Kunbus KUNBUS-COM User manual
User Manual
KUNBUS-COM EtherCat
PR100033 • 16/09/2015
Table of Contents KUNBUS GmbH
ii KUNBUS-COM EtherCAT
Table of Contents
1 General information ........................................................................................................................4
1.1 Disclaimer..................................................................................................................................4
1.2 Notes regarding this user manual..............................................................................................4
1.3 Validity .......................................................................................................................................5
1.4 Limitation of Liability ..................................................................................................................5
1.5 Customer Service ......................................................................................................................5
2 Safety Guidelines ............................................................................................................................6
2.1 User ...........................................................................................................................................6
2.2 Symbols.....................................................................................................................................6
2.3 General Safety Guidelines.........................................................................................................7
2.4 Environmental Conditions..........................................................................................................7
3 Overview ..........................................................................................................................................8
3.1 Introduction................................................................................................................................8
3.2 Spacer bolt ................................................................................................................................9
3.3 Application Interface ................................................................................................................11
3.4 Fieldbus Connection Socket....................................................................................................15
3.5 Status LEDs.............................................................................................................................16
4 Components ..................................................................................................................................18
4.1 Module Components ...............................................................................................................18
4.2 Storage Unit.............................................................................................................................19
4.3 Data Broker .............................................................................................................................20
4.4 Fieldbus Interface ....................................................................................................................28
4.5 CDI - Configuration and Debug Interface ................................................................................28
4.6 DPR - Dual Port RAM..............................................................................................................29
4.7 SDI - Serial Data Interface.......................................................................................................31
4.8 Synchronous serial interface ...................................................................................................32
4.9 Scripter ....................................................................................................................................44
5 Commissioning .............................................................................................................................45
5.1 Installation ...............................................................................................................................45
5.2 Configuration ...........................................................................................................................46
5.3 Firmware Update .....................................................................................................................46
6 Memory Register ...........................................................................................................................47
6.1 Overview of the Memory Register ...........................................................................................47
6.2 General Device Parameters ....................................................................................................50
6.3 Register for the Mapping .........................................................................................................75
6.4 Memory of the Communication Channels ...............................................................................78
6.5 Fieldbus specific Registers......................................................................................................81
6.6 Reserve Register.....................................................................................................................89
KUNBUS GmbH Table of Contents
KUNBUS-COM EtherCAT iii
7 Communication model .................................................................................................................90
7.1 EtherCAT Object Directory ......................................................................................................90
8 CDI .................................................................................................................................................93
8.1 Setting up a Serial Connection ................................................................................................93
8.2 CDI Menus...............................................................................................................................96
9 Disposal .......................................................................................................................................132
9.1 Dismantling and Disposal ......................................................................................................132
10 Technical data .............................................................................................................................133
10.1Technical data .......................................................................................................................133
11 Appendix......................................................................................................................................134
11.1Configuration via Modpoll ......................................................................................................134
KUNBUS-COM EtherCAT 4 / 135
1 General information
1.1 Disclaimer
© 2015 KUNBUS GmbH, Denkendorf (Deutschland)
The contents of this user manual have been prepared by the
KUNBUS GmbH with the utmost care. Due to the technical
development, the KUNBUS GmbH reserves the right to change or
replace the contents of this user manual without prior notice. You can
always obtain the latest version of the user manual at our homepage:
www.kunbus.de
The KUNBUS GmbH shall be liable exclusively to the extent
specified in General Terms and Conditions (www.kunbus.de/
agb.html).
The contents published in this user manual are protected by
copyright. Any reproduction or use for the in-house requirements of
the user is permitted. Reproduction or use for other purposes are not
permitted without the express, written consent of the KUNBUS
GmbH. Contraventions shall result in compensation for damages.
Trademark protection
– KUNBUS is a registered trademark of the KUNBUS GmbH
– Windows® and Microsoft® are registered trademarks of the Microsoft,
Corp.
– Modbus is a registered trademark of the Modbus-IDA Organization.
KUNBUS GmbH
Heerweg 15 c
73770 Denkendorf
Deutschland
www.kunbus.de
1.2 Notes regarding this user manual
This user manual provides important technical information that can
enable you, as a user, to efficient, safe and convenient integration of
the COMS-Module into your applications and systems. It is intended
for trained, qualified personnel, whose sound knowledge in the field
of electronic circuits and expertise of EtherCATTM is assumed.
As an integral part of the module, the information provided here
should be kept and made available to the user.
General information
KUNBUS-COM EtherCAT 5 / 135
1.3 Validity
This document describes the application of the KUNBUS COMS-
Moduls with the product number:
– PR100033, Release 02
1.4 Limitation of Liability
Warranty and liability claims will lapse if:
– the product has been used incorrectly,
– damage is due to non-observance of the operating manual,
– damage is caused by inadequately qualified personnel,
– damage is caused by technical modification to the product (e.g.
soldering).
1.5 Customer Service
If you have any questions or suggestions concerning this product,
please do not hesitate to contact us:
KUNBUS GmbH
Heerweg 15 C
+49 (0)711 3409 7077
www.kunbus.de
General information
KUNBUS-COM EtherCAT 6 / 135
2 Safety Guidelines
2.1 User
The Modul may only be assembled, installed and put into operation
by trained, qualified personnel. Before assembly, it is absolutely
essential that this documentation has been read carefully and
understood. Expertise in the following fields is assumed:
– Electronic circuits,
– Basic knowledge of EtherCAT,
– work in electrostatic protected areas,
– Locally applicable rules and regulations for occupational safety.
2.2 Symbols
The symbols used have the following meaning:
DANGER Hazard
Observe this information without fail!
There is a safety hazard that can lead to serious injuries and death.
CAUTION Caution
There is a safety hazard that can result in minor injuries and material
damage.
NOTICE Note
Here you will find important information without a safety hazard.
Safety Guidelines
KUNBUS-COM EtherCAT 7 / 135
2.3 General Safety Guidelines
DANGER Danger of electric shock
If unsuitable power supply is used, this can cause an electric shock.
ØThis can cause death, serious injuries and material damage to your
systems and modules.
èOnly use a power supply that complies with the regulations for safety
extra-low voltage (SELV) or protective extra-low voltage (PELV).
CAUTION Fault due to mechanical load
A continuous mechanical load of over 5G or shock loads of over 15G can
cause faults on your modules.
èComply with these load limits and avoid any unnecessary loads.
CAUTION Fault due to missing or unsuitable spacer bolt
Incorrect or missing spacer bolts can result in high mechanical loads on
your module and control board. This can cause faults.
èAlways use spacer bolts suitable for the connector height of the circuit
board so that the module does not lie on the circuit board.
You can find detailed information in section "Spacer bolt [}9]"
CAUTION Damage due to subsequent processing
Avoid subsequent processing of theCOMS-Modul.
ØSoldering can cause components to become detached and thus
damage or destroy the module.
ØPlease note that the warranty shall become invalid if the products are
changed technically.
èSpeak to your contact person at the KUNBUS GmbH about customised
solutions.
2.4 Environmental Conditions
Operate the COMS-Modul only in an environment that complies with
the operating conditions in order to prevent any damage.
Suitable Environmental Conditions:
Operating temperature 0 to +60°C
Humidity 0% not 95%, non-condensing
Safety Guidelines
KUNBUS-COM EtherCAT 8 / 135
3 Overview
3.1 Introduction
With the KUNBUS COMS-Modul you can make a sensor or actuator
fieldbus-capable. To do this, simply insert the module into your
application and connect it to the fieldbus.
The COMS-Modul thereby saves you time-consuming in-house
developments.
Illustration1: Overall view
Overview
KUNBUS-COM EtherCAT 9 / 135
3.2 Spacer bolt
There are three holes on the module for spacer bolts. These spacer
bolts have 2 tasks:
– they stabilise the COMS module with a direct connection to the main
board
– they are part of the earthing concept.
Illustration2: Holes for spacer bolts
Suitable spacer bolts Suitable spacer bolts have the following properties:
– Conductive material
– Holes for M3 screws
– Diameter: maximum 8mm
Connections These spacer bolts are an important part of the earthing concept of
the COMS-Modul.
– Connect hole 1 to protective earth on the fieldbus side
– Hole 2 is not electrically connected.
– Connect the spacer bolts of hole 3 to GND (earth power supply)
Overview
KUNBUS-COM EtherCAT 10 / 135
Height of spacer bolts The height of the spacer bolts depends on the height of the plug
connector used on the application side.
We recommend using the ERNI 254589 plug connector. The spacer
height for this plug connection is 10.75 to 12.3 mm above the circuit
board.
WARNING Fault due to missing or unsuitable spacer bolt
Incorrect or missing spacer bolts can result in high mechanical loads on
your module and control board. This can cause faults.
èAlways use spacer bolts suitable for the connector height of the circuit
board so that the module does not lie on the circuit board.
Overview
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