EtherCAT integration

With the EtherCAT integration, the system is made up of the following components:

  • Bus master

  • Bus modules/slaves (here the bus module BNI)

Device data

In order to properly parameterize the bus master, device data in the form of three ESI files is enclosed with the bus module BNI.

Input/output buffer

The data exchange with the controlling system takes place in the input and output buffer. The size of this buffer must be configured by the master.

Configuration

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

During the project planning the BNI bus module is displayed as a modular device. The device data required for the project planning is stored in the ESI files. The data modules of the inputs/outputs, the IO-Link Port and any additional modules are shown in the project planning software in relation to the slot.

The ESI files make available the possible data modules (inputs/outputs, IO-Link Ports of varying data width and other additional modules).

The appropriate data modules are assigned to a certain slot for the configuration of the BNI. Unused slots can be released.

Integration in project planning software

As an example, the connection of the BNI to a Beckhoff TwinCAT control is shown with the TwinCAT System Manager. The exact procedure depends on the project planning software used.

Installing ESI files

The device description has the following name: Balluff BNI XG5-538-1B5-Z067 ECS V.x.x.x.xml

  • Copy the file to the corresponding TwinCAT directory (in the standard: C:\TwinCAT\3.1\Config\Io\EtherCAT).

    ⇒ Installed devices are available when the TwinCAT System Manager starts again.

Automatic scanning

Prerequisite

Before connecting devices to the EtherCAT network, the EtherCAT system must be in a secure, de-energized state.

  1. Switch on the operating voltage and start the TwinCAT System Manager in Config mode.

  2. Scan BNI as a box.

    ../../../_images/Automatisch_Scannen.png

    Automatic scanning

Manually adding a device

Prerequisite

Before connecting devices to the EtherCAT network, the EtherCAT system must be in a secure, de-energized state.

  1. Switch on the operating voltage and start the TwinCAT System Manager in Config mode.

  2. Attach a box.

    ../../../_images/Geraet_manuell_anfuegen.png

    Manually adding a device

  3. Select a box.

    ../../../_images/Box_waehlen.png

    Select a box

Necessary configuration of device

After automatic scanning or manual adding of the device, the device appears in the tree structure of TwinCAT.

../../../_images/Geraet_in_Baumstruktur.png

Device in tree structure

The BNI supports EoE (Ethernet over Ethercat). In order to configure TwinCAT, in the EtherCAT tab select Advanced settings.

A valid DNS name and then a valid IP address must be entered.

../../../_images/EoE-Konfiguration.png

EoE configuration

Configuring Station Alias

The Station Alias can be selected under the EtherCAT tabAdvanced settings.

  1. Open ESC Access.

  2. Open E²PROM.

  3. Select Configured Station.

    ../../../_images/Station_Alias.png

    Configuring Station Alias

Note

The new value is only valid after a reset.

Configuring the network module

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

The BNI is a modular EtherCAT device. The device has the following slot structure:

Data configuration

Slot number

Meaning

1-8

IO-Link Ports

Note

The sum of the output data may not exceed 256 bytes.

../../../_images/IO-Link-Modul_konfigurieren.png

Configuring the network module

In order to configure the IO-Link Ports, a defined number of process data (buffer size) must be assigned to the EtherCAT slots. In the TwinCAT System Manager this works as follows:

  1. Delete assignment of IO-Link channel (or port) with x.

  2. Place the channel selected on the left side with with < the module configuration selected on the right.

  3. Transfer configuration to the EtherCAT slave with restart of TwinCAT in Config mode.

Bitmapping and function

Signals from configured inputs or outputs are displayed in the modulesSTD_IN_1bit(inputs Pin 4), Input Pin 2 (inputs Pin 2), as well asSTD_OUT_1bit(outputs Pin 4) and Output Pin 2 (outputs Pin 2).

Note

XG1 devices have no outputs to Pin 2.

Network modules

The IO-Link modules are always established according to the same schema:

IOLI/Ox/xBytes

  • Quantity of process data used (should be greater than or equal to the process data length of the O-Link device)

  • I = Input data

  • O = Output data

  • I/O = Input and output data

Short circuits and restart bits

The BNI restarts automatically if a short circuit occurs at one of the IO-Link Ports. No restart bits are required.

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

In the IO-Link state the current status of each port is displayed.

IO-Link state

Value

Status

0x_0

Port disabled

0x_3

Port in communication OP

0x_4

Port in communication COMSTOP

0x1_

Watchdog detected

0x2_

Internal Error

0x3_

Invalid Device ID

0x4_

Invalid Vendor ID

0x5_

Invalid IO-Link Version

0x7_

Invalid Cycle Time

0x8_

Invalid PD in length

0x9_

Invalid PD out length

0xA_

No device detected

0x0_

No error

0xD_

Voltage low

0xE_

Short circuit

0xF_

Unspecific error

Start-up

In the start-up the IO-Link Ports and outputs can be preconfigured. For more information, see Configuration without ESI.

The entries are transferred during the transfer of the configuration.

../../../_images/Startup.png

Start-up

Configuration of modules

../../../_images/Konfiguration_der_Module.png

Configuration of modules

Validation and Backup

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

Validation of the connected IO-Link device and backup of its parameter data in the network module’s parameter server are configured together via a single setting: subindex 0x01 (Validation and Backup) of the Additional IO-Link Configuration Data Ch. x object. See Additional IO-Link Configuration Data Ch. x (IO-Link variants) for the object details and the full list of values.

Validation checks the Vendor ID and Device ID of the connected IO-Link device, as well as its IO-Link protocol version (V1.0 or V1.1). The expected Vendor ID and Device ID must be configured in subindex 0x05 (Vendor ID) and subindex 0x04 (Device ID) of the IO-Link Configuration Data Ch. x object, see IO-Link Configuration Data Ch. x (0x8000 – 0x8FFF).

No check: Validation is deactivated and every device is accepted.

V1.0 Device, no Datastorage: Only devices of IO-Link protocol version V1.0 matching the configured Vendor ID and Device ID are accepted. No data storage, only validation active.

V1.1 Device, no Datastorage: Only devices of IO-Link protocol version V1.1 matching the configured Vendor ID and Device ID are accepted. No data storage, only validation active.

V1.1 Device, Backup + Restore: Only devices of IO-Link protocol version V1.1 matching the configured Vendor ID and Device ID are accepted. The parameter data of the connected device is additionally saved in the network module’s parameter server (remanent memory). As soon as a device requests an upload (upload flag set), or no data is stored yet, the master uploads and backs up the device’s parameter data. If the stored parameter data differs from a newly connected device, the master downloads and restores it to the device.

V1.1 Device, Restore: Only devices of IO-Link protocol version V1.1 matching the configured Vendor ID and Device ID are accepted. The parameter server only downloads and restores previously stored parameter data to the connected device. No upload or backup of new parameter data is performed.

Note

After uploading the parameter data, the Vendor ID and Device ID of the connected IO-Link device remain stored until the data records are deleted.

Validation takes place when the connected IO-Link device is started up. Only an IO-Link device of the same type can be used for data storage.

In order to use a different type of IO-Link device, the content of the parameter server must be deleted. There is no read or write access to the content of the parameter server via EtherCAT.

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

The upload flag is required in order to overwrite data already saved in the parameter server with new parameter data of the same IO-Link device.

In order to activate the upload flag of an IO-Link device, the value 0x05 must be entered in the parameterIndex 0x02, Subindex 0.

Failsafe values

If the EtherCAT connection fails or if the EtherCAT status is notOperate, the IO-Link Ports use these values:

  • If a port is in the IO-Link stateOperate, the process data displayed is switched to invalid.

  • If Pin 2 or Pin 4 are in the digital output mode, zero (low level) is displayed.

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

Via the object 0x4000 (ISDU read/write Ch. X), IO-Link ISDU parameters can be read or written from the IO-Link device. For this purpose, the corresponding index and subindex must be entered and for writing the corresponding length and data must be entered. The read or write operation is started via the control object. The result is displayed in the status object.

Values for the control

Values for the control

Value

Function

0x00

No function

0x02

Write

0x03

Read

Values for the status

Values for the status

Value

Status

0x00

No status

0x01

Active/Busy

0x02

Access

0x04

Error

0xFF

Fail

Example of CoE setting

This example shows how the index 0x40 of Smartlight (mode) is changed by reading and writing.

  1. Select module.

  2. Open CoE - Online.

  3. Activate the setting Auto Update.

  4. Under Advanced select the setting Online - via SDO Information.

    ../../../_images/Einstellungen_aktivieren.png

    Activate settings

  5. In port, select 4030:0(here channel 4).

  6. Read index by double clicking 4030:0 and specifying the respective index (here 0x0040 64).

  7. In control write the command 0x03.

    ../../../_images/Lesen.png

    Read

    ⇒ Content of the index is read and displayed in data.

  8. Change data, specify length and use the command 0x02.

    ../../../_images/Schreiben.png

    ⇒ The data is written and the parameter is changed in the device.

Acyclic access via AoE

The ETG5001.6220 describes AoE instead of CoE for the ISDU read/write access to IO-Link device parameters. Details on ADS can be found in the Beckhoff TwinCAT documentation and in ETG.1020. In contrast to CoE, AoE permits non-blocking processing.

AoE ISDU access uses these definitions (all are 32 bit):

  • AoE IndexGroup = 0x0000F302

  • AoE PortNumber = 0x00001000 + IO-Link port number, starting with 0.

  • AoE IndexOffset

    • 16 Bit IO-Link Index

    • 8 Bit always zero

    • 8 Bit IO-Link Subindex

  • Return error code

    • 16 Bit additional information about the error code, which is 0x0700 (ADS device error).

    • 16 Bit error code via IO-Link

Function blocks ADSREAD and ADSWRITE

../../../_images/Funktionsbloecke_ADSREAD_und_ADSWRITE.png

Function blocks ADSREAD and ADSWRITE

Function block ADSREAD in TwinCat

../../../_images/Funktionsblock_ADSREAD_DE.png

TwinCat – ADSREAD

ADSREAD commands

Name

Type

Inherited from

Address

Initial

Comment

NETID

T_AmsNetId

–

–

–

Ams net id

PORT

T_AmsPort

–

–

–

ADS communication port

IDXGRP

UDINT

–

–

–

Index group

IDXOFFS

UDINT

–

–

–

IndexOffset

LEN

UDINT

–

–

–

Maximum number of the data bytes to be read (LEN ≤ maximum size of target buffer)

DESTADDR

PVOID

–

–

–

Indicator of target buffer

READ

BOOL

–

–

–

Rising edge starts command execution.

TMOUT

TIME

–

–

DEFAULT_ADS_TIMEOUT

Maximum permissible time for the execution of this ADS command

BUSY

BOOL

–

–

–

Busy-Flag

ERR

BOOL

–

–

–

Error-Flag

ERRID

UDINT

–

–

–

ADS error code

Function block ADSWRITE in TwinCat

../../../_images/Funktionsblock_ADSWRITE_DE.png

TwinCat – ADSWRITE

ADSWRITE commands

Name

Type

Inherited from

Address

Initial

Comment

NETID

T_AmsNetId

–

–

–

Ams net id

PORT

T_AmsPort

–

–

–

ADS communication port

IDXGRP

UDINT

–

–

–

Index group

IDXOFFS

UDINT

–

–

–

IndexOffset

LEN

UDINT

–

–

–

Maximum number of the data bytes to be written (LEN ≤ maximum size of source buffer)

SRCADDR

PVOID

–

–

–

Indicator of source buffer

WRITE

BOOL

–

–

–

Rising edge starts command execution.

TMOUT

TIME

–

–

DEFAULT_ADS_TIMEOUT

Maximum permissible time for the execution of this ADS command

BUSY

BOOL

–

–

–

Busy-Flag

ERR

BOOL

–

–

–

Error-Flag

ERRID

UDINT

–

–

–

ADS error code

Preparation for the web server

EoE set-up

In order to be able to access the web server of the BNI module, access via EoE (Ethernet over EtherCAT) must be configured first.

  1. Select the Advanced Settings… button.

    ../../../_images/Schaltflaeche_Advanced_Settings.png

    Advanced Settings… button

  2. Enter valid DNS name and valid IP address.

    ../../../_images/DNS-Name_gueltige_IP.png

    Enter valid DNS name and valid IP address

Preparing network

Before the web server can be reached via EoE, the network of the Beckhoff control must be configured.

Configuring Beckhoff control

A static IP address must be assigned to both network cards.

  1. On the Beckhoff control select Start > Control panel Network and dial-up connections > PCI…Settings.

  2. Assign IP address.

    ../../../_images/IP-Adresse_vergeben.png

    Advanced Settings… button

  3. Under Start > Control Panel > Beckhoff CX Configuration Tool > Miscellaneous activate the setting IP Routing.

    ../../../_images/IP_Routing_aktivieren.png

    Advanced Settings… button

EoE and PC networks

For the EoE settings in the Twincat, the IP address of the second network card of the Beckhoff control must be entered as a default gateway.

As a default gateway for the network configuration of the PC, the IP address of the first network card of the Beckhoff control must be entered.

Object directory

The object directory is largely shared across the EtherCAT variants, with a small set of variant-specific objects.

This section is organized by object groups and marks variant-specific behavior explicitly.

Variant coverage overview

Objects by variant

Object

Index

BNI XG1-505-0A5-R067

BNI XG3-302-0B5-R067

BNI XG3-302-1B5-Z067

BNI XG3-508-0B5-R067

BNI XG5-508-0B5-P067

BNI XG5-508-0B5-R067

BNI XG5-538-0B5-R067

BNI XG5-508-1B5-Z067

BNI XG5-538-1B5-Z067

Device type

0x1000

✅

✅

✅

✅

✅

✅

✅

✅

✅

Error register

0x1001

✅

✅

✅

✅

✅

✅

✅

✅

✅

Device Name

0x1008

✅

✅

✅

✅

✅

✅

✅

✅

✅

Hardware Version

0x1009

✅

✅

✅

✅

✅

✅

✅

✅

✅

Software Version

0x100A

✅

✅

✅

✅

✅

✅

✅

✅

✅

Identity Object

0x1018

✅

✅

✅

✅

✅

✅

✅

✅

✅

Error Settings

0x10F1

✅

✅

✅

✅

✅

✅

✅

✅

✅

Diagnosis History

0x10F3

✅

✅

✅

✅

✅

✅

✅

✅

✅

RxPDO mapping Ch. x

0x160n[1]

✅

✅

✅

✅

✅

✅

✅

✅

✅

RxPDO mapping of Output Pin 2

0x1690

✅

✅

✅

✅

✅

✅

✅

✅

✅

TxPDO mapping Ch. x

0x1A0n[1]

✅

✅

✅

✅

✅

✅

✅

✅

✅

Sync manager type

0x1C00

✅

✅

✅

✅

✅

✅

✅

✅

✅

SyncManager 2 Assign (RxPDO)

0x1C12

✅

✅

✅

✅

✅

✅

✅

✅

✅

SyncManager 3 Assign (TxPDO)

0x1C13

✅

✅

✅

✅

✅

✅

✅

✅

✅

SM output parameter

0x1C32

✅

✅

✅

✅

✅

✅

✅

✅

✅

SM input parameter

0x1C33

✅

✅

✅

✅

✅

✅

✅

✅

✅

Input Data Ch. x

0x60n0[2]

✅

✅

✅

✅

✅

✅

✅

✅

✅

Output Data Ch. x

0x70n0[2]

✅

✅

✅

✅

✅

✅

✅

✅

✅

Output Pin 2

0xF700

✅

✅

✅

✅

✅

✅

✅

✅

✅

Modular Device Profile

0xF000

✅

✅

✅

✅

✅

✅

✅

✅

✅

Configured Module Ident List

0xF030

✅

✅

✅

✅

✅

✅

✅

✅

✅

Detected Module Ident List

0xF050

✅

✅

✅

✅

✅

✅

✅

✅

✅

Firmware Build Information

0xF500

✅

✅

✅

✅

✅

✅

✅

✅

✅

Product Identification

0xF501

✅

✅

✅

✅

✅

✅

✅

✅

✅

Fieldbus Information

0xF502

✅

✅

✅

✅

✅

✅

✅

✅

✅

Module Reboot

0xF503

✅

✅

✅

✅

✅

✅

✅

✅

✅

IOT Settings

0xF511

✅

✅

✅

✅

✅

✅

✅

✅

✅

ISDU read/write Ch. x

0x40n0[2]

✅

❌

❌

✅

✅

✅

✅

✅

✅

IO-Link Configuration Data Ch. x

0x80n0[2]

✅

❌

❌

✅

✅

✅

✅

✅

✅

Additional IO-Link Configuration Data Ch. x

0x80n8[2]

✅

❌

❌

✅

✅

✅

✅

✅

✅

Configuration Data Ch. x (XG3-302)

0x80n0[2]

❌

✅

✅

❌

❌

❌

❌

❌

❌

Additional Configuration Data Ch. x (XG3-302)

0x80n8[2]

❌

✅

✅

❌

❌

❌

❌

❌

❌

IO-Link Information Data Ch. x

0x90n0[2]

✅

❌

❌

✅

✅

✅

✅

✅

✅

IO-Link Diagnosis Data Ch. x

0xA0n0[2]

✅

❌

❌

✅

✅

✅

✅

✅

✅

IO-Link Status Data Ch. x

0xF100 (TxPDO 0x1A80[3])

✅

❌

❌

✅

✅

✅

✅

✅

✅

IO-Link Port Qualifier Ch. x

0xF101 (TxPDO 0x1A81[3])

✅

❌

❌

✅

✅

✅

✅

✅

✅

TxPDO mapping of Input Pin 2

0x1A90

✅

✅

✅

✅

✅

✅

✅

✅

✅

TxPDO mapping of Power Status

0x1A91

✅

✅

✅

✅

✅

✅

✅

✅

✅

TxPDO mapping of New Messages Available

0x1A92 (object 0x10F3:04)

✅

✅

✅

✅

✅

✅

✅

✅

✅

TxPDO mapping of Timestamp

0x1A93 (object 0x10F8:00)

✅

✅

✅

✅

✅

✅

✅

✅

✅

Module Settings

0xF510

❌

❌

❌

❌

❌

❌

✅

❌

✅

Note

Object naming is identical across variants wherever possible. Index and subindex definitions for a concrete product code always follow the corresponding ESI.

Device type (0x1000)

This generic CoE object applies to all variants.

Subindex

Name

DataType

Access

0x00

Device type

UDINT

RO

Error register (0x1001)

This generic CoE object applies to all variants.

Subindex

Name

DataType

Access

0x00

Error register

USINT

RO

Device Name (0x1008)

This generic CoE object applies to all variants.

Subindex

Name

DataType

Access

0x00

Device Name

STRING(20)

RO

Hardware Version (0x1009)

This generic CoE object applies to all variants.

Subindex

Name

DataType

Access

0x00

Hardware Version

STRING(5)

RO

Software Version (0x100A)

This generic CoE object applies to all variants.

Subindex

Name

DataType

Access

0x00

Software Version

STRING(5)

RO

Identity Object (0x1018)

This generic CoE object applies to all variants.

Subindex

Name

DataType

0x00

Number of entries

USINT

0x01

Vendor ID

UDINT

0x02

Product Code

UDINT

0x03

Revision Number

UDINT

0x04

Serial number

UDINT

Error Settings (0x10F1)

This generic CoE object applies to all variants.

Subindex

Name

DataType

0x00

Number of entries

USINT

0x01

Local Error Reaction

UDINT

0x02

Sync Error Counter Limit

UINT

Diagnosis History (0x10F3)

This generic CoE object applies to all variants.

Subindex

Name

DataType

0x00

Number of entries

USINT

0x01

Maximum Messages

USINT

0x02

Newest Message

USINT

0x03

Newest Acknowledged Message

USINT

0x04

New Messages Available

BOOL

0x05

Flags

UINT

Subindex 0x04 (New Messages Available) is also mapped to the process data via Map TxPDO New Messages Available (0x1A92).

RxPDO mapping Ch. x (0x160n)

This generic mapping object links the channel-specific slot module to the raw process data object Output Data Ch. x and applies to all variants.

Index

Name

Access

0x160n[1]

RxPDO mapping of Ch. x

RO

RxPDO mapping of Output Pin 2 (0x1690)

This generic mapping object applies to all variants.

Index

Name

Access

0x1690

RxPDO mapping of Output Pin 2

RO

TxPDO mapping Ch. x (0x1A0n)

This generic mapping object links the channel-specific slot module to the raw process data object Input Data Ch. x and applies to all variants.

Index

Name

Access

0x1A0n[1]

TxPDO mapping of Ch. x

RO

Sync manager type (0x1C00)

Sync manager objects are configured automatically by the EtherCAT master during PDO assignment and normally do not need to be accessed directly.

Index

Name

0x1C00

Sync manager type

SyncManager 2 Assign / RxPDO (0x1C12)

Sync manager objects are configured automatically by the EtherCAT master during PDO assignment and normally do not need to be accessed directly.

Index

Name

0x1C12

SyncManager 2 Assign (RxPDO)

SyncManager 3 Assign / TxPDO (0x1C13)

Sync manager objects are configured automatically by the EtherCAT master during PDO assignment and normally do not need to be accessed directly.

Index

Name

0x1C13

SyncManager 3 Assign (TxPDO)

SM output parameter (0x1C32)

Sync manager objects are configured automatically by the EtherCAT master during PDO assignment and normally do not need to be accessed directly.

Index

Name

0x1C32

SM output parameter

SM input parameter (0x1C33)

Sync manager objects are configured automatically by the EtherCAT master during PDO assignment and normally do not need to be accessed directly.

Index

Name

0x1C33

SM input parameter

Input Data Ch. x (0x60n0)

This object holds the raw input process data for each channel, referenced by TxPDO mapping Ch. x (0x1A0n).

Index

Name

DataType

Access

0x60n0[2]

Input Data Ch. x

See ESI

RO

Output Data Ch. x (0x70n0)

This object holds the raw output process data for each channel, referenced by RxPDO mapping Ch. x (0x160n).

Index

Name

DataType

Access

0x70n0[2]

Output Data Ch. x

See ESI

RW

Output Pin 2 (0xF700)

This generic CoE object applies to all variants.

Index

Name

DataType

Access

0xF700

Output Pin 2

BITARR8

RO

Modular Device Profile (0xF000)

This generic CoE object applies to all variants.

Index

Name

Access

0xF000

Modular Device Profile

RO

Configured Module Ident List (0xF030)

This generic CoE object applies to all variants.

Index

Name

Access

0xF030

Configured Module Ident List

RW

Detected Module Ident List (0xF050)

This generic CoE object applies to all variants.

Index

Name

Access

0xF050

Detected Module Ident List

RO

Firmware Build Information (0xF500)

This generic CoE object applies to all variants.

Index

Name

Access

0xF500

Firmware Build Information

RO

Product Identification (0xF501)

This generic CoE object applies to all variants.

Index

Name

Access

0xF501

Product Identification

RO

Fieldbus Information (0xF502)

This generic CoE object applies to all variants.

Index

Name

Access

0xF502

Fieldbus Information

RW

Module Reboot (0xF503)

This generic CoE object applies to all variants.

Index

Name

Access

0xF503

Module Reboot

RW

IOT Settings (0xF511)

This generic CoE object applies to all variants.

Index

Name

Access

0xF511

IOT Settings

RW

Map TxPDO input pin 2 (0x1A90)

Index

Subindex

Name

DataType

Access

0xF600

0x00

Input Pin 2

BITARR8

RO

Map TxPDO pin 4 (0x1A0n)

Index range

Subindex

Name

DataType

Access

0x6xxx

module-specific

Module-specific TxPDO input data (pin 4 mapping)

Variable, see ESI module

RO

0x7xxx

module-specific

Module-specific RxPDO output data (pin 4 mapping)

Variable, see ESI module

RW

The following index range applies in a modular EtherCAT device:

  • 0x6xxx is a module-specific input range for TxPDO data.

  • 0x7xxx is a module-specific output range for RxPDO data.

IO-Link data is up to 32 bytes for input and output.

If a connection is configured as a digital input or digital output, the value of pin 4 is mapped to data byte 0, bit 0.

Map TxPDO PowerStatus (0x1A91)

Index

Subindex

Name

DataType

Access

0xF601

0x01

Global status, see Global status values (Subindex 0x01)

UINT8

RO

0x02

Short circuit in the sensor supply; one bit for each port

UINT8

RO

0x03

Short circuit at pin 4 of the actuator supply, one bit for each port

UINT8

RO

0x04

Short circuit at pin 2 of the actuator supply, one bit for each port

UINT8

RO

Global status values (Subindex 0x01)

Bit

Description

0

Sensor supply low (1 = low, 0 = OK)

1

Actuator supply low (1 = low, 0 = OK)

Map TxPDO New Messages Available (0x1A92)

Index

Subindex

Name

DataType

Access

0x10F3

0x04

New Messages Available

BOOL

RO

Map TxPDO Timestamp (0x1A93)

Index

Subindex

Name

DataType

Access

0x10F8

0x00

Timestamp Object

ULINT

RO

ISDU read/write Ch. x (0x4000 – 0x4FFF)

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

Index

Sub-index

Name

DataType

Access

0x40n0

0x00

Number of entries

UINT8

RO

0x01

Control

UINT8

RW

0x02

Status

UINT8

RO

0x03

Index

UINT16

RW

0x04

Subindex

UINT8

RW

0x05

Length

UINT8

RW

0x06

Data

ARRAY [0…231] OF BYTE

RW

n = 0…7

0x07

Error Code

UINT16

RW

Control values (Subindex 0x01)

Value (UINT8)

Function

0

no control action

2

write

3

read

Status values (Subindex 0x02)

Value (UINT8)

Status

0

no activity

1

busy

2

success

4

error

0xFF

failure

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

Index

Sub-index

Name

DataType

Access

Value/Description

0x80n0, n = 0…7

0x00

Number of entries

USINT

RO

0x04

Device ID

UDINT

RW

0x05

Vendor ID

UDINT

RW

0x20

IO-Link Revision

USINT

RW

0x10 or 0x11

0x21

Reserved for Frame Capability

USINT

RW

Not in use

0x22

Cycle Time

USINT

RW

Cycle time

0x23

Reserved for Offset Time

USINT

RW

Not in use

0x24

Process Data In Length

USINT

RW

Maximum length

0x25

Process Data Out Length

USINT

RW

Maximum length

0x26

Reserved for Compatible ID

UINT

RW

Not in use

0x27

Reserved

UINT

RW

Not in use

0x28

Master Control

UINT

RW

See Configuration without ESI

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

Index

Sub-index

Name

DataType

Access

Value/Description

0x80n8, n = 0…7

0x00

Number of entries

USINT

RO

0x01

Validation and Backup

USINT

RW

See values below

0x02

IQ Behavior

USINT

RW

See values below

Values for Validation and Backup (Subindex 0x01)

Value

Function

0

No check

1

V1.0 Device, no Datastorage

2

V1.1 Device, no Datastorage

3

V1.1 Device, Backup + Restore

4

V1.1 Device, Restore

Values for IQ Behavior (Subindex 0x02)

Value

Function

0

Deactivated

1

Digital Input

2

Digital Output

5

Power

Available values depend on the port hardware.

Configuration Data Ch. x (XG3-302)

Index

Sub-index

Name

DataType

Access

Value/Description

0x8000, 0x8010, …, 0x8070

0x01

Pin 4 Behavior

UINT8

RW

One object per channel (Ch.1 … Ch.8)

Additional Configuration Data Ch. x (XG3-302)

This object group contains additional channel-specific configuration.

Index

Sub-index

Name

DataType

Access

Value/Description

0x8008, 0x8018, …, 0x8078

0x01

Pin 2 Behavior

UINT8

RW

One object per channel (Ch.1 … Ch.8)

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

Index

Subindex

Name

DataType

Access

0x90n0, n = 0…7

0x04

Device ID

UINT32

RO

0x05

Vendor ID

UINT32

RO

0x20

IO-Link revision

UINT8

RO

0x22

Min Cycle Time

UINT8

RO

0x24

Process Data In Length

UINT8

RO

0x25

Process Data Out Length

UINT8

RO

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

Index

Subindex

Name

DataType

Access

0xA0n0, n = 0…7

0x01

IO-Link state

UINT8

RO

0x02

Lost Frames

UINT8

RO

Value

Status of IO-Link Port

0

Deactivated

1

Digital Input

2

Digital Output

3 – 7

Reserved

8

IO-Link Operate

9

IO-Link Stop

Values for Lost Frames (Subindex 0x02)

This parameter counts lost IO-Link Frames (M sequence repeats).

Two repeat attempts are generally added when changing the device. This value is only reset to zero during the start. The value is updated regularly, for example once a second.

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

Index

Subindex

Name

DataType

Access

0xF100

0x01

Status of IO-Link Port 1

UINT8

RO

0x02

Status of IO-Link Port 2

UINT8

RO

0x03

Status of IO-Link Port 3

UINT8

RO

0x04

Status of IO-Link Port 4

UINT8

RO

0x05

Status of IO-Link Port 5

UINT8

RO

0x06

Status of IO-Link Port 6

UINT8

RO

0x07

Status of IO-Link Port 7

UINT8

RO

0x08

Status of IO-Link Port 8

UINT8

RO

The CoE object Device Status (0xF100) is mapped as TxPDO mapping of status data (TxPDO 0x1A80) to the process data.

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

Index

Subindex

Name

DataType

Access

0xF101

0x01

Port Qualifier Port 1

UINT8

RO

0x02

Port Qualifier Port 2

UINT8

RO

0x03

Port Qualifier Port 3

UINT8

RO

0x04

Port Qualifier Port 4

UINT8

RO

0x05

Port Qualifier Port 5

UINT8

RO

0x06

Port Qualifier Port 6

UINT8

RO

0x07

Port Qualifier Port 7

UINT8

RO

0x08

Port Qualifier Port 8

UINT8

RO

The CoE object Port Qualifier (0xF101) is mapped as TxPDO mapping of port qualifier (TxPDO 0x1A81) to the process data.

Port qualifier bits

Bit

Description

4

PortActive / Port activated

1 = Port can be used. 0 = Port deactivated.

5

DevCom / device is ready for operation

1 = Device detected and in status Operate. 0 = Everything else.

6

DevErr / device error

1 = Error occurred (validation error, short circuit, etc.). 0 = OK.

7

PQ / validity of input data of IO-Link device

1 = Valid. 0 = Invalid.

Module Settings (0xF510)

Using CoE object 0xF510 (Module Settings), it is possible to modify the output power loss behavior.

This setting is only available for the XG5-538-…-variants.

Index

Subindex

Name

DataType

Access

Value/Description

0xF510

0x00

Number of entries

USINT

RO

0x01

Output Powerloss Behavior

USINT

RW

See values below

The parameter defines what happens to active outputs on Pin 2 and Pin 4 when UA voltage is lost.

  • Value 0 – US Outputs shutdown on UA powerloss

    All active outputs on Pin 2 and Pin 4 are automatically switched off in the event of a UA voltage drop. This matches the behavior of a XG5-508-… master, even though Pin 2 and Pin 4 of Class A output ports are supplied by US, and Pin 4 of Class B ports are supplied by UA.

  • Value 1 – Hardware Defined

    US powered outputs will not be switched off in the event of a UA voltage drop. All outputs remain in their current state. Only Class B Pin 2 outputs are physically supplied by UA and will therefore be shut down.

First step

../../../_images/UA_Configurable_behaviour_1.png

Second step

../../../_images/UA_Configurable_behaviour_2.png

Note

Only available for the XG5-538-… variants.

Configuration without ESI

Note

Please check whether IO-Link is supported by your module before using this function. For more information on product variants that support IO-Link, see Supported product variants

The ports can also be configured without integration of an ESI. For this, the master control and the respective length of the process data must be set in the object 0x8000.

Values for the master control (80X0:28)

Value

Function

0x0000

Deactivated

0x0001

Port in Standard Input

0x0002

Port in Standard Output

0x0003

Port in IO-Link mode

0x0005

Power

Note

Automatic Shutdown of Pin 1 Power on Port Deactivation:

If a port is configured to deactivate Pin 2 and Pin 4, the power supply on Pin 1 is automatically shut down.

Process data length

IO-Link Ports

Byte

Length of data

1 Byte

0x08

2 Byte

0x16

4 Byte

0x83

6 Byte

0x85

8 Byte

0x87

10 Byte

0x89

16 Byte

0x8F

24 Byte

0x97

32 Byte

0x9F

Standard input/output ports

0x01

Example

MasterControl = 3 –> IO-Link

IO-Link size

Process Data In Length

Process Data Out Length

Hex

Dec

Hex

Dec

IOL_l_1byte

0x08

8

0x00

0

IOL_l_2byte

0x16

22

0x00

0

IOL_l_4byte

0x83

131

0x00

0

IOL_l_6byte

0x85

133

0x00

0

IOL_l_8byte

0x87

135

0x00

0

IOL_l_10byte

0x89

137

0x00

0

IOL_l_16byte

0x8F

143

0x00

0

IOL_l_24byte

0x97

151

0x00

0

IOL_l_32byte

0x9F

159

0x00

0

IOL_l_1byte/0_1bytes

0x08

8

0x08

8

IOL_l_2byte/0_2bytes

0x16

22

0x16

22

IOL_l_2byte/0_4bytes

0x16

22

0x83

131

IOL_l_4byte/0_4bytes

0x83

131

0x83

131

IOL_l_4byte/0_2bytes

0x83

131

0x16

22

IOL_l_2byte/0_8bytes

0x16

22

0x87

135

In the start-up the configuration for Port 6 in IO-Link mode with 32 Byte process data length for input and output looks as follows:

../../../_images/Beispiel_Port_6.png

Sample configuration in the start-up for Port 6