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SICK Flexi Classic User Manual
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Chap
ter
5
Operati
ng Instructions
Flexi Classic G
ateways
32
© SICK AG • Industrial
Sa
fety Sy
stems • Germany • All rights reserved
8011834/YT28/20
16-03-
15
Subject to change w
ithout notice
CANopen Gateway
5
CANopen Gatew
ay
T
he following F
lexi Class
ic gateways ca
n be used for CANo
pen:
UE410-CAN3, -CAN4
5.1
Inter
faces and operation
5.1.1
Control and status indicators
Fig.
4
:
Controls and status
indicators UE410-
CAN
Add
ress switch 1
DIP switch
CANopen
connection
Add
ress switch 2
1000
Baud rate kBit/s
800
500
250
125
31
33
Table of Contents
Default Chapter
3
Table of Contents
3
1 About this Document
7
Function of this Document
7
Target Group
7
Information Depth
7
Scope
8
Symbols Used
8
2 On Safety
9
Qualified Safety Personnel
9
Correct Use
9
Environmental Protection
10
Disposal
10
Separation of Materials
10
System Information Transmitted by the Modules
11
Status Information of All Flexi Classic Gateways (System Bytes)
12
Dig-Out
12
Req-ID
12
CRC1 and CRC2
13
Bas1
14
Bas2
14
Bas3
15
Bas4
15
Rsp-ID
15
Yt28/2016
15
B1-B10 (Req-ID 1-13/2133)
16
B1-B10 (Req-ID 255)
16
Med
16
Mqd
17
Mkd1
18
Mkd2
18
Mfd
19
Mfclass1-Mfcode2
19
Mod-ID
24
SW-VERSION_H and SW-VERSION_L
25
Function
25
Konf
26
CRC_H CODE and CRC_L CODE
26
DIAG-VERSION_H and DIAG-VERSION_L
26
System Interface Status (Only UE410-EN3)
26
4 PROFIBUS DP Gateway
27
Interfaces and Operation
27
Controls and Status Indicators
27
Application Diagnostic Outputs UE410-PRO
28
Plug Assignment
28
Bus Cable
28
Cable Parameters
29
Data Transmission Rate
29
Planning
30
GSD File
30
Documenting with PROFIBUS-DP Master Simulator
31
Diagnostics Data UE410-PRO
31
5 Canopen Gateway
32
Interfaces and Operation
32
Control and Status Indicators
32
Application Diagnostic Outputs UE410-CAN
33
Plug Assignment
34
Bus Cable
34
Planning
35
EDS File
35
Pcs
35
Format of Diagnostics Data
35
Txpdo1
36
Txpdo2
36
Txpdo3
37
Txpdo4
37
Rxpdo1
38
NMT Network Management
38
Pre-Operational
38
Operational
38
Prepared/Stopped
38
Reset Node
38
Reset Communication
39
Sync
39
Node-Guarding
39
Emergency
40
SDO Communication
40
SDO Download Expedited (Write SDO)
40
SDO Upload Expedited (Read SDO)
41
Object List SDO
41
Configuration Objects
42
Input/Output Objects
43
Module List Objects
43
Mapping/Communication Parameter Objects
44
Flexi-Classic-ERROR List Object
45
Status Objects
46
6 Devicenet Gateway
47
Interfaces and Operation
47
Characteristics of the Devicenet Implementation
47
Controls and Status Indicators
47
Application Diagnostic Outputs UE410-DEV
48
Plug Assignment
49
Bus Cable
49
Planning
50
EDS File
50
Diagnostics Data UE410-DEV
50
7 Modbus/Tcp Ethernet Gateway
51
Interfaces and Operation
51
Basic Configuration - Assigning an IP Address
52
Configuration of the Interface to the PLC - How the Data Are Transferred
54
Operating Modes in the Transfer Mode RX (to PLC)
56
Operating Modes in the Transfer Mode Tx (from PLC)
58
Modbus Commands and Error Messages
58
Configuration of the Gateway - Which Data Are Transferred
59
Status of the Interface to the PLC
61
Resetting to Factory Settings
64
Troubleshooting
65
Description of the Data Sets
67
Data Sets 1-5
67
Data Set 6, Can be Compiled by the User
69
8 Ethernet TCP/IP Gateway
71
Interfaces and Operation
71
Basic Configuration - Assigning an IP Address
72
Configuration of the TCP/IP Interface - Who Establishes the Connection
74
Data Transfer Method - How the Data Are Transferred
76
General Telegram Structure
76
Error Response to Invalid Messages
77
Auto Update Mode
77
Polling Mode
80
Ethernet TCP/IP Interface Status and Statistics
83
Resetting to Factory Settings
85
Troubleshooting
86
Description of the Data Sets
88
Data Sets 1-5
88
Data Set 6, Can be Compiled by the User
90
9 Ethernet/Ip Gateway
92
Interfaces and Operation
92
Basic Configuration - Assigning an IP Address
93
Device Name
94
Configuration of the Interface to the PLC - How the Data Are Transferred
95
Operating Modes in the Transfer Mode Rx (to PLC)
98
Operating Modes in the Transfer Mode Tx (from PLC)
99
Configuration of the Gateway - Which Data Are Transferred
100
Status of the Interface to the PLC
102
Ethernet/Ip Objects
105
Full Data Set Transfer Object
105
Individual Data Set Transfer Object (73Hex - One Instance Per Data Set)
106
Discrete Output Point Object Definition (09Hex - 4 Instances; One Instance Per Digital Output)
113
Resetting to Factory Settings
115
Troubleshooting
116
9.10 Description of the Data Sets
118
Data Sets 1-5
118
Data Set 6, Can be Compiled by the User
120
SICK AG • Industrial Safety Systems • Germany • All Rights Reserved
120
10 PROFINET IO Gateway
122
10.1 Interfaces and Operation
122
10.2 Basic Configuration - Assigning an IP Address
123
Web Server Based
123
PROFINET IO Conform
125
PROFINET Configuration of the Gateway - How the Data Are Transferred
125
STEP 1 - Install the Generic Station Description File (GSD File)
125
STEP 2 - Add the Gateway to the Project
126
STEP 3 - Configure the Properties of the Gateway
126
STEP 4 - Assign the Device Name
127
PROFINET Configuration of the Gateway - Which Data Are Transferred
129
Cyclic Data
129
Acyclic Data - Record Read
130
Alarms
136
10.5 Status of the Interfaces
137
Status of the Interface to the PLC
137
Status of the Flexi System
138
10.6 Resetting to Factory Settings
140
10.7 Troubleshooting
141
10.8 Error Type Definitions in PROFINET IO
143
11 Technical Specifications
147
11.1 Technical Specifications Fieldbus
147
Profibus
147
Canopen
147
Devicenet
148
Modbus/Tcp, Ethernet/Ip, PROFINET IO
148
11.2 Technical Specifications, Supply Circuit
149
11.3 Technical Specifications Application Diagnostic Outputs
149
11.4 General Technical Specifications
149
11.5 Dimensional Drawing
151
11.6 Device Overview/Part Numbers
152
11.7 Accessories/Spare Parts
152
PROFIBUS Master Simulator
152
CD-ROM Flexi Classic
152
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SICK Flexi Classic Specifications
General
Brand
SICK
Model
Flexi Classic
Category
Controller
Language
English
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