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EtherCAT Communication

Chapter 7.

7.1

CAN Application Protocol Over EtherCAT

Ezi-IO EtherCAT DA is an analogue output module that supports CAN application protocol over EtherCAT (CoE).
Ezi-IO EtherCAT DA has the following network structure.

Figure 7-1. Communication Structure of Ezi-IO EtherCAT DA

Object Dictionary

7.1.1

The Object Dictionary is the group of data objects which are saved in an EtherCAT slave unit. EtherCAT masters
can read and write data through the index or sub-index of objects.

Mailbox Communication

7.1.2

In the Mailbox (SDO) communication, a master and a slave exchange the service data object (SDO). It is a
message transmission and reception method. If the master sends a command, the slave Ezi-IO EtherCAT DA
answers to it.
The SDO communication is used for setting or checking objects in the Object Dictionary when the Ezi-IO
EtherCAT DA is in Pre-Operational, Safe-Operational, or Operational state.

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Содержание Ezi-IO EtherCAT DA

Страница 1: ...User Manual ...

Страница 2: ...ations 11 3 2 Module Specifications 12 3 3 Module Dimensions 13 Connection Panel View 14 Chapter 4 4 1 Names and Functions Ezi IO EC DA04 T 14 EtherCAT ID Setting Switches SW1 SW2 15 4 1 1 Output Range Setting Switch SW3 15 4 1 2 LED Indications 16 4 1 3 Power Connector CN1 16 4 1 4 Output Connector CN2 17 4 1 5 EtherCAT Connectors CN3 CN4 17 4 1 6 Parts Included 18 4 1 7 Accessories Sold Separate...

Страница 3: ... 7 1 2 Process Data Communication 24 7 1 3 7 2 PDO Mapping 24 PDO Mapping 24 7 2 1 PDO Assign 25 7 2 2 7 3 EtherCAT Communication State 25 EtherCAT State Machine 25 7 3 1 EtherCAT Communication State Indication 26 7 3 2 7 4 Synchronization 27 Free Run 27 7 4 1 SM Event 27 7 4 2 DC Sync Event 27 7 4 3 7 5 EtherCAT Slave Information 28 7 6 EtherCAT Device ID 28 Setting and Operation 29 Chapter 8 Fun...

Страница 4: ...ject 1001h Error Register 42 10 2 2 Object 1008h Device Name 42 10 2 3 Object 1009h Hardware Version 43 10 2 4 Object 100Ah Software Version 43 10 2 5 Object 1011h Restore Default Parameters 43 10 2 6 Object 1018h Identity 43 10 2 7 Object 10F1h Error Setting 44 10 2 8 10 3 PDO Mapping Object 45 Object 1600h RxPDO Map 45 10 3 1 Object 1C12h RxPDO Assign 45 10 3 2 Object 1C13h TxPDO Assign 45 10 3 ...

Страница 5: ...bject 2301h Analogue Output Range 49 10 6 2 Object 2302h Analogue Output Calibration Low Value 50 10 6 3 Object 2303h Analogue Output Calibration High Value 50 10 6 4 Object 2304h Analogue Output Fault Action 51 10 6 5 Object 2305h Analogue Output Fault Value 51 10 6 6 ...

Страница 6: ...ations or user s better understanding Thoroughly read the manual which is provided with the purchased product In case of manual is damaged or lost please contact FASTECH or our agents You can find our contact information on the last page of this manual FASTECH is not responsible for a product breakdown due to the user s dismantling of the product and such a breakdown is not guaranteed by the warra...

Страница 7: ... circuit to protect the entire system from faults in external power or connected devices Protect the system to ensure that the entire system is safe from communication errors emergency stop interlock circuit limit circuit etc Safety Precautions When Installing Check if there is any damage on the product and if any part is missing Otherwise the machine may get damaged or the user may get injured Ca...

Страница 8: ... machine may occur Safety Precautions When Operating and Setting Before changing the settings of the product thoroughly read this manual and fully understand the contents Otherwise the machine may get damaged or the product may malfunction Safety Precautions When Repairing Maintaining Stop supplying power to the main circuit and wait sufficient time before checking or repairing the product Electri...

Страница 9: ... 9 Configuration Chapter 2 2 1 Ezi IO EtherCAT DA Part Numbering 2 2 Ezi IO EtherCAT DA Part Number ...

Страница 10: ... 10 2 3 System Configuration ...

Страница 11: ...0 99 Physical Address Setting in Master Unit 1 65535 Topology Line Configured by I O modules only Tree Star Ring When using a switching hub Protocol CoE CANopen application protocol over EtherCAT FoE File Access over EtherCAT Control Profile CiA 401 Profile Distributed Clock Free Run SM Event DC SYNC Event Min Communication Cycle 250us Processing Data Fixed PDO Mapping Cable STP Shielded Twisted P...

Страница 12: ...ut Range Setting Method SDO Communications Separate setting for each channel DIP Switch Separate setting for each channel Load Impedance Min 1 kΩ Max 400 Ω Resolution Max 1 50 000 Accuracy 25 0 3 Full Scale 0 50 0 4 Full Scale Output Delay Max 500 μs D A Converted Data 25 000 25 000 for 10 10 V voltage output 0 25 000 for all voltage output except 10 10 V 0 25 000 for current output Signal Isolati...

Страница 13: ... 13 3 3 Module Dimensions Unit mm Can be installed on 35mm DIN Rail Can be installed on 35mm DIN Rail ...

Страница 14: ... 14 Connection Panel View Chapter 4 4 1 Names and Functions Ezi IO EC DA04 T ...

Страница 15: ...thod with LSET switch SW3 1 Set SW3 1 before supply power to the module SW3 2 is not used Selecting Output Range When using the DIP Switch for the setting method SW3 1 ON select output range referring to the chart 1 5 V 0 10 V voltage output range can be set by the SDO communication ONLY Switch Setting Method LSET Description SW3 1 DIP Switch ON Setting output range with DIP switches SW3 3 SW3 10 ...

Страница 16: ...Flickering BOOTSTRAP State LED Color Status Description ERR Red OFF No Error or Power OFF Blinking Invalid Configuration Single Flash Local Error Double Flash Watchdog Time Out LED Color Status Description Link Activity Green OFF Link is not established physically ON Link is established physically Flickering Link is active in operation Refer to 7 3 2 EtherCAT Communication State Indication Power C...

Страница 17: ...Voltage Out 1 Output 3 I1 Current Out 1 Output 4 G GND 5 V2 Voltage Out 2 Output 6 I2 Current Out 2 Output 7 G GND 8 V3 Voltage Out 3 Output 9 I3 Current Out 3 Output 10 G GND 11 V4 Voltage Out 4 Output 12 I4 Current Out 4 Output NO Function NO Function 1 TD 6 RD 2 TD 7 3 RD 8 4 Connector Hood F GND 5 ...

Страница 18: ...le If you need another length of cable in unit of m please contact FASTECH Function Item Part Number Manufacturer Power Connector CN1 Terminal Block MC421 38102 DECA Function Part Number Cable Length m Remarks EtherCAT Connector CN3 CN4 CGNR EC 001F 1 STP Shielded Twisted Pair cable Category 5e or higher Maximum cable length 100m For fixed installation CGNR EC 002F 2 CGNR EC 003F 3 CGNR EC 005F 5 ...

Страница 19: ...gue devices are also simplified 5 1 Signal Wiring Each output channel of Ezi IO EtherCAT DA has separate voltage output and current output pins Refer to the Figure 5 2 and Figure 5 3 for wire connections of your applications Wiring of Voltage Outputs 5 1 1 Figure 5 2 Wiring of Voltage Outputs Example Channel 1 Wiring of Current Outputs 5 1 2 Figure 5 3 Wiring of Current Outputs Example Channel 1 F...

Страница 20: ... 20 5 2 Internal Circuit Diagram Figure 5 4 Internal Circuit Diagram ...

Страница 21: ...e of the Analogue Output Range Object 2301h through the Master unit to set the voltage output range Supply power to the module again and complete the setting Figure 6 1 Setting Voltage Output Range through SDO Communication Setting Voltage Output Range with DIP Switches 6 1 2 Example Setting Channel 2 to 10 10V Output Range Set LSET switch SW3 1 of Output Range Setting Switch SW3 to ON before supp...

Страница 22: ...it to set the Current output range Supply power to the module again and complete the setting Figure 6 3 Setting Current Output Range through SDO Communication Setting Current Output Range with DIP Switches 6 2 2 Example Setting Channel 2 to 4 20 mA Output Range Set LSET switch SW3 1 of Output Range Setting Switch SW3 to ON before supplying power to the module Set the current output range of Channe...

Страница 23: ...of data objects which are saved in an EtherCAT slave unit EtherCAT masters can read and write data through the index or sub index of objects Mailbox Communication 7 1 2 In the Mailbox SDO communication a master and a slave exchange the service data object SDO It is a message transmission and reception method If the master sends a command the slave Ezi IO EtherCAT DA answers to it The SDO communica...

Страница 24: ...e PDO communication PDO Mapping 7 2 1 The mapping information of RxPDO which receives the master command is set in Object 1600h In the mapping table it records the object IDs sub index values and data length in bit of exchanging data Figure 7 3 PDO Mapping PDO Map Object Object Contents Index Sub Object Sub Size 0x1600 1 0x6411 0x01 0x10 0x1600 2 0x6411 0x02 0x10 0x1600 3 0x6411 0x03 0x10 0x1600 4...

Страница 25: ...gh which the product firmware can be updated Index Sub Object 0x1C12 1 0x1600 Object Name 0x1600 Rx PDO Map0 PDO Mapping Object SyncManager PDO Assign Object State SDO Rx PDO Description INIT Disabled Disabled EtherCAT communication is initialized Communication is disabled PRE OP Enabled Disabled After the communication initialization is done this state begins Communication settings are initialize...

Страница 26: ... ON OPERATIONAL State Flickering BOOTSTRAP State Table 7 2 EtherCAT Communication State LED The ERR LED indicates operational errors of the product LED Color Status Description ERR Red OFF No Error or Power OFF Blinking Invalid Configuration Single Flash Local Error Double Flash Watchdog Time Out Table 7 3 Operational Error LED Refer to Figure 7 6 to see the indication pattern of RUN LED and ERR L...

Страница 27: ...r SM Event of EtherCAT communication SM Event occurs when an EtherCAT Frame is received by the module and each SM Event synchronized module has a range of jitter in µs or less DC Sync Event 7 4 3 The I O module operates synchronously with the Sync Interrupt generated according to Distributed Clock DC DC is a synchronized time clock that is shared by the master and I O module Using DC it generates ...

Страница 28: ...tting device 7 6 EtherCAT Device ID To use the EtherCAT communication you must configure a master and all slaves The master must assign the EtherCAT Device IDs to the slaves to identify them and to send messages to each node The EtherCAT Device ID is either Configured Station Alias or Physical Address Configured Station Alias is set by rotary switches or the master and it can be changed flexibly b...

Страница 29: ... the following Check the power status LED PWR turns Red After connecting the communication check EtherCAT Link Activity LED LA IN LA OUT turns Green 4 Run the software of EtherCAT Master Example of Master Software Beckhoff TwinCAT 5 Run the TwinCAT in the following sequence Click New TwinCAT Project Go to New Project TwinCAT XAE Project Select the project name or path and then click OK Figure 8 1 ...

Страница 30: ...or the product and try again When Scan for boxes pops up click Yes Make sure a device or box is added under the Device When Activate Free Run pops up click Yes Figure 8 2 Order of Product Scanning 8 Check the followings Check the EtherCAT network is in OP state as shown in Figure 8 3 Check the EtherCAT Communication State LED RUN turns Green Figure 8 3 Checking EtherCAT Communication State 9 Then ...

Страница 31: ...0 20 mA and 4 20 mA For each output range you can use max 5 extended range of output with the user calibration function If the digital data is out of range it is converted to the minimum or maximum analogue signal Change in the setting for each channel is updated after the reboot Data Conversions for Output Ranges 9 2 1 9 2 1 1 0 5 V Voltage Output In the voltage output range the digital data 0 25...

Страница 32: ...9 2 Data Conversion for Output Range 1 5 V 9 2 1 3 0 10 V Voltage Output In the voltage output range the digital data 0 25 000 is converted to 0 10 V output Actually the digital data 1 250 26 250 is converted to 0 5 10 5 V If the digital data is greater than 26 250 it outputs 10 5 V Or if the digital data is less than 1 250 it outputs 0 5 V The following formula is used when converting digital dat...

Страница 33: ...ta Figure 9 4 Data Conversion for Output Range 10 10 V 9 2 1 5 0 20 mA Current Output In the voltage output range the digital data 0 25 000 is converted to 0 20 mA output Actually the digital data 0 26 250 is converted to 0 21 mA If the digital data is greater than 26 250 it outputs 21 mA Or if the digital data is less than 0 it outputs 0 mA The following formula is used when converting digital da...

Страница 34: ...20 mA Output Range Setting Methods 9 2 2 9 2 2 1 Setting Output Range through SDO Communication Set LSET switch SW3 1 of Output Range Setting Switch SW3 to set the output range through the SDO communication Enter the value of the Analogue Output Range Object 2301h through the Master unit to set the output range Refer to 10 6 2 Object 2301h Analogue Output Range for the object values 9 2 2 2 Settin...

Страница 35: ...igital data value 0 in the specific channel Table 9 1 Output Patterns when Error Occurs The value of output signal on the error is the following Output Pattern when Error Occurs Output Range 0 5 V 1 5 V 0 10 V 10 10 V 0 20 mA 4 20 mA Hold Last State Holds the output values just before the error occurred Low Limit 0 25 V 0 8 V 0 5 V 10 5 V 0 mA 3 2 mA High Limit 5 25 V 5 2 V 10 5 V 10 5 V 21 mA 20 ...

Страница 36: ...ut range is 0 5 V In the Figure 9 8 it does not output 0 5 V exactly for 0 25 000 digital data and there is output deviations Digital Data 0 0 2 V Output Digital Data 25 000 5 2 V Output First to use the user calibration function reset the Low Value and High Value for Low End 0 V and High End 5 V Refer to the Figure 9 8 for the reset For Low End 0 V Reset the Low Value to 1 000 For High End 5 V Re...

Страница 37: ...w Value and High Value to the default values Analogue Output Calibration Low Value 2302h Sets Low Value to the default value Analogue Output Calibration High Value 2302h Sets High Value to the default value Refer to the following table for the default values of Low Value and High Value for each Output Range Output Range Default Low Value Default High Value 0 5 V 0 25 000 1 5 V 0 25 000 0 10 V 0 25...

Страница 38: ...t reaches the High End output 4 Enter the digital data recorded at Low End output and High End output into the following objects Analogue Output Calibration Low Value 2302h Enter the digital data recorded at Low End output Analogue Output Calibration High Value 2302h Enter the digital data recorded at High End output ...

Страница 39: ...20 RO Ezi IO EtherCAT DA04 Index and Sub Index 10 1 1 All the Objects are assigned with Object Index of four digit hexadecimal numbers Index Area Description 0000h 0FFFh Data Type Area Definitions of data types 1000h 1FFFh CoE Communication Area Definitions of variables for dedicated communications used by all servers 2000h 5FFFh Manufacturer Specified Area Definitions of variables dedicated for F...

Страница 40: ...Read Only Variables for read only RW Read Write Variables for read or write Table 10 3 Access Type of Object SAVE 10 1 5 The Object values are automatically saved in EEPROM PDO Mapping 10 1 6 Indicates whether the Object is valid for the PDO communication of EtherCAT or not PDO Type Description No The Object is NOT valid for PDO Mapping Tx PDO The Object is valid for Tx PDO Mapping Rx PDO The Obje...

Страница 41: ...indicates the range of input signal stored in the Object The range can have a random range or a range of Data Type Default Value 10 1 9 Default value of the Object Default values can be restored using the Restore Default Parameters 1011h ...

Страница 42: ...1001h Error Register 10 2 2 Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 1001h 0 Error Register U8 RO No No 00h This Object indicates types of error that occurred in the product Bit Description 0 General Error 1 Current Error 2 Voltage Error 3 Temperature Error 4 Communication Error 5 Device Profile Error 6 Reserved 7 Manufacturer Specified Error Table 10 6 Object fo...

Страница 43: ...alue 1011h 0 Number of Entries U8 RO No No 1 1 Restore Default Parameters U32 RW No No It commands that the Object values saved in EEPROM are restored with default values To reset the Objects with the factory default values enter 64616F6Ch to the Sub Index 01h MSB LSB ASCII d a o l Hex 64h 61h 6Fh 6Ch Table 10 7 Restore Parameters Object 1018h Identity 10 2 7 Index Sub Index Name Type Access Const...

Страница 44: ...tting 10 2 8 Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 10F1h 0 Number of Entries U8 RO No No 2 1 Local Error Reaction U32 RO No No 0000 0000h 2 Sync Error Counter Limit U32 RW No No 0000 000Ch ...

Страница 45: ...000 0000h 7 7th PDO Object U32 RW Yes No 0000 0000h 8 8th PDO Object U32 RW Yes No 0000 0000h 9 9th PDO Object U32 RW Yes No 0000 0000h This Object indicates the RxPDO Map setting Write Analogue Output 16bit 6411h Object is mapped RxPDO Map is NOT editable Object 1C12h RxPDO Assign 10 3 2 Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 1C12h 0 Number of Entries U8 RO No...

Страница 46: ...2h SM Output Parameter 10 4 2 Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 1C32h 0 Number of Entries U8 RO No No 32 1 Synchronization Type U16 RW No No 0002h 2 Cycle Time U32 RO No No 0000 0000h 4 Synchronization Type Supported U16 RO No No 401Fh 5 Minimum Cycle Time U32 RO No No 0003 D090h 6 Calc And Copy Time U32 RO No No 0000 2710h 8 Get Cycle Time U16 RW No No 00...

Страница 47: ...ycle Time U32 RO No No 0000 0000h 4 Synchronization Type Supported U16 RO No No 401Fh 5 Minimum Cycle Time U32 RO No No 0003 D090h 6 Calc And Copy Time U32 RO No No 0000 2710h 8 Get Cycle Time U16 RW No No 0000h 9 Delay Time U32 RO No No 0000 0000h 10 Sync0 Cycle Time U32 RW No No 0000 0000h 11 SM Event Missed U16 RO No No 0000h 12 Cycle Time Too Small U16 RO No No 0000h 32 Sync Error BOOL RO No N...

Страница 48: ...Value Range Default Value 6411h 0 Number of Entries U8 RO No No 4 1 Analogue Output CH1 I16 RW No Rx PDO 32 768 32 767 0 2 Analogue Output CH2 I16 RW No Rx PDO 32 768 32 767 0 3 Analogue Output CH3 I16 RW No Rx PDO 32 768 32 767 0 4 Analogue Output CH4 I16 RW No Rx PDO 32 768 32 767 0 This Object receives digital data from the master ...

Страница 49: ...H3 3 1 Activate CH4 0 Deactivate CH4 4 255 Reserved Table 10 9 Analogue Output Available Channel Choice Object 2301h Analogue Output Range 10 6 2 Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 2301h 0 Number of Entries U8 RO No No 4 1 CH1 Output Range U8 RW Yes No 0 2 CH2 Output Range U8 RW Yes No 0 3 CH3 Output Range U8 RW Yes No 0 4 CH4 Output Range U8 RW Yes No 0 Th...

Страница 50: ...is used this Object re defines the digital data for the Low End output in the selected output range Object 2303h Analogue Output Calibration High Value 10 6 4 Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 2303h 0 Number of Entries U8 RO No No 4 1 CH1 Calibration High Value I16 RW Yes No 0 2 CH2 Calibration High Value I16 RW Yes No 0 3 CH3 Calibration High Value I16 RW...

Страница 51: ...ld Last Value 1 Low Limit 2 High Limit 3 User Value 4 Zero Value 5 255 Reserved Table 10 11 Analogue Output Fault Action Object 2305h Analogue Output Fault Value 10 6 6 Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 2305h 0 Number of Entries U8 RO No No 4 1 CH1 Fault Value I16 RW Yes No 32 768 32 767 0 2 CH2 Fault Value I16 RW Yes No 32 768 32 767 0 3 CH3 Fault Value I...

Страница 52: ...e without prior notice due to product improvement change in specifications etc Ezi IO EtherCAT DA is a trademark of FASTECH Co Ltd registered in Korea Copyright 2021 FASTECH Co Ltd Jun 10 2021 Rev 1 FASTECH Co Ltd Rm 1202 401 dong Bucheon Techno Park 655 Pyeongcheon ro Bucheon si Gyeonggi do Republic of Korea Postal Code 14502 TEL 82 32 234 6300 FAX 82 32 234 6302 E mail sales fastech motions com ...

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