Error Rem Addr
ErrorEvent (for ErrorRemAddr = 255, Error inside device)
ErrorEvent (for ErrorRemAddr = Station Number, MacId)
Error Code Description Troubleshooting
0x00 No error
0x01 Ctrl: Parameter error Check Master Parameter
0x02 AClr: Device stops the transmission to all
nodes Check cabling, Reconfigure Master
0x04 NExc: at least one node has not reached the
data exchange state Check ErrorRemAddr and ErrorEvent. inspect the field device indicated by ErrorRemAddr.
0x08 Fatal error because of heavy buserror Check cabling, inspect the field devices, may one node makes trouble on the bus, Check DeviceNet Voltage
0x10 Event: transmission errors were detected Check cabling, inspect the field devices, may one node makes trouble on the bus, Check Baudrate and MAC Id
0x20 NRdy: HOST is not ready Check TwinCAT System for general errors
0x40 Duplicate MacId detected Check Masters MacId
0x80 Duplicate MacId Test active Check Baudrate and cabling, Master is may not able to set up his Duplicate Mac Id messages
Error Code Description Troubleshooting
Station
Number Number of faulted slave device Inspect the field device with the indicated MAC id, Check ErrorEvent Diagnoses
255 Error inside Device Check Master Parameter, Check ErrorEvent Diagnoses
Error Code Description Troubleshooting
57 Duplicate MAC Id detected Check the addresses of the field devices, change Masters MAC Id 58 Master Config Error, download error of Master
parameter Contact technical support
212 Failure in reading masters data base Contact technical support
Error
Code Description Troubleshooting
30 device access timeout, device stopped communicating Inspect the field device, verify connections, check cabling
32 Device rejects access with unknown error code Check IO features of the device, check explicite access to device, check object class, instance and attribute id
35 Device responses in allocation process with connection error Check IO features of the device, check explicite access to device, check object class, instance and attribute id
36 Produced connection length is different to the configured one Check number of Bytes to be produced by the device, check devices IO configuration
37 Consumed connection length is different to the configured one Check number of Bytes to be consumed by the device, check devices IO configuration
38 Device service response telegram unknown Contact technical support of the device manufacturer
39 Connection already in Request Check cabling, inspect device, Master is not able to set up a connection to the device
Beckhoff FC7501/FC7502
The FC7501respectively FC7502are single-channel and double-channel SERCOScards (SERCOS = SEriell Realtime COmmunication System) with PCI interfaces. They can be operated as SERCOS masters and/or as SERCOS slaves. The SERCON816 ASIC is used for this cards. It supports not only 2 and 4 Mbaud, but also 8 and 16 Mbaud. At the moment, neither the transmitter nor the receiver being used are specified for 16 Mbaud, which means that this property can not yet be guaranteed.
Context menu
Append Box... <Insert>
Adds Sercos slaves (boxes). For an Overviewof all currently supported SERCOS devices, please see...
Delete Device... <Del>
Removes the FC750x fieldbus card and all subsidiary elements from the I/O configuration.
Online Reset
Initiates an online reset of the Sercos master, so that the phase will switch to phase 0 and will then return to what had previously been the current phase.
"FC7500" tab
40 Number of CAN-message data bytes in read produced or consumed
size response not matches expected one Contact technical support of the device manufacturer
41 Predefined Master- / Slave Connection Set already exists Check number of Masters connected to the network, device my already in use by another master
42 Polling IO data length is different to the configured one Check number of Bytes to be produced by the field device, check field devices IO configuration, contact technical support of the device manufacturer
43 Sequence Error in fragmented polling IO transmission Inspect device, contact technical support of the device manufacturer 44 Fragment Error in fragmented pollingIO transmission Inspect device, contact technical support of the device manufacturer 45 Sequence Error in fragmented polling IO transmission Inspect device, contact technical support of the device manufacturer 46 Polling IO data length is different to the configured one Check number of Bytes to be produced by the device, check devices IO
configuration, contact technical support of the device manufacturer 47 Sequence Error in fragmented Change of State / Cyclic IO
transmission Inspect device, contact technical support of the device manufacturer
48 Sequence Error in fragmented Change of State / Cyclic IO
transmission Inspect device, contact technical support of the device manufacturer
49 Sequence Error in fragmented Change of State IO transmission Inspect device, contact technical support of the device manufacturer 50 Change of State / Cyclic IO data length is different to the configured
one Check number of Bytes to be produced by the device, check devices IO
configuration, contact technical support of the device manufacturer
TwinCAT System Manager: Reference
PCI Slot/Irq: Shows in which logical PCI slot the card was detected and which IRQ is assigned to it. The IRQ is unused.
Search...: Searches for all connected FC750x channels. Select those required. In the case of an FC7502 both channels A and B appear. These behave in logical terms like two FC7501 cards.
PCI-Cfg...: In which the address of the FC750x is set in the lower memory area (below 1 MB) of the PC.
Scan the bus...: The Sercos ring is scanned here, and all devices found are added to the device. The configuration of Beckhoff boxes is read precisely.
Data rate: The Sercos baud rate is set here. 2 Mbaud, 4 Mbaud, 8 Mbaud or 16 Mbaud can be selected.
Transmitter power: The power of the transmitter is set here, depending on the length of optical fibre being used.
Operating mode: The FC750x can be operated as a Sercos master and as a Sercos slave. In either of these operating modes, the card can be operated as the synchronous master (the PC and other synchronous devices receive their clock from the sync master) or as a sync slave (the card, or the card channel, receive the synchronisation signal from the other channel or from another card over the ribbon cable). There can only be one synchronous master within one PC. If both the channels of a FC7502 are used, then only the A-channel (the channel closest to the motherboard) can be used as the sync master.
Start-up to Phase 4: If selected, then every time TwinCAT starts an attempt will be made to bring the Sercos bus into phase 4, and thus to perform cyclical data exchange. If this option is not selected, the card will remain in phase 2. It will then have to be placed into phase 4 at a later stage by ADS from, for example, the PLC.
Check Timing: If selected, then in each cycle the exact real-time behaviour of access to the card is monitored. If not maintained (actual values are read too early, or set values are written too late) then a corresponding counter located in the process data is incremented. This monitoring has only a very small impact on the performance, so that there is no disadvantage to using it in normal applications. In applications with very short cycle times and where performance margins are very tight, however, it can be switched off.
Watchdog: The SERCON816 Sercos ASIC used has a hardware watchdog that monitors regular PC access, activating phase 0 if the accesses cease. The number of cycles that the watchdog will tolerate is given here. The watchdog is deactivated if the figure supplied is 0.
NC Access Time: A figure is given here for the time required by the NC in each cycle for reading the actual values and writing the set values. This value is only used by the internal time slot calculation, so that possible time slot problems can be seen in advance (cf. Check Timing Errors).
NC Shift Time: The NC shift time can be used to delay the time at which the NC begins to read the actual values. The value gives the number of Vs after the last AT. The default value of 50Vs ensures in normal cases that even if there is a small amount of jitter in the real-time system, the ATs, and therefore the actual values, have safely arrived at the master before the NC takes action. If more than one Sercos ring is in use, it may be necessary to adjust this value, since the NC accesses all the rings at more or less the same time, but the connected devices in particular rings mean that the last ATs arrive at different times. Since the Sercos rings on the bus are synchronised in hardware, the following rule applies: The NC shift time should be set on the various rings in such a way that the resulting tNcAccess time (see timing) is about the same on all the rings. In addition to this, the NC shift time should not be much less than about 20 Vs on any ring.
Cycle-Time(3-4): The cycle time of the highest priority associated task is indicated here. This is used in phases 3 and 4.
Cycle-Time(0-2): The cycle time in phases 0 to 2 is given here. This is used for the bus start-up.
The following values make it possible to influence the internal time slot calculation, to make modifications of a few Vs in the event of communication problems or loading difficulties. However, this should not be done without the appropriate Sercos expertise, so that the effects can be estimated.
JT1 User: The value set here alters the jitter JT1 used in the internal time slot calculation.
JT2 User: The value set here alters the jitter JT2 used in the internal time slot calculation.
JTSCyc User: The value set here alters the jitter JTSCyc used in the internal time slot calculation.
T3 User: The value set here alters the time T3 used in the internal time slot calculation.
T4 User: The value set here alters the time T4 used in the internal time slot calculation.
"Timing (Online/Offline)" tab
The Timing tab provides internal details of the time slot calculation. A distinction is made between and online and an offline mode, since parameters are also read from the devices and included in the calculation of the time slot. In offline mode (TwinCAT is stopped) default values are used for the timing values that are normally read from the devices, so that the result of this calculation can differ slightly from that obtained with the true values. The offline calculation does however as a rule provide a very good estimate of the bus timing. In online mode (TwinCAT is running and the Sercos Bus is in phase 3 or 4) the exact values are displayed, and provide the expert user with very precise information about the timing on the bus.
The diagram in the lower section provides a good summary of the bus loading being generated, and over the capacity still available. A Sercos cycle is displayed between the two red master control telegrams (MST). After the MST the devices first send their drive telegrams (green), and after the NC shift time the NC access time (dotted region) starts, in which the NC accepts the actual values and transmits new set values. The subsequent clear region leading up to the Master Data Telegram (MDT, blue) indicates bus capacity that is still free, and can be used for other devices or for additional data associated with the existing devices.
Not long after the MDT the master sends another MST, so starting the next cycle. Times T3 and T4 indicate when the devices should all simultaneously accept the set values or acquire the actual values.
"Online" tab
The Online tab makes it possible to find the current phase of the Sercos ring and to change it. Three red dashes "---" for the phase indicate a ring that is not closed. A phase indication like "2->3" indicates that a change of phase is currently in progress, and that it is possible that this may take some time.
Tab ”(Online) DPRAM”
See ”Online Display of DPRAM” . The registers in the ASIC can be seen starting at address 0x1000 following the DPRAM of the SERCON816 without a break.
Input Diagnosis
The FC750x has a variety of diagnostic variables available automatically. They describe the state of the card and of the Sercos ring:
ActualPhase: The current phase of the Sercos ring is displayed.
RequestedPhase: The phase currently being requested (e.g. by the PLC) is displayed. The card or driver is presently attempting to activate this phase.
SystemState: Gives more precise information about the current phase:
0xE001 = Phase 0
SystemError: Indicates the current error state:
0x0000 = No error
0x8005 = Drive addresses are incorrect 0x8006 = HS-timeout (service channel) 0x8007 = Double AT-failure
0x8009 = LWL-bus is interrupted 0xD002 = Break
0xD003 = Switch from 2->3 failure (S-0-0127) 0xD004 = Switch from 3->4 failure (S-0-0128) 0xF001 = Configuration error (actual/nominal channel) 0xF002 = Error in the time slot calculation
0xF003 = Incorrect phase setting by the NC 0xF004 = Internal error
0xF005 = Error lifecounter 0xF008 = Double MDT-failure 0xF009 = Double MST-failure 0xF00A = Sync-In signal failure
TimingErrorCnt1: A counter that is incremented if the NC accesses the actual values too early ("Check timing" must have been selected).
TimingErrorCnt2: A counter that is incremented if the NC supplies new set values too late ("Check timing" must have been selected).
RDistErrorCnt: An error counter that counts telegrams received in a damaged state (cf. RDIST in the SERCON816 Reference Manual). The cause can be an incorrect baud rate.
FibBrErrorCnt: An error counter that counts telegrams received in a damaged state (cf. FIBBR in the SERCON816 Reference Manual). The cause can be an incorrect baud rate.
RErrErrorCnt: An error counter that counts telegrams that have been lost or that are received at the wrong time (cf. RERR in the SERCON816 Reference Manual).
MstLateErrorCnt: An error counter that counts MSTs that are received too late (cf. MSTLATE in the SERCON816 Reference Manual).
MstEarlyErrorCnt: An error counter that counts MSTs that are received too early (cf. MSTEARLY in the SERCON816 Reference Manual).
Indramat SERCANS SCS-P
The SERCANS SCS-P is a SERCOS master card for up to eight axes. It is supported as both an ISA and a PCI type.
TwinCAT System Manager: Reference
The DPRAM of the SERCANS SCS-P is 4 Kbytes. An interrupt is used, which actuates the card and is also used for synchronising functions in the TwinCAT system.
Context menu
Append Box... <Insert>
Delete Device... <Del>
Removes the SERCANS SCS-P fieldbus card and all subsidiary elements from the I/O configuration.
"Sercans SCS-P" tab
Address: ISA: Enter the DPRAM card address here. This address is jumped on the card and can assume the following values: from 0xC0000 to 0xEF000 in steps of 0x1000
PCI: Shows the PCI slot number, the PCI interrupt and the DPRAM address.
Search: Used to search the computer for SERCANS cards of the corresponding type (ISA / PCI).
Cyclic IRQ: Enter the cyclical interrupt used. It must coincide with the card setting (jumper, ISA only). The non-cyclical card interrupt is not required and may not be jumped on the card (ISA only).
Sync Master: See ”Synchronising Several SERCANS Cards”.
Phase 4: Used to specify whether the card should StartUp in phase 4 at the TwinCAT system StartUp. It will otherwise remain in phase 2 and can be switched to phase 4 at a later point via ADS.
Tab ”(Online) DPRAM”
See ”Online Display of DPRAM”