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Introduction This How-to describes the integration of a Balluff Linear Position Sensor BTL34TC with EtherCAT interface into ctrlX CORE. It shows possibilities for configuration and diagnosis. Other Balluff Linear Position Sensors from BTL7-V50E-Series can also be commissioned in this way. Requirements  Hardware ctrlX CORE Balluff Linear Position Sensors from BTL7-V50E-Series  Software ctrlX PLC app on ctrlX CORE ctrlX EtherCAT Master app on ctrlX CORE ctrlX I/O Engineering and PLC Engineering (ctrlX WORKS) Step-by-Step guide New Project  Open ctrlX CORE user interface in browser. ctrlX CORE User Interface Add EtherCAT master by clicking [+] in EtherCAT > Configuration. EtherCAT / Configuration / [+] EtherCAT / Configuration / [+] / [OK] Open ctrlX I/O Engineering ctrlX I/O Engineering Open New project. New Project Install device description Download ESI (device description) on Balluff website: ESI Download e.g. for this example: https://www.balluff.com/de-de/products/MP728888?configQuery[1.SALES.VM_BTL7_STROKELEN_00]= Open Tools > Device Repository Open Device Repository Install device description Repository EtherCAT-Device configuration Add Device to EtherCAT-Master by right-click in the device tree on ethercatmaster > Add Device: EtherCAT Device Configuration Choose the right ESI (device description) for your device from device catalog > Add Device: Add Device The position sensor is now ready without any configuration   Position Sensor Port Configuration The BTL7-V50E-... corresponds to the profile for absolute linear encoders and is configured as a modular device. The transducer represents a virtual module carrier that has 16 slots for magnets. Various virtual modules that specify which data is assigned to the respective magnet can be inserted into each slot. This defines the data mapping, the assignment of the measurement data in the output. data. Technical Overview To configure the behavior of the magnet, right click on Magnet_x > Plug Device Plug Device Choose  module > Plug Device  Measurement Modules For diagnosis, error messages can be added with optional information about the temperature: right click on Device_1 > Plug Device > Choose  module > Plug Device  Diagnosis Module Configure the number of expected magnets to receive an error message in case of a missing magnet. Use the flexible mode, if the number of magnets changes while the application is running. Magnet Numbers Diagnosis Direct information about the magnet can be seen in the process data of the corresponding magnet. Diagnosis PD2 Diagnosis PD I An optional module for error messages can be plugged into Device_1. Now an error-bit is shown direct in the process data.   Errors Codes PD The error register is also shown in the CoE  Errors CoE 2 Error codes and meaning Error Codes 2 The status of the magnets can also be seen in the CoE online data: Errors CoE Parametrization The BTL7-V50E-... can additionally be used as a cam switch. For this purpose, four cams are available for each magnet. CAM I There are four parameters available to configure and define each cam. CAM II Configuration can bee done via CoE: CAM III It is also possible to configure via startup parameters: Configuration CAM IV The work area can be configured in the same way: Work Area Related Links   Portfolio EtherCAT RFID Controller Service & Support  Basics of Automation The Company  Your partner for success in automation Balluff is a leading supplier of high-quality sensor, identification and image processing solutions, including network technology and software for all automation requirements. We adhere to our motto “innovating automation” as an agile developer and technological pioneer. And we always act sustainably. We deliver innovative solutions to increase your competitive ability. Our consistent digital orientation drives our joint progress, and our innovative spirit factors directly to your success factor. Family-run for more than 100 years, Balluff today employees around 3600 employees worldwide who are committed to the highest quality standards for your success. As a future-oriented company, we are also dedicated to the development of digitalization and IIoT applications for an increasingly digital and networked world. You can rely on us, our promises, our commitment and Balluff quality – all in the name of a mutually beneficial partnership ... View more

Introduction This How-to describes the integration of a Balluff EtherCAT RFID controller BIS0147 into ctrlX CORE. It shows possibilities for diagnosis and parametrization of Balluff RFID read/write heads. Other Balluff EtherCAT RFID controller can also be commissioned in this way. Requirements  Hardware ctrlX Core Balluff EtherCAT RFID Controller (e.g. BIS0147)  Software Rexroth PLC app on ctrlX CORE Rexroth EtherCAT Master app on ctrlX CORE ctrlX I/O Engineering and PLC Engineering (ctrlX WORKS) Step-by-Step guide New Project  Open ctrlX CORE user interface in browser. ctrlX CORE User Interface Add EtherCAT master by clicking [+] in EtherCAT > Configuration. EtherCAT / Configuration / [+] EtherCAT / Configuration / [+] / [OK] Open ctrlX I/O Engineering ctrlX I/O Engineering Open New project. New Project Install device description Download ESI (device description) on Balluff website: Balluff Website / product / downloads e.g. for this example: https://www.balluff.com/de-de/products/BIS0147 Open Tools > Device Repository Open Device Repository Install device description Device Repository EtherCAT-Device configuration Add Device to EtherCAT-Master by right-click in the device tree on ethercatmaster > Add Device: EtherCAT Device Configuration Choose the right ESI (device description) for your device from device catalog > Add Device: Add Device I The RFID controller is now  ready without any configuration   Add Device II Port Configuration Connections overview Connections Overview It is possible to connect up to four RFID read/write heads. Communication between the controller and the read/write head is proprietary and therefore much faster and better performing than IO-Link. The RFID controller has a additional IO-Link Master port, which is freely configurable for your application and individual needs. For connecting IO-Link devices a IO-Link communication can be set up on pin 4. If only digital IOs are needed, pin 4 can also be configured as simple input or output. The configuration of the pin functions is done by plug device. Hardware Overview This port is also used as a service port, e.g. for reading and writing data carriers via the "BIS Cockpit" test and configuration software. To configure a RFID read/write head, you must plug in a process data module for the corresponding port. The size of the module is only relevant for the speed of data transmission vie the fieldbus. small process data => slower data transmission, less load on fieldbus big process data => fast data transmission, more load on fieldbus right click on RFID channel > Plug Device Plug Device I Choose  module > Plug Device  Plug Device II To configure the IO-Link port communication on pin 4, a suitable process data module must be selected: right click on IO-Link channel > Plug Device IO-Link Port Choose  module > Plug Device  Plug Device For the correct process data size, see the manual of the IO-Link device used. Make sure that enough memory space has been reserved in case one of the modules does not fit exactly. To configure pin 4 as input or output, use the input or output module, not a IO-Link module: right click on IO-Link channel > Plug Device  IO-Link Port Diagnosis Any diagnosis of the read/write heads is mapped via process data. There are two bits in the control byte (first and last byte of process data) to get the state of the connected read/write heads. Diagnosis I For more details to the communication via process data see the manual. There are two slots for direct and fast diagnosis of the IO-Link port power supply: right click on Additional_Inputs > Plug Device  Diagnosis II The status of the IO-Link communication is displayed for each channel in a status byte. Diagnosis III The Status can also be seen in the CoE online data: Diagnosis iV These are the possible values: Possible ports A validation for the IO-Link port can be configured: IO-Link_Ch1 > Startup Parameter Diagnosis V The validation mode is stored in parameter index 0x2002, subindex 0x02 No validation (value 0): validation deactivated, every device will be accepted Compatibility (value 1): manufacturer ID and device ID are compared to the module data. The IO-Link communication is only started if there is a match. Identity (value 2): manufacturer ID and device ID and serial number are compared to the module data. The IO-Link communication is only started if there is a match. The values for validation are stored in index x8000, subindex 0x04 (Device ID), 0x05 (Vendor ID), 0x08 (Serial Number).  RFID Parametrization The behavior of the RFID functions can be adjusted via startup parameters as well as CoE online. RFID_Ch_x > Startup parameter RFID Parameter BIS_V_6110_063_C002 > CoE > RFID Settings Ch. x RFID Parameter II IO-Link Parametrization Via Parameter Server: An IO-Link master according to IO-Link Specification 1.1 can act as a parameter assignment server for the IO-Link device. IO-Link_Ch1 > Startup Parameter > Set Parameter Server index 0x2002, subindex 0x03 IO-Link Parameter Switched on: data management functions enabled, parameter data and identification data of the IO-Link devices are residually saved. Switched off: data management functions disabled, saved data are retained. Deleted: data management functions disabled, saved data is deleted. Enable upload: Select whether an upload of parameter data to the data management of the IO-Link master port is to be carried out or not. If the upload is enabled, the master starts a parameter data upload as soon as a device requests an upload (upload flag set) or if there is no data saved in the master port (e.g. after data has been deleted or before the first data upload) Block upload: If the upload is disabled, no data upload will be started. When there is an upload request from the IO-Link device, a download (if enabled) is started because no upload may be carried out if there are different parameter sets. Enable download: Select whether a download of parameter data to the IO-Link device is to be carried out or not. As soon as the saved parameter data in the parameter server of the port is differentiated from the connected IO-Link device and no upload request from the IO-Link device is present, a download is carried out. Block download: If the download is blocked, an upload (if enabled) of the parameter data occurs independent of the upload flag of the IO-Link device. Block upload and download: If upload and download are blocked, no parameter data exchange occurs. The IO-Link device then communicates anyway with the IO-Link port. The following values are possible for the settings: 0x8X Switch on 0x0X Switch off 0x40 Delete 0xX1 Switch on upload 0xX2 Switch on download To enable the upload flag of an IO-Link device, the value 0x05 must be entered in the index 0x02, subindex 0 (e.g. see Parametrization via CoE Online) via CoE online Via object 0x40n0 (IO-Link Service Data Ch. X), IO-Link ISDU parameters can be read or written from the IO-Link device. To do this, the corresponding index and subindex must be entered. In addition, the corresponding length and the data must still be entered when writing. Via the control object, the read or write task is then started. In the Object status, the result is then displayed. IO-Link_Chx > Startup Parameter > IO-Link Service Data CH .X index 0x40n2 (n = port number 0...7) Control Values for the Control: • 0x00: No action • 0x02: Write • 0x03: Read Status Values for the Status: • 0x00: No activity • 0x01: Active / Busy • 0x02: Access • 0x04: Error • 0xFF: Failure example: reading index 0x10 Vendor Name 1. Set IO-Link index (CoE Subindex 0x03), IO-Link subindex (0x04) 2. Set contol (0x01) to value 0x03 (read) IO-Link Parameter 3. The answer is displayed in Data (0x06), Status (0x02) displays answer 0x02 (access). To write parameter you must also set lenght (0x05) and data array (0x06). Status (0x02) displays answer 0x02 (access). via Startup Parameter For startup parameter you have to follow the same steps as for parameters via CoE. Make sure that the control command is always the last command for this parameter set. For more than one parameter, start again by setting index, subindex, length and Data and end the parameter with the command control . Startup Parameter Complete IO-Link parameter for startup Related Links   Portfolio EtherCAT RFID Controller Service & Support  Basics of Automation  The Company  Your partner for success in automation Balluff is a leading supplier of high-quality sensor, identification and image processing solutions, including network technology and software for all automation requirements. We adhere to our motto “innovating automation” as an agile developer and technological pioneer. And we always act sustainably. We deliver innovative solutions to increase your competitive ability. Our consistent digital orientation drives our joint progress, and our innovative spirit factors directly to your success factor. Family-run for more than 100 years, Balluff today employees around 3600 employees worldwide who are committed to the highest quality standards for your success. As a future-oriented company, we are also dedicated to the development of digitalization and IIoT applications for an increasingly digital and networked world. You can rely on us, our promises, our commitment and Balluff quality – all in the name of a mutually beneficial partnership ... View more

Introduction This HOW-TO describes the integration of a Balluff EtherCAT IO-Link master BNI0077 into ctrlX. It shows possibilities for diagnosis and parameterization of IO-Link Devices. Other Balluff EtherCAT IO-Link masters can also be commissioned in this way. Requirements  Hardware ctrlX CORE Balluff EtherCAT IO-Link Master (e.g. BNI0077)  Software Rexroth PLC app on ctrlX CORE Rexroth EtherCAT Master app on ctrlX CORE ctrlX I/O Engineering and PLC Engineering (ctrlX WORKS) Step-by-Step guide New Project  Open ctrlX CORE user interface in browser. ctrlX CORE User Interface Add EtherCAT master by clicking [+] in EtherCAT > Configuration. EtherCAT / Configuration / [+] EtherCAT / Configuration / [+] / [OK] Open ctrlX I/O Engineering ctrlX I/O Engineering Open New project. New Project Install device description Download ESI (device description) on Balluff website: Download ESI e.g. for this example: https://www.balluff.com/de-de/products/BNI0077 Open Tools > Device Repository Open Device Repository Install device description Install device description EtherCAT-Device configuration Add Device to EtherCAT-Master by right-click in the device tree on ethercatmaster > Add Device: EtherCAT device configuration Choose the relevant ESI (device description) for your device from device catalog > Add Device: Add device The IO-Link Master is now pre-configured with standard I/O on pin 4 for all ports   Preconfiguration Port Configuration Technical data IO-Link port The ports of the IO-Link Master are freely configurable for your application and individual needs. For connecting IO-Link devices, an IO-Link communication can be set up on pin 4. If only digital IOs are needed, Pin 2 and 4 can also be configured as simple input or output. The configuration of the pin functions is done by plug device. The configuration of pin 4 has to be done for each port seperatly, pin 2 is combined for each port. To configure the IO-Link port communication on pin 4, a suitable process data module must be selected: right click on IO-Link channel > Plug Device Plug device selection Choose  module > Plug Device  Plug Device For the correct process data size, see the manual of the IO-Link device used. Make sure that enough memory space has been reserved in case one of the modules does not fit exactly. There are two possible data types for process data, which are indicated by different colors of the IO-Link icon: grey for bits and black for array of bytes. Use plug device to choose one of these representation of process data. Process data figure To configure pin 4 as input or output, use the input or output module, not a IO-Link module  IO_Link_CHx > Plug Device Configure pin 4 As with IO-Link, separate process data are now created for each port. To configure pin 2 as input or output, plug the device into slots for pin 2. Input_Pin_2 > Plug Device to configure input process data Output_Pin_2 > Plug Device to configure output process data Configure pin 2 It is alwas possible to use pin 2 in both directions. Attention: In contrast to pin 4, a common byte is used for the pin 2 function. The bits from 0 to 7 represent the pin 2 of port 0 to 7. Diagnosis There are four slots for direct and fast diagnosis of the powersupply: Diagnostic bytes For short circuit modules: each bit of the byte represents one of the eight ports.  Short circuit modules The module status shows the power supply of the IO-Link Master  Module status The status of the IO-Link communication is displayed for each channel in a status byte. Communication status The Status can also be seen in the CoE online data: CoE communication status These are the possible values: Possible ports A validation for each Port can be configured: IO-Link_Chx > Startup Parameter Port validation The validation mode is stored in parameter index 0x20n2, subindex 0x02 (n = port number 0...7) No validation (value 0): validation deactivated, every device will be accepted Compatibility (value 1): manufacturer ID and device ID are compared to the module data. The IO-Link communication is only started if there is a match. Identity (value 2): manufacturer ID and device ID and serial number are compared to the module data. The IO-Link communication is only started if there is a match. The values for validation are stored in index x80n0, subindex 0x04 (Device ID), 0x05 (Vendor ID), 0x08 (Serial Number).  EoE-Communication EtherCAT network configuration Activate the virtual ethernet port and configure the network adress in the tab EoE of the EtherCAT Master: EtherCAT Master > EoE > virtual Ethernet port (master) EoE settings In the tab EoE of the EtherCAT Master is a overview of all slaves that support EoE functionality. Here, it is possible to activate the virtual port of the slaves and assign the network configuration automatically or manually. It is also possible to activate expert settings to enable EoE on the IO-Link Master. The EoE tab appears. Now you can activate the virtual port of the IO-Link Master and assign the network configuration here . EtherCAT Slave > General > enable expert settings Expert settings EtherCAT Slave > EoE > virtual ethernet port Virtual ethernet port ctrlX CORE network configuration It's necessary to enable IP forwarding in the connectivity settings of the EoE port (eoe0) and the engineering port (eth0). Settings > Connectivity ctrlX CORE connectivity settings Settings > Connectivity > eoe0 > enable IP forwarding ctrlX CORE IP forwarding eoe0 Settings > Connectivity > eth0 > enable IP forwarding ctrlX CORE IP forwarding eth0 Add Routing For network access set the according route on your host operating system.  Open command line on your host: Route Use your network specific configuration for ip adress, mask and gateway. For mor details use command "route ?" To test the route, ping an EoE Slave in the EtherCAT topology. IO-Link Parametrization Via Webserver If you have access to Webserver over EoE, you can configure your IO-Link devices in a web browser. Open website via IP-Adress > ports Webserver To write parameters, you must log in. Password: BNIECT. It's also possible to upload an IODD file to set parameters with plane text. Via Parameter Server: An IO-Link master according to IO-Link Specification 1.1 can act as a parameter assignment server for the IO-Link device. IO-Link_Chx > Startup Parameter > Set Parameter Server index 0x20n2, subindex 0x03 (n = port number 0...7) Parameter server Switched on: data management functions enabled, parameter data and identification data of the IO-Link devices are residually saved. Switched off: data management functions disabled, saved data are retained. Deleted: data management functions disabled, saved data is deleted. Enable upload: Select whether an upload of parameter data to the data management of the IO-Link master port is to be carried out or not. If the upload is enabled, the master starts a parameter data upload as soon as a device requests an upload (upload flag set) or if there is no data saved in the master port (e.g. after data has been deleted or before the first data upload) Block upload: If the upload is disabled, no data upload will be started. When there is an upload request from the IO-Link device, a download (if enabled) is started because no upload may be carried out if there are different parameter sets. Enable download: Select whether a download of parameter data to the IO-Link device is to be carried out or not. As soon as the saved parameter data in the parameter server of the port is differentiated from the connected IO-Link device and no upload request from the IO-Link device is present, a download is carried out. Block download: If the download is blocked, an upload (if enabled) of the parameter data occurs independent of the upload flag of the IO-Link device. Block upload and download: If upload and download are blocked, no parameter data exchange occurs. The IO-Link device then communicates anyway with the IO-Link port. The following values are possible for the settings: 0x8X Switch on 0x0X Switch off 0x40 Delete 0xX1 Switch on upload 0xX2 Switch on download To enable the upload flag of an IO-Link device, the value 0x05 must be entered in the index 0x02, subindex 0 (e.g. see Parametrization via CoE Online) via CoE online Via object 0x40n0 (IO-Link Service Data Ch. X), IO-Link ISDU parameters can be read or written from the IO-Link device. To do this, the corresponding index and subindex must be entered. In addition, the corresponding length and the data must still be entered when writing. Via the control object, the read or write task is then started. In the Object status, the result is then displayed. IO-Link_Chx > Startup Parameter > IO-Link Service Data CH .X index 0x40n2 (n = port number 0...7) Control Values for the Control: • 0x00: No action • 0x02: Write • 0x03: Read Status Values for the Status: • 0x00: No activity • 0x01: Active / Busy • 0x02: Access • 0x04: Error • 0xFF: Failure example: reading index 0x10 Vendor Name 1. Set IO-Link index (CoE Subindex 0x03), IO-Link subindex (0x04) 2. Set contol (0x01) to value 0x03 (read) CoE read 3. The answer is displayes in Data (0x06), Status (0x02) displays answer 0x02 (access). To write parameter, also set lenght (0x05) and data array (0x06). Status (0x02) displays answer 0x02 (access). via Startup Parameter For startup parameter you have to follow the same steps as for parameters via CoE. Make sure that the control command is always the last command for this parameter set. For more than one parameter, start again by setting index, subindex, lenght and Data and end the parameter with the command control . Startup parameter selection Startup parameter overview   Related Links Portfolio EtherCAT IO-Link Master  Service & Support  Basics of Automation The Company  Your partner for success in automation Balluff is a leading supplier of high-quality sensor, identification and image processing solutions, including network technology and software for all automation requirements. We adhere to our motto “innovating automation” as an agile developer and technological pioneer. And we always act sustainably. We deliver innovative solutions to increase your competitive ability. Our consistent digital orientation drives our joint progress, and our innovative spirit factors directly to your success factor. Family-run for more than 100 years, Balluff today employees around 3600 employees worldwide who are committed to the highest quality standards for your success. As a future-oriented company, we are also dedicated to the development of digitalization and IIoT applications for an increasingly digital and networked world. You can rely on us, our promises, our commitment and Balluff quality – all in the name of a mutually beneficial partnership ... View more