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倍福EtherCAT终端Modbus TCP/UDP 总线耦合器手册.pdf

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    Table of contents
    1 Foreword
    1.1 Notes on the documentation
    1.2 Safety instructions
    1.3 Documentation issue status
    2 Product overview
    2.1 EKxxxx - System overview
    2.2 EK9000 - Introduction
    2.3 Technical data - EK9000
    2.4 Technical data - Modbus
    3 Mounting and wiring
    3.1 Mounting
    3.1.1 Dimensions
    3.1.2 Installation on mounting rails – Bus Coupler
    3.2 Wiring
    3.2.1 Power supply
    3.2.2 Ethernet
    3.2.2.1 Ethernet connections
    3.2.2.2 Ethernet cable
    3.2.2.3 Ethernet topology
    4 Parameterization and commissioning
    4.1 DIP switch
    4.2 Further interfaces
    4.3 IP address
    5 Configuration
    5.1 Configuration via the HTML pages of the Bus Coupler
    5.2 EtherCAT configuration
    5.3 Modbus configuration
    5.4 EtherCAT mapping in the Modbus process image
    5.5 EK9000 - EtherCAT configurations
    6 Ethernet
    6.1 ModbusTCP/UDP
    6.1.1 ModbusTCP/UDP protocol
    6.1.2 Modbus-Interfaces
    6.1.3 ModbusTCP slave error answer (BK9000, BX/BC9000, IP/ILxxxx-B/C900, EK9000)
    6.1.4 Access via a second client
    6.1.5 Modbus functions
    6.1.5.1 ModbusTCP functions
    6.1.5.2 Read coil status (Function 1)
    6.1.5.3 Read input status (Function 2)
    6.1.5.4 Read holding register (Function 3)
    6.1.5.5 Read input register (Function 4)
    6.1.5.6 Force single coil (Function 5)
    6.1.5.7 Preset single register (Function 6)
    6.1.5.8 Diagnosis (Function 8)
    6.1.5.9 Force multiple coils (Function 15)
    6.1.5.10 Preset single register (Function 16)
    6.1.5.11 Read / write registers (Function 23)
    7 Error handling and diagnosis
    7.1 LED indicators
    8 Appendix
    8.1 Update Bus Coupler image
    8.2 FAQ
    8.3 List of Abbreviations
    8.4 Support and Service
    List of illustrations
    Documentation EK9000 Modbus TCP/UDP Bus Coupler for EtherCAT Terminals Version: Date: 2.1.0 2018-02-12
    Table of contents 1.1 1.2 1.3 2.1 2.2 2.3 2.4 3.1 3.2 6.1 4.1 4.2 4.3 Table of contents 1 Foreword .................................................................................................................................................... 5 Notes on the documentation...........................................................................................................  5 Safety instructions ..........................................................................................................................  6 Documentation issue status............................................................................................................  7 2 Product overview....................................................................................................................................... 8 EKxxxx - System overview .............................................................................................................  8 EK9000 - Introduction ...................................................................................................................  10 Technical data - EK9000 ..............................................................................................................  11 Technical data - Modbus ..............................................................................................................  12 3 Mounting and wiring ............................................................................................................................... 13 Mounting .......................................................................................................................................  13 3.1.1 Dimensions ...................................................................................................................... 13 3.1.2 Installation on mounting rails – Bus Coupler.................................................................... 13 Wiring............................................................................................................................................  16 Power supply.................................................................................................................... 16 3.2.1 3.2.2 Ethernet............................................................................................................................ 17 4 Parameterization and commissioning................................................................................................... 21 DIP switch.....................................................................................................................................  21 Further interfaces..........................................................................................................................  22 IP address.....................................................................................................................................  22 5 Configuration ........................................................................................................................................... 23 Configuration via the HTML pages of the Bus Coupler ................................................................  23 EtherCAT configuration ................................................................................................................  25 Modbus configuration ...................................................................................................................  27 EtherCAT mapping in the Modbus process image .......................................................................  29 EK9000 - EtherCAT configurations...............................................................................................  31 6 Ethernet .................................................................................................................................................... 35 ModbusTCP/UDP .........................................................................................................................  35 6.1.1 ModbusTCP/UDP protocol............................................................................................... 35 6.1.2 Modbus-Interfaces ........................................................................................................... 36 6.1.3 ModbusTCP slave error answer (BK9000, BX/BC9000, IP/ILxxxx-B/C900, EK9000)..... 38 6.1.4 Access via a second client............................................................................................... 38 6.1.5 Modbus functions............................................................................................................. 40 7 Error handling and diagnosis................................................................................................................. 50 LED indicators ..............................................................................................................................  50 8 Appendix .................................................................................................................................................. 52 Update Bus Coupler image...........................................................................................................  52 FAQ ..............................................................................................................................................  53 List of Abbreviations .....................................................................................................................  54 Support and Service .....................................................................................................................  55 5.1 5.2 5.3 5.4 5.5 8.1 8.2 8.3 8.4 7.1 EK9000 Version: 2.1.0 3
    Table of contents 4 Version: 2.1.0 EK9000
    Foreword 1 Foreword 1.1 Notes on the documentation Intended audience This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning these components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning. The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards. Disclaimer The documentation has been prepared with care. The products described are, however, constantly under development. We reserve the right to revise and change the documentation at any time and without prior announcement. No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation. Trademarks Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners. Patent Pending The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or registrations in various other countries. The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries. EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright © Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design. EK9000 Version: 2.1.0 5
    Foreword 1.2 Safety instructions Safety regulations Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc. Exclusion of liability All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards. Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note. The safety instructions must be read carefully and followed without fail! Serious risk of injury! Failure to follow the safety instructions associated with this symbol directly endangers the life and health of persons. Risk of injury! Failure to follow the safety instructions associated with this symbol endangers the life and health of persons. Personal injuries! Failure to follow the safety instructions associated with this symbol can lead to injuries to persons. Damage to the environment or devices Failure to follow the instructions associated with this symbol can lead to damage to the en- vironment or equipment. Tip or pointer This symbol indicates information that contributes to better understanding. DANGER WARNING CAUTION Attention Note 6 Version: 2.1.0 EK9000
    Foreword 1.3 Version 2.1.0 2.0.2 2.0.1 2.0.0 1.1.0 1.0.0 Documentation issue status Comment • Update chapter ”Modbus interfaces” • Update chapter ”Technical data” • Update chapter ”Update Bus Coupler image” • Update chapter ”Technical data” • Migration • HTML configuration description updated • First published Image Version EK9000 Firmware 1 (V0.03) Hardware version 3.9 Description • First version EK9000 Version: 2.1.0 7
    Product overview 2 Product overview 2.1 EKxxxx - System overview Fig. 1: EtherCAT Terminals at an EKxxxx series Bus Coupler The Bus Couplers from the EKxxxx series allow EtherCAT Terminals to be operated on conventional fieldbus systems. The ultra-fast, high-performance EtherCAT Terminals with their large range of signal types are thus also available for other fieldbus and Industrial Ethernet systems. The EKxxxx Bus Couplers are fieldbus slaves and contain an EtherCAT master for the EtherCAT terminals. They convert the telegrams from the higher-level fieldbus systems into the E-bus signal representation. A station consists of an EKxxxx and a number of EtherCAT Terminals. The EKxxxx is integrated in exactly the same way as the Bus Couplers from the BKxxxx series via the corresponding fieldbus system configuration tools and the associated configuration files, such as GSD, ESD or GSDML. EtherCAT makes a very flexible topology configuration possible. Thanks to the Ethernet physics, long distances can also be bridged without the bus speed being affected. When changing to the field level – without a control cabinet – the EtherCAT Box modules (EPxxxx) in protection class IP65 can also be connected to the EK9xxx. Bus Couplers for various fieldbus systems The variants from the EKxxxx series differ from one another by the interface for the higher-level fieldbus system. Various versions cover the most important fieldbus systems: • EK3100: PROFIBUS DP • EK9000: Ethernet ModbusTCP/UDP • EK9300: PROFINET RT • EK9700: SERCOS III Embedded PCs with fieldbus interface and decentralised control The TwinCAT-programmable variant is the CX80xx Embedded PC series. The variants from the CX80xx series differ from one another by the interface for the higher-level fieldbus system and the possibility to program it. Various versions cover the most important fieldbus systems: • CX8010: EtherCAT • CX8030: PROFIBUS DP Master • CX8031: PROFIBUS DP Slave 8 Version: 2.1.0 EK9000
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