 and class 3 connection handling ................................... 104

5.2.6.1 ForwardOpen verification ..................................................... 104

5.2.6.2 Connection established ........................................................ 104

5.2.6.3 Connection closed / connection timeout .............................. 105

5.2.7 LEDs ........................................................................................... 105

5.3 EtherCAT ................................................................................. 107

5.3.1 Device Description File ............................................................... 107

5.3.2 Device addressing ...................................................................... 107

5.3.3 E²PROM...................................................................................... 107

5.3.4 Data access ................................................................................ 107

5.3.4.1 Protocol specific addressing ................................................ 107

5.3.4.2 Protocol specific parameters ................................................ 108

5.3.4.3 Protocol specific attributes ................................................... 108

5.3.5 Initialization area ......................................................................... 108

5.3.5.1 Device addressing................................................................ 108

5.3.5.2 Data mapping ....................................................................... 109

5.3.6 Object dictionary ......................................................................... 109

5.3.6.1 Communication profile area ................................................. 109

5.3.6.2 Application profile area ........................................................ 110

5.3.6.3 Data types ............................................................................ 110

5.3.7 Configuration .............................................................................. 111

5.3.7.1 PDO mapping ....................................................................... 111

5.3.7.1.1 Configuration by tool (TwinCAT) .................................... 111

5.3.7.1.2 Configuration by application ........................................... 112

5.3.7.2 Detecting mapping errors ..................................................... 114

5.3.7.3 Store PDO configuration ...................................................... 115

5.3.8 Process data exchange .............................................................. 115

5.3.8.1 Static mapping ..................................................................... 115

5.3.8.2 Dynamic mapping ................................................................ 115

5.3.8.3 Synchronization.................................................................... 116

5.3.8.4 Safe output values ............................................................... 116

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5.3.9 Service Data Object (SDO) ......................................................... 116

5.3.10 Protocol specific state handling .................................................. 117

5.3.11 Protocol specific events .............................................................. 117

5.3.12 Protocol specific commands ....................................................... 119

5.3.13 Protocol specific services ........................................................... 119

5.3.14 Bus cycle time ............................................................................. 120

5.3.15 Operating system load (minor fault) ............................................ 120

5.3.16 Parameter service ....................................................................... 120

5.3.16.1 Open a remote SDO connection .......................................... 120

5.3.16.2 Close a remote SDO connection ......................................... 120

5.3.16.3 Read a remote SDO connection .......................................... 121

5.3.16.4 Write remote data................................................................. 121

5.3.17 Mailbox service ........................................................................... 121

5.3.18 LEDs ........................................................................................... 121

5.4 Ethernet Powerlink ................................................................. 123

5.4.1 Device Description File ............................................................... 123

5.4.2 Process data mapping ................................................................ 125

5.4.3 Synchronization to IEM ............................................................... 125

5.4.4 LEDs ........................................................................................... 125

6 Error handling .............................................................................. 127

6.1 Error classes (priorities) ........................................................ 127

6.2 Assignment between errors and units .................................. 127

6.3 Assignment between errors and files ................................... 128

6.4 Extended error bit .................................................................. 129

6.5 Error Codes ............................................................................ 129

6.5.1 COM_k_UNIT_ID_HC_ABM (unit id 1) ....................................... 129

6.5.2 COM_k_UNIT_ID_HC_SHM (unit id 2) ...................................... 129

6.5.3 COM_k_UNIT_ID_HC_BCC (unit id 3) ....................................... 129

6.5.4 COM_k_UNIT_ID_HC_DCI (unit id 4) ........................................ 130

6.5.5 COM_k_UNIT_ID_HC_SPI (unit id 5) ......................................... 130

6.5.6 COM_k_UNIT_ID_HC_EMI (unit id 6) ........................................ 130

6.5.7 COM_k_UNIT_ID_HC_FUPH (unit id 7) ..................................... 133

6.5.8 COM_k_UNIT_ID_MC_ABM (unit id 50) .................................... 134

6.5.9 COM_k_UNIT_ID_MC_SHM (unit id 51) .................................... 135

6.5.10 COM_k_UNIT_ID_MC_BCC (unit id 52) .................................... 135

6.5.11 COM_k_UNIT_ID_MC_BSP (unit id 53) ..................................... 135

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6.5.12 COM_k_UNIT_ID_MC_CRM (unit id 54) .................................... 135

6.5.13 COM_k_UNIT_ID_MC_BPW_GEN (unit id 108) ........................ 135

6.5.14 COM_k_UNIT_ID_MC_BPW_PNIO (unit id 109) ....................... 139

6.5.15 COM_k_UNIT_ID_MC_BPW_ETC (unit id 110) ........................ 146

6.5.16 COM_k_UNIT_ID_MC_BPW_EPL (unit id 111) ......................... 146

6.5.17 COM_k_UNIT_ID_MC_BPW_EIP (unit id 112) .......................... 147

6.5.18 COM_k_UNIT_ID_MC_OS (unit id 120) ..................................... 151

6.5.19 COM_k_UNIT_ID_MC_TCPIP (unit id 121) ............................... 151

6.5.20 COM_k_UNIT_ID_MC_TSE (unit id 122) ................................... 151

6.5.21 COM_k_UNIT_ID_MC_PNIO (unit id 128) ................................. 151

6.5.22 COM_k_UNIT_ID_MC_ETC (unit id 129) ................................... 151

6.5.23 COM_k_UNIT_ID_MC_EPL (unit id 130) ................................... 152

6.5.24 COM_k_UNIT_ID_MC_EIP (unit id 131) .................................... 152

6.5.25 COM_k_UNIT_ID_MC_DHSI (unit id 140) ................................. 152

6.5.26 COM_k_UNIT_ID_MC_EMHI (unit id 141) ................................. 152

6.5.27 COM_k_UNIT_ID_MC_HTH (unit id 142) ................................... 152

6.5.28 COM_k_UNIT_ID_MC_FUPM (unit id 150) ................................ 152

6.5.29 COM_k_UNIT_ID_MC_FUPMv2 (unit id 151) ............................ 154

7 Hardware ...................................................................................... 161

7.1 Connectors and LEDs ............................................................ 161

7.1.1 Board-to-Board Connector .......................................................... 161

7.1.1.1 Connector pin out ................................................................. 161

7.1.1.2 Signal description ................................................................. 162

7.1.1.2.1 Address inputs (ADDR1 – ADDR13) ............................. 162

7.1.1.2.2 Byte enable lines (BE0# and BE1#) ............................... 163

7.1.1.2.3 Data input/output (D0 – D15) ......................................... 163

7.1.1.2.4 Chip select (CS#) ........................................................... 164

7.1.1.2.5 Read (RD#) .................................................................... 164

7.1.1.2.6 Write (WR#) ................................................................... 164

7.1.1.2.7 7.2.7 SPI (SPI_CLK, SPI_CS#, SPI_MOSI, SPI_MISO) 164

7.1.1.2.8 GPIOs from application processor ................................. 164

7.1.1.2.9 GPIOs to application processor ..................................... 165

7.1.1.2.10 Reset (RESET#) ............................................................ 165

7.1.1.3 Pin location ........................................................................... 166

7.1.2 RJ45 connectors ......................................................................... 166

7.1.3 LED labeling ............................................................................... 166

7.1.4 PE and shielding recommendations ........................................... 167

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7.2 Hardware interface ................................................................. 167

7.2.1 Parallel interface access ............................................................. 168

7.2.2 SPI interface access ................................................................... 168

7.3 Electrical specification........................................................... 169

7.3.1 Power supply .............................................................................. 169

7.3.2 I/O – 3.3V LVTTL ........................................................................ 169

7.3.3 Timings for memory mapped access (MCI) ................................ 169

7.3.3.1 Timings on accessing parallel interface ............................... 169

7.3.3.2 Data read access ................................................................. 169

7.3.3.3 Data write access ................................................................. 169

7.3.3.4 Timing diagram .................................................................... 170

7.3.4 Timing for SPI based access ...................................................... 170

7.3.4.1 SPI settings .......................................................................... 171

7.3.4.2 Timing CS# .......................................................................... 171

7.4 Mechanical specification ....................................................... 172

7.4.1 PCB measurements .................................................................... 172

7.4.2 Mounting holes ........................................................................... 172

7.4.3 Board-to-Board connector .......................................................... 173

7.4.4 Ethernet Connector ..................................................................... 174

7.4.5 Height restrictions ....................................................................... 174

7.5 Environmental Specification ................................................. 175

7.5.1 Temperature ............................................................................... 175

7.5.2 Relative humidity ........................................................................ 175

8 Appendix ...................................................................................... 176

8.1 Shared Memory Layout .......................................................... 176

8.2 FCC Compliance ..................................................................... 177

8.3 EC Declaration of Conformity ................................................ 178

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IEM Manual, 1.5

1 Introduction

1.1 Definitions, acronyms and abbreviations

API

Application Programming Interface

Application Process Identifier (PROFINET)

Application

Customer specific software implementation

BCC

Basic Communication Channel

BSP

Board Support Package

BPW

Bus Protocol Wrapper. Software part on the IEM that in-

terfaces a certain communication protocol stack.

CCI

Controller Communication Interface. Provides structures

and mechanisms to transfer data and messages between

host and module through the SHM (see description below)

CIP

Common Industrial Protocol

CLNK

command link

CoE

CAN application layer over EtherCAT

CRC

cyclic redundancy check

EDS

Electronic Data Sheet (EtherNet/IP)

EIP

EtherNet/IP

EMI

Ethernet Module Interface: API of the Industrial Ethernet

Module

Firmware

Throughout this document: The part of the Industrial

Ethernet Module API running on the Module.

GEO

Generic operating system

GSDML

General Station Description Markup Language

(PROFINET)

HC

Host Controller

Host

Target system including application and EMI

I&M

Identification and Maintenance Profile (PROFINET)

IEM

Industrial Ethernet Module

IOPS

IO Provider Status (PROFINET)

IOCS

IO Consumer Status (PROFINET)

IOXS

IO Provider/Consumer Status (PROFINET)

MC

Module Controller

MCI

Memory Controller Interface

Module

IEM containing BPW, CCI and protocol specific implemen-

tations

MN

Managing Node (POWERLINK)

MSM

Module State Machine: state machine on host controller

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and IEM

Network variables

Other word for Process Image.

PE

protective earth

PDO

Process Data Object

PNIO

PROFINET I/O

Process Image

Data area where all input and output data of a system

(compare PLC) are combined.

RMA

return material authorization

RWWB

read while write buffer

SD

Service Data

SDO

Service Data Object

SHM

Shared Memory interface

SoC

Start of Cycle

Software

Throughout this document: The part of the Industrial

Ethernet Module API running on the Host Controller.

SPI

Synchronous Peripheral Interface

Unit

Functional block of the software

XDD

XML Device Description (POWERLINK)

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1.2 References

[EIP1]

THE CIP NETWORKS LIBRARY

Volume 1

Common Industrial Protocol

Edition 3.15, November 2013

[EIP2]

THE CIP NETWORKS LIBRARY

Volume 2

EtherNet/IP Adaptation of CIP

Edition 1.15, April 2013

[EPL1]

Ethernet POWERLINK Communication Profile Specification

Version 1.1.0, 2008

[PNIO1]

GSDML Specification for PROFINET IO Draft in PI Review.

Version 2.16, June 2008

[PNIO2]

GSDML-Getting started

http://support.automation.siemens.com/WW/view/en/31410371

[PNIO3]

Application Layer services for decentralized periphery and distribut-

ed automation.

Specification for PROFINET IO

Version 2.2, October 2007 (Order No.: 2.712)

[PNIO4]

Application Layer protocol for decentralized periphery and distributed

automation.

Specification for PROFINET IO

Version 2.2, October 2007 (Order No.: 2.722)

[ETC1]

EtherCAT1 Specification – Part 5: Application layer service definition

ETG.1000.5 S (R)

V1.0 of July 2008

[ETC2]

EtherCAT Specification Indicator and Labeling

ETG.1300 S (R)

V1.0.1

July 02, 2009

[ETC3]

EtherCAT Specification - Slave Information

ETG.2000 S (R)

V1.0.4

June 19, 2012

[HW1]

Altera Application Note AN447

Interfacing Cyclone III and Cyclone IV Devices with 3.3/3.0/2.5-V

LVTTL/LVCMOS I/O Systems

November 2009 AN-447-2.0

http://www.altera.com/literature/an/an447.pdf

1

EtherCAT® is registered trademark and patented technology, licensed by

Beckhoff Automation GmbH, Germany.

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1.3 Important user information

This manual is intended to provide a good understanding of IXXAT’s Industrial

Ethernet Module (furthermore referenced as IEM).

As there are many applications of the IEM, those responsible for the use of

this device must ensure that all the necessary steps have been taken to verify

that the application meets all performance and safety requirements including

any applicable laws, regulations, codes, and standards.

1.4 Conventions Used in This Manual

The following conventions are used throughout this manual:

 Numbered lists provide sequential steps

 Bulleted lists provide information, not procedural or sequential steps

 Hexadecimal values are written in the format NNNNh, where NNNN is the

hexadecimal value

 All measurements expressed in this document have a tolerance of ±0.1mm

unless stated otherwise

 16/32 bit values are generally stored in Intel (little-endian) format unless

stated otherwise

1.5 Support

For more information on our products, FAQ lists and installation tips please

refer to the support area on our homepage (http://www.ixxat.de). There you

will also find information on current product versions and available updates.

If you have any further questions after studying the information on our homep-

age and the manuals, please contact our support department. In the support

area on our homepage you will find the relevant forms for your support re-

quest. In order to facilitate our support work and enable a fast response,

please provide precise information on the individual points and describe your

question or problem in detail.

If you would prefer to contact our support department by phone, please also

send a support request via our homepage first, so that our support department

has the relevant information available.

1.6 Returning hardware

If it is necessary to return hardware to us, please download the relevant RMA

form from our homepage and follow the instructions on this form. In the case of

repairs, please also describe the problem or fault in detail on the RMA form.

This will enable us to carry out the repair quickly.

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1.7 Key features

The IEM implements

 One single software API supporting all implemented standards of industrial

Ethernet protocols

 FPGA with NIOS II processor, covering all Ethernet communication proto-

col stack tasks (and thus reduction load on application processor to a min-

imum)

 Supported protocols

o EtherCAT

o Ethernet/IP

o POWERLINK

o PROFINET

 Pre-certification available (where applicable)

 DPRAM interface guarantees data consistency

 Optional SPI interface

 On board LEDs

 Galvanic isolated Ethernet interface

 Certified components

 Synthesis of all major design recommendations of the relevant industrial

Ethernet specifications

 CE certified

1.8 Overview

Below you will find a schematic overview of the IEM, the application interface,

the internal data path and the Ethernet interface.

IEM

* depends on the used protocol

FPGA

DPRAM

RAM SPI Flash

PHY PHY

Ethernet

Port 1

Ethernet

Port 2

2x Duo LED

Switch / Hub

Optional*

Power Supply

2,5V/1,2V

3,3V Host Interface

Board-to-Board Connector

Figure 1-1: Schematic overview about the IEM

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1.8.1 Working principle

The IEM is mechanically and electrically connected to the host application pro-

cessor by the Board-to-Board Connector. The FPGA design incorporates

amongst other components a dual ported memory (DPRAM) and a NIOS II

soft-core processor. This DPRAM serves as a shared memory over which the

communication between the IEM’s NIOS II processor and the host application

processor is handled.

1.8.2 Ethernet ports

The IEM provides two galvanic isolated RJ45 female connectors. The con-

nectors are designed to fulfill all mandatory requirements from the various in-

dustrial Ethernet specifications (PE, Shield, PHY, etc.). All Ethernet communi-

cation is handled completely by the IEM itself.

1.8.3 Board-to-Board Connector

The IEM is connected through a 50-pin 1.27 mm Board-to-Board Connector

which carries all control signals, address/data bus signals as well as the power

supply for the IEM.

The Board-to-Board Connector contains all signals to connect to the host CPU

either using an address and data bus (16 bit wide on IEM, 16/32 bit wide for

design-in) or SPI. Additionally, a reset pin as well as two general purpose pins

from and to the IEM, which can be used e.g. for IRQ are provided on the con-

nector.

1.8.4 Memory interface

Seen from the application CPU’s point of view the application interface is a

block of (dual ported) memory which contains a command channel, process

data interface and several data queues.

The DPRAM can be either accessed directly (memory mapped access) or via

SPI (indirect access). To realize consistency with SPI communication, a mirror

buffer on the host is used for the communication interface.

The software running on the IEM and the library provided for the host proces-

sor separate this memory into dedicated parts used for specific communication

tasks. The main differentiation is made between exchange of process data and

all other communication. The latter is thus in the following just referred to as

“communication” (see Figure 1-2).

Introduction

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IEM Manual, 1.5

1.8.4.1 Communication

Figure 1-2 shows an overview of the part of the DPRAM responsible for the

communication (command, event, service and status).

CMD Buffer

(CLNK)

Status Buffer

(RWWB)

Event (Cbk)

queue

Event queue

(FIFO)

SD queue

HC à MC

(FIFO)

SD queue

HC à MC

(FIFO)

SD queue

MC à HC

(FIFO)

SD queue

MC à HC

(FIFO)

Shared

Memory

SHM

IEM

Host

request response

callback request response

request response

command

channel

event service channels (optional) status

Communication

SD queue

HC à MC

(FIFO)

SD queue

MC à HC

(FIFO)

indication

SD queue

HC à MC

(FIFO)

SD queue

HC à MC

(FIFO)

confirmation

(trigger from host) (trigger from module)

Figure 1-2: Schematic overview of communication area at DPRAM

1.8.4.2 Process data

The main concept is that all process data is read/written from/to buffers in the

DPRAM, which are additionally protected by a set of semaphores to ensure

data consistency on large memory blocks. When the buffers are released by

the application processor, the IEM handles all communication standalone

without any interaction from the application processor required.

 Cyclic process data

Variables can be readable or writeable, but not read-/writeable. For each

data direction, three buffers are used and swapped after access.

 Acyclic process data

Acyclic process data share one buffer; variables can be readable, writeable

and read-/writeable.

Status Buffer

(RWWB)

Status Buffer

(RWWB)

Output Data Status Buffer

(RWWB)

Status Buffer

(RWWB)

Input Data Acyclic Data

Shared

Memory

SHM

IEM

Host

Communication

Figure 1-3: Schematic overview of process area at DPRAM

What Figure 1-2 and Figure 1-3 depicted is displayed in the following figure in

more detail. Additionally it shows which API functions of the Ethernet Module

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IEM Manual, 1.5

Interface (EMI) software are involved in the data flow. Please refer to Figure 1

4 later, when studying the functional interface (EMI) of the IEM.

What Figure 1-2 and Figure 1-3 depicted is displayed in Figure 1-4 in more

detail. Additionally it shows which API functions of the Ethernet Module Inter-

face (EMI) software are involved in the data flow. Please refer to Figure 1-4

later, when studying the functional interface (EMI) of the IEM.

Introduction

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IEM Manual, 1.5

CCI

CMD Buffer

(CLNK)

Status Buffer

(RWWB)

Event (Cbk)

queue

Event queue

(FIFO)

SD queue

HC à MC

(FIFO)

SD queue

HC à MC

(FIFO)

SD queue

MC à HC

(FIFO)

SD queue

MC à HC

(FIFO)

request response response

response

request

Shared Memory SHM

SD queue

HC à MC

(FIFO)

SD queue

MC à HC

(FIFO)

indication

SD queue

HC à MC

(FIFO)

SD queue

HC à MC

(FIFO)

confirmation

(trigger from host) (trigger from module)

Status Buffer

(RWWB)

Status Buffer

(RWWB)

Output Data Status Buffer

(RWWB)

Status Buffer

(RWWB)

Input Data Acyclic Data

request response

BCC

BCC_RequestSend()

BCC_ResponseTest()

BCC_ResponseRead()

CMD Buffer

request

request response

response

CCI_ClinkSendRequest()

CCI_ClinkTestResponse()

CCI_ClinkReadResponse()

CCI_FifoAcquireRead()

CCI_FifoReleaseRead()

CCI_FifoAcquireRead()

CCI_FifoReleaseRead()

CCI_FifoAcquireRead()

CCI_FifoReleaseRead()

CCI_FifoAcquireWrite()

CCI_FifoReleaseWrite()

CCI_FifoAcquireWrite()

CCI_FifoReleaseWrite()

CCI_RwwbAcquireRead()

CCI_RwwbReleaseRead()

EMI

EMI_cmdBrdInit()

EMI_cmdBrdRelease()

EMI_cmdBrdInfoReq()

EMI_cmdChannelOpen()

EMI_cmdChannelClose()

EMI_cmdChannelStart()

EMI_cmdChannelStop()

EMI_cmdChannelConfigure()

EMI_evtEventRegister()

EMI_evtEventUnRegister()

EMI_evtEventCheck()

EMI_srvreqSend()

EMI_srvServiceHandle()

EMI_srvRemoteConnOpen()

EMI_srvRemoteConnClose()

EMI_srvrespQuery() EMI_srvindQuery() EMI_srvconfSend() EMI_stsStatusQuery() EMI_ioCyclDataWriteAquire()

EMI_ioCyclDataWriteRelease()

EMI_ioCyclDataReadAquire()

EMI_ioCyclDataReadRelease()

EMI_ioAcyclDataRead()

EMI_ioAcyclDataWrite()

Callback

SD Data

Figure 1-4: Functional overview of the logical DPRAM layout

Introduction

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IEM Manual, 1.5

1.8.5 Software concept

1.8.5.1 Command channel

For basic interaction with immediate response between host and module, a

command channel is provided (see Figure 1-2 for an overview of the commu-

nication area in the DPRAM).

Commands are used for board initialization and channel access. The interface

functions of the command channel can be used either in blocking or non-

blocking mode. Blocking means that the function will return after the command

was executed and a result is available. Non-blocking means that the applica-

tion is responsible for receiving a result by polling with a corresponding query

function.

1.8.5.2 Service channels

Services provide a timeout controlled handshake messaging with request/

response and indication/confirmation mechanism between host and module.

A request is performed by the host and answered by the module by means of

a response. An indication is initiated from the module and answered by the

host by means of a confirmation. Size and layout of the transmitted data are

depending on the service. To avoid blocking, queues are used.

Services can be used depending on the protocol to access data. For example,

getting a value may be used from host to retrieve configuration data from the

module, in case of network access, the module may need host located data.

1.8.5.3 State control

The current state of the communication channel is represented by the MSM

(module state machine). The MSM is separated in a generic and a protocol

specific part. Access from command or service channel may be restricted by

the current state. State transitions between PROTOCOL_OFFLINE and PRO-

TOCOL_ONLINE are handled by protocol specific implementation. For better

readability, error states and sub states in case of a remote access are not

shown in Figure 1-5.

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