Ventura INtime Instruction Manual pdf - Kuhnke

Kuhnke Electronics 

Instruction Manual 

Ventura INtime 

EtherCAT-Master IPC 

E 674-6 GB 02/12/2011

This technical information is directed primarily to specialists involved in the conception, design and construction of machines. It does 

not indicate any information about availability of products. The technical specifications stated herein are only of descriptive nature and 

do not represent a guarantee as to the ability or usability of a product in a legal sense. Such specific assurances are subject to individual 

contractual agreements. We do not accept any claims for compensation of damages for whatever reason, unless substantial proof 

of intention or gross negligence is provided. Complete or partial reproduction of this document requires the written consent of the 

author. All rights concerning changes, omissions and misconceptions are reserved. Ilustrations similar. 

Microsoft® Windows® and the Windows logo are registered trademarks of Microsoft Corporation in the USA and other countries. 

EtherCAT® is a registered trademark and patented technology, licensed from Beckhoff Automation GmbH, Germany. 

Additional information on the PLCopen organization can be found at www.plcopen.org. 

CiA® and CANopen® are registered community trade marks of CAN in Automation e.V. 

All rights reserved by the individual copyright holders. 

Reproduction even of extracts only with the editor's express and written prior consent.

Table of Contents 


1 Introduction......................................................................................................................................................5 

1.1 EtherCAT® — Ethernet Control Automation Technology....................................................................5 

1.2 Ventura — the automation platform.....................................................................................................5 

1.3 Ventura INtime — CoDeSys 2.3 PLC with EtherCAT-Master .............................................................5 

2 Reliability, Safety.............................................................................................................................................7 

2.1 Intended Use........................................................................................................................................7 

2.2 Target Group........................................................................................................................................7 

2.3 Reliability..............................................................................................................................................7 

2.4 Symbols ...............................................................................................................................................7 

2.4.1 Danger................................................................................................................................................7 

2.4.2 Attention .............................................................................................................................................8 

2.4.3 Note....................................................................................................................................................8 

2.4.4 Under Construction ............................................................................................................................8 

2.4.5 Instruction...........................................................................................................................................8 

2.5 Safety ...................................................................................................................................................9 

2.5.1 Project Planning and Installation........................................................................................................9 

2.5.2 Maintenance and Servicing................................................................................................................9 

2.6 Electromagnetic Compatibility............................................................................................................10 

2.6.1 Definition ..........................................................................................................................................10 

2.6.2 Interference Emission ......................................................................................................................10 

2.6.3 General Notes on Installation...........................................................................................................10 

2.6.4 Electrical Immission Safeguard........................................................................................................10 

2.6.5 Cable Routing and Wiring ................................................................................................................11 

2.6.6 Location of Installation .....................................................................................................................11 

2.6.7 Particular Sources of Interference....................................................................................................11 

3 Getting Started ..............................................................................................................................................12 

3.1 Target System Ventura INtime...........................................................................................................12 

3.2 Programming PC................................................................................................................................12 

3.2.1 CoDeSys ..........................................................................................................................................12 

3.2.2 Target ...............................................................................................................................................13 

3.2.3 EtherCAT Configurator.....................................................................................................................13 

3.2.4 Connection between programming PC and INtimeRTS ..................................................................13 

4 User Interface ................................................................................................................................................15 

4.1 WinINtimeRTS Main Window.............................................................................................................15 

4.2 Section 'INtime Kernel'' ......................................................................................................................15 

4.3 Section 'EtherCAT Master'.................................................................................................................16 

4.3.1 EtherCAT Master Configuration.......................................................................................................16 

4.4 Section 'CoDeSys SP 32bit full' .........................................................................................................21 

4.4.1 CoDeSys SP Configuration..............................................................................................................21 

4.5 Section 'CoDeSys Project' .................................................................................................................23 

4.6 Autostart.............................................................................................................................................23 

5 Programming with CoDeSys .........................................................................................................................24 

5.1 Target system ....................................................................................................................................24 

5.2 PLC Configuration..............................................................................................................................24 

5.2.1 Options .............................................................................................................................................25 

5.2.2 EtherCAT-Master Options................................................................................................................25 

5.2.3 EtherCAT Configurator State ...........................................................................................................25 

5.2.4 Update Task.....................................................................................................................................26 

6 EtherCAT-Configuration ................................................................................................................................27 

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6.1 Offline Configuration ..........................................................................................................................27 

6.2 Online Configuration ..........................................................................................................................30 

7 VenturaINtime.lib ...........................................................................................................................................31 

7.1 CHECKLICENSE ...............................................................................................................................32 

7.2 Activating and deactivating of Slaves ................................................................................................33 

7.2.1 EC2_ACTIVATESLAVES.................................................................................................................33 

7.2.2 EC2_DEACTIVATESLAVES............................................................................................................34 

7.2.3 Example ...........................................................................................................................................34 

7.3 EC2_GETSTATE ...............................................................................................................................36 

7.4 EC2_GETSTATEEX ..........................................................................................................................37 

7.5 EC2_INITMASTER ............................................................................................................................39 

7.6 EC2_READCONMBX ........................................................................................................................40 

7.7 EC2_SDOREAD ................................................................................................................................41 

7.8 EC2_SDOWRITE...............................................................................................................................43 

7.9 EC2_WRITECMDMBX.......................................................................................................................45 

7.10 ECAT_GETSTATE.........................................................................................................................46 

7.11 ECAT_INITMASTER ......................................................................................................................47 

7.12 GETNAMEDSHMADDRESS..........................................................................................................48 

7.13 RELEASENAMEDSHMADDRESS ................................................................................................49 

8 Appendix........................................................................................................................................................50 

8.1 Sales & Service..................................................................................................................................50 

8.1.1 Main factory in Malente ....................................................................................................................50 

8.1.2 Customer service .............................................................................................................................50 

8.2 References.........................................................................................................................................50 

9 Index..............................................................................................................................................................51 

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1 Introduction 

1.1 EtherCAT® 1 — Ethernet Control Automation Technology 

1.2 Ventura — the automation platform 

Introduction 

EtherCAT is the most powerful Ethernet-based fieldbus system currently 

available on the market. EtherCAT puts up the top speed mark, and its flexible 

topology and simple configuration make it the perfect means of controlling 

extremely fast processes. To give you a clue: 1000 I/Os can be addressed 

in 30 µs. 

Because of its high performance, the simple wiring and its open protocol 

support, EtherCAT is often used as a fast motion control and I/O bus driven 

by an industrial PC or in conjunction with control technology on a smaller 

scale. EtherCAT moves beyond the limits of conventional fieldbus systems. 

Its interconnections between the controller at one end and both the I/O modules 

and drives at the other are as fast as those of a backplane bus. Ether- 

CAT controllers thus nearly act like centralised control systems, overcoming 

the issue of bus transfer times that conventional fieldbus systems are burdened 

with. 

The Ventura automation platform has been specifically engineered with applications 

near to the machine in mind. Ventura provides flexible automation 

solutions including hardware and software PLCs based around industrial 

PCs, remote I/Os, remote PLCs and decentralised drives. EtherCAT, PRO- 

FIBUS-DP, CANopen and AS interface are supported for networking. 

Ventura industrial PCs used as EtherCAT Masters feature hard-coded realtime 

response and a CoDeSys PLC. 

1.3 Ventura INtime — CoDeSys 2.3 PLC with EtherCAT-Master 

Ventura INtime is a control solution for the Ventura IPC. 

The IPC is equipped with the real time operating system INtime 2 , a CoDe- 

Sys 3 Soft-PLC and an EtherCAT-Master from Kuhnke. 

PLC und EtherCAT-Master run directly under INtime, i.e. in hard real time. 

INtime can be operated as Remote Node (Stand alone) or in combination 

with WINDOWS XP 4 . 

In case of WINDOWS XP the configuration and operation of INtime, Ether- 

CAT-Master and CoDeSys PLC can be made by a graphical user interface. 

1 EtherCAT® is a registered trademark and patented technology, licensed from Beckhoff Automation GmbH, Germany. 

2 INtime is a product of TenAsys Corporation, Beaverton, OR 97006 / USA 

Figure 1: Ventura Intime IPC with Ventura FIO 

3 CoDeSys is a product of 3S - Smart Software Solutions GmbH, 87439 Kempten / Germany 

4 WINDOWS XP is a product of Microsoft Corporation, Redmond, WA 98052 / USA 

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Introduction 

The PLCs are programmed by CoDeSys 2.3, which was extended by an interface 

to the Beckhoff 5 EtherCAT-Configurator. 

5 The EtherCAT Configurator is a product of Beckhoff Automation GmbH in 33415 Verl / Germany 

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2 Reliability, Safety 

2.1 Intended Use 

2.2 Target Group 

2.3 Reliability 

2.4 Symbols 

2.4.1 Danger 

Reliability, Safety 

Kuhnke products are designed as resources for use in industrial environments. 

All other applications need to be discussed with the factory first. The manufacturer 

shall neither be liable for any other than the intended use of our 

products nor for any ensuing damages. The risk shall be borne by the operator 

alone. The use as intended includes that you read and apply all information 

and instructions contained in this manual. 

This instruction manual contains all information necessary for the use of the 

described product (control device, control terminal, software, etc.) according 

to instructions. It is written for design, project planning, servicing and commissioning 

experts. For proper understanding and error-free application of 

technical descriptions, instructions for use and particularly of notes of danger 

and warning, extensive knowledge of automation technology is compulsory. 

Reliability of Kuhnke products is brought to the highest possible standards 

by extensive and cost-effective means in their design and manufacture. These 

include: 

• selecting high-quality components, 

• quality agreements with our suppliers, 

• actions to avoid static charges when handling MOS circuits, 

• worst case planning and design of all circuits, 

• inspections at various stages of fabrication, 

• computer-aided tests of all assemblies and their interaction in the circuit, 

• statistical assessment of the quality of fabrication and of all returned 

goods for the immediate taking of appropriate corrective actions. 

Despite the actions described in section 2.3, the occurrence of faults or errors 

in electronic control units - even if most highly improbable - must be taken 

into consideration. 

Please pay particular attention to the additional notices which we have 

marked by symbols throughout this instruction manual. While some of these 

notices make you aware of possible dangers, others are intended as a 

means of orientation. They are described further down below in descending 

order of importance. 

This symbol warns you of dangers which may cause death or grievous bodily 

harm if operators fail to implement the precautions described. 

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2.4.2 Attention 

2.4.3 Note 

2.4.4 Under Construction 

2.4.5 Instruction 

This symbol draws your attention to information you must take a look at to 

avoid malfunctions, possible material damage or dangerous states. 

This symbol draws your attention to additional information concerning the 

use of the described product. It may also cross-reference you to information 

to be found elsewhere (e.g. in other manuals). 

This symbol tells you that the function described was not or not fully available 

at the time this document went to press. 

Wherever you see these symbols in the left margin, you will find a list of 

steps instructing you to take the appropriate computer or hardware actions. 

They are intended as a means of orientation wherever working steps and 

background information alternate (e.g. in tutorials). 

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2.5 Safety 

2.5.1 Project Planning and Installation 

2.5.2 Maintenance and Servicing 


Our products normally become part of larger systems or installations. The information 

below is intended to help you integrate the product into its environment 

without dangers to humans or material/equipment. 

To achieve a high degree of conceptual safety in planning and installing an 

electronic controller, it is essential to exactly follow the instructions given in 

the manual because wrong handling could lead to rendering measures against 

dangers ineffective or to creating additional dangers. 

• 24 VDC power supply: generate as electrically safely separated low voltage. 

Suitable devices are, for example, split transformers constructed in 

compliance with European Standard EN 60742 (corresponds to VDE 

0551). 

• Power breakdowns or power fades: the program structure is to ensure 

that a defined state at restart excludes all dangerous states. 

• Emergency switch-off installations must comply with EN 60204/IEC 204 

(VDE 0113). They must be effective at any time. 

• Safety and precautions regulations for qualified applications have to be 

complied with. 

• Please pay particular attention to the notices of warning which, at relevant 

places, will make you aware of possible sources of dangerous mistakes 

or faults. 

• Relevant standards and VDE regulations are to be complied with in every 

case. 

• Control elements are to be installed in such a way as to exclude unintended 

operation. 

• Lay control cables such that interference (inductive or capacitive) is excluded 

if this interference could influence controller operation or its functionality. 

• Precautions regulation VBG 4.0 must be observed when measuring or 

checking a controller in a power-up condition. This applies to section 8 

(Admissible deviations when working on parts) in particular. 

• Repairs must be carried out by specially trained Kuhnke staff only (usually 

in the main factory in Malente). Warranty expires in every other case. 

• Spare parts: 

• Only use parts approved of by Kuhnke. Only genuine Kuhnke modules 

must be used in modular controllers. 

• Modular systems: always plug or unplug modules in a power-down state. 

You might otherwise damage the modules or (possibly not immediately 

recognisably!) inhibit their functionality. 

• Always dispose of any batteries and accumulators as hazardous waste. 

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2.6 Electromagnetic Compatibility 

2.6.1 Definition 

2.6.2 Interference Emission 

2.6.3 General Notes on Installation 

2.6.4 Electrical Immission Safeguard 

Electromagnetic compatibility is the ability of a device to function satisfactorily 

in its electromagnetic environment without itself causing any electromagnetic 

interference that would be intolerable to other devices in this environment. 

Of all known phenomena of electromagnetic noise, only a certain range occurs 

at the location of a given device. It is defined in the relevant product 

standards. 

The design and immunity to interference of programmable logic controllers 

are internationally governed by standard 

IEC 61131-2 which, in Europe, has been the basis for European Standard 

EN 61131-2. 

Refer to IEC 61131-4, User's Guideline, for general installation instructions 

to be complied with to ensure that hardware interface factors and the ensuing 

noise voltages are limited to tolerable levels. 

Interfering emission of electromagnetic fields, HF 

compliant to EN 55011, limiting value class A, Group 1 

If the controller is designed for use in residential areas, high-frequency emissions 

must comply with limiting value class B as described in EN 55011. 

Fitting the controller into earthed metal cabinets and in-stalling filters in the 

supply lines may produce a shielding compliant to the above standard. 

As component parts of machines, facilities and systems, electronic control 

systems must comply with valid rules and regulations, depending on their 

field of application. 

General requirements concerning the electrical equipment of machines and 

aiming at the safety of these machines are contained in Part 1 of European 

Standard EN 60204 (same as VDE 0113). 

For safe installation of your control system please observe the information 

contained in the next chapters (� 2.6.4 ff). 

Connect the control system to the protective earth conductor to eliminate electromagnetic 

interference. Practice best cable routing. 

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2.6.5 Cable Routing and Wiring 

2.6.6 Location of Installation 

2.6.6.1 Temperature 

2.6.6.2 Contamination 

2.6.6.3 Impact and Vibration 

2.6.6.4 Electromagnetic Interference 

Keep power circuits separate from control circuits: 

• DC voltages 60 V ... 400 V 

• AC voltages 25 V ... 400 V 

Joint laying of control circuits is allowed for: 

• shielded data signals 

• shielded analogue signals 

• unshielded digital I/O lines 

• unshielded DC voltages < 60 V 

• unshielded AC voltages < 25 V 

2.6.7 Particular Sources of Interference 

2.6.7.1 Inductive Actuators 


Exclude any and all impediments due to temperature, dirt, impact, vibration 

or electromagnetic interference. 

Consider heat sources such as general heating of rooms, sunlight, and heat 

accumulation in assembly rooms or control cabinets. 

Use suitable casings to avoid possible negative influences due to humidity, 

corrosive gas, liquid or conducting dust. 

Consider possible influences caused by motors, compressors, transfer lines, 

presses, ramming machines and vehicles. 

Consider electromagnetic interference from various local sources: motors, 

switching devices, switching thyristors, radio-controlled devices, welding equipment, 

arcing, switched-mode power supplies, converters / inverters. 

Switching off inductances (such as from relays, contactors, solenoids or 

switching magnets) produces surge voltages. It is necessary to reduce these 

extra voltages to a minimum. 

Reducing elements may be diodes, Z-diodes, varistors or RC elements. To 

find the best adapted elements, we recommend that you contact the manufacturer 

or supplier of the corresponding actuators for the relevant information. 

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Getting Started 

3 Getting Started 

3.1 Target System Ventura INtime 

3.2 Programming PC 

3.2.1 CoDeSys 

In this chapter you will find the prerequisites for the operation of the Ether- 

CAT Master. 

Ventura INtime is a Ventura IPC control solution. 

Ventura INtime IPCs are delivered Ventura with software preinstalled according 

to specification. 

Software components and licenses are on compact flash cards. 

INtime Realtime operating system. 

You can operate INtime as Remote Node (Stand alone) 

or in combination with WINDOWS XP. 

INtimeECM EtherCAT Master 

EC1: Version 1.x (limited functions) 

EC2: Version 2.x 

INtimeRTS KUHNKE Soft PLC. It is a derivate of the CoDeSys SP 

32 bit full / INtime Runtime System. 

WinINtimeRTS the graphical user interface (GUI) under WINDOWS-XP 

for INtime, INtimeECM und INtimeRTS. 

EtherCAT Master version 1.x and EtherCAT Master version 2.x are different 

in principle. 

LAN1, LAN2 Ventura has two physical ethernet ports LAN1 and LAN2 

eth0, eth1 INtime hat has any number of logical ports, beginning 

with eth0. 

EtherCAT always must be connected to LAN2 to ensure the use of the appropriate 

NIC driver (NIC = "network interface card"). 

By default LAN1 is assigned to Windows and LAN2 is assigned to IN-time. 

So LAN2 becomes INtime's eth0. 

� Install CoDeSys 2.3.x on your programming PC. 

CoDeSys can be downloaded from www.3s-software.com. 

CoDeSys is free of license. 

• You will need the CoDeSys programming system version 2.3.8.0 or 

higher to work with INtimeRTS. 


higher to use the latest features of CoDeSys target "Kuhnke VenturaINtime" 

Version 15 (final version). 


higher to use the latest features of CoDeSys target "Kuhnke VenturaEC2" 

Version 8 (Sept. 2010). 

• INtimeRTS is not compatible with CoDeSys version 3.x. 

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3.2.2 Target 

3.2.3 EtherCAT Configurator 


� In addition to CoDeSys 2.3.x on your programming system you will need 

to install the CoDeSys target for the INtimeRTS. 

Use the CoDeSys program "Install Target". 

The current target can be downloaded free of charge from 

www.kuhnke.com. 

• For EtherCAT-Master Version 1.x: "Target_VenturaINtime_Vxx. 

• For EtherCAT-Master Version 2.x: "Target_VenturaEC2_Vxx. 

� Install the "Beckhoff EtherCAT Configurator" Version 2.10 Build 1348 or 

higher. 

You can download the current Beckhoff EtherCAT Configurator from 

http://www.beckhoff.de . 

The configurator has to be licensed. Among others you can get licenses 

from Kuhnke. 

3.2.4 Connection between programming PC and INtimeRTS 

3.2.4.1 Ventura IPC 

� Connect your programming system and the Ventura via an Ethernet cable. 

(Patch cable when in case of a network connection, cross over cable 

in case of a direct connection. 

Please use LAN1 on the Ventura. 

� Be sure to have appropriate IP addresses and netmasks on your programming 

PC and on your Ventura IPC to login with CoDeSys in the 

INtime RTS. 

Example : 

Ventura IPC and programming PC are connected in a corporate network via 

Ethernet. The IP addresses are assigned with DHCP. 

� Find out the assigned IP address in the IPC by checking the status of 

the network connections of LAN1. 

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3.2.4.2 Programming PC 

CoDeSys on your programming PC must be configured to use the gateway 

server on the Ventura and the communication driver ShmINtime 

� Define a gateway in CoDeSys using Online� Communication 

Parameters. Type in the IP address of LAN1 of the Ventura IPC. 

� Create the communication channel by "New". Select "ShmIINtime". 

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4 User Interface 

4.1 WinINtimeRTS Main Window 

4.2 Section 'INtime Kernel'' 

The WinINtimeRTS main window has the following four sections: 

• INtime Kernel 

• EtherCAT Master 

• CoDeSys Runtime System (INtimeRTS) 

User Interface 

• CoDeSys Project 

You learn in the next chapters how to control the respective components and 

what the announced information means 

INtime® is the real time operating system (RTOS), which adds hard real time 

to Microsoft® Windows® XP embedded. 

"Start Kernel" starts INtime. That means: 

• Intime takes control of the most important IPC resources. These are 

particularly timer and EtherCAT-Port LAN2 

• Windows® XP embedded gets assigned runtime by Intime. 

"Stop Kernel" finishes INtime. That means: 

• Intime finishes. 

• Windows® XP embedded takes control over all IPC resources 

again. 

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4.3 Section 'EtherCAT Master' 

4.3.1 EtherCAT Master Configuration 

4.3.1.1 Section "Dependency" 

• "Configure" opens the dialog for adjusting the EtherCAT-Master 

• "Start ECM" starts the EtherCAT-Master. 

• "Stop ECM" stops the EtherCAT-Master. 

After being started, there are two possible states: 

• "EtherCAT Master is running" (yellow indicator) means the 

EtherCAT Master has been started, but there are no valid EtherCAT 

devices found. 

• "EtherCAT Master is ready" (green indicator) means the EtherCAT 

Master has been started, and there are valid EtherCAT devices 

found. 

"EtherCAT Master controlled by Runtime System" 

Select this option to start the EtherCAT Master automatically before the 

CoDeSys runtime system is started and to stop it automatically after the 

CoDeSys runtime system has shut down. 

This is highly recommended for applications, which use the fast SDO transfer. 

If this option is checked, buttons "Start ECM" and "Stop ECM" in the 

WinINtimeRTS main window will be disabled. 

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4.3.1.2 Section 'Configuration Path' (Future use) 

4.3.1.3 Section "Speed" 

4.3.1.3.1 "Triggered" 

SEMA 


At the moment the configuration path must be the path of the CoDeSys Runtime 

System. It can not be changed. 

The EtherCAT Master can be run in two modes: 

The EtherCAT Master is synchronized by the CoDeSys Runtime System. 

Inputs are read at the beginning of each PLC cycle, outputs are written at 

the end. This is the default mode. 

Read 

Inputs 

WinINtime-RTS 

PLC_PRG 

Task-Watchdog 

Inputs Outputs 

Shared Memory 

EtherCAT-Master 

ECM-Timeout 

Write 

Outputs 

Figure 2: Synchronization of RTS and ECM in "Triggered" mode 

• Timeout [ms]: 

Working in triggered mode, the EtherCAT Master could cause a 

deadlock, when the EtherCAT cable is broken or if devices are 

switched off. In this case the CoDeSys Runtime System waits for the 

trigger for the specified time. If there is a timeout, CoDeSys continues 

execution without reading inputs. 

Caution! 

The ECM time out value must be smaller than the watchdog value of the 

CoDeSys task. 

If this is not so, an interruption of the EtherCAT cable causes a responding 

of the watchdog of the CoDeSys task 

• "External Trigger" (special purposes): 

This option can be used to prevent the EtherCAT Master from being 

triggered by the CoDeSys Runtime System. This can be useful, if 

the EtherCAT Master must be synchronized with a foreign application. 

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SEMA


4.3.1.3.2 "Cyclic" 

4.3.1.4 Section "Options" 

4.3.1.4.1 eth0 / eth1 

4.3.1.4.2 Advanced (special purposes) 

The EtherCAT Master sends EtherCAT-telegrams in defined intervals. 

The cycle time is the INtime kernel tick multiplied by the "Kernel Tick multiplier", 

e.g. if your INtime kernel tick is 500µs and your Kernel Tick multiplier 

is 2, the EtherCAT Master cycle time will be 1ms. 

There is no synchronization with the CoDeSys Runtime System. 

In default configuration, INtime has control over one ethernet port ("eth0", 

which is physically LAN2). 

EtherCAT always must be connected to LAN2. 

Anyway, special applications could have a need for a second ethernet port 

under INtime's control. 

In this case LAN1 becomes eth0 and LAN2 becomes eth1. 

Opens a dialog box "EtherCAT Priorities": 

Here you can define priorities for the EtherCAT Driver and the EtherCAT 

Master as well as different timeouts and the NIC driver. 

Caution! 

With respect to the priorities a smaller value indicates a higher priority! 

Normally there is no need to change the following priorities. However, special 

applications might have a need to change them. 

Please use all these options with care and be aware that changing the priorities 

and/or the timeouts might change the behavior of the whole system. 

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4.3.1.4.2.1 Section "ECATDrv.rta" (EtherCAT Driver) 

The EtherCAT Driver creates three tasks: 

• RX Task (receive) 

• TX Task (transmit) 

• Statistic Task (calculate statistics) 

4.3.1.4.2.2 Section "ECM.rta" (EtherCAT Master) 


Each task can be run with an individual priority. 

Valid priorities are 100...255, default priorities are 135 (RX), 134 (TX), 150 

(Statistic). 

• EtherCAT Master Task 

The EtherCAT Master is a single task. It can be run with an 

individual priority. Valid priorities are 100...255, default priority is 

130. 

4.3.1.4.2.3 Section "Timeouts" (troubleshooting and special purposes) 

These timeouts in milliseconds control the interaction of INtimeRTS and the 

EtherCAT Master. 

• Wait for "EtherCAT Master Ready" 

The EtherCAT Master may take some time from being started until it 

signals "Ready". This timeout is the maximum waiting time of 

INtimeRTS. 

• Wait for "EtherCAT Master Ready" after Reinizialization 

The EtherCAT Master may take some time from being reset until it 

signals "Ready". This timeout is the maximum waiting time of 

INtimeRTS. 

• Wait for initial reply to trigger (Triggered mode only) 

Running in triggered mode, the EtherCAT Master may take some 

time until it replies to the trigger. If the connected EtherCAT network 

does not match the configuration, the EtherCAT master does not 

reply to the trigger. 

In this case this timeout is the waiting time before an error message 

is displayed. 

4.3.1.4.2.4 Sektion "NIC Driver" (troubleshooting and special purposes) 

A NIC driver is the software driver for a hardware "Network Interface Chip". 

(Ethernet Hardware) 

LAN2 of the Kuhnke Ventura is driven by a Realtek RTL 8139 NIC. 

Generally the default driver of the INtime operating system (RTL8139.rta) will 

be the best choice, but special applications might have a need to use a different 

NIC driver. 

4.3.1.4.3 Section "Additional Parameters" (test purposes) 

The EtherCAT Master has optional features which can be activated by typing 

parameters in a command line. 

Multiple parameters are possible. Multiple parameters are separated by 

spaces, e.g. '-v -l -i 8000'. 

Valid parameters are: 

-v "Verbose Mode" 

In this mode, the EtherCAT master dumps information about its activities into 

an INtime console window. 

Please see hint at page 20. 

-l "Log Mode" 

(only in combination with '-v') 

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in addition to the dump in a console window a log file ECATLOG.LOG will be 

generated. 


-o "Old Cyclic Start Mode" 

The cyclic communication task will not be started before all slaves are in 

state "Operational". 

Default: The cyclic communication task is already started when all slaves are 

in state "Preoperational". 

-d "Telegram Dump" 

In this mode, the EtherCAT master dumps all telegrams into an INtime console 

window. 


-s xx "Send Retries" 

Number of send retries before a re-initialization is performed. 

Default: 3. 

-t xx "Timeout" 

Receive timeout [ms]. 

Default: 15, Minimum: 10. 

-i xx "Re-initialization delay" 

Delay [ms] for re-initialization after an initialization error occurred. 

'-i 0' means "No re-initialization". 

Default: 5000. 

-p xx "SDO timeout" 

Receive timeout [ms] for SDO transfer. 

Default: 1000. 

Hint! 

Please use '-v', '-l' and '-d' with care! They are intended to get unknown 

EtherCAT devices working. 

Dumping data to a console window and/or a log file does heavily interfere 

with the time critical processes of the EtherCAT Master. 

So running the EtherCAT Master in triggered mode or fast cyclic mode ( 

time base < 4ms) together with '-v', '-l' or '-d' could lead to unforeseeable 

behavior. 

Please note that '-l' does not control the available disk space! 

Example of a typical use of these options: 

4.3.1.5 Button "Cleanup Config" (troubleshooting) 

You have an unknown device and do not succeed in making it work, i.e. it 

does not reach state "Operational". 

� Switch your EtherCAT Master to cyclic mode and chose a moderate 

time base, e.g. 4ms or higher. 

Switch on "Verbose Mode" and analyze the dump to find out what is going 

wrong while the EtherCAT Master is trying to initialize the device. 

A system crash might leave invalid EtherCAT configuration files. "Cleanup 

Config" deletes all EtherCAT configuration files from the configuration path. 

After this operation, a valid EtherCAT configuration must be downloaded 

from the programming system. 

20 E 674-6 GB 

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4.4 Section 'CoDeSys SP 32bit full' 

4.4.1 CoDeSys SP Configuration 

4.4.1.1 Section "CoDeSys I/O-Drivers" 

The INtime RTS (Soft PLC) can be started and stopped in the section 

"CoDeSys SP 32bit full". 


"Configure" starts a dialog window for the configuration of the CoDeSys SP 

RTS. 

Caution! 

Start and stop corresponds to the switching on/off of the RTS. The start of 

the RTS is carried out with the bootproject. The project perhaps loaded before 

by the programming PC is deleted. . 

The part "CoDeSys Drivers" shows which driver software have been loaded. 

In this section I/O drivers of the CoDeSys Runtime System (RTS) can be 

switched on or off. These drivers and their purposes are: 

• "Kuhnke I/O": Communication between RTS and programming system, 

communication between RTS and GUI, control of Ventura's 

LEDs, system health and watchdog. This driver should never be 

switched off. 

• "CAN": CAN driver. 

• "PROFIBUS": PROFIBUS DP driver. 

• "EtherCAT": EtherCAT Driver. 

There is no real need to switch off any drivers, but you can safe system resources, 

if your application does not need all of them. 

E 674-6 GB 21 

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4.4.1.2 Section "PLC Load Control" (testing, troubleshooting) 

PLC Load Control throws an exception, if the average CPU time used by the 

RTS is greater than the pre-selected value. 

PLC Load Control can be switched on and off. If switched on, the number of 

cycles to check and the maximal load can be selected. 

If your application causes such exceptions, you will have to adjust it's timing 

in the "task configuration" of the CoDeSys programming system. 

Example: 

In a program shall be a cyclical task is, which is started every 1ms. The runtime 

of the task is unknown, however it could be nearly 1 ms under certain 

conditions, i.e. a runtime reserve is needed. 

� Define "Maximum Load" to 50% and restart the RTS. 

At a runtime > 0.5 ms the RTS stops and reports "PLC load higher than configured 

maximum load". 

If your programming PC is logged in, you get the following message: 

If your application causes such an exception, you must adjust its timing in 

the "Task configuration" of the CoDeSys program newly. The task could be 

started e.g. every 2 ms. 

22 E 674-6 GB 

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4.4.1.3 Section "Options" 

4.4.1.4 Section "Start Visualization after Autostart" 

4.4.1.5 Section "IP Address" 

4.4.1.6 Button "Delete Bootproject" 

4.5 Section 'CoDeSys Project' 

4.6 Autostart 


• "Use SysLibCom.lib": 

This option reserves the serial port(s) for your CoDeSys project and 

loads an additional INtime driver. 

In this section you can automatically start any executable your application 

might need. The main purpose of this option is 3rd party visualization software. 

This section displays the IP address of the Windows ethernet port. You will 

need this address to establish a connection from your programming system 

to the RTS. Please use it as the address of the remote Gateway Server. 

Deletes the CoDeSys bootproject. 

The CoDeSys project can be started, stopped and put to RESET in the section 

"CoDeSys Project". 

Furthermore information about the loaded project and its state is displayed. 

The INtimeRTS can be started automatically after booting the Ventura. 

Therefore the following steps are necessary: 

� Create a batch file in a Windows start folder, e.g. 

C:\Documents and Settings\Administrator\Start Menu\\Programs\Startup 

At first edit the lines 

C: 

CD \3S 

� Then edit the line 

winintimerts /autostart 

to start INtime, INtimeRTS and its bootproject or 

winintimerts /autostart /ecm 

to start INtime, network and EtherCAT Driver, EtherCAT Master, INtimeRTS 

and its bootproject 

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Programming with CoDeSys 

5 Programming with CoDeSys 

5.1 Target system 

5.2 PLC Configuration 

In this section you learn the unusual features at the programming of the target 

system "Ventura INtime EC2". You find the necessary prerequisites in 

section 3.2 at page12. 

The programming in CoDeSys starts in the usual way. 

� After File, new select the target system "Kuhnke Ventura EC2". 

� Select PLC Configuration on the "Resources" tab. 

� Select Insert, Append Subelement, EtherCAT Master. 

Then the following dialog window appears: 

24 E 674-6 GB 

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5.2.1 Options 

5.2.2 EtherCAT-Master Options 

Programming with CoDesys 

The "Configurator" button is still not active, since the project was not saved 

before. 

� Save the project by File, Save! 

The specification of the variable format made on basis of the definition in the 

XML device description file. 

• Pack Bit I/O as BYTEs 

If the option is activated, bit variables are packed into byte variables 

at the change from the EtherCAT configurator to CoDeSys. 

• ANY_BIT I/O with bit-channels 

If the option is activated, additional bit variables are created from 

ANY_BIT-variables at the change from the EtherCAT configurator to 

CoDeSys. 

• Use group names 

The group names of the variables from the XML file are used for the 

CoDeSys variables. 

Start automatically 

5.2.3 EtherCAT Configurator State 

• When the option is activated, the EtherCAT-Master starts 

automatically.. 

The start can be done alternatively by using a library function. 

(see page 39) 

• Message window 

Here are displayed messages which concern the process of the 

EtherCAT-Configuration. 

• Save XML Stream as file 

The data transfer from the EtherCAT configurator to CoDeSys is 

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Programming with CoDeSys 

5.2.4 Update Task 

executed as a XML stream. The file can be helpful at the analysis of 

problems. 

• Export Text 

The contents of the message window are written into a text file. The 

file can be helpful at the analysis of problems. 

The EtherCAT Master can run in the Triggered Mode or in the Cyclic Mode. 

See p. 17 

You can decide when the data are exchanged between the EtherCAT master 

and the CoDeSys runtime system by editing the task name. ( "All" means 

all tasks.) 

Only the variables which are used in the task are swapped, the input variables 

at the beginning of the task and the output variables at the end of the 

task. 

• Cyclic Mode 

Refreshing the variables in CoDeSys is done asynchronously to the 

EtherCAT cycle. 

To get data consistency, all matching variables must be used in one task. 

• Triggered Mode 

CoDeSys startet am Ende der Task einen EtherCAT-Zyklus. Dabei 

werden die Ausgangsdaten an den EtherCAT-Master übergeben. 

Der EtherCAT-Master schickt ein EtherCAT-Telegramm mit diesen 

Ausgangsdaten und erhält die Eingangsdaten zurück. Diese werden 

an CoDeSys übergeben. Erst dann wird die nächste CoDeSys-Task 

gestartet. 

Beachten Sie, dass eine ausreichende Watchdogzeit für die Task (größer 

als die ECM-Timeoutzeit) eingestellt sein muss. Siehe auch S. 17. 

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6 EtherCAT-Configuration 

6.1 Offline Configuration 

EtherCAT Configuration 

The EtherCAT Master needs a configuration for operating the EtherCAT 

network. 

The details of the joining EtherCAT slaves are an essential component of the 

configuration. 

There are two possibilities, to document the features of an EtherCAT slave. 

1. The base features are left in an EEPROM of the slave further are 

described in a XML device file. 

2. The features are complete left in an EEPROM of the slave. 

(This method is not supported by every manufacturer.) 

By the XML device files EtherCAT configurators get convenient possibilities. 

EtherCAT makes possible both the offline configuration and the scanning of 

the participants in an Ethernet line (online configuration). 

In the following examples the standard configurator of the ETG 6 (EtherCAT 

configurator of Beckhoff Automation GmbH) was used. This one uses both 

offline and online the XML device files. 

For Ventura FIO it is the file "KuhnkeEtherCATModules.xml". 

� Copy the file "KuhnkeEtherCATModules.xml" into the directory 

C:\Programme\EtherCAT Configurator\EtherCAT or into the directory 

specified for the used configurator. 

In the following example an EtherCAT configuration for an I/O block, consisting 

of a Ventura FIO bus coupler and a Ventura FIO DI16/DO16 module 

shall be created offline. 

� Start the EtherCAT configurator. 

� File, New creates a new I/O-Configuration. 

6 ETG is the EtherCAT Technology Group www.ethercat.org 

� Highlight "I/O Devices" and execute "Append Devices". That way you 

insert a "Device 1 (EtherCAT)", which corresponds to an EtherCAT line. 

� Than highlight "Device 1 (EtherCAT)" and execute "Append Box". 

� Expand the view on the group "Kuhnke Automation GmbH & Co. KG" 

and the subgroup "Ventura Fast IO (VFIO) und then select "Buskoppler 

(694.400.00)". 

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� The configurator suggests "Term1" as the name. Edit names and 

comments according to your needs. 

� Then mark "Term 1 (Ventura FIO Buskoppler)" and execute "Append 

box". 

� Expand the view on the group "Kuhnke Automation GmbH & Co KG" 

and the subgroup "Digitale IO Module" and then select 

"DI16/DO16 5ms 0.5A (694.450.01)". 

� Repeat the last step until the configuration is complete. 

28 E 674-6 GB 

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Thus the configuration for the EtherCAT Master is produced and a *.esm file 

can be saved. For a Ventura EtherCAT Master project it is the file 

"KuECAT.esm". 

If your PC is connected with the EtherCAT I/O modules via Ethernet, the 

Ventura FIO modules can be already tested online. 

� By "Toggle Free Run State" (Ctrl+F5) the EtherCAT I/O modules are 

switched in the "Operational mode". 

� Highlight the variable which you want to test. Read inputs and set outputs! 

Set outputs only when no danger can arise by this. 

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6.2 Online Configuration 

EtherCAT supports scanning the devices in an Ethernet line. In the following 

example the configuration for an I/O block consisting of a Ventura FIO bus 

coupler and a Ventura FIO DI16/DO16 module shall be found out. 

� Connect the Ventura FIO bus coupler with the Ventura FIO DI16/DO16 

module and switch on the power supply. 

� Connect the ethernet interface of your PC with the Ventura FIO-bus 

coupler over a CAT5 cable. 

(The cable can be both a patch cable and a crossover cable.) 

� Start the EtherCAT configurator? 

� File, New creates a new I/O Configuration? 

� Highlight "I/O Devices" and execute "Scan Devices". 

(If your PC has several Ethernet interfaces, select the one that you use 

for connecting the EtherCAT I/O modules.) 

� Reply the following question "Scan for boxes?" by "Yes". 

� Thus the configuration for the EtherCAT Master is produced and a 

*.esm file can be saved. For a Ventura EtherCAT Master project it is the 

file "KuECAT.esm". 

� If you also reply "Activate Free Run?" by "yes", you can already test the 

Ventura FIO modules online. 

Set outputs only when no danger can arise by this. 

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7 VenturaINtime.lib 

31 

VenturaINtime.lib 

Together with the Target installation data (see page 13) CoDeSys is sent a 

function library for the target system Ventura EC2 resp. Ventura ECAT for 

the former release EC1. 

(Versions see page 12) 

VenturaINtime.lib hosts functions affecting the operating system and the 

EtherCAT Master. They can be used to adapt program execution to specific 

conditions. 

Table 1 

below summarises the functions and function blocks contained in VenturaINtime.lib. 

to be explained on the following pages: 

Name Purpose 

CHECKLICENSE Checks an individual license key 

EC2_ACTIVATESLAVES 

EC2_DEACTIVATESLAVES 

Activates a range of configured slave 

devices 

Deactivates a range of configured slave 

devices. 

EC2_GETSTATE Information about EtherCAT state 

EC2_GETSTATEEX Information about EtherCAT state 

EC2_INITMASTER Re-initialization of the EtherCAT Master 

EC2_READCONMBX 

Reads from the control mailbox of the 

EtherCAT master 

EC2_SDOREAD SDOREAD operation 

EC2_SDOWRITE SDOWRITE operation 

EC2_WRITECMDMBX 

ECAT_GETSTATE 

ECAT_INITMASTER 

Writes a command and parameters to the 

command mailbox of the EtherCAT master 

Information about EtherCAT state in version 

EC1 

Re-initialization of the EtherCAT Master in 

Version EC1 

GETNAMEDSHMADDRESS Access to a named shared memory 

RELEASENAMEDSHMADDRESS Release of a named shared memory 

Table 1 

Pay attention that the library modules for installing and creating of the special 

program units do not run permanently. Use the return value for locking. Otherwise 

unforeseeable program flows could arise.


7.1 CHECKLICENSE 

FUNCTION CHECKLICENSE: BOOL 

VAR_INPUT 

SZ_LICENSECODE: STRING; 

END_VAR 

B_USEMAC: BOOL; 

B_USEVENDORINFO: BOOL; 

B_USEDISKID: BOOL; 

The function CHECKLICENSE checks an individual license key, which can 

be generated from at least one of the following items: 

- MAC address 

- Vendor information 

- Disk ID 

It can be used to protect the CoDeSys project against being copied to another 

system. 

Function Type Value Meaning 

FALSE The license key does not fit with the system. 

CHECKLICENSE BOOL TRUE The license key fits with the system. 

Parameter Type Value Meaning 

SZ_LICENSECODE STRING License key 

B_USEMAC BOOL TRUE Use MAC address 

B_USEVENDORINFO BOOL TRUE Use Vendor information 

B_USEDISKID BOOL TRUE Use Disk ID 

You will need additional software from KUHNKE to generate system specific 

license keys. 

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7.2 Activating and deactivating of Slaves 

7.2.1 EC2_ACTIVATESLAVES 

A flexible (modular) machine requires a flexible (modular) control. 


Between minimum solution and maximum solution different stages of development 

are to be possible. 

I.e. for the control there is a full equipment with a maximum number of EtherCAT 

Slaves and reduced variants with a subset of EtherCAT Slaves. 

A master control is necessary in each case. Ideal way the same control program 

can be used. 

How is that possible, if the EtherCAT master finds different Ether CAT configurations 

nevertheless and the addresses of the inputs and outputs are assigned 

in accordance with the topological order at the EtherCAT cable? 

With the help of the method "Deactivating Slaves from the maximal configuration" 

described in the following individual Slaves, which are physically 

missing, can also be removed logically from the configuration. 

• The CoDeSys project remains unchanged, new configuring is not 

necessary. 

• The diagnostic possibilities remain unrestricted. 

• The EtherCAT functions remain unrestricted. 

FUNCTION EC2_ACTIVATESLAVES: BOOL 

VAR_INPUT 

END_VAR 

uiIdx: UINT; 

uiCount: UINT; 

The function EC2_ACTIVATESLAVES activates a range of configured slave 

devices. 


FALSE Activation is failed 

EC2_ ACTIVATESLAVES BOOL TRUE Activation was successful 


uiIdx UINT 

1 based index of the first device to 

be activated 

uiCount UINT Number of devices to be activated. 

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7.2.2 EC2_DEACTIVATESLAVES 

7.2.3 Example 

FUNCTION EC2_DEACTIVATESLAVES: BOOL 

VAR_INPUT 

END_VAR 

uiIdx: UINT; 

uiCount: UINT; 

The function EC2_DEACTIVATESLAVES deactivates a range of configured 

slave devices. 


FALSE Deactivation is failed 

EC2_ DEACTIVATESLAVES BOOL TRUE Deactivation was successful 


uiIdx UINT 

1 based index of the first device to be 

deactivated 

uiCount UINT Number of devices to be deactivated. 

EC-Master 

EC-Master 

Maximal configuration 

In a machine variant the EtherCAT Slave T3 is not needed. 

This partial configuration is to be operated from a maximal configuration. 

The following steps in CoDeSys are necessary: 

� Select the "Resources" tab and there the PLC configuration 

� Append the Subelement "EtherCAT Master". 

34 E 674-6 GB 

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T1 

T1 

T2 

T2 

T3 

Partial configuration 

T4 

T4 

T5 

T5 

T6 

T6


� Deactivate first the checkbox for " Automatischer Start" in the EtherCAT 

master options. 

� Configure then the maximal configuration with the EtherCAT 

Konfigurator (see section 6, S. 27) 

� 

� Insert the following instruction lines for the deactivation of the Slave T3 

into your CoDeSys program: 

IF bDeact_T3 THEN 

EC2_DEACTIVATESLAVES(3,1); 

bDeact_T3:=FALSE; 

END_IF 

� Insert the following instruction lines for the start of the EtherCAT Master 

into your CoDeSys program: 

IF bInitMaster_T3 THEN 

EC2_INITMASTER; 

bInitMaster:=FALSE; 

END_IF 

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7.3 EC2_GETSTATE 

FUNCTION_BLOCK EC2_GETSTATE 

VAR_OUTPUT 

EC2_State: EC2_STATE; 

END_VAR 

This function block returns information about EtherCAT. 


EC2_State EC2_STATE Structure defined in this library 

Structure members: 

bECATMasterReady BOOL 

uiECATSlaveCount UINT 

wECATDevState WORD*) 

Master state 

TRUE EtherCAT Master is ready and working 

FALSE EtherCAT Master is not working 

1.. 

65535 

Number of EtherCAT slaves found by the 

master 

Device states of all connected EtherCAT slaves, 

combined by arithmetic OR 

1 (Bit0) Init 

2 (Bit1) Pre-Operational 

4 (Bit2) Safe-Operational 

8 (Bit3) Operational 

*) Example: 

uiECATDevState = 9 can be read as: 

At least one device is in state 'Init' and at least one device is in state 'Operational'. 

PROGRAM WatchEtherCATState 

VAR 

EtherCATState: EC2_GETSTATE; 

END_VAR 

EtherCATState(EC2_State=> ); 

EtherCATState.EC2_State.bECATMasterReady; 

EtherCATState.EC2_State.uiECATSlaveCount; 

EtherCATState.EC2_State.wECATDevState; 

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7.4 EC2_GETSTATEEX 

FUNCTION_BLOCK EC2_GETSTATEEX 

VAR_OUTPUT 

END_VAR 

EC2_StateEx: EC2_STATEEX; 

This function block returns detailed information about EtherCAT. 


EC2_StateEx EC2_STATEEX Structure defined in this library 

Structure members: 

wMasterMode WORD 


Bit coded modes of the EtherCAT master, combined 

by arithmetic OR. 

1 (Bit0) EtherCAT Master is ready 

2 (Bit1) Automatic start configured 

4 (Bit2) Master is initializing slaves 

8 (Bit3) Error occurred while initializing slaves 

16(Bit4) Cyclic mode is running 

wTransmitState WORD At present not supported. 

wReceiveState WORD At present not supported. 

ulCycleTime UDINT Cycle time in kernel ticks. 

ulCycleCount UDINT Cycle count. 

szECMVer STRING (15) ECM Version 

szBuildDate STRING (15) ECM Release Date 

szBuildTime STRING (15) ECM Release Time 

uiSlavesConfigured UINT Number of slaves configured. 

uiSlavesDeactivated UINT Number of slaves deactivated. 

uiSlaveCount UINT Number of slaves found. 

wAllSlavesState WORD 

Device States of all connected EtherCAT slaves, 


1 (Bit0) Init 




Error codes and vendor specific information 

in the upper bits 

E 674-6 GB 37 

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byMasterState BYTE 

bySlaveStateArr 

*) Example: 

ARRAY 

[1..4007] OF 

BYTE 

Master State 

1 (Bit0) Init 




Device State of each connected EtherCAT slave 

separately. 

Kuhnke specific information in the bits 4..7, combined 

by arithmetic OR *) 

1 (Bit0) Init 




16 (Bit4) Error occurred while switching state 

Bit 5..7 


Error code 

0 No error 

2 Receive timeout 

3 Working counter error 

4 Validating error 

5 Invalid vendor ID 

6 Invalid product code 

7 Invalid revision 

255 The slave has been deactivated 

At least one device is in state 'Init' and at least one is in state 'Operational'. 

PROGRAM WatchEtherCATStatusEx 

VAR 

EtherCATStateEX: EC2_GETSTATEEX; 

END_VAR 

EtherCATStateEX(EC2_StateEx=> ); 

EtherCATStateEX.EC2_StateEx.byMasterState; 

EtherCATStateEX.EC2_StateEx.bySlaveStateArr; 

EtherCATStateEX.EC2_StateEx.szBuildDate; 

EtherCATStateEX.EC2_StateEx.szBuildTime; 

EtherCATStateEX.EC2_StateEx.szECMVer; 

EtherCATStateEX.EC2_StateEx.uiSlaveCount; 

EtherCATStateEX.EC2_StateEx.uiSlavesConfigured; 

EtherCATStateEX.EC2_StateEx.uiSlavesDeactivated; 

EtherCATStateEX.EC2_StateEx.ulCycleCount; 

EtherCATStateEX.EC2_StateEx.ulCycleTime; 

EtherCATStateEX.EC2_StateEx.wAllSlavesState; 

EtherCATStateEX.EC2_StateEx.wMasterMode; 

EtherCATStateEX.EC2_StateEx.wReceiveState; 

EtherCATStateEX.EC2_StateEx.wTransmitState; 

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7.5 EC2_INITMASTER 

FUNCTION EC2_INITMASTER : BOOL 

VAR_INPUT 

END_VAR 


The function EC2_INITMASTER forces the EtherCAT Master to perform a 

re-initialization. 


FALSE Re-initialization is failed 

EC2_INITMASTER BOOL TRUE Re-initialization was successful 

The EtherCAT master can be started automatically (pre-setting) or manually, 

i.e. from the PLC program. 

The selection is made in CoDeSys in the Resources tab and there in the 

PLC Configuration for the EtherCAT Master. 

If the option " Start automatically" is deactivated, the start of the EtherCAT 

Masters can be done by the function call 

EC2_INITMASTER(); 

(see also p. 34) 

Further a re-initialization can be useful, if EC2_GetState has encountered an 

EtherCAT problem, e.g. byECATDevState8 and byECATSlaveCount is 

less than the estimated number of connected EtherCAT devices. 

E 674-6 GB 39 

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7.6 EC2_READCONMBX 

FUNCTION EC2_READCONMBX : UINT 

VAR_INPUT 

pbyParam : POINTER TO ARRAY [0..127] OF BYTE; 

END_VAR 

udWait : UDINT; 

The function EC2_READCONMBX reads from the control mailbox of the 

EtherCAT master. 


EC2_READCONMBX UINT 


pbyParam 

udWait UDINT 

POINTER TO ARRAY 

[0..127] OF BYTE 

Number of relevant bytes in pbyParam 

16#FFFF Error, e.g. "Mailbox does not exist". 

0 No data in the Control-Mailbox 

Pointer to an array to store the mailbox 

data 

Time to wait for data in the Control-Mailbox 

-1 Wait forever 

0 Do not wait 

1.. 

655349 

Milliseconds to wait 

Since waiting can cause serious problems in a PLC environment, it is 

highly recommended to use udWait =0 ! 

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7.7 EC2_SDOREAD 

FUNCTION_BLOCK EC2_SDOREAD 

VAR_INPUT 

uiAddress: UINT; 

uiIdx: UINT; 

usSubIdx: USINT; 

bExecute: BOOL; 

END_VAR 

VAR_OUTPUT 

END_VAR 

bDone: BOOL; 

bError: BOOL; 

dErrorId: DINT; 

byArrData: ARRAY [1..123] OF BYTE; 

usLen: USINT; 


The function block EC2_SDOREAD performs a SDOREAD operation. 


Inputs 

uiAddress UINT Device index 

uiIdx UINT Object index 

usSubIdx USINT Object subindex 

bExecute BOOL Execution flag 

Outputs 

bDone BOOL Execution finished flag 

bError BOOL Error flag 

dErrorId DINT *) Error identifier 

byArrData 

ARRAY 

[1..123] OF 

BYTE 

Data array 

usLen USINT Number of bytes read 

Execution of the function block: 

• Execution is started with a rising edge of bExecute. 

• Execution finished is signalled by bDone. 

If operation fails, bDone and bError will be TRUE and dErrorId will contain a 

4 Byte error identifier. 

E 674-6 GB 41 

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Outputs will be valid while bExecute remains TRUE. They are reset by a falling 

edge of bExecute. 

*) Error identifier 

Value 

Decimal Hexadecimal 

Kuhnke specific error identifiers 

Meaning 

-12 16#FFFFFFF4 TX mailbox blocked or not existing 

-14 16#FFFFFFF2 RX mailbox timeout 

-15 16#FFFFFFF1 RX mailbox telegram lost 

-17 16#FFFFFFEF unknown response 

-18 16#FFFFFFEE no COE device 

-19 16#FFFFFFED SDO mode not supported 

CAN Error Identifier 

>1

7.8 EC2_SDOWRITE 

FUNCTION_BLOCK EC2_SDOWRITE 

VAR_INPUT 

uiAddress: UINT; 

uiIdx: UINT; 

usSubIdx: USINT; 

usLen: USINT; 

END_VAR 

VAR_OUTPUT 

END_VAR 

byArrData: ARRAY [1..4] OF BYTE; 

bExecute: BOOL; 

bDone: BOOL; 

bError: BOOL; 

dErrorId: DINT; 


The function block EC2_SDOWRITE performs a SDOWRITE operation. 


Inputs 

uiAddress UINT Device index 

uiIdx UINT Object index 

usSubIdx USINT Object subindex 

usLen USINT Number of bytes to write 

byArrData 

ARRAY 

[1..123] OF 

BYTE 

Data array 

bExecute BOOL Execution flag 

Outputs 

bDone BOOL Execution finished flag 

bError BOOL Error flag 

dErrorId DINT *) Error identifier 

Execution of the function block: 

• Execution is started with a rising edge of bExecute. 

• Execution finished is signalled by bDone. 

If operation fails, bDone and bError will be TRUE and dErrorId will contain a 

4 Byte error identifier. 

E 674-6 GB 43 

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Outputs will be valid while bExecute remains TRUE. They are reset by a falling 

edge of bExecute. 

*) Error identifier 

Value 

Decimal Hexadecimal 

Kuhnke specific error identifiers 

Meaning 

-12 16#FFFFFFF4 TX mailbox blocked or not existing 

-14 16#FFFFFFF2 RX mailbox timeout 

-15 16#FFFFFFF1 RX mailbox telegram lost 

-17 16#FFFFFFEF unknown response 

-18 16#FFFFFFEE no COE device 

-19 16#FFFFFFED SDO mode not supported 

CAN Error Identifier 

>1

7.9 EC2_WRITECMDMBX 

FUNCTION EC2_WRITECMDMBX : BOOL 

VAR_INPUT 

szCmd : STRING (1); 

END_VAR 

pbyParam : POINTER TO ARRAY [0..125] OF BYTE; 

byParamLen : BYTE; 


The function EC2_WRITECMDMBX writes a command and parameters to 

the command mailbox of the EtherCAT master. 


EC2_WRITECMDMBX BOOL 

FALSE Write was not successful 

TRUE Write was successful 


szCmd STRING (1) 

pbyParam 

POINTER TO ARRAY 

[0..125] OF BYTE 

EtherCAT master command, 

e.g. 'I' for initialization. 

Pointer to the parameters of the 

EtherCAT master command. 

byParamLen BYTE Number of relevant bytes in pbyParam. 

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7.10 ECAT_GETSTATE 

ECAT_GETSTATE is suitable only for the version EC1. 

For EC2 EC2_GETSTATE is to be used. (To version see p.12) 

FUNCTION_BLOCK ECAT_GETSTATE 

VAR_OUTPUT 

END_VAR 

bECATMasterReady: BOOL; 

byECATSlaveCount: BYTE; 

byECATDevState: BYTE; 

The function block ECAT_GETSTATE returns information about EtherCAT. 


bECATMasterReady BOOL 

byECATSlaveCount BYTE 

byECATDevState BYTE *) 

*) Example: 

Master state 

TRUE EtherCAT Master is ready and working 

FALSE EtherCAT Master is not working 

46 E 674-6 GB 

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1.. 

255 

Number of EtherCAT slaves found by the 

master 

Device states of all connected EtherCAT slaves, 


1 (Bit0) Init 





At least one device is in state 'Init' and at least one device is in state 'Operational'. 

PROGRAM WatchEtherCATState 

VAR 

EtherCATState: ECCAT_GETSTATE; 

END_VAR 

EtherCATState(bECATMasterReady=> , byECATSlaveCount=> , 

byECATDevState=> ); 

EtherCATState.bECATMasterReady; 

EtherCATState.byECATDevState; 

EtherCATState.byECATSlaveCount;

7.11 ECAT_INITMASTER 

ECAT_ INITMASTER is suitable only for the version EC1. 

For EC2 EC2_INITMASTER is to be used. (To version see p.12) 

FUNCTION ECAT_INITMASTER : BOOL 

VAR_INPUT 

END_VAR 


The function ECAT_INITMASTER forces the EtherCAT Master to perform a 

re-initialization. 


FALSE Re-initialization is failed 

ECAT_INITMASTER BOOL TRUE Re-initialization was successful 

Re-initialization can be useful, if EC2_GetState has encountered an 

EtherCAT problem, e.g. byECATDevState8 and byECATSlaveCount is 

less than the estimated number of connected EtherCAT devices. 

ECAT_INITMASTER may take some time. So the watchdog is disabled, 

while ECAT_INITMASTER is running. 

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7.12 GETNAMEDSHMADDRESS 

FUNCTION GETNAMEDSHMADDRESS : DWORD 

VAR_INPUT 

END_VAR 

SZ_SHM_NAME : STRING; 

The function GETNAMEDSHMADDRESS allows access to a named shared 

memory, which has been allocated by a different application. 


GETNAMEDSHMADDRESS DWORD 

0 Function is failed. 


Pointer to the shared memory 

SZ_SHM_NAME STRING (80) Name of the shared memory 

Please call RELEASENAMEDSHMADDRESS to finalize access to the 

shared memory. 

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7.13 RELEASENAMEDSHMADDRESS 

FUNCTION RELEASENAMEDSHMADDRESS : BOOL 

VAR_INPUT 

END_VAR 

SZ_SHM_NAME : STRING; 


The function RELEASENAMEDSHMADDRESS finalizes access to a named 

shared memory. 


RELEASENAMEDSHMADDRESS BOOL 

0 Function is failed. 


Releasing was successful 

SZ_SHM_NAME STRING (80) Name of the shared memory 

Releasing named shared memory may take some time. So the watchdog is 

disabled, while RELEASENAMEDSHMADDRESS is running. 

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8 Appendix 

8.1 Sales & Service 

8.1.1 Main factory in Malente 

8.1.2 Customer service 

8.2 References 

50 

Appendix 

Please visit our Internet site to find a comprehensive overview of our sales 

and service network including all the relevant addresses. You are, of course, 

always welcome to contact our staff at the main factory in Malente: 

Kuhnke Automation GmbH & Co. KG 

Lütjenburger Str. 101 

D-23714 Malente 

Phone +49-45 23-402-0 

Fax +49-45 23-402 247 

Email sales@kuhnke.de 

Internet www.kuhnke.de 

Kuhnke Automation GmbH & Co. KG 

Lütjenburger Str. 101 

D - 23714 Malente 

Phone +49-4523 402 200 

Email service@kuhnke.de 

Internet www.kuhnke.de 

Title / Subject Number Source 

Instruction manual Ventura IPC E 674 GB http://www.kuhnke.com 

Technical Information Ventura FIO E 740 GB http://www.kuhnke.com 

EtherCAT, technology, FAQs, downloads http://www.ethercat.org 

Bedienungsanleitung Ventura SlotPLC 

SPS, PROFIBUS-DP- und CANopen-Master 

Technische Information Ventura Slot FB 

PROFIBUS-DP-Feldbuskarte für 

CoDeSys SP RTE 

E 697 D http://www.kuhnke.de 

E 697-1 D http://www.kuhnke.de 

Bedienungsanleitung EtherCAT I/O IP65 E761 D http://www.kuhnke.de 

EtherCAT, Technology, FAQs, Downloads http://www.ethercat.org

9 Index 

Attention 8 

Autostart 

Batch file 23 

Cable routing and wiring 11 

CoDeSys 

Communication parameters 14 

Installation 12 

CoDeSys I/O-Drivers 

Dialog 21 

CoDeSys Project 

find out 23 

CoDeSys SP 32 bit full 

Runtime System 12 

CoDeSys SP 32bit full 

Dialog 21 

Configuration 

EtherCAT 27 

Offline 27 

Online 30 

Contamination 11 

Danger 7 

Electromagnetic compatibility 10 

Electromagnetic interference 11 

eth0 / eth1 18 

EtherCAT 

Technology 5 

EtherCAT Configurator 


EtherCAT Master 

Configuration 16 

Cyclic mode 18 

Dialog 16 

Start 35, 39 

Triggered mode 17 

Example 

Communication connection 13 

Offline configuration 27 

Online configuration 30 

PC Load Control 22 

Exception 22 

Function library 31 

Impact and vibration 11 

Inductive actuators 11 

Installation 

CoDeSys 12 

EtherCAT-Configurator 13 

Hardware 9 

Target 13 

Installation instructions 10 

Instruction 8 

Interference emission 10 

INtime Kernel 

Dialog 15 

INtime RTS 

Communication connection 13 

Dialog 21 

IP address 

find out 13, 23 

LAN1/LAN2 18 

Limiting value class 10 

Location of installation 11 

Note 8 

PLC Load Control 

Dialog 22 

Preventive maintenance 9 

Project planning 9 

Reliability 7 

Safety 9 

Sales & Service 50 

Servicing 9 

System description 12 

Target 


Target group 7 

Temperature 11 

under construction 8 

Ventura 

Platform 5 

Ventura INtime 

What's that? 5 

Version 12 

WinINtimeRTS 

Dialog Window 15 

Working steps 8 

XML device file 27 

Index 

E 674-6 GB 51 

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Ventura INtime Instruction Manual pdf - Kuhnke

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