b rkert 307393 The Best Offers On Peripheral Modules Instruction Manual

b rkert 307393 The Best Offers On Peripheral Modules

Specifications

• Control Modes : EtherCAT, EtherNet/IP, Modbus TCP, PROFIBUS DPV1, PROFINET
• Communication Settings : Included in each control mode
• Control Word Execution : Cyclic commands supported
• Object Route Function : Available for routing objects

Product Usage Instructions

Control Mode
The product supports various control modes including EtherCAT, EtherNet/IP, Modbus TCP, PROFIBUS DPV1, and PROFINET. Please refer to specific sections for detailed information on each mode.

Communication Settings
Configure communication settings according to the selected control mode. Follow the guidelines provided in the respective sections for each communication protocol.

Control Word
To execute commands, use the control word functionality. Refer to the control word section for detailed instructions on how to send commands to the device.

Object Route Function (ORF)
Utilize the Object Route Function for routing objects within the system. Follow the guidelines provided in the ORF section for proper configuration and usage.

FAQ

• Q: Where can I find contact addresses for support?
  

  • A: For contact addresses, refer to the General Notes section of the user manual. International contact addresses can be found on the website at www.burkert.com.

Control Mode
Communication settings

Control Word
Executing cyclic commands

Object Route Function
Enables access to further büS objects

EtherCAT EtherNet/IP Modbus TCP PROFIBUS DPV1 PROFINET

Supplement to the operating instructions

Technical changes reserved.
© Bürkert Werke GmbH & Co. KG, 2015 – 2019
Operating Instructions 1904/06_ENen_00810415 / Original DE

GENERAL NOTES

Contact addresses

Germany

• Bürkert Fluid Control Systems
• Sales Center
• Christian-Bürkert-Str. 13-17
• D-74653 Ingelfingen
• Phone + 49 (0) 7940 – 10 91 111
• Fax + 49 (0) 7940 – 10 91 448
• Email: [email protected]

International
You can find the international contact addresses on the Internet at: www.burkert.com

CONTROL MODE

Bit 0 = 0

Bit 1 = 0

| Auto start, operating state also without controller
Bit 0 = 1

Bit 1 = 0

| Start only when connection to the controller is correct
Bit 0 = 0

Bit 1 = 1

| Start must be set manually by the controller via Control Word
Byte 1| reserved
Byte 2| Behaviour of the LED when there is a disconnection from the controller|

Bit 0

| Switch LED (only for Type ME23)

A loss of connection to the controller does not affect the colour of the Switch LED.

Bit 1

| Namur LED

A loss of connection to the controller does not affect the colour of the Namur LED.

Byte 3| reserved

Control Mode controls the behaviour of the fieldbus device when connection is established with the con-troller and also controls the behaviour of the Namur LED. Control Mode can be described and is transferred acyclically.

Table 1 : 0x3C32 Sub 1

Example of the composition of a value in the Control Mode object

| byte 3| byte 2| byte 1| byte 0| Description
---|---|---|---|---|---
| | | | 01| Start only when connection to the controller is correct
| | | 00| | reserved
| | 02| | | A loss of connection to the controller does not affect the colour of the Namur LED.
| 00| | | | reserved
0x| 00| 02| 00| 01| Write value to the Control Mode object.

Table 2 : Example of a value in Control Mode

CONTROL WORD

device
0x01-0x7F| Address of the büS device in the network (Node ID)1
0xFF| All devices
Byte 1| Commands to CANopen standard for büS network| 0x01| operational
0x02| stop
0x80| pre operational
0x81| node reset
0x82| communication reset
Byte 2| reserved
Byte 3| Communication status| 0x01| RUN, no connection to controller required
0x02-0xFF| STOP, connection to controller required

Control Word is used to write a CANopen standard command to the büS network during operation. Therefore individual devices or the entire network can be activated. Control Word is transferred cyclically.

Table 3 : 0x3C32 Sub 2

Control Word can be used e.g. to start or stop individual devices or the entire system as well as to simulate connection to the controller.

Example of the composition of a value in the Control Word object

| byte 3| byte 2| byte 1| byte 0| Description
---|---|---|---|---|---
| | | | 00| Fieldbus device
| | | 01| | operational
| | 00| | | reserved
| 01| | | | RUN, no connection to controller required
0x| 01| 00| 01| 00| Write value to the Control Word object

Table 4 : Example of a value in Control Word

Node ID see device description in the Bürkert Communicator

OBJECT ROUTE FUNCTION (ORF)

0x3C31

| 0x01| Index/Subindex/ NodeID| UINT32| Target object: Writing Index and Subindex of the object.

The NodeID2 of the device is also specified. Index and Subindex are stored in the device description/EDS. Index: 2 bytes (MSB), Subindex: 1 byte,

Node ID: 1 byte.

For write access + 0x00000080.

0x02| Data length for write access| UINT32| Data length of the write command in bytes, number

of valid bytes is not specified for reading.

0x03| Value UINT32| UINT32| Here the value to be written is specified or the

readout value is displayed.

Data ≤ 4 bytes.

0x04| Value string| STRING| Is used to read and write texts.

Data > 4 bytes.

0x05| result| UINT32| Process result:

0 = Command successfully executed

0 = Error occurred during execution (see “Table 6”) 0xFFFFFFFF: Read and write process not yet concluded

0x06| call/cancel| UINT8| Execute command: 1 = execute 0 = finish

The Object Route Function (ORF) allows access to individual objects in the büS network. The (fieldbus) object addresses required for access are described in chapters “5 Object addresses fieldbuses” on page 10. Reading or writing to an object can take up to 150 milliseconds.

Table 5 : Object Route Function

Read access

• Write Index/Subindex/NodeID.
• Execute call/cancel.

The result is output in Value UINT32 or Value string.

Write access

For write access the value 0x80 must be added to the Node ID.

• Write Index/Subindex/NodeID (+0x80).
• In Data length for write access specify the number of bytes to be written.
• Enter the value to be written in Value UINT32 or Value string.
• Output command with call/cancel.

Node ID see device description in the Bürkert Communicator

Definition of the errors in the “result” object

Table 6 : Errors when executing the “result” object

OBJECT ADDRESSES FIELDBUSES

Object addresses EtherCAT

Example of read access EtherCAT
Target: Display the serial number of the EDIP participant with Node ID 9.

Procedure
Write Index/Subindex/NodeID of the target object

• Select Index 0x3C31, Subindex 0x01.
• Write Index (0x2000) and Subindex (0x07) of the object to be read and the Node ID of the device (0x09) to this object.

Execute call/cancel

• Select Index 0x3C31, Subindex 0x06.
• Write value 1 (= execute).

Read out result in Value UINT32 or Value string

Read out value on Index 0x3C31, Subindex 0x03 (UINT32).

The serial number of the EDIP participant with Node ID 9 is displayed.

Example of write access EtherCAT
Target: Device reset for an EDIP participant with Node ID 9.

For write access to the Node ID, add the value 0x80!

Procedure
Write Index/Subindex/NodeID of the target object

• Select Index 0x3C31, Subindex 0x01.
• Write index (0x2001) and Subindex (0x04) of the object to be written and the Node ID of the device (0x09) to this object.

In Data length for write access specify the number of bytes to be written.

• Select Index 0x3C31, Subindex 0x02.
• Write length of the object to be written to this object.

Write Value UINT32 or Value string

• Select Index 0x3C31, Subindex 0x03 (UINT32).
• Write value 2 (= device reset)

Execute call/cancel

• Select Index 0x3C31, Subindex 0x06.
• Write value 1 (= execute).

In the case of the EDIP participant with Node ID 9 a device reset is executed.

Object addresses EtherNet/IP

Example of read access EtherNet/IP
Target : Display the serial number of the EDIP participant with Node ID 9.

Procedure
Write Index/Subindex/NodeID of the target object

• Select Class C7, Instance 1, Attribute 3.
• Write Index (0x2000) and Subindex (0x07) of the object to be read and the Node ID of the device (0x09) to this object.

Execute call/cancel

• Select Class C7, Instance 6, Attribute 3.
• Write value 1 (= execute).

Read out result in Value UINT32 or Value string

Read out value on Class C7, Instance 3, Attribute 3.

The serial number of the EDIP participant with Node ID 9 is displayed.

Example of write access EtherNet/IP
Target: Device reset for an EDIP participant with Node ID 9.

For write access to the Node ID, add the value 0x80!

Procedure
Write Index/Subindex/NodeID of the target object

• Select Class C7, Instance 1, Attribute 3.
• Write index (0x2001) and Subindex (0x04) of the object to be written and the Node ID of the device (0x09) to this object.

In Data length for write access specify the number of bytes to be written.

• Select Class C7, Instance 2, Attribute 3.
• Write length of the object to be written to this object.

Write Value UINT32 or Value string

• Select Class C7, Instance 3, Attribute 3.
• Write value 2 (= device reset)

Execute call/cancel

• Select Class C7, Instance 6, Attribute 3.
• Write value 1 (= execute).

In the case of the EDIP participant with Node ID 9 a device reset is executed.

Object addresses Modbus TCP

Example of read access Modbus TCP

Target: Display the serial number of the EDIP participant with Node ID 9.

Procedure
Write Index/Subindex/NodeID of the target object

• Select function code FC16, address 1000.
• Write Index (0x2000) and Subindex (0x07) of the object to be read and the Node ID of the device (0x09) to this object.

Execute call/cancel

• Select function code FC16, address 1018.
• Write value 0x0100 (= execute).

Read out result in Value UINT32 or Value string

Read out value on function code FC16, address 1004 (UINT32).

The serial number of the EDIP participant with Node ID 9 is displayed.

Example of write access Modbus TCP
Target: Device reset for an EDIP participant with Node ID 9.

For write access to the Node ID, add the value 0x80!

Procedure
Write Index/Subindex/NodeID of the target object

• Select function code FC16, address 1000.
• Write index (0x2001) and Subindex (0x04) of the object to be written and the Node ID of the device (0x09) to this object.

In Data length for write access specify the number of bytes to be written.

• Select function code FC16, address 1002.
• Write length of the object to be written to this object.

Write Value UINT32 or Value string

• Select function code FC16, address 1004.
• Write value 2 (= device reset)

Execute call/cancel

• Select function code FC16, address 1018.
• Write value 0x0100 (= execute).

In the case of the EDIP participant with Node ID 9 a device reset is executed.

Object addresses PROFIBUS DPV1

Example of read access PROFIBUS DPV1
Target: Display the serial number of the EDIP participant with Node ID 9.

Procedure
Write Index/Subindex/NodeID of the target object

• Select Slot 0, Index 1.
• Write Index (0x2000) and Subindex (0x07) of the object to be read and the Node ID of the device (0x09) to this object.

Execute call/cancel

• Select Slot 0, Index 6.
• Write value 1 (= execute).

Read out result in Value UINT32 or Value string

Read out value on Slot 0, Index 3 (UINT32).

The serial number of the EDIP participant with Node ID 9 is displayed.

Example of write access PROFIBUS DPV1
Target: Device reset for an EDIP participant with Node ID 9.

For write access to the Node ID, add the value 0x80!

Procedure
Write Index/Subindex/NodeID of the target object

• Select Slot 0, Index 1.
• Write index (0x2001) and Subindex (0x04) of the object to be written and the Node ID of the device (0x09) to this object.

In Data length for write access specify the number of bytes to be written.

• Select Slot 0, Index 2.
• Write length of the object to be written to this object.

Write Value UINT32 or Value string

• Select Slot 0, Index 3.
• Write value 2 (= device reset)

Execute call/cancel

•  Select Slot 0, Index 6.
• Write value 1 (= execute).

In the case of the EDIP participant with Node ID 9 a device reset is executed.

Object addresses PROFINET

Example of read access PROFINET
Target: Display the serial number of the EDIP participant with Node ID 9.

Procedure
Write Index/Subindex/NodeID of the target object

• Select Slot 0, Subslot 1, Index 1.
• Write Index (0x2000) and Subindex (0x07) of the object to be read and the Node ID of the device (0x09) to this object.

Execute call/cancel

• Select Slot 0, Subslot 1, Index 6.
• Write value 1 (= execute).

Read out result in Value UINT32 or Value string

Read out value on Slot 0, Subslot 1, Index 3 (UINT32) or 4 (string).

The serial number of the EDIP participant with Node ID 9 is displayed.

Example of write access PROFINET
Target: Device reset for an EDIP participant with Node ID 9.

For write access to the Node ID, add the value 0x80!

Procedure
Write Index/Subindex/NodeID of the target object

• Select Slot 0, Subslot 1, Index 1.
• Write index (0x2001) and Subindex (0x04) of the object to be written and the Node ID of the device (0x09) to this object.

In Data length for write access specify the number of bytes to be written.

• Select Slot 0, Subslot 1, Index 2.
• Write length of the object to be written to this object.

Write Value UINT32 or Value string

• Select Slot 0, Subslot 1, Index 3.
• Write value 2 (= device reset)

Execute call/cancel

• Select Slot 0, Subslot 1, Index 6.
• Write value 1 (= execute).

In the case of the EDIP participant with Node ID 9 a device reset is executed.

References

• Bürkert Fluid Control Systems | Valve Engineering & Systems

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