TwinCAT EC Diag Eng 21

19.02.2009 1

New Automation Technology

EtherCAT Training

Agenda

TwinCAT & EtherCAT

§ EtherCAT Theory§ EtherCAT Features

§ Sync Units§ Hot Connect§ Distributed Clocks

§ TwinCAT Integration§ EtherCAT Setup§ EtherCAT Diagnosis

Dr. Josef PapenfortTwinCAT Product Management

[email protected]

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EtherCAT Training

mailto:[email protected]

Adresses in EtherCAT

Auto Inc Addr: The Auto Increment Address of the EtherCAT slave device. Auto-increment addressing can be used to address each slave device via its physical position in the communication ring. Auto-increment addressing is used during the start-up phase, during which the master assigns the EtherCAT Address to the slaves. The first slave in the ring has an address of 0 and for each following the addresses is decremented (0xFFFF(-1),0xFFFE(-2) etc.).

EtherCAT Addr: The fixed Address of the EtherCAT slave device. This address is set by the master during the start-up phase. To change the default value you have to check the box left to the address.

(EtherCAT specification)

EtherCAT Theory: Addresses

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EtherCAT Training

EtherCAT Theory

EtherCAT Diagnosis

§ separation from process data and bus diagnosis (helpful to make modular control architectures)

§ Process data: §Working Counter shows if process data exchange is valid or not§Working Counter for one datagram (subframe, command)

§ Bus diagnosis: CRC shows if frame is correct or not§ CRC for one frame (with one or more datagrams)

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EtherCAT Training

EtherCAT Diagnosis

§ In every cycle, synchronous with the cycle- Working Counteràchecks the reading and/or writing of process dataàreaction must be done in the application

§ Asynchronous, not in every cycle, event triggered- Master Stateà State Machine of the masterà Device state

- Slave Stateà State Machineà Link state

EtherCAT Theory: Working Counter

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EtherCAT Training


WcState

§ Variable of Type BOOL

§ Shows Working Counter State from one EtherCAT Slave § 0 (FALSE) = valid Working Counter§ 1 (TRUE) = invalid Working Counter

§ An invalid Working Counter State means that one EtherCAT Command forupdating the Inputs and Outputs has an incorrect Working Counter

§ With this EtherCAT Command more than one Slave can be addressed(every Slave in this command has the same Working Counter 1).

§ Check the Slave State to see which Slave is responsible for the Working Countererror.

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EtherCAT Training


WorkingCounter

EtherCAT datagram= Sub Frame

EtherCAT datagram= Sub Frame

SyncUnit = one datagram = one WKC = one special cyclic diagnosis information

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EtherCAT Training

EtherCAT Theory: Frames

Frames

§ Task with I/O = one Ethernet frame = one to 15 datagrams(one Ethernet frames transports up to 1480 bytes)

- If more than 15 datagrams necessary à new frame with same timing- If more than 1480 bytes à new frame with same timing

§ Default: up to 4 tasks with own I/O

- If more than 4 frames necessary à all low prio I/Os in one (or more)frames with the timing of the low prio task

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EtherCAT Training

EtherCAT Theory: CRC

Frames

§ Every Ethernet frame has a Frame Check Sequence (FCS)§ FCS has a 16bit CRC§ frames can be destroyed or damaged while running through the network§ EtherCAT Master sums CRC errors in master and in every slave§ CRC errors result from

- cabling errors- contact problems- loose contacts- not fixed connectors

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EtherCAT Theory: CRC

Frames

frequency of occurrenceon Port A of

Slaveà

Possible Error detected!

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EtherCAT Features

EtherCAT Features – Sync Units

§ for independent modules: a module defines a set of process datawhich is consistent and synchronized

§ combination of data from different slaves: validity of data isimportant

§ cyclic process data diagnosis for each sync unit

§ if process data in one sync unit is invalid: separate reaction ofcontrol application can be defined

§ for Multi-Task-Operation: each Task has own Sync-Unit/Frame(read/write process data in different task cycles) à reduces busload!

EtherCAT Theory

EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks

EtherCAT Setup- Master Setup- Slave Setup

EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor

Step-by-Step Diagnosis

Summary

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EtherCAT Training

EtherCAT Sync UnitsBus Diagnostic

Process data-diagnostic (1 Bit)

Per datagram

Task 0

Task 1

M

EtherCAT I/O EtherCAT DrivesM

Mod

ular

Con

trol

Stru

ctur

eD

ata

Exch

ange

Phys

ical

Bus

sta

tions

Datagram 0

t

Sync Unit 1Sync Unit 2Sync Unit 3

M

Datagrams Datagram 0

Frame

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EtherCAT Sync Units

§ Useful for applications with machine parts which can be out of order (planned orunplanned) and the rest of the machine should work. àSync Units help to structurethese applications

§ granularity depends on EtherCAT Slaves

§ Each EtherCAT Slave defines one or more process data areas which can beexchanged synchron and consistent

§ The number of independent process data areas depends on the implementationand resources of the EtherCAT Slave Controller (Sync Manager and FMMUchannels)

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TwinCAT&EtherCAT: Overview

Sync Units

§ Automatically assigned Sync Units§ EL67xx

§ Automatically assigned Sync Units§ Hot Connect groups

§ User defined Sync Units§ collection of EtherCAT slave§ i.e. for one part of the machine or for a hot

connected part of the network

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EtherCAT Training

EtherCAT Sync Units in TwinCAT System Manager

PLC TaskStandard

NC Task

PLC TaskFast

User definedSync Unit

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EtherCAT Sync Units in TwinCAT System Manager

Datagrams for user defined SyncUnit

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EtherCAT Training

TwinCAT&EtherCAT: Setup

Master Settings

§ Master Configuration§ Online: Scan Devices§ Select EtherCAT Device

§ Offline: Insert EtherCAT Master Device§ Select and configure network adapter

EtherCAT Theory





Summary

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Master Settings - Adapter

Experts only:

Use Device NameInstead of GUID

Search for Not Intel-based Network Adapter

XP: GUID

CE: fixed name

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Master Settings

List of adapters

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EtherCAT Training

EtherCAT, driver installation

EtherCAT driver installationim System Manager Compatible device but not installed

Compatible device and installed

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Master Settings - EtherCAT

TasksFrames and Datagrams

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Master Settings - EtherCAT

Tasks TopologyLength of frame andWorking counter

Utilization

Commands

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For Advanced users only!

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TwinCAT&EtherCAT: Diagnosis

Master Diagnosis – InfoData Configuration

Configuration of Info Data

Master StartupBehavior

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Master Diagnosis – InfoData Configuration

Configuration of SlaveInfo Data Slave Checks

Slave StateMachine

Slave Configurations for all slaves in network!

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EtherCAT Training


Actual Tasks

Sync Task Configuration

(max. 4 Tasks)

RepeatedFrames

(only with some Slaves!)

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EtherCAT Training


Setting for Ethernet over EtherCAT (EoE)

Supplement

Later on

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Slaves

States

Masterstate

Frame Statistic

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EtherCAT Training


Slave Settings

§ Slave Configuration§ Slaves Configuration§ Startup Data§ CANopen over EtherCAT§ File over EtherCAT§ Firmware Update (Bootstrap)

EtherCAT Theory





Summary

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Slave Settings – EL3102

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Slave Settings – EL3102 - EtherCATAutoincrement

address

Slave address

To fix the address

Link to web

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Slave Settings – EL3102 – EtherCAT – Advanced Settings

Rev Number compared to configured slave

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Slave Settings – EL3102 – Startup List

Add new Startup Parameter

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Slave Settings – EL3102 – CoE Online

Index/Subindex

Accessrights

Readable Parameters

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Select parameter

Updated list

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CoE: CanOverEtherCAT (System Manager)exemple baudrate EL6001, 9600 Bauds

In the start-up tab you can configure the object. The terminal will be reconfigured automatically when a replacement occurs, more reliable for the machine (like Register Communication and KLs terminal).

0x0006 = 9600 Bauds


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Slave Settings – EL3102 – Online

Slave state

Link state

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EtherCAT Diagnosis

§ General Overview§ Diagnosis with TwinCAT System Manager § Diagnosis with TwinCAT Topology View§ Diagnosis with ADS § Diagnosis with PLC Library§ Advanced Diagnosis with Network Monitor

EtherCAT Theory





Summary

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EtherCAT Diagnosis inside TwinCAT

EtherCAT MasterPort 0xFFFF

EtherCAT SlavePort=EC Address



ADS = Automation Device Specification

TwinCAT System Manager EtherCAT Topology View TwinCAT TcEtherCAT.lib

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EtherCAT Training

System Manager: online overview Slavestatus

Slave-CRC

Port A, B, C, (D)

Masterstatus

Framestatistic

TwinCAT&EtherCAT: Overview

EtherCAT Theory





Summary

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EtherCAT Master/Slave States in TwinCAT System Manager

Experts only: Additional Debug Info

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EtherCAT Training

E-Bus Current Consumption

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Master Diagnosis – Process Images

Info process image

Diagnosis Info

Process images(Number depends on

number of tasks/frames)

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Master Diagnosis – Inputs

For each Frame:§ FrmXState§ FrmXWcState

X=Frame Number

Frame State

Frame Working Counter

State

Slave Count

Device State Master

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Master Diagnosis – States

EtherCAT Working Counter

Frame withDatagrams

One Framestate/Frame

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EtherCAT Commands

Meaning

APRD Auto Increment Physical Read

NPRD Node-Addressed Physical Read

LRD Logical Read

BRD Broadcast Read

APWR Auto Increment Physical Write

NPWR Node-Addressed Physical Write

LWR Logical Write

BWR Broadcast Write

LRW Logical Read Write

ARMW Auto Increment Physical Read Multiple Write

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Master Diagnosis – Inputs - FrmXState

Bit Meaning

0 (0x0001) 1. EtherCAT command not sent



…..


15 (0x8000) complete frame not sent

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Master Diagnosis – Inputs - FrmXWcState

Bit Meaning

0 (0x0001) wrong working counter of 1. EtherCAT command received



…


15 (0x8000) complete frame missing

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Master Diagnosis – Inputs - WcState

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Master Diagnosis – Inputs - WcState

No difference in information!§ Use global information in FrmXWcState or§ Use local information direct on the slave!

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EtherCAT Training


Master Diagnosis – Inputs - DevState

Device State Master

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Bit Meaning

0 (0x0001) Link error detected.

1 (0x0002) I/O locked after link error (I/O reset required)

2 (0x0004) Link error (redundancy adapter)

3 (0x0008) Missing one frame (redundancy mode)

Master Diagnosis – Inputs – DevState (1/4)

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Bit Meaning

4 (0x0010) Out of send resources (I/O reset required)

5 (0x0020) Watchdog triggered

6 (0x0040) Ethernet driver (miniport) not found

7 (0x0080) I/O reset active


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Bit Meaning

8 (0x0100) At least one device in 'INIT' state

9 (0x0200) At least one device in 'PRE-OP' state

10 (0x0400) At least one device in 'SAFE-OP' state

11 (0x0800) At least one device indicates an error state


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Bit Meaning

12 (0x1000) DC not in sync (DC = distributed clocks)


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Master Diagnosis – InfoData

EtherCAT Master AmsNetId

InfoData process images are not updated in every cycle§ Update on event/change§ Mappable variables§ i.e. map NetIds instead of using them directly!

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Clear Frame Statistic

Clear CRC Counter

Cyclic frames (depends on cycletime)

Acyclic frames (Mailbox)

Lost framesFlow in 1/sTotal

Rx / Tx, layer 0 CRC Intel Chipset

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Master Object Directory:

§ Identity§ List of conf. Slaves§ List of Slave States

§ Access via CoEà ADS

Master Identity

Configured Slaves

Slave States

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Master Settings – Emergency Scan

Only in Emergency Cases:

§ Only in Config Mode available!§ Checks Network and looks for

Slaves

§ Scans the network slave by slave!§ Flat List of found Slave (no

topology)§ frame statistic (tests with 10,1000

and more frames)§ Includes Link Information

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Master Settings – Emergency Scan

Close Ports

Slav

e 1

Slav

e 2

Slav

e 3

Slav

e 4

Slav

e n

1. Close Ports of Slave x2. Send Frame3. Get slave Identity for Slave x4. x=x+1 5. Goto 1

Slave with errorDetected!

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Slave Diagnosis – EL3102 Slave Info Data

Slave State

Slave AMS Net Id

EtherCAT Theory





Summary

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Slave Diagnosis – EL3102 + Firmware Update

WcState (1 bit)

Firmware UpdateOnly in Bootstrap State!

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Slave Diagnosis – EL3102

Slave State

State Machine

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Slave Diagnosis - State

Bit Meaning

0x___1 Slave in 'INIT' state

0x___2 Slave in 'PREOP' state

0x___3 Slave in 'BOOT' state

0x___4 Slave in 'SAFEOP' state

0x___8 Slave in 'OP' state

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Bit Meaning

0x0010 Slave signals error

0x0020 Invalid vendorId, productCode... read


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Bit Meaning

0x0100 Slave not present

0x0200 Slave signals link error

0x0400 Slave signals missing link

0x0800 Slave signals unexpected link


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Bit Meaning

0x1000 Communication port A

0x2000 Communication port B

0x4000 Communication port C

0x8000 Communication port D


Port A Port B Port A Port B

Port C1 2 2

1

31

2

3

4

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Slave State: 0x A B C D

State• INIT• PREOP• BOOT• SAFEOP• OP

Error• Slave Error• Wrong IDs

Link• not present• Link error• Missing link• unexpected link

Link• port A• port B• port C• port D

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EtherCAT Topology View

§ graphically view to all slaves in right topology§ all diagnosistic information directy in one view§ uses ADS Interface§ detailled information on click§ ActiveX control: can also be used in your application

EtherCAT Theory





Summary

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Configuration of EtherCAT§ TwinCAT System Manager§ for offline and online configuration of EtherCAT


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Graphical EtherCAT Diagnosis


Online Slave State

Online CRC Count

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System Manager: Online Slave Ansicht


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EtherCAT Topology View: Found versus Configured Slaves

Missing Slaves

Slave Details


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EtherCAT Topology View ActiveX Control- Integrated in TwinCAT System Manager


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EtherCAT Training

EtherCAT Topology View ActiveX Control- Integrated in your HMI as ActiveX Control


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EtherCAT Training


ADS Interface to EtherCAT Master/Slave

§ Communication Interface for EtherCAT Devices

EtherCAT Master Net Id +Port (0xFFFF for Master, Slave Address for Slave) +Index Group +Index Offset =

Complete Access

EtherCAT Theory





Summary

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Master Net Id

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Master Interface

ADS Port Meaning

65535 (0xFFFF) General Ads services handled by the master directly.

0x1 - 0xFFFE (fixed address of a slave device)

This is an ADS service directed at an individual slave device. The port number is the same as the EtherCATaddress of the slave device.

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Master Interface - Example

IndexGroup

Index Offset

Meaning

0x00000003 0x00000100 Returns current state of master.

0x00000006 0x00000000 Returns the number of projected slaves.

Documentation of all ADS IndexGroup/IndexOffset: See Beckhoff InformationSystem

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Slave Interface – CANopen over EtherCAT

IndexGroup

Index Offset

Meaning

0x0000F302 Index and Subindex of an SDO (coded see InfoSystem!)

Example:0x1c120001:index = 0x1c12

subindex = 1

SDO Upload/Download Request. The object is selected with the index offset.

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Slave Interface – Servo Drive over EtherCAT

IndexGroup

Index Offset

Meaning

0x0000F420 IDN = LOWORD(0x0000yyyy)HIWORD for special attributes!

(coded see InfoSystem!)

Upload/Download IDN

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PLC Functionblocks for EtherCAT Master/Slave

§ Uses ADS Interfaces§ Same Look-and-Feel for all Functionblocks

EtherCAT Theory





Summary

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EtherCAT Training


PLC Functionblocks – Overview

Name Meaning

FB_EcCoeSdoRead SDO(Service Data Object)-Access Read data from an EtherCAT Slave object directory (Mailbox communication necessary!)

FB_EcCoeSdoWrite SDO-Download Write to EtherCAT Slave object directory

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Name Meaning

FB_EcSoeRead Read Parameter via "Servo Drive Profile over EtherCAT“ (SoE)

(Mailbox communication necessary!)FB_EcSoeWrite Write Parameter via "Servo Drive Profile over

EtherCAT“ (SoE)

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Name Meaning

FB_EcGetAllCrcErrors Read CRC-Error Counter from all Slaves

FB_EcGetAllSlaveAddr Read EtherCAT Addresses from all Slaves

FB_EcGetAllSlaveStates Read State and Link State from all Slaves

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Name Meaning

FB_EcGetMasterState Get State from Master

FB_EcGetSlaveCount Get Number of Slaves from Master

FB_EcGetSlaveCrcError Get CRC-Error Counter from one single Slave (for all single Ports A, B, C)

FB_EcGetSlaveIdentity Get CANopen Identity from one single Slave

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Name Meaning

FB_EcGetSlaveState Get EtherCAT State and Link State from one single Slave

FB_EcReqSlaveState Request a new EtherCAT State for one single Slave

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Name Meaning

FB_EcGetConfSlave Get list of all configured EtherCAT Slaves

FB_EcGetScannedSlaves Get list of all scanned (real existing) EtherCATSlaves

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Name Meaning

FB_EcFoeOpen Opens a FileOverEtherCAT (FoE) connection

FB_EcFoeAccess Gives access to FoE connection

FB_EcFoeClose Closes a FoE connection

FB_EcFoeLoad Loads a file over a FoE connection

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Drive as NC PTP axisTcNcDrive.lib

Drive as EtherCAT SlaveTcDrive.lib

TcEtherCAT.lib

In: CPU Net IdNC Axis Struct

In: EtherCAT Master Net IdEtherCAT Slave AddrDrive Number/Type

EtherCAT Master Net IdEtherCAT Slave AddressDrive Number/Type


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PLC Functionblocks – Example

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Get List of Configured Slaves and get List of Scanned (real existing) Slaves

à Possible with PLC code!

Topology View TcEtherCAT.Lib

Same functionality

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Diagnosis – Step by Step

§ Check FrmXWcState for all Frames (X = 1..n) § Check Master State

§ If FrmXWcState for Frame X <> 0 then§ detailed examination necessary§ Check Slave State for all Slave § reason: § Slave Error§ check Slave

§ Link Error§ check cables

EtherCAT Theory




Step by Step Diagnosis

Summary

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Diagnosis Step-by-Step with System Manager

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Check Slave States and CRC Counter

Slave in INIT StateWith Error

Slave in INIT StateWith wrong

VendorID/ProductID/ RevisionNo/SerialNo

Slave in INIT StateWith Comm Error

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Check State of one single Slave• Slave Error?• Link Error?

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Diagnosis Step-by-Step with PLC Program

Link with PLC Variables!

Link with PLC Variable!

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Master Problem?§ wrong State?§ Link Error?§ min. one Slave with wrong State?

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Working Counter Problem?§What was the reason for this problem? § Check States of all Slaves!

One Struct for each single Slave with§ Device State and § Link State

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Number of Slaves

Iteration over all SlavesExample: to get the Identity of every Slave

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Diagnosis Step-by-Step with PLC ProgramGet Identity from a Slave

EL3142-0000-0000

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Summary

§ TwinCAT EtherCAT Master means§ Easy configuration§ Powerful diagnosis§ ADS interface (= TcEtherCAT.lib)

§ TwinCAT + EtherCAT = eXtreme Fast Control!

EtherCAT Theory





Summary

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Documents

TwinCAT EC Diag Eng 21