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EtherCAT Communication

5.1.5.2 Object 6001

h

CAN Rx Extended Message Queue

Index

Sub-

Index

Name

Data Type

RW

Default

6001

h

0

Number of sub-indexes

UINT8

RO

1

Tx Counter Gateway

UINT16

RO

2

Rx Counter Gateway

UINT16

RO

3

Number of Rx Messages

UINT16

RO

4

Tx Transaction Number

UINT16

RO

5

Rx Message 1

OCTET-STRING[14]

RO

...
m

Rx Message m-4

OCTET-STRING[14]

RO

This object contains the CAN interface input messages with 29-bit ID.
See Figure 23 for the relationship of the CAN-Rx-Message-Queues. For 29-Bit-Identifiers objects
6001h and 7001h are used instead of objects 6000h and 7000h accordingly.
For the chronological sequence see the example in Figure 25 on page 40.

Parameter Description

Tx Counter Gateway

The Tx counter is increased by the Gateway to indicate that the CAN
Tx messages were copied from the output data to the CAN send queue
(see Figure 26).

Rx Counter Gateway

The Rx counter is increased by the Gateway every time when new
CAN Rx data arrived and the

Rx Counter Gateway

(6001

h

, sub-index

02) is identical with

Rx Counter Application

(7001

h

, sub-index 02). This

indicates that new Rx data has been written into the process input data
(see Figure 23).

Number of Rx Messages

Contains the number of CAN Rx messages in the following input data
when the Rx counter was increased (1…m-4).

Tx Transaction Number

Contains the transaction number of the last sent Tx message (see
Figure 24).

Rx Message 1...(m-4)

1. to (m-4). CAN Rx message
The message is composed of the following components:

Bit 0-3:

CAN-Rx message length (0...8 byte)

Bit 5-15:

reserved

Bit 16-44:

CAN Identifier (11- or 29-bit CAN identifier)

Bit 46:

RTR bit

Bit 47:

0 = 11-bit CAN identifier
1 = 29-bit CAN identifier

Bit 48-111: CAN Rx data

CAN-EtherCAT

Manual • Doc. No.: C.2922.21 / Rev. 1.4

Page 41 of 92

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Содержание C.2922.02

Страница 1: ...ay Manual to Product C 2922 02 CAN EtherCAT Manual Doc No C 2922 21 Rev 1 4 Page 1 of 92 esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany http www esd eu Phone 49 0 511 3...

Страница 2: ...Hannover esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 98 68 E Mail info esd eu Internet www esd eu This manual contains important...

Страница 3: ...ional principle of the CAN Tx Message Queues inserted and note to figure about transmission CAN message EtherCAT message 5 1 4 1 5 1 5 3 5 1 5 4 5 1 5 5 Note inserted some write accesses only in PreOp...

Страница 4: ...warning relating to property damage DANGER Danger statements indicate a hazardous situation which if not avoided will result in death or serious injury WARNING Warning statements indicate a hazardous...

Страница 5: ...ormal use Always allow adequate ventilation around the CAN EtherCAT and use care when handling Do not operate the CAN EtherCAT adjacent to heat sources and do not expose it to unnecessary thermal radi...

Страница 6: ...potentially explosive materials is not permitted The operation of the CAN EtherCAT for medical purposes is prohibited Service Note The CAN EtherCAT does not contain any parts that require maintenance...

Страница 7: ...29 5 1 3 5 Object 1018h Identity 30 5 1 3 6 Object 1C00h Sync Manager Type 31 5 1 3 7 Object 1600h RPDO Map CAN Interface 32 5 1 3 8 Object 1A00h TPDO Map CAN Interface 33 5 1 3 9 Object 1A85h CAN St...

Страница 8: ...tor Cross Sections 75 9 Correct Wiring of Electrically Isolated CAN Networks 76 9 1 Standards concerning CAN Wiring 76 9 2 Light Industrial Environment Single Twisted Pair Cable 77 9 2 1 General Rules...

Страница 9: ...r Supply and CAN Signals to CBX InRailBus 88 11 2 3 Connection of the Power Supply Voltage 89 11 2 4 Connection of CAN 89 11 3 Remove the CAN CBX Module from InRailBus 90 12 Declaration of Conformity...

Страница 10: ...om 50 kBit s up to 1 MBit s The 100BASE TX EtherCAT interface is IEEE802 3 compatible and runs at 100 MBit s The CAN interface as well as the EtherCAT interface is electrically isolated The configurat...

Страница 11: ...chapter Hardware Installation on page 14 before you start with the installation of the hardware Please refer to page 68 ff for signal assignment of the connectors INFORMATION The DIAG USB interface i...

Страница 12: ...reception of Ethernet data packages Speed yellow off 10 MBit s on 100 MBit s Table 1 Ethernet LED functionality LEDs at EtherCAT RJ45 Connectors IN and OUT LED Color LED Status Description Link Activ...

Страница 13: ...mware transfer is in progress on FoE firmware transfer finished Visible only for a few seconds then actual firmware update is started any Set by CoE object 0x2000 2 see 5 1 4 1 E red EtherCAT ERROR In...

Страница 14: ...Mount and connect the CAN EtherCAT gateway and connect the interfaces Power supply CAN bus EtherCAT and if applicable Ethernet 11 2 Please note that the CAN bus has to be terminated at both ends esd...

Страница 15: ...y Application Example Figure 4 CAN EtherCAT gateway connection example The CAN EtherCAT gateway can take any position in an EtherCAT network CAN EtherCAT Manual Doc No C 2922 21 Rev 1 4 Page 15 of 92...

Страница 16: ...N EtherCAT xml must be copied to the corresponding folder When the Workbench is running this can be done by the menu entry Copy ESI file s to slave library Under Tools see Figure 5 Otherwise the Workb...

Страница 17: ...select the Process Data tab page Figure 8 Recreating the list of available PDOs Recreate list of available PDOs by SDO Info service as shown in Figure 8 As a result the PDOs 0x1600 and 0x1a00 should b...

Страница 18: ...ample the 198 bytes for the outputs will change to 262 byte When changing the queue sizes or CAN ID type this has to be done during slave start up too Section 4 2 1 shows how this is done for the CAN...

Страница 19: ...during the slave s PreOp SafeOp transition This can be done for other objects especially the CAN Interface Configuration objects 8000h see 5 1 5 5 too 4 2 2 Export ENI To export the ENI for the EtherC...

Страница 20: ...First the enclosed EtherCAT Slave information file ESI ESD CAN EtherCAT xml must be copied to the corresponding folder Using the EtherCAT configurator the folder may be for example C Program Files Et...

Страница 21: ...line to display the object dictionary Figure 13 Object dictionary The Process Data section will be initially empty Click the Load PDO info from device button to read the data Figure 14 Loading process...

Страница 22: ...with an EtherCAT Configurator The configurator will now display the process data Figure 15 Process data display Figure 16 Process data output PDOs chosen Page 22 of 92 Manual Doc No C 2922 21 Rev 1 4...

Страница 23: ...gateway will only go active on the CAN bus after the baud rate has been set see chapter Object F800h CAN Bus Parameter from page 49 Consequently it makes sense to set the baud rate right now Figure 18...

Страница 24: ...own in the following example Figure 19 Startup sequence example Following the startup sequence the EtherCAT network can be set active by calling the Reload Devices function by clicking Main Menu Actio...

Страница 25: ...Configuration with an EtherCAT Configurator The CAN interface s process image will look as follows Figure 21 Can interface process image CAN EtherCAT Manual Doc No C 2922 21 Rev 1 4 Page 25 of 92...

Страница 26: ...tor 4 3 1 Exporting EtherCAT Network Information ENI To export the configuration file for an EtherCAT Master choose Export Configuration File Figure 22 Exporting configuration file Page 26 of 92 Manua...

Страница 27: ...Area CAN interface configuration F000h FFFFh Device Area Table 5 Object dictionary structure The following explains the definition of a standard and an extended CAN message queue For proper operation...

Страница 28: ...face 1A85h CAN Status PDO 1C00h Sync manager type 1C12h RPDO assign 1C13h TPDO assign 2000h Other Settings 2010h Statistics 6000h CAN interface input 11 bit identifier 6001h CAN interface input 29 bit...

Страница 29: ...ect 1008h Device Name Index Sub Index Description Data Type RW Default 1008h 0 Device Name STRING RO MEESC Variable Description EtherCAT Slave device name 5 1 3 3 Object 1009h Hardware Version Index S...

Страница 30: ...tion characteristics Vendor ID esd vendor ID 23d Product code CAN EtherCAT product code 2 Revision CAN EtherCAT ESI revision number Corresponds to the slave revision number stored in its EEPROM ESI us...

Страница 31: ...ox Read UINT8 RO 2 3 Sync Manager Type Channel 3 Process Data Write Outputs UINT8 RO 3 4 Sync Manager Type Channel 4 Process Data Read Inputs UINT8 RO 4 Parameter Description Sync Manager Type Sync Ma...

Страница 32: ...ct 1600h Object 1600h is always required and must be defined in the PDO Assign Object 1C12h sub index 1 Index Sub Index Description Data Type RW Default 1600h 0 Number of CAN Messages 3 UINT8 RO 1 1 P...

Страница 33: ...nd must be defined in the PDO Assign Object 1C13h sub index 1 Index Sub Index Description Data Type RW Default 1A00h 0 Number of CAN Messages 4 UINT8 RO 1 1 PDO Mapping entry object 6000h CAN interfac...

Страница 34: ...NT32 RO 9 Object F108h sub index 12h UINT32 RO 10 Object F108h sub index 13h UINT32 RO 11 Object F108h sub index 14h UINT32 RO 12 Padding 12 Bit UINT32 RO 13 Object F108h sub index 21h UINT32 RO 14 Ob...

Страница 35: ...ter Description EoE IP Port local mode Set to TRUE when Local IP Port Mode section 5 2 3 shall be enabled Custom LED state Used to overwrite the state of the Universal LED section 2 2 1 Values State 0...

Страница 36: ...Local Rx UINT32 RO 15h EoE Frames Local Tx UINT32 RO 16h EoE Frames Local Tx Error UINT32 RO 20h App CPU Usage User UINT8 RO 21h App CPU Usage System UINT8 RO 30h CAN Frames TX Requested UINT32 RO 31h...

Страница 37: ...en higher level protocols on Ethernet side such as TCP IP will handle this EoE Frames Local Rx No of Ethernet frames received on local Ethernet interface EoE Frames Local Tx No of Ethernet frames sent...

Страница 38: ...Figure 23 Relationship of the CAN Rx message queues The number of transmitted Rx messages n is written in Number of Rx Messages Sub Index 3 and must not be changed until the Rx Counters are equal agai...

Страница 39: ...that new Rx data has been written into the process input data see Figure 23 Number of Rx Messages Contains the number of CAN Rx messages in the following input data when the RX Counter was increased...

Страница 40: ...a CAN frame if Rx Counter Gateway Rx Counter Application see Figure 23 page 38 the Rx Counter Gateway is increased by 1 and n Rx Messages are transmitted Rx Counter Application Rx Counter Gateway Num...

Страница 41: ...e CAN Tx messages were copied from the output data to the CAN send queue see Figure 26 Rx Counter Gateway The Rx counter is increased by the Gateway every time when new CAN Rx data arrived and the Rx...

Страница 42: ...the Tx Counters are equal again For the chronological sequence see the example in Figure 27 on page 44 NOTICE The following CoE objects Index Sub Index can only be written in Pre Operational state Ind...

Страница 43: ...Number of Tx Messages Contains the number of CAN Tx messages which are transmitted with every increase of the Tx counter N 1 m 3 Tx Message 1 m 3 CAN Tx messages which are transmitted with every incre...

Страница 44: ...es are transmitted Tx Counter Application Number of Tx Messages N Tx Messages Tx Counter Application Number of Tx Messages N Tx Messages Evaluation see Figure 26 page 42 Tx Counter Gateway Tx Counter...

Страница 45: ...tion Tx Counter Application This counter must be increased when or after writing the CAN Tx message to the output data see Figure 26 Rx Counter Application This counter must be increased by the EtherC...

Страница 46: ...e size UINT16 RW 03E8h 1000d 24h Local Tx queue size UINT16 RW 03E8h 1000d The CAN interface can be configured with this object Parameter Description Node Address Must be set to 0 Flags Bit 0 2 Reserv...

Страница 47: ...object is not configured all received CAN messages will be assigned to the Rx queue and transmitted through the EtherCAT input data Parameter Description Identifier Area 1 Byte 0 3 First identifier t...

Страница 48: ...controller status byte BOOL RO false 2 Warning Limit reached Read from CAN controller status byte BOOL RO false 3 Rx overflow Read from CAN controller overrun counter BOOL RO false 4 Reserved BIT1 RO...

Страница 49: ...ow Parameter Baud rate decimal CAN Bit rate kBaud 0 1000 1 800 2 500 3 250 4 125 5 100 6 50 7 not allowed 8 not allowed 255 Baud rate as defined in parameter API baud rate sub index 5 Table 6 Paramete...

Страница 50: ...ameter API baud rate When User Bit Rate UBR and User Bit Rate Numerical UBRN are set to 0 bits 0 15 are interpreted as an index to a pre defined bit rate table This allows the setting of CAN bit rates...

Страница 51: ...T gateway is capable of detecting the CAN baud rate and initiating bus communication without effecting the CAN bus operation This is only possible with the default bit rates from the esd bit rate tabl...

Страница 52: ...2 1 Switch Port Mode This is the default mode it is enabled when no EoE configuration is received i e usually configuration tools don t send a configuration when this mode is selected This mode is al...

Страница 53: ...ust exist etc 5 2 4 Disabling EoE The CAN EtherCAT reads the EoE enabled bit from its EEPROM cat General as defined in ETG 1000 6 documents When this is set to 0 checked at first change to PreOp after...

Страница 54: ...ow click on the button Bootstr as described in Figure 29 The Current state of the CAN EtherCAT gateway is switched to Bootstrap Figure 29 Firmware update via FoE 3 Select the tab Slave Mailbox and cho...

Страница 55: ...sfer is in progress 5 Wait until the update procedure is completed approx 3 minutes 6 Change to the tab CoE Dictionary under Slave Figure 31 CAN EtherCAT CoE Dictionary 7 Click on the button Reread al...

Страница 56: ...received in the Windows file selection dialog that appears 4 Now a file transfer dialog Fig 33 will appear Set the file name string to firmwareUpdate and leave the password at 00000000 Figure 33 FoE...

Страница 57: ...ect 100Ah Fig 34 Make sure you re actually seeing online data uncheck Show Offline Data and perhaps do Reload I O Devices again etc Figure 34 CAN EtherCAT CoE dict Software Firmware version selected C...

Страница 58: ...perational Make sure the IP settings assigned to the CAN EtherCAT match the settings that are used by the system that shall access it e g no IP address conflicts must occur etc Figure 35 esd EtherCAT...

Страница 59: ...of CAN status information Just enter the IP address that was assigned to the CAN EtherCAT in the web browser at the device that is connected to the CAN EtherCAT e g http 10 0 1 42 for the sample scree...

Страница 60: ...name or click the Choose command button to select a file name The firmware update starts after confirmation of the entry with the command button Submit This procedure will take some time The progress...

Страница 61: ...update Figure 39 Firmware update output Please wait until the firmware update is finished which may take several minutes When finished the system will initiate an automatic restart CAN EtherCAT Manua...

Страница 62: ...server Interface 6 1 3 Reboot To initiate a system restart choose the menu item Reboot then click the Reboot now command button Figure 40 Reboot Page 62 of 92 Manual Doc No C 2922 21 Rev 1 4 CAN Ether...

Страница 63: ...Webserver Interface 6 2 Status 6 2 1 CAN Statistics Click the CAN menu item to access the CAN bus statistics Figure 41 CAN status output CAN EtherCAT Manual Doc No C 2922 21 Rev 1 4 Page 63 of 92...

Страница 64: ...Bus interface and power supply voltage via InRailBus X6 5 pin TBUS connector accessory Only for manufacturing purposes DIAG DIAG interface X4 USB connector type B Temperature range 0 C 50 C ambient t...

Страница 65: ...7 4 EtherCAT Interface Number of interfaces 1 Controller Beckhoff ET1100 Bit rate 100BASE TX 100 Mbit s Connection Twisted Pair compatible to IEEE 802 3 100BASE TX Electrical isolation via transformer...

Страница 66: ...Interface Design USB for manufacturing purposes only USB interface USB 2 0 Full Speed 12 Mbit s Connector DIAG X4 USB type B connector Table 16 Data of the USB interface Page 66 of 92 Manual Doc No C...

Страница 67: ...tions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above cop...

Страница 68: ...Assignment Labelling of the CAN EtherCAT 24V M P Connector label free free Pin Nr 1 2 3 4 Signal P24 24 V M24 GND M24 GND P24 24 V Please refer to the connecting diagram page 11 The pins 1 and 4 are...

Страница 69: ...r optionally via InRailBus connector assignment see page 86 CAN EtherCAT Manual Doc No C 2922 21 Rev 1 4 Page 69 of 92 I1 O2 GND1 O1 I2 VDD2 GND2 VDD TX R GND BUSL RX BUSH 5V 5V CAN_GND DC DC GND 3 3V...

Страница 70: ...CAN_L CAN_H CAN signals CAN_GND reference potential of the local CAN physical layer Shield pin for line shield connection using hat rail mounting direct contact to the mounting rail potential not conn...

Страница 71: ...ly be fed via InRailBus Use the mounting rail bus connector of the CBX InRailBus for the connection via the InRailBus see order information page 92 Read and follow the instructions for connecting powe...

Страница 72: ...ive Data 7 8 S Shield Pin 1 to 8 are connected to a line termination Signal Description MDI0 MDI0 MDI1 MDI1 EtherCAT data lines reserved for future applications do not connect Shield line shield conne...

Страница 73: ...8 S Shield Pin 1 to 8 are connected to a line termination Signal Description MDI0 MDI0 MDI1 MDI1 EtherCAT data lines reserved for future applications do not connect Shield line shield connection using...

Страница 74: ...purposes NOTICE The CAN EtherCAT may only be operated with USB nets with USB interfaces with versions 1 1 or 2 0 Operability can only be guaranteed for these USB interfaces Pin Position Pin Assignmen...

Страница 75: ...2 2 5 mm 0 14 1 5 mm Conductor cross section stranded with ferrule without plastic sleeve min max 0 25 2 5 mm 0 25 1 5 mm Conductor cross section stranded with ferrule with plastic sleeve min max 0 2...

Страница 76: ...given for signal loss across the complete system and cabling parasitic loadings network imbalances ground offsets against earth potential and signal integrity Therefore the practical maximum number o...

Страница 77: ...al CAN_GND has to be connected to the functional earth FE at exactly one point 4 A CAN net must not branch exception short cable stubs and has to be terminated with the characteristic impedance of the...

Страница 78: ...e and female contacts are available from esd order no C 1303 01 DSUB termination connectors with male contacts order no C 1302 01 or female contacts order no C 1301 01 and additional functional earth...

Страница 79: ...bs and has to be terminated with the characteristic impedance of the line generally 120 10 at both ends between the signals CAN_L and CAN_H and not to CAN_GND 5 Keep cable stubs as short as possible l...

Страница 80: ...double twisted cables is unavoidable take care that the CAN_GND line is not interrupted Figure 46 Example of proper wiring with single shielded double twisted pair cables 9 3 3 Termination A terminat...

Страница 81: ...oss section depending on the cable length are described in the CiA recommendation CiA 303 1 see CiA 303 CANopen Recommendation Part 1 Cabling and connector pin assignment Version 1 8 0 Table 2 Bit Rat...

Страница 82: ...Germany www concab de e g BUS PVC C 1x 2x 0 22 mm Order No 93 022 016 UL appr BUS Schleppflex PUR C 1x 2x 0 25 mm Order No 94 025 016 UL appr 9 6 2 Cable for heavy industrial Environment Applications...

Страница 83: ...eries resistance of the CAN data pair conductors and the attached terminating resistors To test it please 1 Turn off all power supplies of the attached CAN nodes 2 Measure the DC resistance between CA...

Страница 84: ...mit data if there is a short circuit between CAN_GND and CAN_L but generally the error rate will increase strongly Make sure that there is no short circuit between CAN_GND and CAN_L 10 4 CAN_H CAN_L V...

Страница 85: ...etwork see figure below 2 Measure the DC resistance between CAN_H and CAN_GND see figure below 3 Measure the DC resistance between CAN_L and CAN_GND see figure below The measured resistance has to be...

Страница 86: ...T 3 81 KMGY Connector View Pin Assignment Pin Signal 5 M24 GND 4 P24 24 V 3 CAN_GND 2 CAN_L 1 CAN_H S FE PE_GND Signal Description CAN_L CAN_H CAN signals CAN_GND reference potential of the local CAN...

Страница 87: ...se proceed as follows Figure 50 Mounting rail with bus connector 1 Position the InRailBus connector on the mounting rail and snap it onto the mounting rail using slight pressure Plug the bus connector...

Страница 88: ...done Figure 52 Mounted CAN CBX module 11 2 2 Connecting Power Supply and CAN Signals to CBX InRailBus To connect the power supply and the CAN signals via the InRailBus a terminal plug is needed The te...

Страница 89: ...CAN signals can be fed via the CAN connector of the first CAN CBX module of the CBX station The signals are then connected through the CAN CBX station via the InRailBus To lead through the CAN signals...

Страница 90: ...in moving the foot catch see Fig 52 downwards e g with a screwdriver Now the module is detached from the bottom edge of the mounting rail and can be removed INFORMATION It is possible to remove indivi...

Страница 91: ...Declaration of Conformity 12 Declaration of Conformity CAN EtherCAT Manual Doc No C 2922 21 Rev 1 4 Page 91 of 92...

Страница 92: ...InRailBus for the connection of the 24V power supply voltage and the CAN Interface Male type C 3000 03 Table 18 Order information PDF Manuals Manuals are available in English and usually in German as...

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