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
Copyright
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
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Document history .................................................................................. 5
Referenced documents ........................................................................ 5
Abbreviations ........................................................................................ 6
1 Overview ......................................................................................... 7
1.1 Anybus CompactCom objects ............................................. 11
1.2 Functional Safety Object ...................................................... 11
2 Power Supply connection ........................................................... 12
3 Address Switches ........................................................................ 13
3.1 PROFIsafe F-Address ........................................................... 13
3.2 CIP Safety IP Address ........................................................... 14
3.3 FSoE Address ....................................................................... 17
4 Software options .......................................................................... 18
4.1 Enable the Safety module .................................................... 18
4.2 Communication Cycle Time ................................................. 19
4.3 Enabling a constant static IP address ................................. 19
4.3.1 CIP Safety .............................................................................. 20
4.3.2 FSoE ...................................................................................... 20
5 Non-safe process data handling ................................................. 21
5.1 PROFINET ............................................................................. 22
5.2 EtherNet/IP ............................................................................ 22
5.3 EtherCAT ............................................................................... 22
5.4 Non-safe input data .............................................................. 23
5.5 Non-safe output data ............................................................ 25
6 Network Configuration ................................................................ 27
6.1 PROFINET (GSDML) ............................................................. 27
6.2 EtherNet/IP ............................................................................ 27
6.2.1 Electronic Data Sheet (EDS) ................................................. 27
6.2.2 Configuration Data String ....................................................... 27
6.2.3 PLC Configuration in RSLogix Designer (Studio 5000) ......... 28
6.2.3.1 Device Identity and Connections .............................. 28
6.2.3.2 SCID (Safety Configuration Identifier) ...................... 29
6.2.3.3 Safety Network Number / TUNID ............................. 30
6.3 EtherCAT (ESI) ...................................................................... 30
7 Fault reset button ......................................................................... 31
Content
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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
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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
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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
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1 Overview
Figure 1-1: Overview of the T100 Development Kit
Overview
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Version 1.7
Figure 1-2: Detailed view of the T100 Development Kit
Overview
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#
Name
See section
1
Switch S4
3 Address Switches
2
Switch S5
3
Switch S6
4 Software options
4
Switch S7
5 Non-safe process data handling
5
Switch S10
5.4 Non-safe input data
6
Switch S1
11.2 Switch S1
7
Safe T100
8
Anybus CompactCom
9
24V DC Input
2 Power Supply connection
10
Host Processor
11
Board Reset
8 Reset button
12
Fault Reset
7 Fault reset button
13
Safe Inputs
10 Safety I/O Connectors
14
Safe Outputs
15
Non-Safe Inputs JP16
5.4 Non-safe input data
16
Non-Safe Outputs JP17
5.5 Non-safe output data
17
Status LEDs D1-D8
9 LED indicators
18
User LEDs D15-D16
5.5 Non-safe output data
19
RAMloader CB Jumper 13
11.1 Jumpers
20
RAMloader ABCC Jumper 15
21
JTAG Interface JP19
11.4 JTAG Connector
22
Power LED
23
RS232 port
11.5 RS232 connector JP7
Overview
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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
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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
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2 Power Supply connection
JP8: 24V DC Input (-15% + 20% according to IEC 61131-2)
and Protective Earth
JP11: Protective Earth
+24V
GND
PE
Figure 2-1: Power and Protective Earth connectors
Address Switches
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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
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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
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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
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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
TRUE
FALSE
FALSE
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
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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
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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.
ON
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
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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.
ON
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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