ESD EtherCAT ECX-EC E.3022.02, Manual

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Table of contents
Safety Instructions ...........................................................................................................................5
1. Overview .................................................................................................................................... 10
1.1 Description of the ECX-EC ...................................................................................................10
2. Hardware Installation ..................................................................................................................11
2.1 Connecting Diagram ............................................................................................................11
2.2 LED Display ......................................................................................................................... 12
3. Hardware Installation .................................................................................................................14
4. Technical Data ........................................................................................................................... 15
4.1 General Technical Data .......................................................................................................15
4.2 Microprocessor and Memory ................................................................................................16
4.2.1 EtherCAT Slave EC-A (Primary) ..................................................................................16
4.2.2 EtherCAT Slave EC-B (Secondary) .............................................................................16
4.3 Ethernet Interface ................................................................................................................17
4.4 USB Interface ...................................................................................................................... 17
4.5 Software Support .................................................................................................................17
5. Connector Assignments .............................................................................................................18
5.1 24 V-Power Supply Voltage .................................................................................................18
5.2 EtherCAT EC-A, EC-B .........................................................................................................19
5.3 Conductor Connection/Conductor Cross Sections ...............................................................20
6. Software ..................................................................................................................................... 21
6.1 Quick Start / First Steps .......................................................................................................21
6.1.1 Requirements ..............................................................................................................22
6.1.2 esd EtherCAT Workbench ...........................................................................................22
6.1.2.1 ESI Installation ......................................................................................................22
6.1.2.2 Scan the EtherCAT Segment ................................................................................23
6.1.2.3 Creating Variables ................................................................................................24
6.1.2.4 Test Data Transfer ................................................................................................26
6.1.3 Beckhoff TwinCAT® ....................................................................................................28
6.1.3.1 ESI Installation ......................................................................................................28
6.1.3.2 Scan EtherCAT Segment ......................................................................................28
6.1.3.3 Create variables ....................................................................................................29
6.1.3.4 Test Data Transfer ................................................................................................31
6.2 Start-Up ............................................................................................................................... 33
6.2.1 Functionality of the ECX-EC ........................................................................................33
6.2.2 Performance ................................................................................................................33
6.2.3 Definition of the Bridge Variables ................................................................................34
6.2.4 Distributed Clocks .......................................................................................................35
6.2.4.1 Automatic Synchronisation ...................................................................................35
6.2.4.2 Standard Synchronisation .....................................................................................37
6.2.4.2.1 PDOs ............................................................................................................37
6.2.4.2.2 Synchronisation of two EtherCAT Segments .................................................37
6.2.4.2.3 DC in Redundancy Case ...............................................................................38
6.2.4.2.4 Sample (synchronization of two EtherCAT segments) ...................................39
6.2.5 PDOs ........................................................................................................................... 40
6.2.5.1 0x1600 – “Outputs” ...............................................................................................40
6.2.5.2 0x1605 – “Outputs PDO Parameter” .....................................................................40
6.2.5.3 0x1A00 – “Inputs” .................................................................................................40
6.2.5.4 0x1A01 – “SYNC Slave (status only)” ...................................................................41
6.2.5.5 0x1A02 – “SYNC Slave (64 bit)” ...........................................................................41
6.2.5.6 0x1A03 – “SYNC Slave (32 bit)” ...........................................................................42
6.2.5.7 0x1A04 – “SYNC Master” .....................................................................................42
ECX-EC Manual • Doc. No.: E.3022.21 / Rev. 1.9 Page 7 of 74