IXXAT Safety Development Kit Owner's manual

Brand: IXXAT

Model: Safety Development Kit

Type: Owner's manual

Hardware Manual / Software Manual

T100 Development Kit

Manual

HMS Technology Center Ravensburg GmbH

Helmut-Vetter-Straße 2

88213 Ravensburg

Germany

Tel.: +49 751 56146-0

Fax: +49 751 56146-29

Internet: www.hms-networks.de

E-Mail: info-ravensburg@hms-networks.de

Support

In case of unsolvable problems with this product please contact HMS in

written form by:

Fax: +49 751 56146-29

E-Mail: support@ixxat.de

Further international support contacts can be found on our webpage

www.ixxat.com/support

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

distribution of this document is only allowed with explicit permission of

HMS Technology Center Ravensburg GmbH. HMS Technology Center

Ravensburg 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.

EtherCAT® and Safety over EtherCAT®

are registered trademarks and patented

technologies, licensed by Beckhoff

Automation GmbH, Germany.

Document number: 4.01.0300.20100

Version: 1.7

Document history

Date

Version

Change

Editor

24.11.17

1.6

Support of IXXAT Safe T100/FSoE

added. Dynamic non-safe ADI

configuration removed. Flow charts

(CIP Safety IP Address) updated. Cycle

Time attribute described for the first

time.

K. Angele

02.08.2022

1.7

FSoE related abbreviations, Unified

images, Error corrections, Remove EC

declaration of conformity,

Documentation of S6:5

Schlenker

Content 
Copyright HMS TC Ravensburg GmbH 

T100  Development  Kit  Manual, 
Version 1.7 
 
Document history .................................................................................. 5 
Referenced documents ........................................................................ 5 
Abbreviations ........................................................................................ 6 
Overview ......................................................................................... 7 
1 Anybus CompactCom objects ............................................. 11 
2 Functional Safety Object ...................................................... 11 
Power Supply connection ........................................................... 12 
Address Switches ........................................................................ 13 
1 PROFIsafe F-Address ........................................................... 13 
2 CIP Safety IP Address ........................................................... 14 
3 FSoE Address ....................................................................... 17 
Software options .......................................................................... 18 
1 Enable the Safety module .................................................... 18 
2 Communication Cycle Time ................................................. 19 
3 Enabling a constant static IP address ................................. 19 
3.1 CIP Safety .............................................................................. 20 
3.2 FSoE ...................................................................................... 20 
Non-safe process data handling ................................................. 21 
1 PROFINET ............................................................................. 22 
2 EtherNet/IP ............................................................................ 22 
3 EtherCAT ............................................................................... 22 
4 Non-safe input data .............................................................. 23 
5 Non-safe output data ............................................................ 25 
Network Configuration ................................................................ 27 
1 PROFINET (GSDML) ............................................................. 27 
2 EtherNet/IP ............................................................................ 27 
2.1 Electronic Data Sheet (EDS) ................................................. 27 
2.2 Configuration Data String ....................................................... 27 
2.3 PLC Configuration in RSLogix Designer (Studio 5000) ......... 28 
2.3.1 Device Identity and Connections .............................. 28 
2.3.2 SCID (Safety Configuration Identifier) ...................... 29 
2.3.3 Safety Network Number / TUNID ............................. 30 
3 EtherCAT (ESI) ...................................................................... 30 
Fault reset button ......................................................................... 31 

Content 
Copyright HMS TC Ravensburg GmbH 
4 
T100  Development  Kit  Manual, 
Version 1.7 
 
7.1 Manual Fault Reset ............................................................... 31 
7.2 Automatic Fault Reset .......................................................... 32 
8 Reset button ................................................................................. 33 
9 LED indicators.............................................................................. 34 
9.1 PROFIsafe ............................................................................. 35 
9.2 CIP Safety .............................................................................. 35 
9.3 FSoE ...................................................................................... 36 
10 Safety I/O Connectors .................................................................. 37 
11 Other components ....................................................................... 38 
11.1 Jumpers ................................................................................. 38 
11.2 Switch S1 ............................................................................... 38 
11.3 Pin Header JP18 .................................................................... 38 
11.4 JTAG Connector ................................................................... 38 
11.5 RS232 connector JP7 ........................................................... 39 
12 Web page ...................................................................................... 40 
13 Wiring Diagram ............................................................................ 41 
14 Product Support and EMC .......................................................... 46 
14.1 Support .................................................................................. 46 
14.2 Returning hardware .............................................................. 46 
14.3 Information on EMC .............................................................. 46 
Appendix A – ADI Configuration ........................................................ 47 
ADI 1 ............................................................................................. 47 
ADI 2 ............................................................................................. 48 
Appendix B – Firmware Upgrade ....................................................... 49 
Development Kit board ................................................................ 49 
Anybus CompactCom .................................................................. 49 
T100 .............................................................................................. 49 
 
 
 

Referenced documents

T100 Development Kit Manual,

Version 1.7

Referenced documents

[1] Safety Manual for IXXAT Safe T100,

HMS Doc. Id. 1.04.0300.20000

[2] Network Guide Anybus CompactCom 40 PROFINET IRT,

HMS Doc. Id. SCM-1202-023

[3] Network Guide Anybus CompactCom 40 EtherNet/IP,

HMS Doc. Id. SCM-1202-031

[4] Network Guide Anybus Compact Com 40 EtherCAT,

HMS Doc. Id. SCM-1202-034

Abbreviations

T100 Development Kit Manual,

Version 1.7

Abbreviations

ABCC Anybus CompactCom – Network communication module with a

protocol independent software interface.

ADI Application Data Instances – Instance of an application input or

output module which can be used to exchange data e.g. with a PLC.

CB Carrier Board – Printed circuit board of the DevKit that is the mounting

base for the T100 and the ABCC

DevKit Development Kit – Abbreviation for this product.

EDS Electronic Data Sheet – ASCII text file that describes the

characteristics of a CIP device and is used by software tools for

device and network configuration.

ESI EtherCAT Slave Information (EtherCAT Devices Description) – A XML

file that describes the characteristic of an EtherCAT device. The file is

used by software tools for device and network configuration.

FSoE Failsafe over EtherCAT – EtherCAT based safety communication

layer. It defines mechanisms for the transmission of safety-relevant

messages among participants within a distributed network, that is

considered as black channel.

GSDML General Station Description Markup Language – In an XML based

language this file describes the characteristics of a PROFINET

device.

MDP Modular Device Profile - The Modular Device Profile defines a

modeling of structures within in a device. Mainly the object dictionary

structure and corresponding behavior of the entries is defined by the

MDP. The intention is to provide an easy way for master and

configuration tools to handle the devices.

PLC Programmable Logic Controller – A programmable electronic device

used in industrial automation to provide logic and sequencing controls

for machinery.

SCCRC Safety Configuration CRC – CRC that covers the device configuration

data.

SCTS Safety Configuration Time Stamp – Safety related signature that

identifies the revision of the device configuration.

SCID Safety Configuration Identifier – Combination of the SCCRC and the

SCTS used to uniquely identify a configuration.

TUNID Target Unique Network Identifier – Uniquely identifies a device in a

CIP Safety Network.

UTC Coordinated Universal Time – Base for the definition of the SCTS and

the Safety Network Number in the TUNID.

Overview

T100 Development Kit Manual,

Version 1.7

1 Overview

Figure 1-1: Overview of the T100 Development Kit

Overview

T100 Development Kit Manual,

Version 1.7

Figure 1-2: Detailed view of the T100 Development Kit

Overview

T100 Development Kit Manual,

Version 1.7

Name

See section

Switch S4

3 Address Switches

Switch S5

Switch S6

4 Software options

Switch S7

5 Non-safe process data handling

Switch S10

5.4 Non-safe input data

Switch S1

11.2 Switch S1

Safe T100

Anybus CompactCom

24V DC Input

2 Power Supply connection

Host Processor

Board Reset

8 Reset button

Fault Reset

7 Fault reset button

Safe Inputs

10 Safety I/O Connectors

Safe Outputs

Non-Safe Inputs JP16

5.4 Non-safe input data

Non-Safe Outputs JP17

5.5 Non-safe output data

Status LEDs D1-D8

9 LED indicators

User LEDs D15-D16

5.5 Non-safe output data

RAMloader CB Jumper 13

11.1 Jumpers

RAMloader ABCC Jumper 15

JTAG Interface JP19

11.4 JTAG Connector

Power LED

RS232 port

11.5 RS232 connector JP7

Overview

T100 Development Kit Manual,

Version 1.7

This manual describes the basic functionality and how to use an Anybus

CompactCom (ABCC) with an IXXAT Safe T100/PS, T100/CS or T100/FSoE

module attached. It also describes how the safe and non-safe functionality of

the Development Kit is implemented and used based on a simple I/O demo

application.

The Development Kit consists of a carrier board (CB) hosting an Anybus

CompactCom, an IXXAT Safe T100/PS, T100/CS or T100/FSoE and a host

application microprocessor. For demonstration purposes the host application

microprocessor runs a simple (non-safe) I/O demo. This demo software is also

initializing the IXXAT Safe T100 module via the ABCC object interface which is

described in more details within this manual.

Figure 1-3: Development Kit block diagram

For detailed information about the IXXAT Safe T100 module please refer to

the Safety Manual [1].

In the following sections the Anybus CompactCom objects and host

application objects containing information related to functional safety are

described. Please consult the Anybus CompactCom 40 Network Guide ([2] for

PROFINET, [3] for EtherNet/IP, [4] for EtherCAT) for detailed information

regarding these objects.

Overview

T100 Development Kit Manual,

Version 1.7

1.1 Anybus CompactCom objects

The Anybus CompactCom contains the main control and configuration objects

which are necessary to activate and configure the IXXAT Safe T100 operation.

These objects can be accessed via the following object references (indices):

• Functional Safety Module Object (11h)

• Network Configuration Object (04h)

1.2 Functional Safety Object

The Functional Safety Object (E8h) is implemented in the host application

processor. It contains information which is relevant for the host application

process.

Power Supply connection

T100 Development Kit Manual,

Version 1.7

2 Power Supply connection

JP8: 24V DC Input (-15% + 20% according to IEC 61131-2)

and Protective Earth

JP11: Protective Earth

+24V

GND

Figure 2-1: Power and Protective Earth connectors

Address Switches

T100 Development Kit Manual,

Version 1.7

3 Address Switches

3.1 PROFIsafe F-Address

The F-address is the PROFIsafe address on the network which must be

configured from the host application before “Setup complete” of the Anybus

CompactCom module state machine. The F-address is located in instance #21

“F-Address” of the Network Configuration Object (04h) in the Anybus

CompactCom module and must match the F-address configured in the PLC for

the system to work.

Switches S4 and S5 are used by the Development Kit host application to read

in the value which is then written to the F-Address value attribute. The F-

Address is read considering the two DIP-switches as two bytes with the MSB

given by S4 and the LSB given by S5. If the switch lever is down, it is

interpreted as OFF/0, if it is up, it is interpreted as 1/ON. The range for a valid

F-Address is between 1 and 65534.

Figure 3-1: Switches S4 and S5 to set the PROFIsafe F-Address

Example: The switches in the figure have the F-address 700 – or 00000010

10111100 in binary – configured.

If the F-address value changes (in this case, someone alters S4

and/or S5) during runtime, the new value must be sent from the

host application to the Anybus CompactCom. As the value is only

sent during startup to the IXXAT Safe T100 it will be used after the

next restart of the system.

MSB

LSB

Highest bit

Lowest bit

Address Switches

T100 Development Kit Manual,

Version 1.7

3.2 CIP Safety IP Address

CIP Safety devices can optionally determine their IP-address by means of

hardware switches. In the Development Kit host application Switch S5 is used

for this purpose.

Setting Switch S5 to a value between 1 and 254 indicates that the IP address

of the device is determined by this switch (see Figure 3-2). The IP address of

the device is then set to 192.168.1.switch-value. The subnet mask is set to

255.255.255.0. The default gateway is set either to 192.168.1.1 or (to avoid

equality with the IP address) to 0.0.0.0 in case the switch is set to 1.

For switch settings 0 or 255 the IP address is determined by the Anybus

CompactCom module itself (e.g. DHCP, TCP/IP Object attribute, web server,

etc.).

Setting the IP address configuration is done by writing to the Network

Configuration Object (04h) (see [3] for details).

For CIP Safety compliant behavior, it is necessary to read and evaluate the

switch value during initialization of the Anybus CompactCom module (before

setting the Anybus Object attribute Startup Complete) according to the

example shown in Figure 3-3, but also to continuously sample the switch value

and react on changes. An example for the ongoing switch value evaluation is

shown in Figure 3-4 (“IP Address Change via Switch”).

Additionally, the Development Kit host application has to react if the IP

address of the device was changed by network services (e.g. via TCP/IP

Object attribute). An example how to implement this behavior is also shown in

Figure 3-4 (“IP Address Change via Network”).

Figure 3-2: Switch S5 to set IP address of the device.

LSB

Highest bit

Lowest bit

Address Switches

T100 Development Kit Manual,

Version 1.7

INIT==255 OR

INIT==0 ?

FALSE

TRUE

Power-On

DHCP Enabled ?

TRUE

FALSE

Read Switch S5

INIT = S5

Get DHCP Status

(Network Configuration Object 04h

DHCP (Inst#6, Attr#5)

Set IP Address to '1'

(Network Configuration Object 04h)

IP: 192.168.1.1 (Inst#3, Attr#5)

Subnet: 255.255.255.0 (Inst#4, Attr#5)

Gateway: 0.0.0.0 (Inst#5, Attr#5)

DHCP: Disabled (Inst#6, Attr#5)

Set IP Address to 'INIT'

(Network Configuration Object 04h)

IP: 192.168.1.INIT (Inst#3, Attr#5)

Subnet: 255.255.255.0 (Inst#4, Attr#5)

Gateway: 192.168.1.1 (Inst#5, Attr#5)

DHCP: Disabled (Inst#6, Attr#5)

INIT==1 ?

FALSE

TRUE

DeviceIpAddr =

192.168.1.INIT

DeviceIpAddr =

192.168.1.1

DeviceIpAddr =

Value

Get IP Address 'Value'

(Network Configuration Object 04h)

IP (Inst#3, Attr#5)

DeviceIpAddr =

192.168.1.50

Switch S6:5==ON ?

DeviceIpAddr =

0.0.0.0 (unassigned)

TRUE

FALSE

Constant static IP Address

(Network Configuration Object 04h)

IP: 192.168.1.50 (Inst#3, Attr#5)

Subnet: 255.255.255.0 (Inst#4, Attr#5)

Gateway: 192.168.1.1 (Inst#5, Attr#5)

DHCP: Disabled (Inst#6, Attr#5)

IP Settings valid and

used for communication

Use DHCP

Figure 3-3: Determination of the initial IP-address based on Switch S5

Address Switches

T100 Development Kit Manual,

Version 1.7

INIT <> NEW ?

TRUE

Set IP Address to 'NEW'

(Network Configuration Object 04h)

IP: 192.168.1.NEW (Inst#3, Attr#5)

Gateway: 192.168.1.1 (Inst#5, Attr#5)

FALSE

NEW ==255 OR

NEW==0 ?

TRUE

Read Switch S5

NEW = S5

Loop

Set IP Address to 'NEW'

(Network Configuration Object 04h)

IP: 192.168.1.NEW (Inst#3, Attr#5)

Set IP Address to 'INIT'

(Network Configuration Object 04h)

IP: 192.168.1.INIT (Inst#3, Attr#5)

NEW==1 ?

FALSE

Set IP Address to '1'

(Network Configuration Object 04h)

IP: 192.168.1.1 (Inst#3, Attr#5)

Gateway: 0.0.0.0 (Inst#5, Attr#5)

TRUE

Get IP Address 'CfgIpAddr'

(Network Configuration Object 04h IP

(Inst#3, Attr#6)

FALSE

Set IP Address to 'DeviceIpAddr'

(Network Configuration Object 04h)

IP: SafetyIpAddr (Inst#3, Attr#5)

Set IP Address to 'CfgIpAddr'

(Network Configuration Object 04h)

IP: CfgIpAddr (Inst#3, Attr#5)

DeviceIpAddr =

'CfgIpAddr'

IpAddrChangedEvt

TRUE

'DeviceIpAddr' ==

0.0.0.0

'CfgIpAddr' <>

'DeviceIpAddr'

TRUE

FALSE

IP Address Change via Switch

IP Address Change via Network

Triggers 'Abort' request to

T100/CS

NEW IP address is used

after restet

Restore INIT IP address

Triggers 'Abort' request

to T100/CS

IP Address change request

during runtime

Restore IP address

IP assigned for the first

time e.g. by DHCP

Triggers 'Abort' request

to T100/CS

Flag set if Ethernet Host Object

(Instance 1, Attr. 16) is written

Figure 3-4: Cyclic check for IP Address changes

Address Switches

T100 Development Kit Manual,

Version 1.7

3.3 FSoE Address

The FSoE Address is a unique address inside the communication system

which is used to check whether a FSoE node is actually addressed. The FSoE

Address must be configured from the host application before “Setup complete”

of the Anybus CompactCom module state machine. The FSoE Address is

located in instance #21 “FSoE Address” of the Network Configuration Object

(04h) in the Anybus CompactCom module.

Switches S4 and S5 are used by the Development Kit host application to read

in the value which is then written to the FSoE address value attribute. The

FSoE Address is read considering the two DIP-switches as two bytes with the

MSB given by S4 and the LSB given by S5. If the switch lever is down, it is

interpreted as OFF/0, if it is up, it is interpreted as 1/ON. The range for a valid

FSoE Address is between 1 and 65535.

Figure 3-5: Switches S4 and S5 to set the FSoE Address

The FSoE Address is only sent during startup to the IXXAT Safe

T100/FSoE. So, changes in the FSoE Address will only take effect

after the next restart of the Development Kit.

MSB

LSB

Highest bit

Lowest bit

Software options

T100 Development Kit Manual,

Version 1.7

4 Software options

4.1 Enable the Safety module

The host application must enable the safety module by implementing the

Functional Safety Object (E8h) and respond with TRUE when a request for the

value of the attribute “Safety enabled” is received during the startup sequence.

More information about the Functional Safety Object (E8h) can be found in the

Anybus CompactCom PROFINET Network Guide (see [2]) respectively

Anybus CompactCom EtherNet/IP Network Guide (see [3]) respectively

Anybus CompactCom EtherCAT Network Guide (see [4]).

To enable the safety functionality of the IXXAT Safe T100 the host application

needs to respond to the Safety enabled attribute request.

- For PROFIsafe additionally the F-address must be set (see chapter 3.1).

- For CIP Safety additionally the Cycle Time attribute shall be

implemented (see chapter 4.2). Furthermore, the host application can

assign the IP address (see chapter 3.2).

- For FSoE additionally the FSoE Address must be set (see chapter 3.3).

All other functional safety related attributes shall be considered as non-safe

status information only.

Switch S6:1 is used by the Development Kit host application to decide if the

safety module shall be enabled or not.

Figure 4-1: Switch S6 with safety functionality enabled.

S6:1

Description

OFF

Safety functionality disabled. Value of DIP-switch has only effect

during start-up.

Safety functionality enabled. Value of DIP-switch has only effect

during start-up.

S6:2 to S6:4 are used for internal tests and should stay in default

position OFF.

S6:1

Software options

T100 Development Kit Manual,

Version 1.7

4.2 Communication Cycle Time

The Cycle Time attribute (#4) configures the communication cycle time

between Anybus CompactCom and IXXAT Safe T100 in milliseconds.

For CIP Safety the host application needs to respond to the Cycle Time

attribute request with a value of 4ms.

When using PROFIsafe or FSoE there is no need to implement this attribute

because the expected value of 2ms is the default value used by Anybus

CompactCom.

4.3 Enabling a constant static IP address

For CIP safety and FSoE a constant static IP address can be set for the

DevKit. This does not apply to PROFIsafe.

Switch S6:5 is used by the Development Kit host application to decide if the

constant static IP address shall be enabled or not.

Figure 4-2: Switch S6:5 for constant static IP address.

S6:5

Description

OFF

Constant static IP address is disabled. Value of DIP-switch has only

effect during start-up.

Constant static IP address is enabled. Value of DIP-switch has only

effect during start-up.

Use with caution. Typically, S6:5 should be OFF.

S6:5

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IXXAT Safety Development Kit Owner's manual

IXXAT Safety Development Kit Owner's manual

IXXAT Safety Development Kit Owner's manual

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