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Software

6.2.5.6 0x1A03 – “SYNC Slave (32 bit)”

As object 0x1A02, but with 32-bit time stamps. This PDO is optional, a synchronous usage of PDO
0x1A01/0x1A02/0x1A04 is excluded. Used for DC synchronisation, see 6.2.4.2.2.

Content:

Index

Sub

index

Length

(Type)

Description

0x10F4 0x01

2 (BIT2)

SYNC mode

, see 6.3.1.6

0x0000 0x00

6

Alignment

0x0000 0x00

5

Alignment

0x10F4 0x0E

1 (BOOL)

Control value update toggle

, see 6.3.1.6

0x10F4 0x0F

1 (BOOL)

Time stamp update toggle

, see 6.3.1.6

0x10F4 0x10

1 (BOOL)

Time stamps invalid

, see 6.3.1.6

0x10F4 0x11

32 (UDINT)

Internal time stamp

, see 6.3.1.6

0x10F4 0x12

32 (UDINT)

External time stamp

, see 6.3.1.6

0x10F4 0x13

32 (DINT)

Time control value

, see 6.3.1.6

6.2.5.7 0x1A04 – “SYNC Master”

This PDO is optional, a synchronous usage of PDO 0x1A01/0x1A02/0x1A03 is excluded. 
Used for DC synchronisation, see 6.2.4.2.2.

Content:

Index

Sub

index

Length

(Type)

Description

0x10F4 0x01

2 (BIT2)

SYNC mode

, see 6.3.1.6

0x0000 0x00

6

Alignment

0x0000 0x00

7

Alignment

0x10F4 0x10

1 (BOOL)

Time stamps invalid

, see 6.3.1.6

6.2.5.8 0x1A05 – “Inputs PDO Parameter”

PDO parameter (see also [2]) for PDO 0x1A00. This PDO is optional and its content is constant.

Content:

Index

Sub

index

Length

(Type)

Description

0x1800 0x09

1 (BOOL)

TxPDO Toggle

, see 6.3.1.12

0x0000 0x00

7

Alignment

0x1800 0x07

1 (BOOL)

TxPDO State

, see 6.3.1.12

0x1400 0x07

1 (BOOL)

RxPDO State

, see 6.3.1.9

0x0000 0x00

6

Alignment

Page 42 of 74

Manual • Doc. No.: E.3022.21 / Rev. 1.9

ECX-EC

Содержание EtherCAT ECX-EC E.3022.02

Страница 1: ...anual to Product E 3022 02 ECX EC Manual Doc No E 3022 21 Rev 1 9 Page 1 of 74 esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany http www esd eu Phone 49 0 511 3 72 98 0 Fa...

Страница 2: ...parties and reproduction of this document in any form whole or in part are subject to esd electronics s written approval 2020 esd electronics gmbh Hannover esd electronics gmbh Vahrenwalder Str 207 30...

Страница 3: ...revised Classification of safety Instructions inserted Note to data safety inserted 2016 09 19 2 1 Note to Hardware Installation inserted 3 Warning message inserted 5 1 Note inserted 5 3 Chapter revis...

Страница 4: ...nclude a 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 h...

Страница 5: ...s specified in the technical data Qualified Personnel This documentation is directed exclusively towards personnel qualified in control and automation engineering The installation and commissioning of...

Страница 6: ...in an appropriate way or have to be returned to the manufacturer for proper disposal Please make a contribution to environmental protection Number Representation All numbers in this document are base...

Страница 7: ...AT 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 Tes...

Страница 8: ...1 19 Object 0x1A02 SYNC Slave 64 bit 54 6 3 1 20 Object 0x1A03 SYNC Slave 32 bit 54 6 3 1 21 Object 0x1A04 SYNC Master 55 6 3 1 22 Object 0x1A05 Inputs PDO Parameter 55 6 3 1 23 Object 0x1C00 SM Types...

Страница 9: ...8 References 72 9 Declaration of Conformity 73 10 Order Information 74 ECX EC Manual Doc No E 3022 21 Rev 1 9 Page 9 of 74...

Страница 10: ...tionally via the InRailBus connector TBUS connector integrated in the mounting rail Furthermore an optional CAN interface can be realized accessible via the InRailBus connector The 100BASE T EtherCAT...

Страница 11: ...start with the installation of the hardware NOTICE Do not connect the USB interface It is currently without function NOTICE The pins 1 2 and 3 of the mounting rail bus connector are reserved and must...

Страница 12: ...reen off no Ethernet link blinking Ethernet link is established Ethernet Activity Receiving Ethernet data packages Speed yellow off no link on 100 Mbit s link is established Table 1 Display function o...

Страница 13: ...lash EtherCAT state change because of configuration error double flash SM watchdog is triggered flickering firmware update failed B EC B Status Sekundary EtherCAT Run green off Init LED1A B blinking P...

Страница 14: ...circuits which are connected to the device have to be sufficiently protected against hazardous voltage SELV according to EN 60950 1 before you start with the installation 1 Mount the ECX EC module an...

Страница 15: ...RJ45 with LEDs InRailBus Power supply voltage and optional CAN Bus interface via InRailBus X6 5 pin TBUS connector accessories ETH Ethernet interface optional X4 8 pin RJ45 socket USB reserved USB de...

Страница 16: ...er PRUs of the CPU with Micrel KSZ8051 Ethernet Phys Physical interface 2 x RJ45 with internal transformer and LEDs Connector 2 x RJ45 with LEDs Table 6 Data of the EC A EtherCAT interface 4 2 2 Ether...

Страница 17: ...Number 1 Controller CPU internal controller Bit rate Max 480Mbit s USB High Speed Physical interface CPU intern Connector Micro USB type B socket Table 9 Data of the USB interface 4 5 Software Suppor...

Страница 18: ...gnment Labelling of the ECX EC 24V M P Connector label free free Pin No 1 2 3 4 Signal Do not connect Do not connect M24 GND P24 24 V Please refer to the connecting diagram page 11 NOTICE Feeding thro...

Страница 19: ...Receive Data 7 8 S Shield The pins 1 to 8 are connected to termination Signal Description EC X TxD EC X RxD EtherCAT data lines of EtherCAT port X X A or B reserved for future applications do not conn...

Страница 20: ...ss section stranded min max 0 2 mm 2 5 mm Conductor cross section stranded with ferrule without plastic sleeve min max 0 25 mm 2 5 mm Conductor cross section stranded with ferrule with plastic sleeve...

Страница 21: ...the synchronisation of the Distributed Clocks in both EtherCAT segments see chapter 6 2 4 6 1 Quick Start First Steps INFORMATION The ECX EC can be configured with the EtherCAT Workbench The esd Ethe...

Страница 22: ...ve has to be connected to the input EC B IN of the secondary slave For the functionality it is irrelevant if the primary or secondary side is connected first only in and output ports of a slaves must...

Страница 23: ...X EC is shown in the following structure Fig 6 ECX EC in the network overview of the EtherCAT Workbench Potential problems Error message No slaves found and Workbench warning Master Link lost on prima...

Страница 24: ...ow the transmission to the corresponding opposite side In principle this is also possible without this special configuration tab see 6 2 3 for details Fig 7 Workbench configuration tab for the ECX EC...

Страница 25: ...e2 Make sure that the variables are the same as those described in Fig 7 Secondary side Select the slave of the ECX EC secondary side Slave 2 ECX EC Sec Fig 6 and go to the corresponding Workbench con...

Страница 26: ...ead and write variables In case of problems please check the outputs in the EtherCAT Workbench and read the following note INFORMATION The most probable reason of the problem that might occur here is...

Страница 27: ...ables of the corresponding other side are the same Double click to an output variable to change its value Or click Reread all visible to update all input variables In the example in Fig 11 the output...

Страница 28: ...iles TwinCAT Io EtherCAT Restart TwinCAT now 6 1 3 2 Scan EtherCAT Segment Choose I O Configuration in the menu and select the entry I O Devices in the tree structure Now you can select the entry Appe...

Страница 29: ...a Select PDO 0x1A00 in the upper list of PDOs PDO List The content of the PDO is shown in the list below PDO Content 0x1A00 Click Insert in the context menu of the list PDO Content 0x1A00 and then ins...

Страница 30: ...side two input variables 1 USINT 8 bit and Variable1 2 UDINT 32 bit and Variable2 and one output variable 1 UDINT 32 bit and Variable1 have to be created here Continue analogous to the creation of th...

Страница 31: ...outputs in the EtherCAT Workbench and read the following note INFORMATION The most probable reason of the problem that might occur here is that different configurations for primary and secondary side...

Страница 32: ...variable In the following dialogue the value of the variable can be entered In this example 123 is written Click on the corresponding input variable of the other side and choose the tab Online Fig 20...

Страница 33: ...EtherCAT segments between which data are exchanged For this data exchange in principle only the size of the in and output data has to be specified The ECX EC only copies the data to the corresponding...

Страница 34: ...the variables used 0x6000 0x7000 are incremented for each variable If another input variable would be mapped it would be 0x6000 sub index 2 the following output variable 0x7000 sub index 3 an so on F...

Страница 35: ...EtherCAT segment and distributes it to the slaves of the second segment while Fig 22 shows the automatic synchronisation 6 2 4 1 Automatic Synchronisation In DC auto sync mode the ECX EC controls the...

Страница 36: ...configurable accordingly the application must handle the automatic synchronisation and e g enable it only after the master has written the DC offset registers which usually implies restarting the slav...

Страница 37: ...PDO 0x1A03 is appropriate see chapter 6 2 5 6 The other side can optionally use PDO 0x1A04 SYNC master to get status information see chapter 6 2 5 7 6 2 4 2 2 Synchronisation of two EtherCAT Segments...

Страница 38: ...oo slow a higher value is written and vice versa INFORMATION The described correction can be performed basically with every EtherCAT slave the ECX EC does not have to be the DC Reference slave and or...

Страница 39: ...bserved at all times when set no loop control is possible and it must be assumed that the segments are not synchronized At first a target difference is determined this is the difference between Intern...

Страница 40: ...so 2 for PDO 0x1600 This PDO is optional Content Index Sub index Length Type Description 0x1400 0x09 1 BOOL RxPDO Toggle see 6 3 1 9 0x0000 0x00 7 Alignment 0x1400 0x08 1 BOOL RxPDO Control see 6 3 1...

Страница 41: ...6 6 2 5 5 0x1A02 SYNC Slave 64 bit This PDO is optional a synchronous usage of PDO 0x1A01 0x1A03 0x1A04 is excluded Used for DC synchronisation see 6 2 4 2 2 Content Index Sub index Length Type Descri...

Страница 42: ...see 6 3 1 6 0x10F4 0x13 32 DINT Time control value see 6 3 1 6 6 2 5 7 0x1A04 SYNC Master This PDO is optional a synchronous usage of PDO 0x1A01 0x1A02 0x1A03 is excluded Used for DC synchronisation s...

Страница 43: ...diagnostic purposed are available The configuration object 0x2030 UDP gateway and its default settings are described in chapter 6 3 2 5 see page 60 IMPORTANT Important Notes on UDP Gateway Mode Some...

Страница 44: ...ual on the ECX EC CD UDP Gateway Quickstart with UDDC 1 Start new UDDC project for EtherCAT UDP Gateway 2 Create the respectively required output variables for both sides Outputs are the variables tha...

Страница 45: ...cognize lost frames Additionally UDP broadcasts are usually used In principle this can be configured see notes to the the according objects in chapter 6 3 2 5 6 2 6 4 UDP Protocol Details UDP Data Str...

Страница 46: ...TA 0x4450 8 byte timestamp 0 n byte process data Cyclically transmitted as described in chapter 6 2 6 3 All timestamps in nano seconds But without defined reference i e only relative time measurement...

Страница 47: ...SENDLOSTCNT can be used to determine how many how often UDP frames get lost OoO See RX out of order in 6 3 2 5 RESETCOUNTER 0x4352 none Instructs the ECX EC to reset the counter in objekt 0x2030 SubId...

Страница 48: ...ec 6 3 1 3 Object 0x1009 Hardware Version Sub index Name Type Description 0x00 Hardware Version STRING Version number of the used hardware not available in the first version of the firmware 6 3 1 4 Ob...

Страница 49: ...Synchronization Settings Sub index Name Type Description 0x00 SubIndex000 USINT Max number of sub indices 0x12 0x01 Sync master BOOL 1 slave is SYNC master 0 slave is SYNC slave Standard 1 i e every...

Страница 50: ...transferred to the other side this object can be used to define a detailed configuration E g the esd EtherCAT Workbench uses this object on the primary side via Download variable Configuration and fo...

Страница 51: ...Can be toggled by the master if the output data have changed By default the ECX EC ignores this value In object 0x2000 it can be defined to use this value to optimise the copy process to the other sid...

Страница 52: ...used adjustable in object 0x2000 see 6 3 2 1 6 3 1 13 Object 0x1801 TxPDO 0x1A01 Parameter Sub index Name Type Description 0x00 SubIndex000 USINT Max number of sub indices 0x06 0x06 Exclude TxPDOs OC...

Страница 53: ...on 0x00 SubIndex000 USINT Max number of sub indices 0x01 0xFF PDO Mapping PDO_MAPPING Input variables see chapter PDOs 6 2 5 3 6 3 1 18 Object 0x1A01 SYNC Slave Status Only Sub index Name Type Descrip...

Страница 54: ...Mapping PDO_MAPPING 0x08 PDO Mapping PDO_MAPPING 0x09 PDO Mapping PDO_MAPPING 6 3 1 20 Object 0x1A03 SYNC Slave 32 bit Sub index Name Type Description 0x00 SubIndex000 USINT Max number of sub indices...

Страница 55: ...ex000 USINT Max number of sub indices 0x05 0x01 PDO Mapping PDO_MAPPING See chapter PDOs 6 2 5 8 0x02 PDO Mapping PDO_MAPPING 0x03 PDO Mapping PDO_MAPPING 0x04 PDO Mapping PDO_MAPPING 0x05 PDO Mapping...

Страница 56: ...ub indices 0x01 0xFF PDO Assignment UINT SM2 assigned PDOs see also 6 2 4 2 1 6 3 1 25 Object 0x1C13 PDO Assignment Sub index Name Type Description 0x00 SubIndex000 USINT Max number of sub indices 0x0...

Страница 57: ...04 Ignore variable mismatch BOOL 1 Different variable configuration length on each side is allowed All variables are internally a single contiguous block of memory if of different length the last part...

Страница 58: ...c UDINT Average deviation s for Output interval Sec 0x09 Provision time UDINT Measures the time s in which the last new output data were transferred from the primary side to the secondary side Ideally...

Страница 59: ...Sub idx Name Type Description 0x00 SubIndex000 USINT Max number of sub indices 0x05 0x01 Link STRING Link status e g 100 Mbps Full Duplex or None 0x02 Link lost count UDINT Counts how often Link fell...

Страница 60: ...If set to 0 only the own MAC address is checked at reception i e all IP addresses are accepted Broadcasts are always accepted in any cases If set 0 is used for transmission too ARP is not supported i...

Страница 61: ...INT Value of Id field of header of last received frame 0x13 RX lost UDINT Number of lost frames determined from Index field of last received frames 0x14 RX lost events UDINT Number of changes of RX lo...

Страница 62: ...he ECX EC Sub index Name Type Description 0x00 SubIndex000 USINT Max number of sub indices 0x01 0xFF Bridge Variable variable Bridge variable See previous note on Inputs Output variables can still be...

Страница 63: ...not be cut off because the module could get into an inoperable state INFORMATION Make sure the latest correct EEPROM ESI is also installed and updated if necessary 6 4 1 Firmware Update with esd Ethe...

Страница 64: ...lickers Update failed Read the error code from the AL Statuscode register and contact our support In all other cases the transfer of the file to the ECX EC has failed and the update has not been start...

Страница 65: ...while the update of the ECX EC is in progress End of the update LED Status green flickers Update was successful Disconnect the power supply voltage for several seconds to restart the ECX EC LED EC A E...

Страница 66: ...ities some statistics are recorded see 6 3 2 3 CoE object 0x2010 INFORMATION The EoE support is bound to the primary side slave EC A Therefore the secondary side does not support EoE The EoE support m...

Страница 67: ...nix Contact ME 22 5 TBUS 1 5 5 ST 3 81 KMGY Connector View Pin Assignment Pin Signal 5 M24 GND 4 P24 24 V 3 Do not connect 2 Do not connect 1 Do not connect S FE PE_GND Signal Description P24 power su...

Страница 68: ...y connected and must not be supplied by two independent current sources at once Fig 30 ECX EC with connection of the power supply voltage Earthing the mounting rail NOTICE Connect the mounting rail to...

Страница 69: ...e Plug the bus connectors together to contact the communication and power signals in parallel with one The bus connectors can be plugged together before or after mounting the CAN CBX modules One mount...

Страница 70: ...on the bottom edge of the mounting rail Now the module is mounted on the mounting rail and connected to the InRailBus via the bus connector Connect the bus connectors and the InRailBus if not already...

Страница 71: ...s described in Fig 30 Then connect the CAN interface and the power supply voltage via the terminal plug Please pay attention to the notes on the connection of the power supply voltage on page 68 7 2 3...

Страница 72: ...rsion 1 0 2 2 EtherCAT Technology Group EtherCAT Protocol Enhancements ETG 1020 Version 1 0 0 3 EtherCAT Technology Group EtherCAT Specification Part 6 ETG 1000 6 Version 1 0 2 4 Beckhoff Automation G...

Страница 73: ...Declaration of Conformity 9 Declaration of Conformity ECX EC Manual Doc No E 3022 21 Rev 1 9 Page 73 of 74...

Страница 74: ...s for the connection of the 24V power supply voltage and the CAN Interface Male type C 3000 03 Table 10 Order information PDF Manuals Manuals are available in English and usually in German as well For...

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