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Documentation
BK9000, BK9050, BK9100
Bus Coupler for Ethernet
Version:
Date:
4.3.0
2019-10-15
Table of contents
Table of contents
1 Foreword .................................................................................................................................................... 5
1.1
Notes on the documentation.............................................................................................................. 5
1.2
Safety instructions ............................................................................................................................. 6
1.3
Documentation issue status .............................................................................................................. 7
1.4
Beckhoff Identification Code (BIC) .................................................................................................... 8
2 Product overview..................................................................................................................................... 11
2.1
BK9000, BK9050 – Introduction ...................................................................................................... 11
2.2
BK9100 - introduction ...................................................................................................................... 12
2.3
Technical data ................................................................................................................................. 13
2.4
The Beckhoff Bus Terminal system ................................................................................................. 14
2.5
The principle of the Bus Terminal .................................................................................................... 16
2.6
Ethernet ........................................................................................................................................... 16
3 Mounting and wiring................................................................................................................................ 18
3.1
Mechanical installation .................................................................................................................... 18
3.1.1
3.2
Dimensions ...................................................................................................................... 18
3.1.2
Installation on mounting rails ........................................................................................... 20
Wiring............................................................................................................................................... 22
3.2.1
3.2.2
Ethernet connection......................................................................................................... 23
3.2.3
Ethernet topologies.......................................................................................................... 24
3.2.4
3.3
Power supply, potential groups........................................................................................ 22
Ethernet cable.................................................................................................................. 26
ATEX ............................................................................................................................................... 28
3.3.1
ATEX - Special conditions (standard temperature range) ............................................... 28
3.3.2
ATEX - Special conditions (extended temperature range) .............................................. 29
3.3.3
ATEX Documentation ...................................................................................................... 29
4 Parameterization and commissioning ................................................................................................... 30
4.1
Start-up behaviour of the Bus Coupler ............................................................................................ 30
4.2
Parameterization of the Bus Coupler using DIP switches ............................................................... 31
4.3
Network classes .............................................................................................................................. 32
4.4
IP address ....................................................................................................................................... 33
4.4.1
IP address........................................................................................................................ 33
4.4.2
Configuration with KS2000 .............................................................................................. 33
4.4.3
Setting the IP address using the ARP table..................................................................... 34
4.4.4
Setting the IP Address Using the Beckhoff BootP Server ............................................... 35
4.4.5
Setting the address using a DHCP server ....................................................................... 36
4.4.6
Subnet mask.................................................................................................................... 36
4.4.7
Testing the IP address..................................................................................................... 36
4.4.8
Reading the MAC-ID........................................................................................................ 37
5 Configuration ........................................................................................................................................... 38
5.1
ModbusTCP..................................................................................................................................... 38
5.1.1
ModbusTCP Process Image............................................................................................ 38
5.2
Mapping the Bus Terminals ............................................................................................................. 39
5.3
TwinCAT System Manager ............................................................................................................. 39
BK9000, BK9050, BK9100
Version: 4.3.0
3
Table of contents
5.3.1
Configuration using the System Manager........................................................................ 39
5.3.2
ADS Process Image ........................................................................................................ 41
5.3.3
The IP Address tab .......................................................................................................... 42
6 Fieldbus system ...................................................................................................................................... 44
6.1
Ethernet ........................................................................................................................................... 44
6.2
Topology .......................................................................................................................................... 46
6.3
Reaction times ................................................................................................................................. 46
6.4
Real-time Ethernet........................................................................................................................... 47
6.5
ADS-Communication ....................................................................................................................... 49
6.4.1
Real-time Ethernet with Fast-ADS................................................................................... 47
6.5.1
6.5.2
ADS protocol.................................................................................................................... 50
6.5.3
ADS services ................................................................................................................... 51
6.5.4
6.6
ADS-Communication ....................................................................................................... 49
AMS routing table ............................................................................................................ 53
ModbusTCP..................................................................................................................................... 54
6.6.1
6.6.2
ModbusTCP Protocol....................................................................................................... 55
6.6.3
Modbus TCP interface ..................................................................................................... 56
6.6.4
ModbusTCP slave error answer (BK9000, BX/BC9xx0, IP/ILxxxx-B/C900, EK9000) ..... 57
6.6.5
6.7
Examples for ModbusTCP............................................................................................... 54
ModbusTCP functions ..................................................................................................... 58
Description of parameters ............................................................................................................... 65
6.7.1
Register settings, Table 100 ............................................................................................ 65
7 Error handling and diagnosis................................................................................................................. 67
7.1
Diagnostic LEDs .............................................................................................................................. 67
7.2
Diagnostic LEDs .............................................................................................................................. 70
7.3
General errors ................................................................................................................................. 71
7.4
ADS diagnostics .............................................................................................................................. 72
7.5
ModbusTCP diagnostic ................................................................................................................... 74
8 Appendix .................................................................................................................................................. 75
8.1
8.2
Approvals......................................................................................................................................... 76
8.3
Test standards for device testing..................................................................................................... 77
8.4
Bibliography ..................................................................................................................................... 77
8.5
List of Abbreviations ........................................................................................................................ 77
8.6
4
General operating conditions........................................................................................................... 75
Support and Service ........................................................................................................................ 78
Version: 4.3.0
BK9000, BK9050, BK9100
Foreword
1
Foreword
1.1
Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCAT G®, EtherCAT G10®, EtherCAT P®, Safety over EtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation
GmbH. Other designations used in this publication may be trademarks whose use by third parties for their
own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding
applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
BK9000, BK9050, BK9100
Version: 4.3.0
5
Foreword
1.2
Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of instructions
In this documentation the following instructions are used.
These instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING
Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION
Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE
Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
6
Version: 4.3.0
BK9000, BK9050, BK9100
Foreword
1.3
Documentation issue status
Version
4.3.0
Modifications
• Update Technical data
4.2.0
• Chapter “Beckhoff Identification Code (BIC)” added
• update technical data
• Design of the safety instructions adapted to IEC 82079-1
• Update chapter Installation on mounting rails
• ATEX notes added
4.1.0
4.0.0
• Corrections
• extended temperature range for BK9000 and BK9100
• Migration
3.9.0
3.8.2
• Update structure
• Description of the BK9050 added
• Description of the BK9100 added
3.8.1
• Description of the Modbus-TCP function corrected
• Description of the RT-Ethernet added
Firmware and hardware versions
Documentation
Version
4.2.0
4.0.0
3.9.0
3.8.2
3.8.1
3.8
BK9000
Firmware
BD
BD
BC
BA
B8
B8
Hardware
18
18
12
11
10
10
BK9100
Firmware
B6
B6
B1
B1
-
Hardware
10
10
03
00
-
BK9050
Firmware
B3
B3
B0
-
Hardware
06
04
00
-
You can determine which firmware was fitted when the Bus Coupler left the factory from the adhesive label
underneath (see the fifth and sixth figures of the production number).
Sample:
3200B2020000
The firmware in the example is B2.
The KS2000 configuration software and the corresponding serial cable included with, is required for updating
your firmware. You can also update your coupler using the System Manager from TwinCAT version 2.8 (in
the case of the BK9000 only from firmware version B6). You will find the firmware under www.beckhoff.de.
BK9000, BK9050, BK9100
Version: 4.3.0
7
Foreword
Notes on the firmware versions
BK9000
Firmware
BD
BC
BB
BA
B8
B7
B6
B5
B4
B3
Description
• Modbus/TCP: protocol extended
• Start-up improved
• Link detection changed
• Supports TwinSAFE terminals (KL1904, KL2904 and KL6904)
• In the event of watchdog errors the analog outputs are now set to zero
• RT-Ethernet implemented
• Error in the B6 version related to mapping the KL60xx Bus Terminals corrected
• Internal software reset modified (this does not have any effects that concern the
user)
• Fast ModbusTCP implemented
• Settings such as the IP address are retained during a firmware update
• Firmware update over Ethernet possible
• Reading out the configuration with the System Manager (as from TwinCAT 2.8)
possible
B2
• ADS access control through table 2 implemented
• Addressing via ARP, DHCP and BootP possible
B1
B0
• Access to process inputs with FC3 ModbusTCP implemented
• Watchdog LED triggered under ModbusTCP
• First released version
BK9050
Firmware
B3
B2
B1
B0
Description
• Modbus/TCP: protocol extended
• K-bus reset via ADS implemented (ADS control)
• IP address was not secured after addressing via " ARP "
• First released version
BK9100
Firmware
B6
B2-B5
B1
B0
1.4
Description
• Modbus watchdog can be written again (error in FW B5)
• Internet changes
• Supports TwinSAFE terminals (KL1904, KL2904 and KL6904)
• First released version
Beckhoff Identification Code (BIC)
The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify
the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is
based on the ANSI standard MH10.8.2-2016.
8
Version: 4.3.0
BK9000, BK9050, BK9100
Foreword
Fig. 1: BIC as data matrix code (DMC, code scheme ECC200)
The BIC will be introduced step by step across all product groups.
Depending on the product, it can be found in the following places:
• on the packaging unit
• directly on the product (if space suffices)
• on the packaging unit and the product
The BIC is machine-readable and contains information that can also be used by the customer for handling
and product management.
Each piece of information can be uniquely identified using the so-called data identifier
(ANSI MH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum
length according to the table below. If the information is shorter, spaces are added to it. The data under
positions 1 to 4 are always available.
The following information is contained:
Item Type of
no. information
1
Beckhoff order
number
2
Beckhoff Traceability
Number (BTN)
3
Article description
4
Quantity
5
Batch number
6
ID/serial number
7
Variant number
Explanation
Data
identifier
Beckhoff order number 1P
Number of digits
incl. data identifier
8
Example
Unique serial number,
see note below
Beckhoff article
description, e.g.
EL1008
Quantity in packaging
unit, e.g. 1, 10, etc.
Optional: Year and week
of production
Optional: Present-day
serial number system,
e.g. with safety products
Optional: Product variant
number on the basis of
standard products
S
12
SBTNk4p562d7
1K
32
1KEL1809
Q
6
Q1
2P
14
2P401503180016
51S
12
51S678294104
30P
32
30PF971, 2*K183
1P072222
...
BK9000, BK9050, BK9100
Version: 4.3.0
9
Foreword
Further types of information and data identifiers are used by Beckhoff and serve internal processes.
Structure of the BIC
Example of composite information from item 1 to 4 and 6. The data identifiers are marked in red for better
display:
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a
unique serial number consisting of eight characters that will replace all other serial number systems at
Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for
safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet
coded in the BIC.
NOTE
This information has been carefully prepared. However, the procedure described is constantly being further
developed. We reserve the right to revise and change procedures and documentation at any time and without prior notice. No claims for changes can be made from the information, illustrations and descriptions in
this information.
10
Version: 4.3.0
BK9000, BK9050, BK9100
Product overview
2
Product overview
2.1
BK9000, BK9050 – Introduction
Fig. 2: BK9000, BK9050
The BK9000 and BK9050 Bus Couplers connect Ethernet with the modular, extendable electronic terminal
blocks. One unit consists of one Bus Coupler, any number from 1 to 64 terminals and one end terminal. The
" Compact " BK9050 Bus Coupler is a cost-optimized version with compact housing. With the K-bus
extension, up to 255 Bus Terminals can be connected.
The Bus Couplers recognize the terminals to which they are connected, and perform the assignment of the
inputs and outputs to the words of the process image automatically. The BK9000 and BK9050 Bus Couplers
support 10 Mbit/s and 100 Mbit/s Ethernet. Connection is through normal RJ 45 connectors. The IP address
is set on the DIP switch (offset to a freely selectable start address). In networks with DHCP (a service for the
allocation of the logical IP address to the physical node address (MAC-ID)) the Bus Coupler obtains its IP
address from the DHCP server.
The BK9000 and BK9050 Bus Couplers support ADS TwinCAT system communication. TwinCAT I/O makes
available configuration tools and Windows-NT//2000/XP drivers for programs in any desired high-level
language (DLLs) and for Visual Basic applications (ActiveX). Applications with OPC interfaces can access
ADS (and therefore the BK9000 or BK9050) via an OPC server. In addition to ADS the Bus Coupler supports
Open Modbus (Modbus TCP), a simple master/slave protocol based on TCP/IP in wide application.
Complex signal processing for analog I/Os, displacement measurement, etc.
The BK9000 and BK9050 Bus Couplers support the operation of all Bus Terminal types. As far as the user is
concerned, the inputs and outputs are not handled any differently from the way they are with other coupler
series. The information is made available for use as a byte array in the process image of the automation
device.
The KS2000 configuration software allows the analog and multifunctional Bus Terminals to be adapted to the
specific application. Depending on the type, the registers of the analog Bus Terminals contain temperature
ranges, gain factors and linearization characteristic curves, which are parameterized via the PC using the
KS2000. The Bus Terminal stores the setting permanently, even if the voltage supply fails.
Having the controller (PLC, IPC) carry out the configuration of the Bus Terminals is a further option. The PLC
or IPC uses function blocks (FB) to take care of the configuration of all the peripherals during the start-up
phase. The controller can, if required, upload the non-centrally generated configuration data in order to
manage and store them centrally. The replacement of a Bus Terminal does not necessitate new settings.
The controller carries out the desired setting automatically after switching on.
BK9000, BK9050, BK9100
Version: 4.3.0
11
Product overview
2.2
BK9100 - introduction
Fig. 3: BK9100
The BK9100 Bus Coupler connects Ethernet with the modular, extendable electronic terminal blocks. One
unit consists of one Bus Coupler, any number from 1 to 64 terminals and one end terminal. The connected
terminals are recognized by the Bus Coupler and the assignment of the inputs/outputs to the words in the
process image is created automatically. The BK9100 Bus Coupler supports 10 Mbit/s and 100 Mbit/s
Ethernet. Connection is through normal RJ 45 connectors. The IP address is set on the DIP switch (offset to
a freely selectable start address). In networks with DHCP (a service for the allocation of the logical IP
address to the physical node address (MAC-ID)) the Bus Coupler obtains its IP address from the DHCP
server.
Unlike the BK9000, the BK9100 has an additional RJ 45 port. Both Ethernet ports operate as 2-channel
switches. The I/O stations can thus be configured with a line topology, instead of the classic star topology. In
many applications; this significantly reduces the wiring effort and the cabling costs. The maximum distance
between two couplers is 100 m. Up to 20 BK9100 Bus Couplers are cascadable, so that a maximum line
length of 2 km can be achieved.
The BK9100 support ADS TwinCAT system communication. TwinCAT I/O makes available configuration
tools and Windows/2000/XP drivers for programs in any desired high-level language (DLLs) and for Visual
Basic applications (ActiveX). Applications with OPC interfaces can access ADS (and therefore the BK9100
or BK9050) via an OPC server. In addition to ADS the Bus Coupler supports Open Modbus (Modbus TCP), a
simple master/slave protocol based on TCP/IP in wide application.
Complex signal processing for analog I/Os, displacement measurement, etc.
The BK9100 Bus Coupler supports the operation of all Bus Terminal types. As far as the user is concerned,
the inputs and outputs are not handled any differently from the way they are with other coupler series. The
information is made available for use as a byte array in the process image of the automation device.
The KS2000 configuration software allows the analog and multifunctional Bus Terminals to be adapted to the
specific application. Depending on the type, the registers of the analog Bus Terminals contain temperature
ranges, gain factors and linearization characteristic curves, which are parameterized via the PC using the
KS2000. The Bus Terminal stores the setting permanently, even if the voltage supply fails.
12
Version: 4.3.0
BK9000, BK9050, BK9100
Product overview
Having the controller (PLC, IPC) carry out the configuration of the Bus Terminals is a further option. The PLC
or IPC uses function blocks (FB) to take care of the configuration of all the peripherals during the start-up
phase. The controller can, if required, upload the non-centrally generated configuration data in order to
manage and store them centrally. The replacement of a Bus Terminal does not necessitate new settings.
The controller carries out the desired setting automatically after switching on.
2.3
Technical data
Technical data
Number of Bus Terminals
Digital peripheral signals
Analog peripheral signals
Protocols
Configuration possibility
Maximum number of bytes
Bus connection
Power supply
Input current
BK9000
64
BK9050
64 (255 with K-bus
extension)
1020 inputs/outputs
BK9100
64
512 inputs/outputs
512 inputs/outputs
128 inputs/outputs
UDP- ADS, TCP-ADS, RT-Ethernet, ModbusTCP/Fast ModbusTCP
Via the KS2000 configuration software or the controller (TwinCAT)
512 bytes of input data and 512 bytes of output data
1 x RJ 45
1 x RJ 45
2 x RJ 45
24 VDC (-15%/+20%)
70 mA + (total K-bus 70 mA + (total K-bus
70 mA + (total K-bus
current)/4, 4.500 mA current)/4
current)/4
max.
max. 320 mA
max. 500 mA
Starting current
approx. 2.5 x continuous current
K-bus power supply up to
1750 mA
Power contact voltage
maximum 24 VDC
Power contact current load
maximum 10 A
Dielectric strength
500 V (power contact/supply voltage/Ethernet/fieldbus)
Recommended fuse
≤ 10 A
Weight
ca. 170 g
ca. 100 g
ca. 170 g
Permissible ambient temperature -25°C ... +60°C
0°C ... +55°C
-25°C ... +60°C
range during operation
Permissible ambient temperature -40°C ... +85°C
-25°C ... +85°C
-40°C ... +85°C
range during storage
Permissible relative humidity
95%, no condensation
Vibration/shock resistance
conforms to EN 60068-2-6 / EN 60068-2-27
EMC immunity/emission
conforms to EN 61000-6-2 / EN 61000-6-4
Installation position
variable
Protection class
IP20
Approvals
CE, cULus, ATEX [} 28], GL
System data
Number of I/O modules
Number of I/O points
Transmission medium
Distance between modules
Data transfer rate
Topology
Cascading
BK9000, BK9050, BK9100
BK9000
BK9050
BK9100
only limited by the IP address space
depending on controller
4 x 2 twisted pair copper cable; category 3 (10 Mbaud), category 5 (100
Mbaud)
100 m
10/100 Mbaud
star wiring
star wiring
line or star wiring
up to 20 BK9100 or max.
line length 2 km
Version: 4.3.0
13
Product overview
2.4
The Beckhoff Bus Terminal system
Up to 256 Bus Terminals, with 1 to 16 I/O channels per signal form
The Bus Terminal system is the universal interface between a fieldbus system and the sensor / actuator
level. A unit consists of a Bus Coupler as the head station, and up to 64 electronic series terminals, the last
one being an end terminal. Up to 255 Bus Terminals can be connected via the K-bus extension. For each
technical signal form, terminals are available with one, two, four or eight I/O channels, which can be mixed
as required. All the terminal types have the same mechanical construction, so that difficulties of planning and
design are minimized. The height and depth match the dimensions of compact terminal boxes.
Decentralised wiring of each I/O level
Fieldbus technology allows more compact forms of controller to be used. The I/O level does not have to be
brought to the controller. The sensors and actuators can be wired decentrally, using minimum cable lengths.
The controller can be installed at any location within the plant.
Industrial PCs as controllers
The use of an Industrial PC as the controller means that the operating and observing element can be
implemented in the controller's hardware. The controller can therefore be located at an operating panel, in a
control room, or at some similar place. The Bus Terminals form the decentralised input/output level of the
controller in the control cabinet and the subsidiary terminal boxes. The power sector of the plant is also
controlled over the bus system in addition to the sensor/actuator level. The Bus Terminal replaces the
conventional series terminal as the wiring level in the control cabinet. The control cabinet can have smaller
dimensions.
Bus Couplers for all usual bus systems
The Beckhoff Bus Terminal system unites the advantages of a bus system with the possibilities of the
compact series terminal. Bus Terminals can be driven within all the usual bus systems, thus reducing the
controller parts count. The Bus Terminals then behave like conventional connections for that bus system. All
the performance features of the particular bus system are supported.
Mounting on standardized mounting rails
The installation is standardized thanks to the simple and space-saving mounting on a standardized mounting
rail (EN 60715, 35 mm) and the direct wiring of actuators and sensors, without cross connections between
the terminals. The consistent labelling scheme also contributes.
The small physical size and the great flexibility of the Bus Terminal system allow it to be used wherever a
series terminal is also used. Every type of connection, such as analog, digital, serial or the direct connection
of sensors can be implemented.
Modularity
The modular assembly of the terminal strip with Bus Terminals of various functions limits the number of
unused channels to a maximum of one per function. The presence of two channels in one terminal is the
optimum compromise of unused channels and the cost of each channel. The possibility of electrical isolation
through potential feed terminals also helps to keep the number of unused channels low.
Display of the channel state
The integrated LEDs show the state of the channel at a location close to the sensors and actuators.
14
Version: 4.3.0
BK9000, BK9050, BK9100
Product overview
K-bus
The K-bus is the data path within a terminal strip. The K-bus is led through from the Bus Coupler through all
the terminals via six contacts on the terminals' side walls. The end terminal terminates the K-bus. The user
does not have to learn anything about the function of the K-bus or about the internal workings of the
terminals and the Bus Coupler. Many software tools that can be supplied make project planning,
configuration and operation easy.
Potential feed terminals for isolated groups
The operating voltage is passed on to following terminals via three power contacts. You can divide the
terminal strip into arbitrary isolated groups by means of potential feed terminals. The potential feed terminals
play no part in the control of the terminals, and can be inserted at any locations within the terminal strip.
Up to 64 Bus Terminals can be used in a terminal block, with optional K-bus extension for up to 256 Bus
Terminals. This count does include potential feed terminals, but not the end terminal.
Bus Couplers for various fieldbus systems
Various Bus Couplers can be used to couple the electronic terminal strip quickly and easily to different
fieldbus systems. It is also possible to convert to another fieldbus system at a later time. The Bus Coupler
performs all the monitoring and control tasks that are necessary for operation of the connected Bus
Terminals. The operation and configuration of the Bus Terminals is carried out exclusively by the Bus
Coupler. Nevertheless, the parameters that have been set are stored in each Bus Terminal, and are retained
in the event of voltage drop-out. Fieldbus, K-bus and I/O level are electrically isolated.
If the exchange of data over the fieldbus is prone to errors or fails for a period of time, register contents (such
as counter states) are retained, digital outputs are cleared, and analog outputs take a value that can be
configured for each output when commissioning. The default setting for analog outputs is 0 V or 0 mA. Digital
outputs return in the inactive state. The timeout periods for the Bus Couplers correspond to the usual
settings for the fieldbus system. When converting to a different bus system it is necessary to bear in mind the
need to change the timeout periods if the bus cycle time is longer.
The interfaces
A Bus Coupler has six different methods of connection. These interfaces are designed as plug connectors
and as spring-loaded terminals.
BK9000, BK9050, BK9100
Version: 4.3.0
15
Product overview
2.5
The principle of the Bus Terminal
Fig. 4: The principle of the Bus Terminal
2.6
Ethernet
Ethernet was originally developed by DEC, Intel and XEROX (as the " DIX " standard) for passing data
between office devices. The term nowadays generally refers to the IEEE 802.3 CSMA/CD specification,
published in 1985. Because of the high acceptance around the world this technology is available everywhere
and is very economical. This means that it is easy to make connections to existing networks.
There are now a number of quite different transmission media: coaxial cable (10Base5), optical fiber
(10BaseF) or twisted pairs (10BaseT) with screen (STP) or without screen (UTP). Using Ethernet, different
topologies can be built such as ring, line or star.
Ethernet transmits Ethernet packets from a sender to one or more receivers. This transmission takes place
without acknowledgement, and without the repetition of lost packets. To achieve reliable data
communication, there are protocols, such as TCP/IP, that can run on top of Ethernet.
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Product overview
Basic principles
The Internet Protocol (IP)
The internet protocol (IP) forms the basis of this data communication. IP transports data packets from one
device to another; the devices can be in the same network, or in different networks. IP here looks after the
address management (finding and assigning MAC-IDs), segmentation and routing. Like the Ethernet
protocol, IP does not guarantee that the data is transported - data packets can be lost, or their sequence can
be changed.
TCP/IP was developed to provide standardised, reliable data exchange between any numbers of different
networks. TCP/IP was developed to provide standardised, reliable data exchange between any numbers of
different networks. Although the term is often used as if it were a single concept, a number of protocols are
layered together: e.g. IP, TCP, UDP, ARP and ICMP.
Transmission Control Protocol (TCP)
The Transmission Control Protocol (TCP) which runs on top of IP is a connection-oriented transport protocol.
It includes error detection and handling mechanisms. Lost telegrams are repeated.
User Datagram Protocol (UDP)
UDP is connectionless transport protocol. It provides no control mechanism when exchanging data between
sender and receiver. This results in a higher processing speed than, for example, TCP. Checking whether or
not the telegram has arrived must be carried out by the higher-level protocol.
Internet Control Message Protocol (ICMP)
It is used by end devices, to exchange information about the current status of the internet protocol.
Address Resolution Protocol (ARP)
Performs conversion between the IP addresses and MAC addresses.
BootP
The BootP protocol allows the TCP/IP address to be set or altered, by addressing the network device with its
MAC-ID.
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Mounting and wiring
3
Mounting and wiring
3.1
Mechanical installation
3.1.1
Dimensions
The system of the Beckhoff Bus Terminals is characterized by low physical volume and high modularity.
When planning a project it must be assumed that at least one Bus Coupler and a number of Bus Terminals
will be used. The dimensions of the Bus Couplers are independent of the fieldbus system.
Fig. 5: BK9000, BK9100, BC9000, BC9020, BC9100, BC9120 - dimensions
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Mounting and wiring
Fig. 6: BK9050, BC9050 - dimensions
The total width in practical cases is composed of the width of the Bus Coupler, the width of the bus terminals
in use and the KL9010 Bus End Terminal. Depending on function, the Bus Terminals are 12 or 24 mm wide.
The front wiring increases the total height of 68 mm by about 5 to 10 mm, depending on the wire thickness.
BK9000, BK9050, BK9100
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Mounting and wiring
3.1.2
Installation on mounting rails
WARNING
Risk of injury through electric shock and damage to the device!
Bring the Bus Terminals system into a safe, de-energized state before starting mounting, disassembly or
wiring of the Bus Terminals.
Mounting
The Bus Couplers and Bus Terminals are attached to commercially available 35 mm mounting rails (DIN rail
according to EN 60715) by applying slight pressure:
1. First attach the Fieldbus Coupler to the mounting rail.
2. The Bus Terminals are now attached on the right-hand side of the fieldbus Coupler. Join the components with slot and key and push the terminals against the mounting rail, until the lock clicks onto the
mounting rail.
If the terminals are clipped onto the mounting rail first and then pushed together without tongue and
groove, the connection will not be operational! When correctly assembled, no significant gap should
be visible between the housings.
Fixing of mounting rails
The locking mechanism of the terminals and couplers extends to the profile of the mounting rail. At
the installation, the locking mechanism of the components must not come into conflict with the fixing
bolts of the mounting rail. To mount the mounting rails with a height of 7.5 mm under the terminals
and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).
Disassembly
Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:
1. Carefully pull the orange-colored lug approximately 1 cm out of the terminal to be disassembled, until
it protrudes loosely. The lock with the mounting rail is now released for this terminal, and the terminal
can be pulled from the mounting rail without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved
housing surfaces and pull the terminal away from the mounting rail.
Connections within a Bus Terminal block
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by
joining the components:
• The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus
Terminal electronics.
• The power contacts deal with the supply for the field electronics and thus represent a supply rail within
the Bus Terminal block. The power contacts are supplied via terminals on the Bus Coupler.
Power contacts
During the design of a Bus Terminal block, the pin assignment of the individual Bus Terminals must
be taken account of, since some types (e.g. analog Bus Terminals or digital 4-channel Bus Terminals) do not or not fully loop through the power contacts. Power Feed Terminals (KL91xx, KL92xx
and EL91xx, EL92xx) interrupt the power contacts and thus represent the start of a new supply rail.
PE power contact
The power contact labelled PE can be used as a protective earth. For safety reasons this contact mates first
when plugging together, and can ground short-circuit currents of up to 125 A.
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Mounting and wiring
NOTE
Risk of damage to the device
Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the
mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g.
disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V).
For insulation testing, disconnect the PE supply line at the Bus Coupler or the Power Feed Terminal! In order to decouple further feed points for testing, these Power Feed Terminals can be released and pulled at
least 10 mm from the group of terminals.
WARNING
Risk of electric shock!
The PE power contact must not be used for other potentials!
Wiring
Up to eight connections enable the connection of solid or finely stranded cables to the Bus Terminals. The
terminals are implemented in spring force technology. Connect the cables as follows:
1. Open a spring-loaded terminal by slightly pushing with a screwdriver or a rod into the square opening
above the terminal.
2. The wire can now be inserted into the round terminal opening without any force.
3. The terminal closes automatically when the pressure is released, holding the wire safely and permanently.
Shielding
Analog sensors and actuators should always be connected with shielded, pair-wise twisted cables.
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Mounting and wiring
3.2
Wiring
3.2.1
Power supply, potential groups
Power supply for the Bus Coupler
The Bus Couplers require a 24 VDC supply for their operation. The connection is made by means of the upper
spring-loaded terminals labelled 24 V and 0 V. The supply voltage feeds the Bus Coupler electronics and,
over the K-Bus/E-Bus, the Bus Terminals. The power supply for the Bus Coupler electronics and that of the
K-Bus/E-Bus are electrically separated from the potential of the field level.
Power supply for the power contacts
The bottom six connections with spring-loaded terminals can be used to feed the supply for the peripherals.
The spring-loaded terminals are joined in pairs to a power contact. The feed for the power contacts has no
connection to the voltage supply for the Bus Coupler. The design of the feed permits voltages of up to 24 V.
The assignment in pairs and the electrical connection between feed terminal contacts allows the connection
wires to be looped through to various terminal points. The current drawn from the power contacts must not
exceed 10 A for long periods. The current carrying capacity between two spring-loaded terminals is identical
to that of the connecting wires.
Power contacts
On the right hand face of the Bus Coupler there are three spring contacts for the power contact connections.
The spring contacts are hidden in slots so that they cannot be accidentally touched. By attaching a Bus
Terminal the blade contacts on the left hand side of the Bus Terminal are connected to the spring contacts.
The tongue and groove guides on the top and bottom of the Bus Coupler and of the Bus Terminals
guarantees that the power contacts mate securely.
Configuration interface (not for BK1250, EK1x00)
The standard Bus Couplers have an RS232 interface at the bottom of the front face. The miniature connector
can be joined to a PC with the aid of a connecting cable and the KS2000 configuration software. The
interface permits the Bus Terminals to be configured, for example adjusting the amplification factors of the
analog channels. The interface can also be used to change the assignments of the bus terminal data to the
process image in the Bus Coupler. The functionality of the configuration interface can also be reached via
the fieldbus using string communication facility.
Electrical isolation
The bus couplers operate by means of three independent potential groups. The supply voltage feeds the KBus/E-Bus electronics in the Bus Coupler and the K-Bus/E-Bus itself in an electrically isolated manner. The
supply voltage is also used to generate the operating voltage for the fieldbus.
Note: All Bus Terminals are electrically isolated from the K-Bus/E-bus. The K-Bus/E-bus is therefore
completely electrically isolated.
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Mounting and wiring
Fig. 7: Electrical isolation
3.2.2
Ethernet connection
The connection to Ethernet is made via an RJ45 connector (a Western plug).
Fig. 8: RJ45 connector (Western plug)
Cabling
Connection via hub or switch
Fig. 9: Ethernet connection via hub or switch
Connect the PC's network card to the hub/switch using a standard Ethernet cable, and connect the hub,
again using a standard Ethernet cable, to the Bus Terminal controller. Connection via a switch is done in the
same way.
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Mounting and wiring
Direct connection between PC with Ethernet card and BC9000
Fig. 10: Direct Ethernet connection (crossover cable)
Use a crossover Ethernet cable to connect the PC directly with the Bus Terminal Controller.
Pin assignment of the RJ45 plug
PIN
1
2
3
4
5
6
7
8
3.2.3
Signal
TD +
TD RD +
RD -
Description
Transmit +
Transmit Receive +
reserved
reserved
Receive reserved
reserved
Ethernet topologies
BK9000, BK9050, BC9000, BC9020, BC9050
These Bus Couplers and Bus Terminal controllers have a single Ethernet connection. This can be connected
directly to an external switch. This makes it possible to construct the typical Ethernet star topology.
Fig. 11: Ethernet layout in star topology
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Mounting and wiring
BK9100, BC9100, BC9120, BC9191
These Bus Couplers and Bus Terminal controllers have an internal triple switch with one internal and two
external ports. The internal switch enables the simple construction of a linear topology. A maximum of 20
BK9100/BC91x0/BC9191 can be connected in series in a physical line. However the distance between two
Ethernet devices may not exceed 100 m. The maximum overall line length is therefore 2 km. No further
switches may be included in this line.
Fig. 12: Ethernet layout in linear topology
Of course, the construction of a classic star topology is also possible with these Bus Couplers and Bus
Terminal controllers.
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Mounting and wiring
3.2.4
Ethernet cable
Transmission standards
10Base5
The transmission medium for 10Base5 consists of a thick coaxial cable ( " yellow cable " ) with a max.
transmission speed of 10 Mbaud arranged in a line topology with branches (drops) each of which is
connected to one network device. Because all the devices are in this case connected to a common
transmission medium, it is inevitable that collisions occur often in 10Base5.
10Base2
10Base2 (Cheaper net) is a further development of 10Base5, and has the advantage that the coaxial cable is
cheaper and, being more flexible, is easier to lay. It is possible for several devices to be connected to one
10Base2 cable. It is frequent for branches from a 10Base5 backbone to be implemented in 10Base2.
10BaseT
Describes a twisted pair cable for 10 Mbaud. The network here is constructed as a star. It is no longer the
case that every device is attached to the same medium. This means that a broken cable no longer results in
failure of the entire network. The use of switches as star couplers enables collisions to be reduced. Using
full-duplex connections they can even be entirely avoided.
100BaseT
Twisted pair cable for 100 Mbaud. It is necessary to use a higher cable quality and to employ appropriate
hubs or switches in order to achieve the higher data rate.
10BaseF
The 10BaseF standard describes several optical fiber versions.
Short description of the 10BaseT and 100BaseT cable types
Twisted-pair copper cable for star topologies, where the distance between two devices may not exceed 100
meters.
UTP
Unshielded twisted pair
This type of cable belongs to category 3, and is not recommended for use in an industrial environment.
S/UTP
Screened/unshielded twisted pair (screened with copper braid)
Has an overall shield of copper braid to reduce influence of external interference. This cable is
recommended for use with Bus Couplers.
FTP
Foiled shielded twisted pair (screened with aluminium foil)
This cable has an outer screen of laminated aluminium and plastic foil.
S/FTP
Screened/foiled-shielded twisted pair (screened with copper braid and aluminium foil)
Has a laminated aluminium screen with a copper braid on top. Such cables can provide up to 70 dB
reduction in interference power.
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Mounting and wiring
STP
Shielded twisted pair
Describes a cable with an outer screen, without defining the nature of the screen any more closely.
S/STP
Screened/shielded twisted pair (wires are individually screened)
This identification refers to a cable with a screen for each of the two wires as well as an outer shield.
ITP
Industrial Twisted-Pair
The structure is similar to that of S/STP, but, in contrast to S/STP, it has only one pair of conductors.
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3.3
ATEX
3.3.1
ATEX - Special conditions (standard temperature range)
WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components with
standard temperature range in potentially explosive areas (directive 2014/34/EU)!
• The certified components are to be installed in a suitable housing that guarantees a protection class of at
least IP54 in accordance with EN 60079-15! The environmental conditions during use are thereby to be
taken into account!
• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or
pipes, or higher than 80°C at the wire branching points, then cables must be selected whose temperature data correspond to the actual measured temperature values!
• Observe the permissible ambient temperature range of 0 to 55°C for the use of Beckhoff fieldbus components standard temperature range in potentially explosive areas!
• Measures must be taken to protect against the rated operating voltage being exceeded by more than
40% due to short-term interference voltages!
• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!
• The connections of the certified components may only be connected or disconnected if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
• The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the supply voltage has
been switched off or if a non-explosive atmosphere is ensured!
• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if
a non-explosive atmosphere is ensured!
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2012+A11:2013
• EN 60079-15:2010
Marking
The Beckhoff fieldbus components with standard temperature range certified according to the ATEX directive
for potentially explosive areas bear one of the following markings:
II 3G KEMA 10ATEX0075 X Ex nA IIC T4 Gc Ta: 0 … +55°C
or
II 3G KEMA 10ATEX0075 X Ex nC IIC T4 Gc Ta: 0 … +55°C
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Mounting and wiring
3.3.2
ATEX - Special conditions (extended temperature range)
WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components with
extended temperature range (ET) in potentially explosive areas (directive 2014/34/EU)!
• The certified components are to be installed in a suitable housing that guarantees a protection class of at
least IP54 in accordance with EN 60079-15! The environmental conditions during use are thereby to be
taken into account!
• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or
pipes, or higher than 80°C at the wire branching points, then cables must be selected whose temperature data correspond to the actual measured temperature values!
• Observe the permissible ambient temperature range of -25 to 60°C for the use of Beckhoff fieldbus components with extended temperature range (ET) in potentially explosive areas!
• Measures must be taken to protect against the rated operating voltage being exceeded by more than
40% due to short-term interference voltages!
• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!
• The connections of the certified components may only be connected or disconnected if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
• The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the supply voltage has
been switched off or if a non-explosive atmosphere is ensured!
• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if
a non-explosive atmosphere is ensured!
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2012+A11:2013
• EN 60079-15:2010
Marking
The Beckhoff fieldbus components with extended temperature range (ET) certified according to the ATEX
directive for potentially explosive areas bear the following marking:
II 3G KEMA 10ATEX0075 X Ex nA IIC T4 Gc Ta: -25 … +60°C
or
II 3G KEMA 10ATEX0075 X Ex nC IIC T4 Gc Ta: -25 … +60°C
3.3.3
ATEX Documentation
Notes about operation of the Beckhoff terminal systems in potentially explosive areas (ATEX)
Pay also attention to the continuative documentation
Notes about operation of the Beckhoff terminal systems in potentially explosive areas (ATEX)
that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com!
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Parameterization and commissioning
4
Parameterization and commissioning
4.1
Start-up behaviour of the Bus Coupler
Immediately after being switched on, the Bus Coupler checks, in the course of a self-test, all the functions of
its components and the communication on the K-bus/E-bus. The red I/O LED blinks while this is happening.
After completion of the self-test, the Bus Coupler starts to test the attached Bus Terminals (the " Bus
Terminal Test " ), and reads in the configuration. The Bus Terminal configuration is used to generate an
internal structure list, which is not accessible from outside. In case of an error, the Bus Coupler enters the
Stop state. Once the start-up has completed without error, the Bus Coupler enters the fieldbus start state.
Fig. 13: Start-up behaviour of the Bus Coupler
The Bus Coupler can be made to enter the normal operating state by switching it on again once the fault has
been rectified.
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Parameterization and commissioning
4.2
Parameterization of the Bus Coupler using DIP
switches
The following parameterizations can be carried out without using configuration software, with the aid of the
DIP switches and the end terminal (KL9010).
This paramétrisation mode is only active if only one end terminal (KL9010) is inserted. Otherwise, the normal
settings apply.
Restoring the manufacturer's settings
• Switch the Bus Coupler off and then append the end terminal (KL9010).
• Set all the DIP switches to ON, and switch the Bus Coupler on again.
• Once the default parameters have successfully been set, the Error LED lights, and the I/O RUN and I/
O ERR LEDs flash alternately.
• You can then switch the Bus Coupler off, connect the Bus Terminals, and continue as usual.
Deleting the boot project (BC9000 only)
• Switch the Bus Coupler off and then append the end terminal (KL9010).
• Set DIP switches 1 to 9 to ON, DIP switch 10 to OFF, and switch the Bus Coupler on again.
• Once the boot project has been successfully deleted, the I/O RUN and I/O ERR LEDs flash alternately.
• You can then switch the Bus Coupler off, connect the Bus Terminals, and continue as usual.
Setting the Ethernet parameters
• Switch the Bus Coupler off and then append the end terminal (KL9010).
• Set all the DIP switches to OFF, and switch the Bus Coupler on again.
• The I/O RUN and I/O ERR LEDs light steadily.
• Make the desired setting in accordance with the following table.
DIP switch
1
Parameter
Baud rate
2
Auto-Baud-Rate
3
Transmission type
Selection
10 MBaud
100 MBaud
Disable
Enable
Half duplex
Full duplex
Setting
OFF (0)
ON (1)
OFF (0)
ON (1)
OFF (0)
ON (1)
Comment
Default
Default
Default
• To accept the values, set DIP switch 10 to ON.
By flashing the I/O RUN and I/O ERR LEDs the Bus Coupler indicates that it has accepted the
parameters.
• You can then switch the Bus Coupler off, connect the Bus Terminals, and continue as usual.
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Parameterization and commissioning
4.3
Network classes
Three different network classes are distinguished. They determine how many address bits are reserved for
the network ID and how many for the node number (e.g. for PCs or Bus Couplers). The difference is located
in the first three bits of the IP address.
Network
class
A
B
C
Number of bits for
the network ID
7
14
21
Enables no. of
networks
126
16 382
2 097 150
No. of bits for the
node address
24
16
8
Enables no. of nodes per
network
16 777 214
65 536
254
Unique IP address
An IP address must be unique within the entire connected network!
Fig. 14: Network classes
Identical network class
In a communication with another Ethernet devices, the IP address set must have the same network
class. Sample: Your PC has the address 172.16.17.55, which means the coupler must have the address 172.16.xxx.xxx (xxx stands for a number between 0 and 255. 0 is usually used by the router/
switch and should therefore remain reserved).
In order to see the PC's own address, the command ipconfig can be entered into a DOS window under
Windows NT/2000/XP.
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Parameterization and commissioning
4.4
IP address
4.4.1
IP address
The IP address can be set using four different procedures, and these will be described in more detail below.
Procedure
KS2000
Explanation
Addressing using the KS2000 configuration software
and DIP switches [} 33]
Necessary components
KS2000 configuration software and
KS2000 cable
ARP
Addressing via the ARP table [} 34]
PC with network
BootP
Addressing via BootP server [} 35]
Addressing via DHCP server
BootP server
DHCP
4.4.2
DHCP server
Configuration with KS2000
The KS2000 configuration software (from version 3.2.8) can be used to set the TCP/IP address in a dialog
box, or it can be written directly into the registers. DIP switches 9 and 10 (for BK9050 DIP switches 1 and 2
in blue) should both be OFF (0) before switching on.
Table 100
Register
0
1
High byte
IP-Byte 2
Not used
Low byte
IP-Byte 1
IP-Byte 3
Default value (hex)
0xAC
0x10
0x11
(DIP switch)
Default value (dec)
172dec
16dec
17dez
(0 to 255dec)
Default
Byte
1
2
3
4
Sample
Fig. 15: BK9000, BK9100, BC9000, BC9100
Fig. 16: BK9050
Switch no.
Valence
In this example
Value
1
1
ON
1
BK9000, BK9050, BK9100
2
2
OFF
0
3
4
OFF
0
4
8
ON
8
5
16
OFF
0
6
32
OFF
0
Version: 4.3.0
7
64
ON
64
8
128
ON
128
9 (1)
OFF
-
10 (2)
OFF
Total=201
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Parameterization and commissioning
Software reset
A software reset of the BK9500 is required in order to save changes in the tables of a BK9000. A
hardware reset (power on/off) is not sufficient!
4.4.3
Setting the IP address using the ARP table
An easy method of modifying the IP address is to set the address using the DOS window. It is, however, only
possible to alter addresses within the same network class. The new IP address that has been set remains
stored even after the Bus Coupler has been switched off.
Procedure
• Set DIP switches 9 and 10 to OFF. DIP switches 1-8 then no longer have any address function.
• Open a DOS box on your PC.
• Enter the command " ping & lt; OLD IP address & gt; " to create an entry in the ARP table.
• Read the table with the command " ARP -a " .
• Enter " ARP -d & lt; OLD IP address & gt; " to remove the Bus Coupler from the table.
• Use " ARP -s & lt; NEW IP address & gt; & lt; MAC-ID [} 37] & gt; " to make an entry manually.
• With " ping -l 123 & lt; NEW IP address & gt; " the new IP address becomes valid.
A short flash from the ERROR LED at the moment of switching on indicates that the Bus Coupler is being
addressed by ARP, and that DIP switches 1-8 give no indication of the address that is set.
Changing the IP address
If the IP address is changed, all dynamic ARP entries must be deleted. Only one ping with a length
of 123 bytes is permitted for the reconfiguration of the IP address ( & gt; ping -l " IP-Address & lt; ).
Sample
1. C: & gt; ping 172.16.17.255
2. C: & gt; ARP -a
172.16.17.255 00-01-05-00-11-22
3. C: & gt; arp -d 172.16.17.255
4. C: & gt; arp -s 172.16.44.44 00-01-05-00-11-22
5. C: & gt; ping -l 123 172.16.44.44
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Parameterization and commissioning
4.4.4
Setting the IP Address Using the Beckhoff BootP Server
If the address is to be set by the Beckhoff BootP server, then set DIP switch 9 to ON (1) and DIP switch 10
to OFF (0). DIP switches 1-8 then no longer have any address function. If this is not the case, the Bus
Coupler reports LED error code 6-4 (see diagnostics LEDs). The TCP/IP ERROR LED flashes while the
address is being allocated.
IP address save modes
DIP switches 1-8 in the ON position
The address assigned by the BootP server is stored, and the BootP service will not be restarted after the
next cold start.
The address can be cleared again by reactivating the manufacturers' settings (using the KS2000 software or
by DIP switch and end terminal [} 31]).
DIP switches 1-8 in the OFF position
The IP address assigned by the BootP server is only valid until the Bus Coupler is switched off. The BootP
server must assign a new IP address to the Bus Coupler at the next cold start.
The address is, however, retained through a software reset of the Bus Coupler.
Beckhoff BootP server
Beckhoff supply a BootP server for Windows 98, ME, NT4.0, NT2000 and XP. The installation version of the
Beckhoff TwinCAT CD can be found under the folder & gt; Unsupported Utilities & lt; or under https://
download.beckhoff.com/download/software/TwinCAT/TwinCAT2/Unsupported_Utilities/TcBootP_Server/
Fig. 17: Configuration of the Beckhoff BootP server
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Parameterization and commissioning
As soon as the BootP server has started, the New MAC Address window shows all the Beckhoff nodes that
are working in BootP mode and still have not received an IP address. The assignment of the MAC-ID [} 37]
to IP address is made with the " & lt; & lt; " button. Successful assignment is displayed in the log window.
To start the BootP server automatically when your PC boots, it is only necessary to provide a shortcut in the
Windows autostart folder. Include the /Start parameter in the shortcut (.../TcBootPDlg.exe/start).
4.4.5
Setting the address using a DHCP server
To set the address by means of a DHCP server, set DIP switch 9 to OFF (0) and DIP switch 10 to ON (1).
In this state the DHCP service is switched on, and the Bus Coupler is assigned an IP address by the DHCP
server.
The DHCP server must know the MAC ID of the Bus Coupler and should assign the same IP address to this
MAC ID on each startup.
The TCP/IP error LED flashes while the address is being allocated.
4.4.6
Subnet mask
The subnet mask is subject to the control of the network administrator, and specifies the structure of the
subnet.
Small networks without a router do not require a subnet mask. The same is true if you do not use registered
IP numbers. A subnet mask can be used to subdivide the network with the aid of the mask instead of using a
large number of network numbers.
The subnet mask is a 32-bit number:
• Ones in the mask indicate the subnet part of an address space.
• Zeros indicate that part of the address space which is available for the host IDs.
Description
IP address
Subnet mask
Network ID
Host ID
Binary representation
10101100.00010000.00010001.11001000
11111111.11111111.00010100.00000000
10101100.00010000.00010000.00000000
00000000.00000000.00000001.11001000
Decimal representation
172.16.17.200
255.255.20.0
172.16.16.0
0.0.1.200
Standard subnet mask
Address class
A
B
C
Standard subnet mask (decimal)
255.0.0.0
255.255.0.0
255.255.255.0
Standard subnet mask (hex)
FF.00.00.00
FF.FF.00.00
FF.FF.FF.00
Subnets and host number
Neither subnet 0 nor the subnet consisting only of ones may be used. Neither host number 0 nor
the host number consisting only of ones may be used!
If the IP address is set using the KS2000 configuration software, it is necessary for the subnet mask
also to be changed with the KS2000 configuration software.
If ARP addressing is used, the associated standard subnet mask, based on the IP address, is entered.
Under BootP or DHCP the subnet mask is transmitted also by the server.
4.4.7
Testing the IP address
To test the IP address you can use the Ping command in a Windows prompt.
36
Version: 4.3.0
BK9000, BK9050, BK9100
Parameterization and commissioning
Fig. 18: Testing the IP address using the Ping command
4.4.8
Reading the MAC-ID
Proceed as follows to read the MAC-ID.
• Change the IP address of your PC to 172.16.x.x. and the subnet mask to 255.255.0.0
In the delivery condition of the BC9000 or BK9000, the IP address is 172.16.17.255 (DIP switches 1 to
8 set to ON).
• Start the DOS window
• Send a ping & gt; ip-address & lt; to the IP address 172.16.17.255
• Read the MAC-ID with arp -a.
BK9000, BK9050, BK9100
Version: 4.3.0
37
Configuration
5
Configuration
5.1
ModbusTCP
5.1.1
ModbusTCP Process Image
The ModbusTCP process image makes a fundamental distinction between digital and byte-oriented and
word-oriented signals (Bus Terminals). Additionally, a distinction is made between inputs and outputs. The
mapping table [} 39] shows which Bus Terminals belong to which mapping.
Digital inputs
Offset 0 ... 4095
Modbus function
Reading 2
Writing: -
Digital outputs
Offset 0 ... 4095
Modbus function
Reading 1
Writing 5, 15
Analog/digital inputs
Offset 0x000 ... 0x0FF
Modbus function
Reading 3, 23
Writing: -
Analog/digital outputs
Offset 0x800 ... 0x8FF
Modbus function
Reading 3, 4, 23
Reading 3, 4, 23
This will be clarified by examples.
Sample 1
1 x BK9000
4 x KL1xx4
2 x KL2xx2
1 x KL9010
Inputs
Modbus function
3 read
4 read
2 read
Modbus address/offset
0x0000
0x0000
0x0000 0x000F
Outputs
Bus Termi- Modbus funcnal
tion
4 x KL1xx4 3 read
1 read
5 write
15 write
6 write
16 write
23 write
Modbus address/offset Bus Terminal
0x0800
2 x KL2xx2
0x0000
0x0000-0x0003
0x0000-0x0003
0x800
0x800
0x800
Sample 2
1 x BK9000
4 x KL1xx4
2 x KL2xx2
1 x KL1501
1 x KL3xx2
1 x KL4xx2
1 x KL9010
38
Version: 4.3.0
BK9000, BK9050, BK9100
Configuration
Inputs
Modbus function
3, 4 read
3, 4 read
3, 4 read
Outputs
Modbus adBus Termi- Modbus funcdress/offset
nal
tion
0x0000..0002
KL1501
3 read
6, 16 write
0x0003..0x0006 KL3xx2
3 read
6, 16 write
0x0007..0x000A KL4xx2
3 read
6, 16 write
3 read
0x000B
4 read
2 read
0x000B
0x0000 0x000F
3 read
4 read
1 read
5 write
0x080B
0x080B
0x0000-0x0003
0x0000-0x0003
15 write
6 write
16 write
23 write
5.2
4 x KL1xx4
Modbus address/offset Bus Terminal
0x0800..0802
KL1501
0x0800..0802
0x0803..0x0806
KL3xx2
0x0803..0x0806
0x0807..0x080A
KL4xx2
0x0807..0x080A
2 x KL2xx2
0x0000-0x0003
0x80B
0x80B
0x80B
Mapping the Bus Terminals
The precise assignment of the byte-oriented Bus Terminals may be found in the configuration guide for the
particular bus terminal. This documentation is available on the Beckhoff Products & Solutions CD or on the
Internet under http://www.beckhoff.de.
Byte oriented Bus Terminals
KL15x1
KL25xx
KL3xxx
KL4xxx
KL5xxx
KL6xxx
KL7xxx
KL8xxx
Bit oriented Bus Terminals
KL10xx, KL11xx, KL12xx, KL17xx, KM1xxx
KL20xx, KL21xx, KL22xx, KL26xx, KL27xx, KM2xxx
KL9110, KL9160, KL9210, KL9260
5.3
TwinCAT System Manager
5.3.1
Configuration using the System Manager
Enter a general Ethernet card in the TwinCAT System Manager under devices. If the Bus Couplers are
already connected to the network and have IP addresses, you can also read these. This will cause all the
Bus Couplers with Bus Terminals and their configurations to be loaded. You can then adapt these to meet
your requirements.
BK9000, BK9050, BK9100
Version: 4.3.0
39
Configuration
Fig. 19: Reading the connected Bus Couplers and Bus Terminals
Commissioning with 6 or more Ethernet nodes
If you enter more than five nodes in the System Manager, you will have to increase the router memory. You
will find this setting in the System Manager under Real Time Settings. Enter 350 kB there for each Bus
Coupler. This will give, for instance, 3.5 MB (10 x 350 kB) for 10 Bus Couplers.
Fig. 20: Setting the router memory
Note: The router memory depends on your PC's main memory, and there is a limit to how high it can be set.
Calculation of the maximum possible router memory:
max. router memory [MB] = (1 MB +((RAM [MB] - 4 MB ) x 0.4)
Sample
Suppose your PC has 128 MB of RAM:
1 MB +(128 MB - 4 MB) x 0.4 = 50.6 MB
So the maximum size of the router memory must not exceed 50.6 MB if there is 128 MB of RAM.
40
Version: 4.3.0
BK9000, BK9050, BK9100
Configuration
5.3.2
ADS Process Image
The process image of the Bus Terminals is sub-divided into input image and output image. The Bus Coupler
first maps all complex (byte-oriented) Bus Terminals into the process image in the order in which they are
inserted, and only at the end attaches the digital Bus Terminals to the process image.
The complex (byte-oriented) Bus Terminals are mapped as follows:
• Complete evaluation
• Word alignment
• Intel format
Sample 1
BK9000
4 x KL1xx4
2 x KL2xx2
1 x KL9010
Pos.
1
2
3
4
5
6
9
Bus Terminal
KL1xx4
KL1xx4
KL1xx4
KL1xx4
KL2xx2
KL2xx2
KL6010
Input %I..
0.0 ... 0.3
0.4 ... 0.7
1.0 ... 1.3
1.4 ... 1.7
-
Output %Q..
0.0 ... 0.1
0.2 ... 0.3
-
Bus Terminal
KL1501
KL3xx2
KL4xx2
KL1xx4
KL1xx4
KL1xx4
KL1xx4
KL2xx2
KL2xx2
KL6010
Input %I..
0..5
6..13
14..21
22.0..22.3
22.4..22.7
23.0..23.3
23.4..23.7
-
Output %Q..
0..5
6..13
14..21
22.0...22.1
22.2...22.3
-
Sample 2
BK9000
4 x KL1xx4
2 x KL2xx2
1 x KL1501
1 x KL3xx2
1 x KL4xx2
1 x KL9010
Pos.
1
2
3
4
5
6
7
8
9
10
BK9000, BK9050, BK9100
Version: 4.3.0
41
Configuration
5.3.3
The IP Address tab
Ethernet components require an unambiguous IP address in the network. The setting dialog necessary for
configuration of the fieldbus nodes in the TwinCAT system is described below. The tab illustrated appears
after you have selected a BK9000, BC9000 or other Ethernet fieldbus device with the right mouse button
(Add box) under your Ethernet cards in the System Manager.
Fig. 21: The IP Address tab
Host name
The name of the Bus Coupler station can be edited here.
IP address
Enter the IP address of the Bus Coupler here.
GetHostByName
By clicking this button you can (as from BK9000 firmware version B2) obtain an IP address from a Windows
2000 DHCP (Dynamic Host Configuration Protocol) server.
AMS Address
Reports the Bus Coupler's AMS Net ID. It is automatically generated from the IP address by adding two
additional bytes (e.g. " .1.1 " ).
BootP
This checkbox can be activated if the Beckhoff BootP server has been installed and started (as from
TwinCAT Version 2.8).
New MAC Addresses
If the Beckhoff BootP server [} 35] has been started, the MAC addresses (Media Access Controller) of
Ethernet fieldbus devices that have newly been connected can be displayed by clicking this button. If only
one new Ethernet fieldbus device has been connected, then only one new MAC address will accordingly be
displayed. You can then assign it to the desired IP address in the IP address field described above. Each
time another Ethernet fieldbus component is added you can repeat this process on the tab described here
for the new device.
Communication Settings
Settings for IP (Internet Protocol) communication.
42
Version: 4.3.0
BK9000, BK9050, BK9100
Configuration
TCP
If this option is active (which is the default) the communication is handled by TCP (Transmission Control
Protocol). This means that telegram packets to and from Bus Couplers are exchanged using a reliable
(acknowledged) mechanism.
UDP
If this option is selected, communication is handled by UDP (User Datagram Protocol). In contrast to TCP,
the individual telegram packets are not exchanged using a reliable mechanism. They are, in other words, not
individually acknowledged by the receiver after they have arrived. Telegram packets that are damaged or
whose sequence has become disturbed are neither re-sent nor sorted. The advantage of UDP is that the
telegram transfer times can be calculated, because it is not necessary to wait for an answer from the
receiver. It is therefore possible to talk of UDP in terms of a limited real-time capability.
Max. Warning Level
This setting option is only active with UDP. The maximum value of the error counter can be entered here.
Waiting for response telegrams from the fieldbus node stops when the set maximum value has been
reached. Instead, read telegrams only, based on a higher cycle time, are sent to the fieldbus nodes.
No Auto Retries
This checkbox also can only be selected when the UDP option is active. If this checkbox is active, then when
the level set under Max. Warning Level has been reached it will be necessary to execute the IO/Reset
function. No outputs will be output as long as no reset has been triggered.
BK9000, BK9050, BK9100
Version: 4.3.0
43
Fieldbus system
6
Fieldbus system
6.1
Ethernet
Ethernet was originally developed by DEC, Intel and XEROX (as the " DIX " standard) for passing data
between office devices. The term nowadays generally refers to the IEEE 802.3 CSMA/CD specification,
published in 1985. Because of the high acceptance around the world this technology is available everywhere
and is very economical. This means that it is easy to make connections to existing networks.
There are now a number of quite different transmission media: coaxial cable (10Base5), optical fiber
(10BaseF) or twisted pairs (10BaseT) with screen (STP) or without screen (UTP). Coaxial cable (10Base5),
optical fiber (10BaseF) or twisted pairs (10BaseT) with screen (STP) or without screen (UTP).
Ethernet transmits Ethernet packets from a sender to one or more receivers. This transmission takes place
without acknowledgement, and without the repetition of lost packets. To achieve reliable data
communication, there are protocols, such as TCP/IP, that can run on top of Ethernet.
MAC-ID
The sender and receiver of Ethernet packets are addressed by means of the MAC-ID. The MAC-ID is a 6
byte identification code unique to every Ethernet device in the world. The MAC-ID consists of two parts. The
first part (i.e. the first 3 bytes) is a manufacturer identifier. The identifier for Beckhoff is 00 01 05. The next 3
bytes are assigned by the manufacturer and implement a unique serial number. The MAC-ID can, for
example, be used for the BootP protocol in order to set the TCP/IP number. This involves sending a
telegram containing the information such as the name or the TCP/IP number to the corresponding node. You
can read the MAC-ID with the KS2000 configuration software.
The Internet Protocol (IP)
The internet protocol (IP) forms the basis of this data communication. IP transports data packets from one
device to another; the devices can be in the same network, or in different networks. IP here looks after the
address management (finding and assigning MAC-IDs), segmentation and routing. Like the Ethernet
protocol, IP does not guarantee that the data is transported - data packets can be lost, or their sequence can
be changed.
TCP/IP was developed to provide standardized, reliable data exchange between any numbers of different
networks. TCP/IP was developed to provide standardized, reliable data exchange between any numbers of
different networks. Although the term is often used as if it were a single concept, a number of protocols are
layered together: z. B. IP, TCP, UDP, ARP and ICMP.
Transmission Control Protocol (TCP)
The Transmission Control Protocol (TCP) which runs on top of IP is a connection-oriented transport protocol.
It includes error detection and handling mechanisms. Lost telegrams are repeated.
User Datagram Protocol (UDP)
UDP is connectionless transport protocol. It provides no control mechanism when exchanging data between
sender and receiver. This results in a higher processing speed than, for example, TCP. Checking whether or
not the telegram has arrived must be carried out by the higher-level protocol.
44
Version: 4.3.0
BK9000, BK9050, BK9100
Fieldbus system
Fig. 22: User Datagram Protocol (UDP)
Protocols running on top of TCP/IP and UDP/IP
The following protocols can run on top of TCP/IP or UDP:
• ADS
• ModbusTCP
Both of these protocols are implemented in parallel on the Bus Coupler, so that no configuration is needed to
activate the protocols.
Fig. 23: Protocols running on top of TCP/IP and UDP/IP
ADS can be used on top of either TCP or UDP, but ModbusTCP is always based on TCP/IP.
BK9000, BK9050, BK9100
Version: 4.3.0
45
Fieldbus system
6.2
Topology
In 10BaseT and 100BaseT a number of stations are star connected according to the Ethernet standard.
Star topology
The simplest form of a star LAN consists of a single point-to-point connection. All messages pass via a
central node (the hub or switch), which then passes the information to the desired device according to the
destination address.
Tree topology
A tree topology consists of a number of connected star networks. As soon as the network contains a number
of hubs or switches, the topology is classified as a tree. Ideally the connections between the star couplers
have a particularly wide bandwidth, since these transport the most traffic. When constructing tree topologies,
the repeater rule must be observed. This is also known as the 5-4-3 repeater rule. There must be no more
than two pairs of repeaters (or of hubs) in the transmission path between any two stations, unless they are
separated by bridges, switches or routers. A transmission path may consist of at most five segments and
four repeater sets (two repeater pairs). Up to three of these segments may be coaxial segments to which the
stations are connected. The remaining segments must consist of point-to-point connections; these are also
known as IRL (inter repeater link) connections.
Cabling guidelines
Structured cabling provides general guidelines for constructing the cabling for a LAN. It specifies maximum
permitted cable lengths for the wiring within the grounds, building or floor. Standardized in EN 50173, ISO
11801 and TIA 568-A, structured cabling provides the basis for an advanced, application-independent and
economical network infrastructure. The wiring standards are applicable to a range defined as having a
geographical extent of up to 3 km and an office area of up to one million sq meters, with between 50 and
50,000 end devices. Recommendations for the structure of a cabling system are also given. The figures can
vary, depending on the topology selected, the transmission media and coupling modules used under
industrial conditions, and on the use of components from various manufacturers in one network. The given
figures should therefore only be considered as recommendations.
6.3
Reaction times
BC9000 reaction time
ADS
TCP
UDP
Time [ms]
23 to 50 ms + task time on the BC9000 (jitter)
2 to 3 ms + task time on the BC9000 (jitter)
Modbus
TCP
Fast TCP*
Time [ms]
12 to 15 ms + task time on the BC9000 (jitter) (default)
1 to 3 ms + task time on the BC9000 (jitter)
* as from firmware B7, Table 100, Register 29 - " 1 " Fast TCP / " 0 " TCP (see Modbus Interface) [} 56]
BK9000 reaction time
ADS
TCP
UDP
46
Time [ms]
23 to 50 ms
2 to 3 ms
Version: 4.3.0
BK9000, BK9050, BK9100
Fieldbus system
RT-Ethernet**
RAW
Time [ms]
& lt; 1 ms + K-bus (depending on the K-bus propagation delay)
Modbus
TCP
Fast TCP*
Time [ms]
12 to 15 ms (default)
1 to 3 ms
* as from firmware B5, Table 100 Register 29 - " 1 " Fast TCP / " 0 " TCP (see Modbus interface) [} 56]** from
firmware B8
6.4
Real-time Ethernet
6.4.1
Real-time Ethernet with Fast-ADS
The Fast ADS protocol is based on Ethernet. In combination with TwinCAT, this bus system has real-time
capability and reaches cycle times of & lt; 1 ms. The real-time Ethernet driver was developed for Windows
2000, Windows XP and Intel Ethernet chips.
Further information can be found at http://www.pc-control.net/pdf/022002/pcc_ethernet_d.pdf.
BK9000
The Fast-ADS protocol is implemented in addition to the already existing protocols on the BK9000 from
firmware version B8. Simultaneous utilization is only possible, if the function ADS was selected in the System
Manager (IP address tab). If the NoRealTimeFlag function is not selected, communication can only take
place via Fast-ADS.
With Fast-ADS the watchdog is set to 100 ms. If it is triggered (e.g. when TwinCAT stops), all other Ethernet
services are usable again. The K-bus works synchronous with the Fast ADS.
B900
RT-Ethernet or Fast-ADS is implemented on all B900 modules. The cycle time of the TwinCAT task must be
shorter than 10 ms. Otherwise the process image and thus the outputs of the module and the connected
extensions will be reset after 10 ms.
Settings in the System Manager
BK9000 tab
Fig. 24: BK9000 tab
BK9000, BK9050, BK9100
Version: 4.3.0
47
Fieldbus system
No Real Time Flag
TCP/IP or UDP telegrams can also be received if the checkbox is activated. However, the jitter of the realtime telegrams increases!
K-bus reset
A reset is triggered on the K-bus.
Data Exchange
The number of task cycles after which a telegram should be sent to the fieldbus station (Bus Coupler /
Fieldbus Box) is determined here.
Modulo specifies the task in which the telegram should be dispatched. This enables the system performance
to be optimized.
Sample: Divider 5 and Modulo 3 – a telegram is sent after every 5th task (the third to be specific).
VLAN
Switches that support VLAN (virtual LANs) can prioritize the incoming telegrams with this.
IP address tab
Fig. 25: IP address tab
Host Name
The name of the fieldbus station (Bus Coupler / Fieldbus Box) can be edited here.
IP Address
The IP address of the fieldbus station (Bus Coupler / Fieldbus Box) must be entered here.
GetHostByName
Using this button an IP address can be obtained from a DHCP server (Dynamic Host Configuration Protocol
Server) (BK9000: from firmware version B2).
Set IP Address
Using this button the IP address is set via ARP.
AMS address
Specifies the AMS-Net ID of the fieldbus station (Bus Coupler / Fieldbus Box). It is generated automatically
by appending two additional byte values ( " .1.1 " ) to the IP address.
48
Version: 4.3.0
BK9000, BK9050, BK9100
Fieldbus system
BootP
This checkbox can be activated if the Beckhoff BootP server has been installed and started (as from
TwinCAT Version 2.8).
New MAC Addresses
If the Beckhoff BootP server has started, the new MAC addresses (Media Access Controller addresses) can
be displayed by pressing this button.
The new addresses are displayed in the field under the button.
If only one fieldbus station has been connected, then accordingly only one new MAC address will be
displayed.
A desired IP address can then be assigned to this MAC address in the IP Address field described above.
If further fieldbus stations are then connected, you can repeat this procedure on the IP Address tabs for
these stations.
Communication Settings
Settings for communication via ADS or RAW.
6.5
ADS-Communication
6.5.1
ADS-Communication
The ADS protocol (ADS: Automation Device Specification) is a transport layer within the TwinCAT system. It
was developed for data exchange between the different software modules, for instance the communication
between the NC and the PLC. This protocol enables communication with other tools from any point within
the TwinCAT. If communication with other PCs or devices is required, the ADS protocol can use TCP/IP as a
basis. Within a networked system it is thus possible to reach all data from any point.
Fig. 26: The ADS protocol as a transport layer within the TwinCAT system
BK9000, BK9050, BK9100
Version: 4.3.0
49
Fieldbus system
The ADS protocol runs on top of the TCP/IP or UDP/IP protocols. It allows the user within the Beckhoff
system to use almost any connecting route to communicate with all the connected devices and to
parameterize them. Outside the Beckhoff system a variety of methods are available to exchange data with
other software tools.
Software interfaces
ADS-OCX
The ADS-OCX is an Active-X component. It offers a standard interface to, for instance, Visual Basic, Delphi,
etc.
ADS-DLL
You can link the ADS-DLL (DLL: Dynamic Link Library) into your C program.
OPC
The OPC interface is a standardised interface for communication used in automation engineering. Beckhoff
offer an OPC server for this purpose.
6.5.2
ADS protocol
The ADS functions provide a method for accessing the Bus Coupler information directly from the PC. ADS
function blocks can be used in TwinCAT PLC Control for this. The function blocks are contained in the
TcSystem.lib library. It is also equally possible to call the ADS functions from AdsOCX, ADSDLL or OPC. It is
possible to access all the data through ADS port number 300, and to access the registers of the Bus Coupler
and Bus Terminals through ADS port number 100.
Fig. 27: Structure of the ADS protocol
AMSNetID
The AMSNetID provides a reference to the device that is to be addressed. This is created from the set TCP/
IP address and an additional 2 bytes. These additional 2 bytes consist of " 1.1 " , and cannot be altered.
Sample:
IP address 172.16.17.128
AMSNetID 172.16.17.128.1.1
50
Version: 4.3.0
BK9000, BK9050, BK9100
Fieldbus system
Port number
The port number distinguishes sub-elements in the connected device.
Port 100: register access
Port 300: fieldbus process data
Port 800: local process data (BC90x0, C900 only)
Index group
The index group distinguishes different data within a port.
Index offset
Indicates the offset, from which reading or writing the byte is to start.
Len
Gives the length of the data, in bytes, that is to be read or written.
TCP port number
The TCP port number for the ADS protocol is 48898 or 0xBF02.
6.5.3
ADS services
User data of an ADS telegram
The maximum size of the user data in an ADS telegram is 1900 bytes.
Process data port 300
The fieldbus data is accessed via ADS port number 300. The data is monitored by a watchdog. If no further
telegram arrives within 1000 ms the outputs will be switched to the safe state.
Index group
0xF020
0xF030
Meaning
Inputs
Outputs
Index offset (value range)
0...511
0...511
Local process image port 800 (BC9000, C900 only)
Data can be read from and written to the local process image. If it is necessary for outputs to be written, it is
important to ensure that they are not used by the local PLC, because the local controller will overwrite these
values. The data are not associated with a watchdog, and therefore must not be used for outputs that would
have to be switched off in the event of a fault.
Index group
0xF020
0xF030
0x4020
Meaning
Inputs
Outputs
Flags (BC 9000, C900 only)
Index offset (value range)
0...511
0...511
0...4096
ADS services
AdsServerAdsStateB7
Data type (read only)
String
BK9000, BK9050, BK9100
Meaning
Start - the local PLC is running
Start - the local PLC is stopped
Version: 4.3.0
51
Fieldbus system
AdsServerDeviceStateB7
Data type (read only)
INT
Meaning
0 - Start - the local PLC is running
1 - Stop - the local PLC is stopped
AdsServerTypeB7
Data type (read only)
String
Meaning
Coupler_PLC
ADSWriteControlBA
Data type (write only)
NetID
Port
ADSSTATE
DEVSTATE
LEN
SRCADDR
WRITE
TMOUT
Meaning
Net ID of the BC9000,C900
800
5 - RUN / 6 - STOP
0
0
0
rising edge starts the block
example: t#1000 ms
Acyclic data communication
With acyclic data communication it is important to note that about 20 to 30 ms are required in order
to establish a TCP/IP connection. Following the successful establishment of a connection the ADS
data are sent or read. An ADS read of 1000 bytes takes about 50 ms. If no data are transmitted for
10 seconds, the TCP/IP connection is disconnected from the BC/BK9000, B/C900.
Register port 100
The ADS port number in the BK/BC9000, B/C900 for register communication is fixed, being set at 100.
Index group
0
Index offset (value range)
Hi-Word
Lo-Word
0...127
0...255
1...64
0...3
Meaning
Registers in the Bus Coupler
Hi-Word, table number of the Bus Coupler
Lo-Word, register number of the table
Register of the Bus Terminals
Hi-Word, channel number
Lo-Word, register number of the Bus Terminal
1...64
Timeout of the ADS function block
When reading the register, the time out of the ADS block has to be set to a time longer than 1 second.
Setting the password
When writing to the registers, the password has to be set (see the documentation for the particular
Bus Terminal).
52
Version: 4.3.0
BK9000, BK9050, BK9100
Fieldbus system
Access control and IP - AMS-Net ID assignmentB6
The AMS Net-Id table permits access control to the BC 9000, C900 via AMS. As soon as this table has
entries, only those AMS devices that have been entered will be able to access the BC 9000.
Furthermore, an assignment of the AMS-Net ID to the IP address of the node is explicitly done here.
The AMS Net-Id table can be filled with ADS write commands:
a maximum of 10 entries is possible.
The structure
AMS Net ID
AMS Net ID
IP address
Reserve
Reserve
Reserve
Size
6 byte
4 byte
2 byte
4 byte
4 byte
Access takes place via port number: 10,000
Index group: 700
Index Offset (Write)
0
1
2
10
Comment
Add an entry
Delete an entry
Delete all entries
Save the table in Flash memory
Data
Data structure, 20 bytes
-
Index Offset (Read)
0
1..10
Comment
Number of entries
Entry n (1...10)
Data
2 byte
Data structure, 20 bytes
First entry
The first entry must be the device that his writing into the table, because the settings have immediate effect. Make sure that all the settings are correct. The table can also be deleted if the end terminal only is inserted, and the DIP switches 1 to 7 are set to ON.
* as from firmware B6
** as from firmware B7
)² as from firmware BA
See the example [} 53].
6.5.4
AMS routing table
The AMS routing table can be used for two functions:
1. If the AMS Net ID does not match the TCP/IP address, the link between the two non-matching numbers can be entered here.
The AMS Net ID matches the TCP/IP address if the first 4 bytes are identical and the AMS Net ID
ends with " .1.1 " .
2. Only AMS Net IDs stored in the table can access the BC9000 via ADS.
Please ensure that all ADS devices with which communication is required are entered in the table. If the
table is empty (default), all ADS devices can access the BC9000.
Processing the AMS routing table using the KS2000 configuration software
From KS2000 version 4.3.0.39 entries in the AMS routing table can be made via dialog.
BK9000, BK9050, BK9100
Version: 4.3.0
53
Fieldbus system
Fig. 28: Displaying the AMS routing table using the KS2000 configuration software
Entering values in the routing table via ADS
The AMS routing table can be loaded into the BC9000 via ADS. Ensure that the first entry is that of the
sender, since this setting becomes effective immediately and may otherwise prevent further entries in the
AMS routing table.
Download (https://infosys.beckhoff.com/content/1033/BK9000_BK9050_BK9100/Resources/
zip/6744240267.zip)
6.6
ModbusTCP
6.6.1
Examples for ModbusTCP
Examples for Modbus TCP are contained in this help text.
Simple example: Modbus TCP via VB6.0
Download https://infosys.beckhoff.com/content/1033/BK9000_BK9050_BK9100/Resources/
zip/2802254731.zip
Sample: ModbusTCP via VB6.0, set and reset of the watchdog:
Download https://infosys.beckhoff.com/content/1033/BK9000_BK9050_BK9100/Resources/
zip/2802256907.zip
54
Version: 4.3.0
BK9000, BK9050, BK9100
Fieldbus system
6.6.2
ModbusTCP Protocol
The Ethernet protocol is addressed by means of the MAC-ID. The user does not normally need to be
concerned about this address. The IP number has a length of 4 bytes, and must be parameterized by the
user on the Bus Coupler and in the application. In ModbusTCP, the TCP port is set to 502. The UNIT can be
freely selected under ModbusTCP, and does not have to be configured by the user.
Fig. 29: ModbusTCP Protocol
TCP port number
The TCP port number for ModbusTCP has been standardised to 502.
Modbus-Unit
The unit is returned by the slave.
ModbusTCP Protocol
Byte
0
1
2
3
4
5
6
7
Name
Transaction identifier
Transaction identifier
Protocol identifier
Protocol identifier
Length field
Length field
UNIT identifier
Modbus
BK9000, BK9050, BK9100
Description
is returned by the slave
is returned by the slave
always 0
always 0
0 (if the message is less than 256 bytes in length)
Number of following bytes
returned by the slave
Modbus protocol beginning with the function follows
Version: 4.3.0
55
Fieldbus system
6.6.3
Modbus TCP interface
Address
0x0000
0x00FF
0x0800
0x08FF
0x1000
0x1006
0x100A
0x100B
0x100C
0x1010
0x1011
0x1012
0x1013
0x1020
0x110A
0x110B
0x1120
0x1121
0x1122
Description
Process data interface
Inputs
Process data interface
Outputs
Bus Coupler identification
Read only
2 byte PLC interface
Bus terminal diagnosis
Bus Coupler status
Process image length in bits, analog outputs (without PLC variables)
Process image length in bits, analog inputs (without PLC variables)
Process image length in bits, digital outputs
Process image length in bits, digital inputs
Watchdog, current time in [ms]
2 byte PLC interface
Bus terminal diagnosis
Watchdog, pre-defined time in [ms] (Default value: 1000)
Watchdog reset register
Type of watchdog
1
Telegram watchdog
(default)
0
Write telegram watchdog
ModbusTCP mode**
1
Fast Modbus
0
Normal Modbus (default)
Flags area (%MB..)*
Read / Write
0x1123**
0x4000*
0x47FF
* all Bus Terminal controllers BC9xx0 and BX9000
** for BC9x00 from firmware B7 and BK9000 from firmware B5 and all unlisted BK9xxx and BC/BX9xxx
Watchdog
The watchdog is active under the factory settings. After the first write telegram the watchdog timer is initiated,
and is triggered each time a telegram is received from this device. Other devices have no effect on the
watchdog. A second approach, which represents a more sensitive condition for the watchdog, is for the
watchdog only to be re-triggered after each write telegram. To do this, write a zero into register 0x1122
(default value " 1 " ).
The watchdog can be deactivated by writing a zero to offset 0x1120. The watchdog register can only be
written if the watchdog is not active. The data in this register is retained.
Watchdog register
If the watchdog timer on your slave has elapsed it can be reset by writing twice to register 0x1121. The
following must be written to the register: 0xBECF 0xAFFE. This can be done either with function 6 or with
function 16.
The Bus Coupler's status register
Bit
Name
56
15
FB
14
-
13
-
12
-
11
-
10
-
9
-
8
-
7
-
Version: 4.3.0
6
-
5
-
4
-
3
-
2
-
1
0
CNF KB
BK9000, BK9050, BK9100
Fieldbus system
Legend
Bit
15
14...2
1
0
Name
FB
CNF
KB
Value
1bin
1bin
1bin
Description
Fieldbus error, watchdog time elapsed
reserved
Bus Coupler configuration error
Bus Terminal error
ModbusTCP mode
The fast Modbus mode should only be used in small local networks. The fast ModbusTCP is not active under
the default settings. If problems are found to occur with this type of communication, the Bus Coupler should
be switched to " normal " ModbusTCP communication. The mode is set in the Modbus interface, offset
0x1123. It is necessary to reset the coupler (e.g. using ModbusTCP function 8) after the change. It is not
permitted to send more than one Modbus service within one Ethernet frame in fast Modbus mode.
2 byte PLC interface
Registers in the complex terminals and Bus Terminal Controller registers can be both read and written using
the 2 byte PLC interface. The complex terminal registers are described in the associated terminal
documentation. The Bus Coupler registers can be used, for example, to read terminal bus diagnostics data,
the terminal composition or the cycle times, and the programmed configuration can be written. It is also
possible for a manual K-bus reset to be carried out. The 2-byte PLC interface requires two bytes each of
input and output data. They are handled using a special protocol. A description of the 2 byte PLC interface,
the registers available in the Bus Couplers and of function blocks for various PLC systems that support the 2
byte PLC interface can be supplied on request.
2 byte diagnostic interface
The terminals' error messages can be sent over the 2-byte diagnostic interface. K-bus diagnostics must
however be activated for this purpose. The 2-byte diagnostic interface occupies two bytes each of input and
output data. A special protocol is processed via these two bytes. A description of the 2 byte-diagnostic
interface can be supplied on request.
6.6.4
ModbusTCP slave error answer (BK9000, BX/BC9xx0, IP/
ILxxxx-B/C900, EK9000)
When the user sends the slave either a request or information that the coupler does not understand, the
slave responds with an error report. This answer contains the function and the error code. 0x80 is added to
the value returned by the function.
Code
1
2
3
Name
ILLEGAL FUNCTION
ILLEGAL DATA ADDRESS
ILLEGAL DATA VALUE
4
SLAVE DEVICE ERROR
6
SLAVE DEVICE BUSY
BK9000, BK9050, BK9100
Meaning
Modbus function not implemented
Invalid address or length
Invalid parameter
- Diagnostic functions
- Incorrect register
Watchdog or K-bus error
EK9000: E-bus error
Output data is already been received from another IP device
Version: 4.3.0
57
Fieldbus system
6.6.5
ModbusTCP functions
6.6.5.1
ModbusTCP functions
In the Modbus protocol, the functions determine whether data is to be read or written, and what kind of data
is involved.
Function
Read coil status [} 58]
Code Description
1
Read digital outputs
Read input status [} 59]
2
Read digital inputs
Read holding register [} 59]
3
Read analog outputs and inputs / GPR
Read input register [} 60]
4
Reading the inputs / GPR
Force single coil [} 60]
5
Writing a digital output
Preset single register [} 61]
6
Writing an output / GPR
Diagnostics [} 61]
8
Diagnostics
Force multiple coils [} 63]
15
Write a number of digital outputs
Preset multiple register [} 64]
16
Writing several outputs / GPRs
Read / write registers [} 64]
23
Write and read a number of process data outputs / GPRs
GPR (General Preset Register) - register structure of the Modbus interface (see appendix)
6.6.5.2
Read coil status (Function 1)
The Read coil status function can be used to read the digital outputs that have been set.
The first 10 digital outputs are read in this example. The start address is zero. An offset can be entered in the
Start address field
Query
Byte name
Function code
Start address high
Start address low
Count high
Count low
Sample
1
0
0
0
10
The fieldbus coupler answers with byte count 2, i.e. 2 bytes of data are returned. The query was for 10 bits,
and these are now distributed over 2 bytes. The third bit is set in the output process image, and the fieldbus
coupler shows the value 4 in the first data byte.
Response
Byte name
Function code
Byte count
Data bits 0...7
Data bits 8...18
58
Sample
1
2
4
0
Version: 4.3.0
BK9000, BK9050, BK9100
Fieldbus system
6.6.5.3
Read input status (Function 2)
The Read input status function can be used to read the digital input data. The first 10 digital inputs are read
in this example. The start address is zero. An offset can be entered in the Start address field
Query
Byte name
Function code
Start address high
Start address low
Count high
Count low
Sample
2
0
0
0
10
The fieldbus coupler answers with byte count 2, i.e. two bytes of data are returned. The query was for 10
bits, and these are now distributed over 2 bytes. The third bit is set in the output process image, and the
fieldbus coupler shows the value 4 in the first data byte.
Response
Byte name
Function code
Byte count
Data bits 0..7
Data bits 8..18
6.6.5.4
Sample
2
2
1
0
Read holding register (Function 3)
The Read holding register function can be used to read the input and output words and the registers. Inputs
from offset 0 - 0xFF and outputs from offset 0x800 - 0x8FF, and for controllers (BC, BX) the flag area from
offset 0x4000.
In this example the first two analog outputs (or two output words) are read. The analog outputs (or output
words) start at offset 0x800. The length indicates the number of channels (or words) to be read.
Query
Byte name
Function code
Start address high
Start address low
Count high
Count low
Sample
3
8
0
0
2
The fieldbus coupler answers with byte count 4, i.e. 4 bytes of data are returned. The query was for two
analog channels, and these are distributed over two words. In the analog output process image, the first
channel has the value 0x3FFF, while the second channel has the value 0x0.
BK9000, BK9050, BK9100
Version: 4.3.0
59
Fieldbus system
Response
Byte name
Function code
Byte count
Data 1 high byte
Data 1 low byte
Data 2 high byte
Data 2 low byte
6.6.5.5
Sample
3
4
63
255
0
0
Read input register (Function 4)
The function Read input register reads the inputs on a word basis.
In this example the first two analog inputs (or the first two input words) are read. The analog inputs (or input
words) start at an offset of 0x0000. The length indicates the number of words to be read. A KL3002, for
example, has two words of input data. Therefore, the length to be entered at Number low is two.
Query
Byte name
Function code
Start address high
Start address low
Count high
Count low
Sample
4
0
0
0
2
The fieldbus coupler answers with byte count 4, i.e. four bytes of data are returned. The query was for two
analog channels, and these are now distributed over 2 words. In the analog input process image, the first
channel has the value 0x0038, while the second channel has the value 0x3F1B.
Response
Byte name
Function code
Byte count
Data 1 high byte
Data 1 low byte
Data 2 high byte
Data 2 low byte
6.6.5.6
Sample
4
4
0
56
63
11
Force single coil (Function 5)
The Force single coil function can be used to write a digital output. The third digital output is written in this
example. The digital outputs start at address 0x0000. The digital value is located in Data high. To switch the
output on, Data high must contain the value 0xFF, while 0x00 is used to switch the output off again. Data low
must contain the value 0x00.
60
Version: 4.3.0
BK9000, BK9050, BK9100
Fieldbus system
Query
Byte name
Function code
Start address high
Start address low
Data high
Data low
Sample
5
0
2
255
0
The coupler answers with the same telegram.
Response
Byte name
Function code
Start address high
Start address low
Data high
Data low
6.6.5.7
Sample
5
0
2
255
0
Preset single register (Function 6)
The function Preset singles register can be used to access the output or flag process image (only for
controllers) and the Modbus TCP interface [} 56].
Function 6 writes the first output word. The outputs start at an offset of 0x0800. Here again the offset always
describes a word. This means offset 0x0803 refers to the fourth word in the output process image.
Query
Byte name
Function code
Start address high
Start address low
Data high
Data low
Sample
6
8
0
63
255
The Fieldbus Coupler replies with the same telegram and confirmation of the received value.
Response
Byte name
Function code
Start address high
Start address low
Data high
Data low
6.6.5.8
Sample
6
8
0
63
255
Diagnosis (Function 8)
The diagnosis function provides a series of tests for checking the communication system between the
master and the slave and for examining a variety of internal error states within the slave. A broadcast
telegram is not supported.
BK9000, BK9050, BK9100
Version: 4.3.0
61
Fieldbus system
The function uses two bytes in the query to specify a sub-function code defining the test that is to be carried
out. The slave returns the function code and the sub-function code in the response.
The diagnostic queries use a two-byte data field to send diagnostics data or control information to the slave.
Query
Byte name
Function code
Sub-function high
Sub-function low
Data high
Data low
Sample
8
0
0
2
3
Response
Byte name
Function code
Sub-function high
Sub-function low
Data high
Data low
Sample
8
0
0
2
3
Echo a request (Subfunction 0)
Subfunction 0 causes the data that is sent to the slave by the master to be returned.
Coupler reset (Subfunction 1)
The coupler is reset with sub-function 1, error counters are reset and the controller performs a self-test. No
telegrams are either received or sent while the controller is being reset. The IP socket is closed.
Last reply with the sub-function 1
Before the Controller restarts it sends a reply with sub-function 1, after which the IP socket is
closed.
Sub-function
0x0001
Data field (query)
0x0000
Data field (response)
0x0000
Delete all counter contents (sub-function 10)
When this sub-function is called the controller clears all error counters.
Sub-function
0x000A
Data field (query)
0x0000
Data field (response)
Echo query data
Bus Communication Answer Counter (Subfunction 11)
Returns the number of communication answers.
Sub-function
0x000B
Data field (query)
0x0000
Data field (response)
Counter value
Error Answer Counter (Subfunction 13)
This counter contains the number of error answer telegrams that the coupler has sent.
62
Version: 4.3.0
BK9000, BK9050, BK9100
Fieldbus system
Sub-function
0x000D
Data field (query)
0x0000
Data field (response)
Counter value
The following functions contain the counter states for various units. This means that the Modbus telegrams
can be distinguished through their units, if, for example, a coupler is accessed by different masters.
Slave Answers (Subfunction 14)
Contains the number of answers that the slave has sent.
Sub-function
0x000E
Data field (query)
0x0000
Data field (response)
Counter value
Number of unanswered telegrams (Subfunction 15)
Contains the number of answers that the slave has not sent.
Sub-function
0x000F
Data field (query)
0x0000
Data field (response)
Counter value
Number of Error Answers (Subfunction 16)
Contains the number of error answers that the slave has sent.
Sub-function
0x0010
6.6.5.9
Data field (query)
0x0000
Data field (response)
Counter value
Force multiple coils (Function 15)
The Force multiple coils function can be used to set or reset a number of digital outputs at the same time.
The first 20 digital outputs are written in this example. The digital outputs start at an offset of 0x0000. Here
the offset always describes a bit. Offset 0x0003 writes to the fourth bit in the output process image. The
length indicates the number of bits, and the Byte count is composed from the combination all the bytes that
are to be written.
Sample: 20 bits count is 3 bytes (round up to the nearest byte)
The data bytes contain the values for the individual bits. In this example, the bits 0 to 15 are set to TRUE,
while bits 17 to 20 are set to FALSE.
Query
Byte name
Function code
Start address high
Start address low
Length high
Length low
Byte count
Data 1 bit 0..7
Data 2 bit 8..15
Data 3 bit 16..23
Sample
15
0
0
0
20
3
255
255
0
Response
The Bus Coupler answers with the same telegram.
BK9000, BK9050, BK9100
Version: 4.3.0
63
Fieldbus system
Byte name
Function code
Start address high
Start address low
Length high
Length low
6.6.5.10
Sample
15
0
0
0
20
Preset single register (Function 16)
The Preset multiple register function can be used to write a number of outputs. The first two analog output
words are written in this example. The outputs start at an offset of 0x0800. Here the offset always describes
a word. Offset 0x0003 writes to the fourth word in the output process image. The length indicates the number
of words, and the Byte count is formed from the combination of all the bytes that are to be written.
Sample: 4 words - correspond to a byte count of 8
The data bytes contain the values for the analog outputs. In this example, two words are to be written. The
first word is to receive the value 0x7FFF, and the second word is to receive the value 0x3FFF.
Query
Byte name
Function code
Start address high
Start address low
Length high
Length low
Byte count
Data 1 byte 1
Date 1 byte 2
Date 2 byte 1
Data 2 byte 2
Sample
16
8
0
0
2
4
127
255
63
255
Response
The coupler replies with the start address and the length of the transmitted words.
Byte name
Function code
Start address high
Start address low
Length high
Length low
6.6.5.11
Sample
16
8
0
0
2
Read / write registers (Function 23)
A number of analog outputs can be written and a number of analog inputs read with one telegram using the
Read / write registers function. In this example the first two analog output words are written, and the first two
analog inputs are read. The analog outputs start at offset 0x0800, while the inputs start at offset 0x0000.
Here the offset always describes a word. Offset 0x0003 writes to the fourth word in the output process
image. The length indicates the number of words, and the Byte count is formed from the combination of all
the bytes that are to be written. Sample: 4 words - correspond to a byte count of 8
The data bytes contain the values for the analog outputs. In this example, two words are to be written. The
first word is to receive the value 0x3FFF, and the second word is to receive the value 0x7FFF.
64
Version: 4.3.0
BK9000, BK9050, BK9100
Fieldbus system
Query
Byte name
Function code
Read start address high
Read start address low
Read length high
Read length low
Write start address high
Write start address low
Write length high
Write length low
Byte count
Data 1 high
Data 1 low
Data 2 high
Data 2 low
Sample
23
0
0
0
2
8
0
0
2
4
63
255
127
255
Response
The coupler replies with the start address and the length of the bytes to be transferred in Byte count. The
data information follows. In this example the first word contains 0x0038 while the second word contains
0x3F0B.
Byte name
Function code
Byte count
Data 1 high
Data 1 low
Data 2 high
Data 2 low
Sample
23
4
0
56
63
11
6.7
Description of parameters
6.7.1
Register settings, Table 100
The registers can be set through a dialog using the KS2000 configuration software, or it is possible to write
into the registers directly.
BK9000, BK9050, BK9100
Version: 4.3.0
65
Fieldbus system
Register Description
0-1
IP address
Default
Bus Terminal Controller
0xAC, 0x10, 0x11, BC9000, BC9100,
0x00
BK9000, BK9050,
BK9100
0xFF, 0xFF, 0x00, BC9000, BC9100,
0x00
BK9000, BK9050,
BK9100
BC9000
BC9000, BC9100,
BK9000, BK9050,
BK9100
1000 ms
BC9000, BC9100,
BK9000, BK9050,
BK9100
0bin
BC9000, BC9100,
BK9000, BK9050,
BK9100
0bin
2-3
IP mask
4-13
Device Name
14
Watchdog AMS/ADS
15.0
17-18
0bin
enable ModbusTCP
1bin
disable ModbusTCP
0bin
enable AMS/ADS
1bin
disable AMS/ADS
0bin
Ethernet mode half duplex
1bin
Ethernet mode full duplex
0bin
Autobaud off
1bin
Autobaud on
0bin
10 Mbaud
1bin
100 Mbaud
Default Gateway
24
Watchdog ModbusTCP
1000 ms
25.0
0bin
26
Entry of a fieldbus error (connection to switch
interrupted) in the flags area diagnosis
0
Error was not entered
1
Error was entered
ModbusTCP port no.
27
ADS connection service life
10 s
28
Modbus connection service life
10 s
29.0
ModbusTCP mode
1bin
Fast ModbusTCP
0bin
15.1
16.8
16.12
16.13
66
1bin
1bin
BC9000, BC9100,
BK9000, BK9050,
BK9100
1bin
0x00, 0x00, 0x00,
0x00
Version: 4.3.0
502
BC9000, BC9100,
BK9000, BK9050,
BK9100
BC9000, BC9100,
BK9000, BK9050,
BK9100
BC9000, BC9100
BC9000, BC9100,
BK9000, BK9050,
BK9100
BC9000, BC9100,
BK9000, BK9050,
BK9100
BC9000, BC9100,
BK9000, BK9050,
BK9100
BC9000, BC9100,
BK9000, BK9050,
BK9100
BK9000, BK9050, BK9100
Error handling and diagnosis
7
Error handling and diagnosis
7.1
Diagnostic LEDs
BK9000, BK9100, BC9000, BC9100
After switching on, the Bus Coupler immediately checks the connected configuration. Error-free start-up is
indicated when the red I/O ERR LED goes out. If the I/O ERR LED blinks, an error in the area of the
terminals is indicated. The error code can be determined from the frequency and number of blinks. This
permits rapid rectification of the error.
The Bus Coupler has two groups of LEDs for the display of status. The upper group with four LEDs indicates
the status of the respective fieldbus. The significance of the fieldbus status LEDs is explained in the
appropriate sections of this manual. It corresponds to the usual fieldbus display.
On the upper right hand side of the Bus Couplers are two more green LEDs that indicate the supply voltage.
The left hand LED indicates the presence of the 24 V supply for the Bus Coupler. The right hand LED
indicates the presence of the supply to the power contacts.
Fig. 30: BC9000 LEDs
BK9000, BK9050, BK9100
Version: 4.3.0
67
Error handling and diagnosis
Fig. 31: BC9100 LEDs
LEDs for power supply diagnostics
LED
Meaning
Left LED off
Bus Coupler has no power
Right LED off
No 24 VDC power supply connected to the power contacts
LEDs for fieldbus diagnostics
LED
On
Off
LINK (BK9000/BC9000 only)
Physical connection present
No physical connection present
ACT (BK9000/BC9000 only)
Flashing: Bus traffic present
No bus traffic (bus idle)
COM (BK9100/BC9100 only)
Flashing: data received at the controller
no data are received
ERROR
The LED flashes slowly if DHCP or BootP is active No error
but the Bus Coupler has not yet received an IP address
The LED flashes rapidly (5 times, only when switching on); the Bus Coupler is addressed with ARP.
The settings on the DIP SWITCH are not valid.
LED permanently on (in RT-Ethernet mode only)
Note: task time set too fast
PLC (BC9000/BC9100 only)
PLC program is in RUN mode
The LED flashes while the boot project is being
saved.
PLC program is in stop mode
WDG (BK9000 only)
Watchdog is triggered
Watchdog expired or not triggered
• No error
• Start communication
• Reset watchdog error
68
Version: 4.3.0
BK9000, BK9050, BK9100
Error handling and diagnosis
LEDs for K-bus diagnostics
Error code
Error code argument Description
Persistent, continuous flashing
Remedy
EMC problems
• Check power supply for undervoltage or
overvoltage peaks
• Implement EMC measures
• If a K-bus error is present, it can be localized
by a restart of the coupler (by switching it off
and then on again)
1 pulse
EEPROM checksum error
Set manufacturer's setting with the KS2000 configuration software
1
Code buffer overflow
Insert fewer Bus Terminals. Too many entries in the
table for the programmed configuration
2
2 pulses
0
Unknown data type
Software update required for the Bus Coupler
0
Programmed configuration has an
incorrect table entry
Check programmed configuration for correctness
n (n & gt; 0)
Table comparison (Bus Terminal n) Incorrect table entry
3 pulses
0
K-bus command error
- No Bus Terminal inserted
- One of the Bus Terminals is defective; halve the
number of Bus Terminals attached and check
whether the error is still present with the remaining
Bus Terminals. Repeat until the defective Bus Terminal is located.
4 pulses
0
K-bus data error, break behind the
Bus Coupler
Check whether the n+1 Bus Terminal is correctly
connected; replace if necessary.
n
Break behind Bus Terminal n
Check whether the bus end terminal 9010 is connected.
5 pulses
n
K-bus error in register communica- Exchange the nth bus terminal
tion with Bus Terminal n
6 pulses
0
Error at initialization
Exchange Bus Coupler
1
Internal data error
Perform a hardware reset on the Bus Coupler (switch
off and on again)
2
DIP switch changed after a softPerform a hardware reset on the Bus Coupler (switch
ware reset
off and on again)
from firmware BC9000 BB and
BC9100 B0:
from firmware BK9000 BA and
Assign a different IP address
BK9100 B0:
IP address already exists in the network
4
DIP switch incorrect for BootP
Set 1-8 to on or off, see BootP
8
Internal data error
Perform a hardware reset on the Bus Coupler (switch
off and on again)
16
Error in IP socket
Perform a hardware reset on the Bus Coupler (switch
off and on again)
7 pulses (BC9000/
BC9100 only)
0
Note: cycle time was exceeded
(see Table 1, Register 17)
Warning: the set cycle time was exceeded. This note
(flashing of the LED) can only be reset by rebooting
the BC.
Remedy: increase the cycle time
9 pulses (BC9000/
BC9100 only)
0
Checksum error in Flash program
Transmit program to the BC again
1
Incorrect or faulty library implemented
Remove the faulty library
10 pulses (BC9000/ n
BC9100 only)
Bus Terminal n is not consistent
with the configuration that existed
when the boot project was created
Check the nth Bus Terminal. The boot project must be
deleted if the insertion of an nth Bus Terminal is intentional
14 pulses
n
nth Bus Terminal has the wrong for- Start the Bus Coupler again, and if the error occurs
mat
again then exchange the Bus Terminal
15 pulses
n
Number of Bus Terminals is no
longer correct
Start the Bus Coupler again. If the error occurs again,
restore the manufacturers setting using the KS2000
configuration software
16 pulses
n
Length of the K-bus data is no
longer correct
Start the Bus Coupler again. If the error occurs again,
restore the manufacturers setting using the KS2000
configuration software
BK9000, BK9050, BK9100
Version: 4.3.0
69
Error handling and diagnosis
LEDs for switch diagnosis (BK9100/BC9100 only)
LED
On
Flashes
Off
LINK/ACT
Physical connection
present
Communication available
No physical connection present
10/100 Mbaud
100 Mbaud
-
10 Mbaud
7.2
Diagnostic LEDs
BK9050
Fig. 32: BK9050 LEDs
LEDs for power supply diagnostics
LED (Power LEDs)
Meaning
Us
off: Bus Coupler has no voltage 24 VDC
Up
off: No 24 VDC power supply connected to the power contacts
LEDs for K-bus diagnostics
LED (K-bus)
Meaning
K-bus RUN
on or flashing: K-bus running
K-bus ERR
flashing: (see error code) [} 71]
LEDs for Ethernet diagnosis
LED (Ethernet)
Meaning
WD ERR
on: Watchdog error
COM
on or flashing: communication with controller
ERROR
flashing: DHCP or BootP active. Waiting for an IP address
RTE
on: hard real-time with TC is switched on. No ADS communication is possible at the same
time. All TCP, UPD and ICMP telegrams (e.g. ping) remain unanswered.
LINK/ACT
on: LINK present
flashing: LINK present and communication active
70
Version: 4.3.0
BK9000, BK9050, BK9100
Error handling and diagnosis
Error code for K-bus diagnosis
Error
code
Error
argument
Description
-
flashing continuously
Remedy
EMC problems
• Check power supply for undervoltage or overvoltage peaks
• Implement EMC measures
• If a K-bus error is present, it can be localized by a restart of the coupler
(by switching it off and then on again)
1
0
EEPROM checksum error
Enter factory settings with the KS2000 configuration software
1
Code buffer overflow
Insert fewer Bus Terminals. Too many entries in the table for the programmed
configuration
2
Unknown data type
Software update required for the Bus Coupler
2
-
Reserve
-
3
0
K-bus command error
• No Bus Terminal inserted
• One of the Bus Terminals is defective; halve the number of Bus
Terminals attached and check whether the error is still present with the
remaining Bus Terminals. Repeat until the defective Bus Terminal is
located.
4
0
K-bus data error, break
behind the Bus Coupler
n
Break behind Bus Termi- Check whether the Bus End Terminal KL9010 is connected.
nal n
5
n
K-bus error in register
communication with Bus
Terminal n
Exchange the nth bus terminal
6
0
Error at initialization
Exchange Bus Coupler
1
Internal data error
Perform a hardware reset on the Bus Coupler (switch off and on again)
2
IP address already exists Check the IP address; the coupler has already found its set IP address in the
network
4
BootP invalid DIP switch
setting
With BootP the DIP switches 1-8 must be all On or all Off
7
0
Note: cycle time was exceeded
Warning: the set cycle time was exceeded. This indication (flashing LEDs) can
only be cleared by booting the Bus Coupler again.
Remedy: increase the cycle time
9
0
Checksum error in Flash Transmit program to the BC again
program
1
Incorrect or faulty library
implemented
Remove the faulty library
10
n
Bus Terminal n is not
consistent with the configuration that existed
when the boot project
was created
Check the nth Bus Terminal. The boot project must be deleted if the insertion of
an nth Bus Terminal is intentional
14
n
nth Bus Terminal has the
wrong format
Start the Bus Coupler again, and if the error occurs again then exchange the
Bus Terminal
15
n
Number of Bus Terminals Start the Bus Coupler again. If the error occurs again, restore the manufacturis no longer correct
ers setting using the KS2000 configuration software
16
n
Length of the K-bus data Start the Bus Coupler again. If the error occurs again, restore the manufacturis no longer correct
ers setting using the KS2000 configuration software
7.3
Check whether the n+1 Bus Terminal is correctly connected; replace if necessary.
General errors
No data exchange after replacing a bus coupler
You have exchanged the Ethernet Bus Coupler and set the same TCP/IP number, but data is not
exchanged.
Every Ethernet device has its own, unique MAC-ID. This number is saved when connecting to an Ethernet
node, and stored in a table. This table contains the correspondences between the MAC-ID and the TCP/IP
number. You must delete this table. Do this in a DOS window, by entering the command " arp -d " and the
TCP/IP number of the Bus Coupler.
BK9000, BK9050, BK9100
Version: 4.3.0
71
Error handling and diagnosis
Sample: & gt; arp -d 172.16.17.203 & lt;
If the DHCP protocol or the BootP protocol is active it is necessary to set the MAC-ID of the new coupler in
the DHCP server or BootP server after changing the Bus Coupler.
Communication errors when online *
After a period in the online state (logged in via Ethernet/AMS) the message Communication error - logging
out always occurs.
The data traffic through the Ethernet interface is jamming.
Remedy:
• reduce the level of data communication.
• Stop the cyclical data traffic, or lengthen the task time.
• Reduce the number of windows open in the online display.
• Log in via the serial interface.
* BC9000, IL230x-C900 only
7.4
ADS diagnostics
Status inputs
It is possible to monitor the BK/BC9000, B/C900 Bus Coupler's communication in the system manager. Each
Bus Coupler has status inputs that can be found in the hardware tree.
Fig. 33: Status inputs of the BC9000
Coupler state
Value
0x0000
0x0001
0x0002
Meaning
No error
Bus Terminal error; there is a K-bus error
Configuration error; the parameterized configuration does not match the actual configuration
MissedCnt
Ideal configuration:
The task time is always longer than the Ethernet transmission time. An Ethernet telegram is transmitted at
the beginning of the task, and it returns it to the PC again after a period of time, tEth. If the time tEth is always
smaller than the task time that has been set, the value in the MissedCnt counter remains constant.
72
Version: 4.3.0
BK9000, BK9050, BK9100
Error handling and diagnosis
Fig. 34: Task time longer than Ethernet propagation delay
If, after the task time has elapsed, an Ethernet telegram has still not arrived at the PC, only reaching it after
the next task has started, then TwinCAT will continue to work with the old input data. In addition, the
MissedCnt counter is incremented.
Fig. 35: Task time shorter than Ethernet propagation delay
This can have the following causes:
• The chosen task time is too short. Set
◦ 100 ms or more for TCP.
◦ 20 ms or more for UDP.
• Too many collisions in the network: use switches instead of hubs!
• The bus loading is too high: change to 100 MBaud!
• You are logged in to the BC9000, C900: this consumes additional processing capacity in the
Controller, which lengthens the response time.
The two following diagnostic inputs have different meanings, depending on the transmission type.
TCP/IP diagnosis
BoxState
Value
0x0000
0x0001
Meaning
No error
No current inputs
MissedCnt
Value
0xyyyy
Meaning
Number of telegrams that have not returned in time for the start of the task. This value should
remain almost constant. If the value keeps rising, the task time should be lengthened.
BK9000, BK9050, BK9100
Version: 4.3.0
73
Error handling and diagnosis
UDP/IP diagnosis
BoxState
Value
0x0000
0x0001
0x0002
0xxxzz
Meaning
No error
No current inputs
Outputs are written as zero
xx - warning level. The value here is incremented by one each time the data is not received in
time. When data is exchanged correctly, the value is decremented by one. When the maximum
warning level (default value 100) is reached, zero is written to the output data, and it is only
enabled again for the normal process image when the warning level has reached zero.
MissedCnt
Value
0xyyyy
7.5
Meaning
Number of telegrams that have not returned in time for the start of the task. This value should
remain almost constant. If the value keeps rising, the task time should be lengthened.
ModbusTCP diagnostic
• See Modbus diagnostic function [} 61]
• See ModbusTCP error answers [} 57]
74
Version: 4.3.0
BK9000, BK9050, BK9100
Appendix
8
Appendix
8.1
General operating conditions
The following conditions must be met in order to ensure flawless operation of the fieldbus components.
Environmental conditions
Operation
The components may not be used without additional protection in the following locations:
• in difficult environments, such as where there are corrosive vapors or gases, or high dust levels
• in the presence of high levels of ionizing radiation
Condition
Permissible ambient temperature during operation
Installation position
Vibration resistance
Shock resistance
EMC resistance
Emission
Permissible range
see technical data
variable
According to EN 60068-2-6
According to EN 60068-2-27
According to EN 61000-6-2
According to EN 61000-6-4
Transport and storage
Condition
Permissible ambient temperature during storage
Relative humidity
Free fall
Permissible range
-25 °C... +85 °C
95 %, no condensation
up to 1 m in the original packaging
Protection classes and types
Condition
Protection class in accordance with IEC 536 (VDE
0106, Part 1)
Protection class conforms to IEC 529
Protection against foreign objects
Protection against water
Permissible range
A protective conductor connection to the mounting rail is
necessary!
IP20 (protection against contact with a standard test
finger)
Less than 12 mm in diameter
no protection
Component identification
Every supplied component includes an adhesive label providing information about the product's approvals.
For example, on the BK2000:
BK9000, BK9050, BK9100
Version: 4.3.0
75
Appendix
Fig. 36: Sticker with information about the BK2000 Bus Coupler certification
The following information is printed on the label:
Printed item
Precise product
identification
Supply voltage
Data transfer rate
Manufacturer
CE mark
UL mark
Production identification
Meaning for this label
Lightbus Coupler BK2000
24 VDC
2.5 Mbit/s
Beckhoff Automation GmbH
Conformity mark
Mark for UL approval. UL stands for the Underwriters Laboratories Inc., the
leading certification Organisation for North America, based in the USA.
C = Canada, US = USA, LISTED 22ZA (the test results can be inspected
under this entry)
From left to right, this sequence of characters indicates the week of production
(2 characters), the year of production (2 characters), the software version (2
characters) and hardware version (2 characters), along with any special
indications (4 characters).
This case therefore is a BK2000
- produced in the 9th calendar week
- in the year 2001
- containing the BF firmware version
- and using the 6th hardware version
- with no special indications
8.2
Approvals
Underwriter laboratories
UL E172151
Conformity mark
CE
76
Version: 4.3.0
BK9000, BK9050, BK9100
Appendix
Protection class
IP20 conforms to EN60529
8.3
Test standards for device testing
EMC
EN 61000-6-2
EN 61000-6-4
Vibration resistance
EN 60068-2-6 vibration test
EN 60068-2-27/29 shock test
8.4
Bibliography
TCP/IP
TCP/IP (German)
Aufbau und Betrieb eines TCP/IP Netzes (Structure and Operation of a TCP/IP Network)
by Kevin Washburn and Jim Evans
Publisher: ADDISON-WESLEY Longmann Verlag
TCP/IP (English)
Illustrated, Volume1 The Protocols
by W. Richard Stevens
Publisher: ADDISON-WESLEY Longmann Verlag
Modbus/TCP
http://www.modicon.com/
http://www.modbus.org
TwinCAT
BECKHOFF Information System
http://infosys.beckhoff.com
8.5
List of Abbreviations
ADS
Automation Device Specification
IP (20)
Bus Terminal protection class
IPC
Industrial PC
BK9000, BK9050, BK9100
Version: 4.3.0
77
Appendix
I/O
Inputs and outputs
K-bus
Terminal bus
KS2000
Configuration software for Bus Terminals, Bus Couplers, Bus Terminal Controllers, fieldbus box modules,
etc.
PE
The PE power contact can be used as a protective earth.
TwinCAT
The Windows Control and Automation Technology
8.6
Support and Service
Beckhoff and their partners around the world offer comprehensive support and service, making available fast
and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff
products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet
pages:
http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20
33415 Verl
Germany
Phone:
Fax:
e-mail:
+49 5246 963 0
+49 5246 963 198
info@beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of
individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components
78
Version: 4.3.0
BK9000, BK9050, BK9100
Appendix
Hotline:
Fax:
e-mail:
+49 5246 963 157
+49 5246 963 9157
support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service
• repair service
• spare parts service
• hotline service
Hotline:
Fax:
e-mail:
+49 5246 963 460
+49 5246 963 479
service@beckhoff.com
BK9000, BK9050, BK9100
Version: 4.3.0
79
List of Illustrations
List of Illustrations
Fig. 1
BIC as data matrix code (DMC, code scheme ECC200).............................................................
9
Fig. 2
BK9000, BK9050 .........................................................................................................................
11
Fig. 3
BK9100 ........................................................................................................................................
12
Fig. 4
The principle of the Bus Terminal ................................................................................................
16
Fig. 5
BK9000, BK9100, BC9000, BC9020, BC9100, BC9120 - dimensions........................................
18
Fig. 6
BK9050, BC9050 - dimensions....................................................................................................
19
Fig. 7
Electrical isolation ........................................................................................................................
23
Fig. 8
RJ45 connector (Western plug) ...................................................................................................
23
Fig. 9
Ethernet connection via hub or switch .........................................................................................
23
Fig. 10
Direct Ethernet connection (crossover cable)..............................................................................
24
Fig. 11
Ethernet layout in star topology ...................................................................................................
24
Fig. 12
Ethernet layout in linear topology ................................................................................................
25
Fig. 13
Start-up behaviour of the Bus Coupler ........................................................................................
30
Fig. 14
Network classes...........................................................................................................................
32
Fig. 15
BK9000, BK9100, BC9000, BC9100 ...........................................................................................
33
Fig. 16
BK9050 ........................................................................................................................................
33
Fig. 17
Configuration of the Beckhoff BootP server.................................................................................
35
Fig. 18
Testing the IP address using the Ping command ........................................................................
37
Fig. 19
Reading the connected Bus Couplers and Bus Terminals ..........................................................
40
Fig. 20
Setting the router memory ...........................................................................................................
40
Fig. 21
The IP Address tab ......................................................................................................................
42
Fig. 22
User Datagram Protocol (UDP) ...................................................................................................
45
Fig. 23
Protocols running on top of TCP/IP and UDP/IP .........................................................................
45
Fig. 24
BK9000 tab ..................................................................................................................................
47
Fig. 25
IP address tab..............................................................................................................................
48
Fig. 26
The ADS protocol as a transport layer within the TwinCAT system ............................................
49
Fig. 27
Structure of the ADS protocol ......................................................................................................
50
Fig. 28
Displaying the AMS routing table using the KS2000 configuration software ...............................
54
Fig. 29
ModbusTCP Protocol...................................................................................................................
55
Fig. 30
BC9000 LEDs ..............................................................................................................................
67
Fig. 31
BC9100 LEDs ..............................................................................................................................
68
Fig. 32
BK9050 LEDs ..............................................................................................................................
70
Fig. 33
Status inputs of the BC9000 ........................................................................................................
72
Fig. 34
Task time longer than Ethernet propagation delay ......................................................................
73
Fig. 35
Task time shorter than Ethernet propagation delay.....................................................................
73
Fig. 36
Sticker with information about the BK2000 Bus Coupler certification..........................................
76
80
Version: 4.3.0
BK9000, BK9050, BK9100