field bus on nordson applicators with ipc
TRANSCRIPT
NORDSON ENGINEERING GMBH � LÜNEBURG � GERMANY
Field Bus on Nordson Applicators with IPC
Manual P/N 7169718_10- English -
Edition 06/19
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Order numberP/N = Order number for Nordson articles
NoteThis is a Nordson corporation publication which is protected by copyright. Copyright � 2011.
No part of this document may be photocopied, reproduced or translated to another language without the prior written consent of Nordson Corporation.
The information contained in this publication is subject to change without notice.
� 2019 All rights reserved.- Translation of original manual -
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Accubar, Active Nozzle, Advanced Plasma Systems, AeroDeck, AeroWash, AirShield, AltaBlue, AltaSlot, Alta Spray, AquaCure, ATS, Auto‐Flo, Autoflex,AutoScan, Axiom, Best Choice, BetterBook, BetterDispensing, Blue Series, Bravura, CanNeck, CanPro, Celero, Chameleon, Champion, Check Mate,ClassicBlue, Classic IX, Clean Coat, Cobalt, Concert, ContourCoat, Controlled Fiberization, Control Weave, CPX, cScan+, cSelect, Cyclo‐Kinetic, DispensLink,DropCure, Dry Cure, DuraBraid, DuraCoat, DuraPUR, e.dot+, E‐Nordson, Easy Clean, EasyOn, EasyPW, Eclipse, EcoBead, EdgeControl, Emerald, Equalizer,EquiBead, Exchange Plus, FillEasy, Fill Sentry, FlexSeam, FlexVIA, Flow Coat, Fluxplus, G‐Net, G‐Site, Genius, Get Green With Blue, Gluie, Horizon, Ink‐Dot,Inspire, iON, Iso‐Flex, iTrend, JetStream, KVLP, Lacquer Cure, LightTite, Loadermove Touch, Maxima, MaxVIA, Mesa, MesoSPHERE, MicroDot, MicroFin,MicroMax, MicroSpray, Mikros, MiniEdge, Minimeter, MiniPUR, MonoCure, Multifil, MultiScan, Myritex, Nano, OmniScan, OptiStroke, Optix, Origin,Partnership+Plus, PatternJet, PatternPro, PCI, PharmaLok, PicoDot, PicoTouch, Pinnacle, PluraMix, Powder Pilot, Powder Port, Powercure, Process Sentry,Pulse Spray, PURBlue, PUReOne, PURJet, PurTech, Qadence, Quad Cure, Ready Coat, RediCoat, RollVIA, Royal Blue, Select Series, Sensomatic,Shaftshield, SheetAire, Smart, Smartfil, Smart Tune, SolidBlue, Spectral, Spectronic, SpeedKing, SPHERE, Spray Works, StediTherm, StratoSPHERE,StrokeControl, Summit, Sure Brand, SureFoam, Sure Mix, SureSeal, Swirl Coat, TAH, Tempus, ThruCoat, ThruCure, ThruWave, TinyCure, Trade Plus, Trio,TruFlow, Ultraflex, Ultra FoamMix, UltraMax, Ultrasaver, Ultrasmart, Unity, UNITYMotion, Universal, ValueMate, Versa, VersaPUR, VIA, Viper, Vista,VP Quick Fit, VP Quick-Fit stylized, WaferLock, Web Cure, 781Mini, 787Mini are trademarks - � - of Nordson Corporation.
Designations and trademarks stated in this document may be brands that, when used by third parties for their ownpurposes, could lead to violation of the owners' right.
� http://www.nordson.com/en/global-directory
Table of Contents I
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Table of Contents
Introduction 1‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Note on Manual 1‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of Term(s) 1‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Applicator 1‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Master/Slave 1‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description 1‐2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Intended Use 1‐2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Function 1‐2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Nordson Internal Network - DO NOT CHANGE! 1‐3. . . . . . . . . . . .
Delivery State 1‐3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Data Exchange 1‐4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transmission and Receive Data Block 1‐4. . . . . . . . . . . . . . . . . .Unit Master File 1‐4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen 2‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Interface 2‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Comparison of Gateways 2‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Installation 2‐2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting Field Bus Cable 2‐2. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Setting Gateway Address 2‐3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Setting Bit Rate 2‐3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Meaning of LEDs 2‐4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Profinet IO 3‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Interface 3‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Unit Master File - GSDML 3‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Installation 3‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting Field Bus Cable 3‐2. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Setting Gateway Network Address 3‐3. . . . . . . . . . . . . . . . . . . . . . .Configuring Gateway in Siemens PLC Module List 3‐5. . . . . . . . . .
Troubleshooting 3‐7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Meaning of LEDs - Customer's Profinet IO Network 3‐7. . . . . . . . .Meaning of LEDs - Internal CANopen Network 3‐8. . . . . . . . . . . . .
EtherCAT® 4‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Interface 4‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Unit Master File - XML 4‐2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Matching Data Version to Gateway 4‐2. . . . . . . . . . . . . . . . . . . . . . .Installation 4‐3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting Field Bus Cable 4‐3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Configuration of Gateway in Device List 4‐4. . . . . . . . . . . . . . . . . . .
Troubleshooting 4‐7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Meaning of LEDs - Customer's EtherCAT Network 4‐7. . . . . . . . . .Meaning of LEDs - Internal CANopen Network 4‐8. . . . . . . . . . . . .
Table of ContentsII
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Communication Data List 5‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Transmission Data Block 5‐1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control 5‐2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Acknowledging Alarm 5‐3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Receive Data Block 5‐3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Status 5‐5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Status Applicator 5‐6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Setpoint Validity Status 5‐6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Alarms Motor 5‐7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Alarms Applicator 5‐7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Possible Implementation of Communication Data of an Applicator "TC-FS" in a Siemens PLC 5‐8. . . . . . . . . . . . . . . . . . . . . . .
UDT1 TC-FS Status Word: Status 1 5‐8. . . . . . . . . . . . . . . . . . . . . .UDT2 TC-FS Data Input (PLC View): TC_IN 5‐8. . . . . . . . . . . . . . .UDT3 TC-FS Control Word: Control 1 5‐9. . . . . . . . . . . . . . . . . . . . .UDT4 TC-FS Data Output (PLC View): TC_OUT 5‐9. . . . . . . . . . .Data Block with Input and Output Data Structure of TC-FS 5‐9. . .
Declaration View 5‐9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Data View 5‐10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reading Data 5‐11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Writing Data 5‐12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
V 2.09.007
Introduction 1‐1
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Section 1
Introduction
ATTENTION: Allow only qualified personnel to perform the following tasks.Follow the safety instructions here and in the entire documentation.
Applicators TC:Box 25 of the configuration code has been expanded in2018 by the option Profinet IO. Profinet IO is available beginning with IPCprogram version V2.08.007, with the relevant hardware.
Applicators EB: Box 19 of the configuration code has been expanded in2019 by the options Profinet IO and EtherCAT. They are available beginningwith IPC program version V2.09.007, with the relevant hardware.
Box Code Description / number
19 or25
C CANopenP/N 7186458 (Gateway w/CANopen software>=V2.0)
P Profinet IOP/N 7588396 (Gateway w/Profinet software>=V1.0)
A EtherCATP/N 7575867 (Gateway w/EtherCAT software>=V1.0)
Note on ManualDelivery State
Definition of Term(s)
Applicator
In this document, the term Applicator is used to designate the combination ofthe actual applicator and the corresponding control box.
Master/Slave
Only the terms Master (customer's control system) and Slave (applicator) areused here, even if other terms have become common for certain field buses.
Control option Field bus:selected
Control option Field bus: notselected
Introduction1‐2
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
DescriptionNOTE: The field bus interface is part of an applicator's control box. Alsorefer to the applicator manual.
Intended Use
The field bus interface is used to exchange data between the applicator(Slave) and the customer's control system (Master). Refer to section 5,Communication Data List.
The master must have access to the same interface.
Function
To be able to control the applicator via the field bus, the control option Fieldbus must be selected on the applicator control panel:
NOTE:
� Data can be received by the applicator even when the control option Field
bus is not selected
� If the buttons do not appear on the control panel: Check the configurationcode. Refer to the applicator manual.
Not selected:
Baud
9 0 6
Introduction 1‐3
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Nordson Internal Network - DO NOT CHANGE!
Fig. 1-1 Field bus gateway in the control box
Delivery State
Baud rate (500 kbit/s): 6
Internal CAN bus address: 9
If the Dial is Unintentionally Adjusted
CAUTION: Adjust the dials only when the control box is deenergized.
The dials are very small. The switch setting is indicated by the small grooveon the flattened side.
In this example, the dial is set to 1.
Introduction1‐4
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Data Exchange
When data is exchange between the master and slave, all of the data istransmitted every time. All of the data is indicated in section 5,Communication Data List.
Transmission and Receive Data Block
NOTE: Communication is always seen from the master's point of view.
Two data blocks aid in communication. A block transmitted by the master isthe same as a command to the applicator; a received data block is the sameas a reply from the applicator.
Unit Master File
The unit master files (e.g. .EDS, .GSD, .XML) as well as technical documentson the hardware used (Gateways) can be found on the CD-ROM suppliedwith the applicator.
CANopen 2‐1
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Section 2
CANopen
ATTENTION: Observe all safety instructions and regulations concerningenergized unit components (active parts). Failure to observe may result in anelectric shock.
Interface
� Hardware: Field bus gateway in the control box
� Classification: Slave
� Data transmission rate (Bit rate): 10 kBit/s to 1 MBit/s
� Connection method: Two-wire connection, 9-pin D-Sub receptaclelocated on the gateway in the control box.
Comparison of Gateways
P/N 7157449 (until Oct. 31, 2014)AB7894-C
P/N 7186458 (beginning Nov. 1, 2014)AB7894-F
24 VDC
Connection to internal network
Customer's interface
LEDs
The EDS file AB7894-F is provided for gateway P/N 7186458.
NOTE: The CD supplied with the applicator contains both the EDSfile AB7894-F and the EDS file AB7894-C. Do not mistakenly exchange!
CANopen2‐2
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
InstallationATTENTION: Before opening the control box: Disconnect the control boxfrom the power supply.
Do this by turning off the control box with the switch or with the customer'sswitching device.
NOTE: To ensure smooth operation, the field bus must end with a busterminator (terminating resistors) at the beginning and the end of a field bussegment.
Connecting Field Bus Cable
CAUTION: Lay the cable outside of the control box, such that there is no riskof stumbling over it.
1 2
3
BeginningNov. 1, 2014
Until Oct. 31,2014
1. Thread the cable through one of the sealing rings in the socket casing (1)and into the control box, then secure it with a cable clamp.
2. Plug in the socket casing and secure with clamps (2).
3. Connect the cable with a bus plug (female):
Pin Usual wire color A Connection
7 White CAN High
2 Blue CAN Low
3, 6 - CAN GND B
NOTE A: The two-wire connection (lead colors) must be the same alongthe entire field bus
B: We recommend attaching both sides of the bus cable screen toprotective grounding. When the potential is not the same atboth ends, lay an equipotential bonding conductor.
4. Attach the bus plug to receptacle (3) on the gateway.CAUTION: Do not interchange receptacles. Otherwise the gateway canbe damaged.
5. Connect the free end of the cable to the master.
CANopen 2‐3
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Setting Gateway Address
Each unit on the CANopen field bus needs its own field bus address forcommunication purposes. Each address may be assigned only once in theentire network.
Customer's interface: 10
x10 x1
Beginning Nov. 1, 2014
NOTE: The internal CAN bus address is set to 9 and may not bemodified.
x10x1Beginning Nov. 1, 2014
Setting Bit Rate
To minimize electromagnetic incompatibility, the bit rate should be adaptedto the bus length used.
500 kbit/s
Bit rate [kbit/s] 1000 800 500 250 125 50 20 10
Max. bus length [m] 20 50 100 250 500 1000 2500 5000
Dial setting 8 7 6 5 4 3 2 1
Beginning Nov. 1, 2014
Continued...
GW statusNot in useRUNERRPWR
GW statusNot in useRUNERRPWR
Customer's network
Internal Nordson network
CANopen2‐4
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
NOTE: The internal bit rate is set to 500 kbit/s (setting 6) and may not bemodified:
Beginning Nov. 1, 2014
Meaning of LEDs
LED Color / status Meaning
GW(gateway)status
Green Communication running
Red Communication error
Flashing red Network interface error
RUN Green Operational state
Green (flashing) Pre-operational state
Green (flashes once)
Stopped state
Red (flashing) Bus initialization fault
Off Device not powered
ERR Red Bus off
Flashes once Warning limit reached
Flashes twice Error control event
Flashes 3 times Sync error
Off No error
PWR Green Device powered
Off Device not powered
Profinet IO 3‐1
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Section 3
Profinet IO
ATTENTION: Observe all safety instructions and regulations concerningenergized unit components (active parts). Failure to observe may result in anelectric shock.
InterfaceProfinet IO pursuant to standard IEC 61158 (formerly EN 50170)
� Hardware: Field bus gateway in the control box
� Classification: IO device ("Slave")
� Data transmission rate (Bit rate): 100 Mbit/s
� Data amount: Approx. 40* words for communication. Refer to sectionCommunication Data List.
*32+8 each are configured for inputs and outputs
� Connection method: Twisted pair cable; RJ45 receptacle located at thegateway in the control box.
Unit Master File - GSDMLThere is a unit master file (GSD) that clearly describes the interface.
Delivery of every applicator equipped with the interface described hereincludes the unit master file on data media. The file is also provided by themanufacturer at https://www.anybus.com/.
InstallationATTENTION: Before opening the control box: Disconnect the control boxfrom the power supply.
Do this by turning off the control box with the switch or with the customer'sswitching device.
RJ45
Profinet IO3‐2
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Connecting Field Bus Cable
CAUTION: Lay the cable outside of the control box, such that there is no riskof stumbling over it.
1 2
324 VDCCustomer's
Connection to internalnetwork(CAN)
4USB
Fig. 3‐1 CANopen Slave / Profinet IO Slave
1. Thread the cable through one of the sealing rings in the socket casing (1)and into the control box, then secure it with a cable clamp.
2. Plug in the socket casing and secure with clamps (2).
3. Connect the cable to the network receptacle (3).
The receptacle (3) is also used to set the network address. Refer to SettingGateway Network Address. Then a PC is connected to the gateway.
Pin Signal
1 TD+ (Transmit Data)
2 TD-
3 RD+ (Receive Data)
4,5,7,8 Termination to PE
6 RD-
4. Connect the free end of the Profinet cable to the customer's PLC.
The gateway parameters have been set by Nordson. The interface (4,Fig. 3‐1) may be used only by Nordson; Nordson does not support any useby the customer.
Profinet IO 3‐3
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Setting Gateway Network Address
Each unit on the field bus needs a field bus address for communicationpurposes. Each address may be assigned only once in the entire network.
IP address 192.168.0.98
NOTE: The internal CAN bus address is set to 9 and may not be modified.
On a PC, set the IP address with the address configuration software:
1. Use a crossover cable to connect the PC and gateway.
2. Install the address configuration software hms-IPConfigTool and start it.
The tool and the GSDML can be found at https://www.anybus.com/ or onthe included CD.
When it is started, the program automatically searches for any activatedgateways; if not, press the Scan button.
Fig. 3‐2
Continued...
Profinet IO3‐4
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
3. Open the field IP (Refer to Fig. 3‐2) of the gateway found bydouble-clicking the mouse. The following window appears:
99
Fig. 3‐3
4. IP address: Set the desired IP address.
5. Touch Set to apply the IP address and exit the window.
The software should now display the gateway with the changed IP address:
192.168.0.99
Fig. 3‐4
Profinet IO 3‐5
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Configuring Gateway in Siemens PLC Module List
The Profinet IO interface is configured by importing the GSDML file into theengineering tool of the customer's higher-ranking PLC.
1. Install the unit master file GSDML‐...xml in the Siemens HW Config.
2. Open HW Config.
3. Select PROFINET IO/ Additional Field Devices / Gateway/Anybus X‐gateway PN IO/ RT Standard.
4. Assign the device number and IP address under Properties
192.168.0.99
Profinet IO3‐6
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
5. Add module Inputs 032 bytes.6. Add module Inputs 008 bytes.7. Add module Outputs 032 bytes.8. Add module Outputs 008 bytes.
9. Assign the device name and then touch Assign name.
192.168.0.99
10. Load hardware configuration onto PLC.
GW statusLINKCSMSNot in use
Internal Nordson network
Customer's network
Profinet IO 3‐7
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Troubleshooting
Meaning of LEDs - Customer's Profinet IO Network
LED Color / status Meaning
GW(gateway)status
Green Communication running
Red Communication error
Flashing red Network interface error
LINK Green Link OK
Flickering green Transmitting/receiving data
Off Link not detected or no power
CS Green Online, connection established, IOcontroller in RUN state
Green flashing Online, connection established, IOcontroller in STOP state
Off No connection to IO controller
MS Green Module initialized, no errors
Flashing green (1x) Diagnostic data available
Flashing green (2x) Flashing (used by an engineeringtool to identify the slave interface)
Flashing red (1x) IO configuration error
Flashing red (3x) Station name or IP address not set
Flashing red (4x) Internal error
Off No power
GW statusNot in useRUNERRPWR
Internal Nordson network
Profinet IO3‐8
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Meaning of LEDs - Internal CANopen Network
LED Color / status Meaning
GW(gateway)status
Green Communication running
Red Communication error
Flashing red Network interface error
RUN Green Operational state
Green (flashing) Pre-operational state
Green (flashes once)
Stopped state
Red (flashing) Bus initialization fault
Off Device not powered
ERR Red Transmission off
Flashes once Warning limit reached
Flashes twice Error control event
Flashes 3 times Sync error
Off No error
PWR Green Device powered
Off Device not powered
NOTE: To ensure smooth operation, the field bus must end with a busterminator (terminating resistors) at the beginning and the end of a field bussegment.
EtherCAT® 4‐1
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Section 4
EtherCAT®EtherCAT is a registered trademark of Beckhoff Automation GmbH
Anybus is a registered trademark of HMS Industrial Networks AB
ATTENTION: Observe all safety instructions and regulations concerningenergized unit components (active parts). Failure to observe may result in anelectric shock.
InterfaceEtherCAT pursuant to EtherNet Standard IEEE 802.3 User organization: EtherCAT Technology Group
� Hardware: Field bus gateway in the control box
� Classification: Slave
� Data transmission rate (Bit rate): 100 Mbit/s100BASE-TX, 100 Mbit/s Vollduplex transmission through (cable lengthup to 100 m)
� Data amount: 40 for communication. Refer to section Communication
Data List.
� Connection method: EtherNet cable; RJ45 receptacle located at thegateway in the control box.
Nordson deliveriesbeginning in 2019
EtherCAT®4‐2
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Unit Master File - XMLThere is a unit master file (GSD) that clearly describes the interface.
Delivery of every applicator equipped with the interface described hereincludes the unit master file (40 words) on data media.
Matching Data Version to Gateway
NOTE: If over time the gateway firmware changes, several unit master filescan be found on the Nordson data medium.
Example of file name: ABX_V3_28_MAX40.xml
Physics="YY"><Type ProductCode="#x0000003D"RevisionNo="#x0003001C">Anybus X-gateway - Slave
File name ABX_V3_29_MAX40*.xml
Physics="YY"><Type ProductCode="#x0000003D"RevisionNo="#x0003001D">Anybus X-gateway - Slave
* 40 stands for the data volume (40 words for communication)
Fig. 4‐1 Selecting and adding gateway
EtherCAT® 4‐3
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
InstallationATTENTION: Before opening the control box: Disconnect the control boxfrom the power supply.
Do this by turning off the control box with the switch or with the customer'sswitching device.
Connecting Field Bus Cable
CAUTION: Lay the cable outside of the control box, such that there is no riskof stumbling over it.
24 VDC
4USB
1 2
Customer's3
Connection to internalnetwork(CAN)
Fig. 4‐2 CANopen Slave / EtherCAT Slave
1. Thread the cable through one of the sealing rings in the socket casing (1),into the control box and to the gateway, then secure it with a cable clampas described in step 2..
2. Connect the cable to the network receptacle (3) X2.1 IN.
3. Plug in the socket casing and secure with clamps (2).
4. Connect the free end of the EtherCAT cable to the customer's PLC.
The gateway parameters have been set by Nordson. The interface (4,Fig. 4‐1) may be used only by Nordson; Nordson does not support any useby the customer.
EtherCAT®4‐4
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Configuration of Gateway in Device List
The EtherCAT interface is configured by importing the XML file into theengineering tool of the customer's higher-ranking PLC.
1. Configure the gateway in the PLC device list.
a. Import the XML file into the engineering tool of the customer'shigher-ranking PLC (e.g. PLC Designer). Do this by selecting theXML file:
1.
2.
4.
3.
Fig. 4‐3
EtherCAT® 4‐5
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
b. Select and add the gateway:
Fig. 4‐4
EtherCAT®4‐6
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
The address is assigned automatically:
Fig. 4‐5
c. Select the gateway and assign the bytes to the customer's variables(mapping).
Fig. 4‐6 Example of address section configured with pointer
2. Transmit the hardware configuration to the PLC and save it.
GW statusL/A 1RUNERRL/A 2
Internal Nordson network
Customer's network
EtherCAT® 4‐7
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Troubleshooting
Meaning of LEDs - Customer's EtherCAT Network
LED Color / status Meaning
GW(gateway)status
Green Communication running
Red Communication error
Flashing red Network interface error
L/A 1(IN)
Green Link established
Green flashing Transmitting/receiving data
Off Link not detected or no power
RUN Green Operational state
Green flashing Pre-operational state
Flashes once Safe-operational state
Off Init state
ERR Red Application watchdog timeout
Flashing red General configuration error
Flashes once Unsolicited state change
Flashes twice Sync manager watchdog timeout
Off Normal operation, no errors
L/A 2(OUT)
Green Link established
Green flashing Transmitting/receiving data
Off Link not detected or no power
GW statusNot in useRUNERRPWR
Internal Nordson network
EtherCAT®4‐8
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Meaning of LEDs - Internal CANopen Network
LED Color / status Meaning
GW(gateway)status
Green Communication running
Red Communication error
Flashing red Network interface error
RUN Green Operational state
Green (flashing) Pre-operational state
Green (flashesonce)
Stopped state
Red (flashing) Bus initialization fault
Off Device not powered
ERR Red Bus off
Flashes once Warning limit reached
Flashes twice Error control event
Flashes 3 times Sync error
Off No error
PWR Green Device powered
Off Device not powered
NOTE: To ensure smooth operation, the field bus must end with a busterminator (terminating resistors) at the beginning and the end of a field bussegment.
Communication Data List 5‐1
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Section 5
Communication Data List
NOTE: The communication data is transmitted in Intel format, i.e. the lowbyte of a word is placed on the lowest address and the high byte on thehighest address.
Transmission Data BlockNOTE: All values are setpoints.
Byte address Format Designation
N Word Control
Refer to page5‐2 Control
N + 2 Word Application width motor 1The value cannot exceed or fall below the limits Maximum / minimum applicationwidth.Resolution: 0,1 mm (Values with decimal places must be multiplied by the factor10)
N + 4 Word Application width motor 2The value cannot exceed or fall below the limits Maximum / minimum applicationwidth.Resolution: 0,1 mm (Values with decimal places must be multiplied by the factor10)
N + 6 Word Not used
N + 8 Word Maximum application width motor 1Resolution: 1 mm
N + 10 Word Minimum application width motor 1Resolution: 1 mm
N + 12 Word Maximum application width motor 2Resolution: 1 mm
N + 14 Word Minimum application width motor 2Resolution: 1 mm
N + 16 Byte Acknowledge alarm
Refer to page 5‐3, Acknowledging Alarm
N + 17 Byte Not used
Communication Data List5‐2
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Control
NOTE: Empty or reserved bits must be set to 0 (zero).
Bit Value Action Note
0 1 Enable data exchangeMust always be set
1
1 Enable application width adjustment
The signal Enable motors (Adjustment enabled) must also be received by thecontrol box interface
0 Block application width adjustment
2
1 Control module: Enable switching
The signal Enable solenoid valves must also be received by the control boxinterfaceOnly with applicator TC‐FS, TC-HP and EB
0 Control module: Block switching
Only with applicator TC‐FS, TC-HP and EB
30
1 Open nozzle closure
Only with applicator EB
1
0
Close nozzle closure
Only with applicator EB
40
1 Minimize application slot A
50
1 Maximize the application slot (Move the piston to changing/maintenanceposition)
A
60
1 Go to minimum application width A
70
1 Select the maximum application width A
80
1 Go to set application width (Motor 1) A
90
1 Stop application width adjustment (Motor 1)
100
1 Send value Maximum application width motor 1 to control panel
110
1 Send value Minimum application width motor 1 to control panel
120
1 Go to set application width (Motor 2) A
130
1 Stop application width adjustment (Motor 2)
140
1 Send value Maximum application width motor 2 to control panel
150
1 Send value Minimum application width motor 2 to control panel
NOTE A: Bit 4 or bit 6 has to be set to 1 in Status.
Communication Data List 5‐3
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Acknowledging Alarm
NOTE: Empty or reserved bits must be set to 0 (zero).
Bit Value Action
0 0
1 Acknowledge alarm (Fault or Shutdown)
When Shutdown has been acknowledged, the operating unit is restarted
Receive Data BlockNOTE: All values are actual values.
Byte address Format Designation Note
N Word Status
Refer to page 5‐5, Status
N + 2 Word Application width motor 1 B
N + 4 Word Application width motor 2 B
N + 6 Word Not used
N + 8 Byte Status Applicator
Refer to page 5‐6, Status Applicator
N + 9 Byte Setpoint validity status
Refer to page5‐6, Setpoint Validity Status.
N + 10 Word Alarms Applicator
Refer to page 5‐7, Alarms Applicator.
N + 12 Word Alarms Motor
Refer to page 5‐7, Alarms Motor.
N + 14 Word Not used
N + 16 Word Maximum application width motor 1
N + 18 Word Minimum application width motor 1
N + 20 Word Maximum application width motor 2
N + 22 Word Minimum application width motor 2
NOTE A: These values are a factor of the limits of the specific applicator model (coded in its configuration code)and of the set values Maximum / minimum application width: The minimum application width can e.g. notbe greater than the maximum application width
B: Received data with decimal places must be divided by 10.
Continued ...
Communication Data List5‐4
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Receive Data Block (contd.)
Byte address Format Designation Note
N + 24 Word Maximum possible value Maximum application width motor 1 A
N + 26 Word Maximum possible value Minimum application width motor 1
N + 28 Word Minimum possible value Maximum application width motor 1
N + 30 Word Minimum possible value Minimum application width motor 1
N + 32 Word Maximum possible value Maximum application width motor 2
N + 34 Word Maximum possible value Minimum application width motor 2
N + 36 Word Minimum possible value Maximum application width motor 2
N + 38 Word Minimum possible value Minimum application width motor 2
NOTE A: These values are a factor of the limits of the specific applicator model (coded in its configuration code)and of the set values Maximum / minimum application width: The minimum application width can e.g. notbe greater than the maximum application width
B: Received data with decimal places must be divided by 10.
Communication Data List 5‐5
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Status
With Status, general information and communication data, to be evaluated bythe master, are received with every receive data block.
NOTE: Empty bits are not used
Bit Value Information
0 1 System ready
0 System not ready
1 1 Alarm Warning
0 No alarm Warning
2 1 Alarm Fault
0 No alarm Fault
3 1 Shutdown
0 No shutdown
4 1 Position adjustment possible (Motor 1)
0 Position adjustment not possible (Motor 1)
5 1 Application width has been adjusted, but not via the field bus (Motor 1)
0 Application width has not been adjusted (Motor 1)
6 1 Position adjustment possible (Motor 2)
0 Position adjustment not possible (Motor 2)
7 1 Application width has been adjusted, but not via the field bus (Motor 2)
0 Application width has not been adjusted (Motor 2)
8 1 Open/close nozzle closure possible
Only with applicator EB
0 Open/close nozzle closure not possible
Only with applicator EB
9 1 Control option Control panel on
0 Control option Control panel off
10 1 Control option Field bus on
0 Control option Field bus off
Communication Data List5‐6
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Status Applicator
NOTE: Empty values are not used.
Value Information
1 Position adjustment not possible
3 System ready
4 Motor position is beyond limits
5 Warning
6 Fault
7 Shutdown
8 Set reference point / calibrate application width display / calibrate position
9 Nozzle closure not open
Only with applicator EB
10 Product counter fault
Only with applicator EB
Setpoint Validity Status
The transmission data block setpoints are evaluated by the applicatoroperating unit The Setpoint validity status indicates whether a setpoint iswithin the permitted limits.
NOTE: Empty bits are not used
Bit Value Information
0 1 Setpoint Application width motor 1 faulty
0 Setpoint within the permitted limits
1 1 Setpoint Application width motor 2 faulty
0 Setpoint within the permitted limits
2 1 Setpoint Maximum application width motor 1 faulty
0 Setpoint within the permitted limits
3 1 Setpoint Minimum application width motor 1 faulty
0 Setpoint within the permitted limits
4 1 Setpoint Maximum application width motor 2 faulty
0 Setpoint within the permitted limits
5 1 Setpoint Minimum application width motor 2 faulty
0 Setpoint within the permitted limits
Communication Data List 5‐7
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Alarms Motor
NOTE: Empty bits are not used
Bit Value Information
0 1 The battery voltage of the absolute encoder of motor 1 is low
0 No alarm
1 1 Electronic control components fault motor 1
The fault is indicated more precisely by LEDs on the motor
0 No alarm
2 1 Motor 1 is blocked
0 No alarm
3 1 Motor 1 not connected to CAN bus
0 No alarm
8 1 The battery voltage of the absolute encoder of motor 2 is low
0 No alarm
9 1 Electronic control components fault motor 2
The fault is indicated more precisely by LEDs on the motor
0 No alarm
10 1 Motor 2 is blocked
0 No alarm
11 1 Motor 2 not connected to CAN bus
0 No alarm
Alarms Applicator
NOTE: Empty bits are not used
Bit Value Information
0 1 Field bus: Communication error
0 No alarm
1 1 Gateway: Fault
0 No alarm
2 1 CAN bus not started
0 No alarm
3 1 I/O board: Fault
Only with applicator TC‐FS, TC-HP and EB
0 No alarm
Communication Data List5‐8
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Possible Implementation of Communication Data of anApplicator "TC-FS" in a Siemens PLC
UDT1 TC-FS Status Word: Status 1
Nozzle closure - not with TC-FS
UDT2 TC-FS Data Input (PLC View): TC_IN
Communication Data List 5‐9
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
UDT3 TC-FS Control Word: Control 1
Nozzle closure - not with TC-FS
UDT4 TC-FS Data Output (PLC View): TC_OUT
Data Block with Input and Output Data Structure of TC-FS
Declaration View
Communication Data List5‐10
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Data View
Communication Data List 5‐11
P/N 7169718_10� 2019 Nordson Corporation FIELDBUS_APPLICATOR
Reading Data
Communication Data List5‐12
P/N 7169718_10 � 2019 Nordson CorporationFIELDBUS_APPLICATOR
Writing Data