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Communications Types of EtherCAT

...................................................................... 30

EtherCAT Communications Protocol (CoE)

........................................................... 31

Process Data Objects (PDO)

.................................................................................... 32

Service Data Object (SDO)

...................................................................................... 32

EtherCAT Master Unit - Slave Unit Communications

........................................... 33

EtherCAT Communications State Transitions

....................................................... 34

Emergency Messages

............................................................................................... 35

7. Details of Measurement Data

.................................................................................... 36

Frame Measurement Value

...................................................................................... 37

Counter Module Status

............................................................................................. 37

Frame Comparator Result

........................................................................................ 38

Frame Comparator Group Number

........................................................................ 38

Frame Output Type

................................................................................................... 39

I/O Module Input Signal

........................................................................................... 39

I/O Module Output Signal

........................................................................................ 39

8. Appendix

.......................................................................................................................... 40

Operation Parameters

.............................................................................................. 40

Object Dictionary Structure

..................................................................................... 43

Details of Object Dictionary

..................................................................................... 46

8.3.1. Details of Communication Object Dictionary

................................................. 48

8.3.2. Details of PDO Mapping Objects

...................................................................... 51

8.3.3. Sync Manager Communication Objects

.......................................................... 65

8.3.4. Manufacturer Specific Objects

......................................................................... 67

Содержание MG80-EC

Страница 1: ...MG80 EC Operating Manual EtherCAT Interface Module Read all the instructions in the manual carefully before use and strictly follow them Keep the manual for future references...

Страница 2: ...MG80 EC...

Страница 3: ...Connection 9 3 3 2 Setting method 11 3 3 3 Restart MG80 EC 17 3 3 4 Starting EtherCAT Communications 17 4 Specifications 18 Interface specifications 18 LED indicator 19 5 Function 21 Functions list 2...

Страница 4: ...t Data 36 Frame Measurement Value 37 Counter Module Status 37 Frame Comparator Result 38 Frame Comparator Group Number 38 Frame Output Type 39 I O Module Input Signal 39 I O Module Output Signal 39 8...

Страница 5: ...such as TM and are not noted in the text In no event will Magnescale Co Ltd or its suppliers be liable to you for any consequential or inconsequential damages including any lost profits or lost savin...

Страница 6: ...of EtherCAT Extremely high speed communications with speed of 100 Mbps It dramatically shortens the I O response time from generation of input signals to transmission of output signals By fully utili...

Страница 7: ...I O data with slave units EtherCAT slave unit Outputs data received from the EtherCAT master unit through the EtherCAT network or sends input data to the EtherCAT master unit through the EtherCAT netw...

Страница 8: ...ions of each slave unit and internal operations Separate them from the I O power supply when wiring I O power supply Provides power for input output operations of external devices connected to slave u...

Страница 9: ...ed to monitor the measurement values without any programming The SDOs provide the ability to read and write to any specified parameter Equipment Used The devices used when configuring a slave side sys...

Страница 10: ...are assigned automatically starting from 1 in order from the unit closest to the MG80 EC For EtherNet IP or Ethernet connection prepare a shielded cable with a RJ 45 8P8C connector straight connection...

Страница 11: ...he number of axes used 2 Save the file in an appropriate location and extract it with decompression software About I O data When the ESI file is imported into the development environment the I O data...

Страница 12: ...mode and enable communication with the computer In this case the IP address is fixed to the following IP address 192 168 100 1 Subnet mask 255 255 255 0 4 Connect the PC which Setting application for...

Страница 13: ...meters using the Setting application for Windows PC When the Setting application for Windows PC MG80SettingTool exe is started the following screen appears The network settings are not used with the M...

Страница 14: ...top right of the setting application Click the Connect button at the top right of the setting application If the connection is successful the network setting field and parameter setting field become...

Страница 15: ...switch pages by cliking the page forward buttons After setting the parameters on each parameter screen click the Set button at the bottom of the screen to send and save the parameters to MG80 EC Note...

Страница 16: ...rame Setting Addition and subtraction function output mode preset value setting for each frame 3 Comp Comparator Setting Comparator threshold setting number of step mode setting of comparator use grou...

Страница 17: ...unit Use Ref point Valid or invalid of reference point OFF Not use ON Use Reference point preset value Unit 0 1 m Frame number Select from the pull down Ex 1 1axis 2axis Current value Ope1 Main Axis N...

Страница 18: ...e spin button or the numeric keys to enter the values Unit 0 1 m Step setting 2step 4step Select the group number to be set in the selected frame Select the frame to set Input output setting of the fi...

Страница 19: ...switch on the MG80 EC 3 Restart the power to operate with the set parameters 3 3 4 Starting EtherCAT Communications For the procedure for starting EtherCAT communications refer to the manual of the E...

Страница 20: ...to 4 2 LED indicator Communi cation I F LAN connector RJ 45 2 100BASE TX Shielded cable EtherCAT communication Transmits the measurement values error information and calculation results to the host de...

Страница 21: ...Color Status Contents Orange Turns off All count data is released from hold Lights up Any count data is in hold status RUN RUN LED Displays the RUN status according to the EtherCAT standard Color Stat...

Страница 22: ...Status Contents Green Turns off Link not established Lights up Link established Blinking In operation after establishing link Displays the link status of communication port IN Color Status Contents Gr...

Страница 23: ...mum value peak to peak value of each axis Addition and subtraction function Current value maximum value minimum value peak to peak value of 2 axis add sub Comparator Compare the measurement data of ea...

Страница 24: ...ames frame number A to P The contents to be output can be freely selected and set in one frame The frame setting method can be set as various operation parameters in the Setting application for Window...

Страница 25: ...ing unit moves from left to right as shown below the black line is the current value red line is max value and blue line is min value Operation examples of Peak hold Peak values are updated to satisfy...

Страница 26: ...example of Pause 5 3 3 Start Starts measuring the peak value of the specified frame Judgment starts from the current value in maximum and minimum value modes or from 0 in peak to peak value mode 5 3 4...

Страница 27: ...ing the Setting application for Windows PC MG80SettingTool exe Use Ref point ON Ref point Preset Master preset value 2 Pass through the reference point of the measuring unit When the reference point i...

Страница 28: ...s can be set The calculation formula is shown below Axis calculation result current value Sing1 Measurement value of measuring unit Sing2 Measurement value of measuring unit Example Measurement value...

Страница 29: ...up number 3bits Comp0 to Comp3 Specify the comparator group number with the assigned 3 bits Comparator group number 1 to 8 The 3 bits to be set are 000b to 111b Reset 1bit Reset When this signal and t...

Страница 30: ...to each output terminal is output Comparator area number 5bits Comp_Out0 to Comp_Out4 The comparator area number is indicated by the assigned 5 bits When the above data ready signal becomes Low level...

Страница 31: ...UT Link Activity OUT 1 Process data PDO mapping PDO size node Max 350 bytes Mailbox Emergency messages and SDO requests SDO response SYNCHRONIZATION mode Free Run mode asynchronous DC mode synchronous...

Страница 32: ...ommunications and SDO communications PDO communications constantly update the data every communication cycle on EtherCAT and SDO communications are processed in between those updates 1 Process data co...

Страница 33: ...Service Data Object PDO is composed of object dictionaries that can be mapped The process data is defined by PDO mapping PDO is primarily used in PDO communications for regularly exchanging process da...

Страница 34: ...o 1BFF hex are used for TxPDO 2 Sync Manager PDO Assignment Settings A sync manager channel consists of several PDOs The sync manager PDO assignment objects describe how these PDOs are related to the...

Страница 35: ...d for synchronization Each of the DC mode ready slave unit connected to EtherCAT shares the clock information The input output timing is synchronized with other slave unit by generating interrupt sign...

Страница 36: ...possible Not possible Only SDO communications are possible This state is entered after initialization has been completed It is used to initialize network settings Safe Operational Safe Op Possible Po...

Страница 37: ...80 EC can save up to eight emergency messages in the internal memory when it detects errors The saved messages can be read via SDO communications Indexes to be read are sub indexes 06 hex to 0D hex Di...

Страница 38: ...formation in the TxPDO data of EtherCAT communications The measurement values include the following 1 Measurement value for each frame 2 Status of each counter module 3 Comparator result for each fram...

Страница 39: ...ts 23 to 16 03 Value of bits 31 to 24 Use measurement values as signed 4 byte integers Counter Module Status The details of the status 8 bits of each counter module obtained via the PDO data are shown...

Страница 40: ...ne 0 Comparator area 0 2 steps 0 Comparator area 0 1 Comparator area 1 2 Comparator area 2 4 steps 0 Comparator area 0 1 Comparator area 1 2 Comparator area 2 3 Comparator area 3 4 Comparator area 4 F...

Страница 41: ...signal CH4 is Low 4 1 Input signal CH5 is High 0 Input signal CH5 is Low 5 1 Input signal CH6 is High 0 Input signal CH6 is Low 6 1 Input signal CH7 is High 0 Input signal CH7 is Low 7 1 Input signal...

Страница 42: ...to Measuring unit 16 Sign 00 Positive direction 00 01 Minus direction Input Resolution 01 0 1um 01 02 0 5um 03 1 0um 04 2 0um 05 5 0um 06 10 0um Reference point 00 OFF 00 01 ON Reference point positio...

Страница 43: ...to Flame P Comparator group number 01 Group 1 01 02 Group 2 03 Group 3 04 Group 4 05 Group 5 06 Group 6 07 Group 7 08 Group 8 Step number mode 00 None 00 02 Step 2 04 Step 4 Comparator thresholds in 4...

Страница 44: ...nal 05 Comparator group bit 0 06 Comparator group bit 1 07 Comparator group bit 2 08 Reset command 09 Preset call command 0A Reference point position clear 0B Output value mode bit 0 0C Output value m...

Страница 45: ...A401 device profiles A000 hex to FFF hex Reserved area The object dictionary is accessed by specifying the index value and the sub index for each object The MG80 EC uses the objects in the CoE Communi...

Страница 46: ...sy 1 300B Measuring Unit Status 1 300C TxPDO Mapping Mode 1 TxPDO Mapping Mode Setting 2 TxPDO Mapping Mode Information 300D Measuring Unit Warning Status 16bit 1 3020 Read Input Bits Read Input Bits...

Страница 47: ...1 to 8 9 Measuring Unit A Phase Bit 10 Measuring Unit B Phase Bit 11 Measuring Unit Z Phase Bit 12 to 24 5850 to 585F Measuring Unit Status 1 to 16 1 5860 to 586F Frame A to P Information 1 Comparato...

Страница 48: ...struction 1 5B02 Parameter Initialization Instruction 1 N 1 to 16 Details of Object Dictionary In this manual object details are described in the following format Index Index number Object name Sub In...

Страница 49: ...d64 U64 8Byte 0 to 18446744073709551615 Integer8 INT8 1Byte 128 to 127 Integer16 INT16 2Byte 32768 to 32767 Integer32 INT32 4Byte 2147483648 to 2147483647 Visible string VS 5 Access Indicates whether...

Страница 50: ...lt setting 0 Error Register 1Byte U8 RO Not possible 00 hex Indicates the error type that occurs in a slave unit bit Name bit Name 0 Generic error 4 Communication Error 1 Current error 5 Device profil...

Страница 51: ...n of the slave unit software 6 Index 1018 hex Identity Object Sub Index Contents Size Access PDO map Setting range default setting 0 Number of Entries 1Byte U8 RO Not possible 04 hex 1 Vendor ID 4Byte...

Страница 52: ...also sets whether or not to notify emergency messages Sub index 1 gives the maximum number of error messages Sub index 2 gives the Sub index number of the latest message in the diagnosis history Sub...

Страница 53: ...ed object The MG80 EC locates mapping settings for the MG50 and mapping settings for the MG80 in the following indexes RxPDO mapping settings for the MG80 1600Hex to 1610Hex TxPDO mapping settings for...

Страница 54: ...U8 RO Not possible 01 hex 1 PDO entry 1 4Byte U32 RO Possible 6100 0110 hex Gives the 1st TxPDO mapping for the MG50 3 Index 1A01 hex 2nd TxPDO Mapping Sub Index Contents Size Access PDO map Setting r...

Страница 55: ...range default setting 0 Number of Objects 1Byte U8 RO Not possible 10 hex 1 to 16 PDO entries 1 to 16 4Byte U32 RO Possible 3020 0101 hex 3020 0201 hex to 3020 0F01 hex 3020 1001 hex Gives the 5th Tx...

Страница 56: ...xPDO Mapping Sub Index Contents Size Access PDO map Setting range default setting 0 Number of Objects 1Byte U8 RO Not possible 10 hex 1 to 16 PDO entries 1 to 16 4Byte U32 RO Possible 3020 3101 hex 30...

Страница 57: ...h TxPDO Mapping Sub Index Contents Size Access PDO map Setting range default setting 0 Number of Objects 1Byte U8 RO Not possible 02 hex 1 PDO entry 1 4Byte U32 RO Possible 3001 0108 hex 2 PDO entry 2...

Страница 58: ...range default setting 0 Number of Objects 1Byte U8 RO Not possible 01 hex 1 PDO entry 1 4Byte U32 RO Possible 4004 0120 hex 4005 0120 hex 4084 0120 hex 4085 0120 hex Gives the 77th 78th 80th and 81st...

Страница 59: ...Index Contents Size Access PDO map Setting range default setting 0 Number of Objects 1Byte U8 RO Not possible 01 hex 1 PDO entry 1 4Byte U32 RO Possible 4304 0120 hex 4305 0120 hex 4384 0120 hex 4385...

Страница 60: ...Sub Index Contents Size Access PDO map Setting range default setting 0 Number of Objects 1Byte U8 RO Not possible 01 hex 1 PDO entry 1 4Byte U32 RO Possible 4604 0120 hex 4605 0120 hex 4684 0120 hex 4...

Страница 61: ...Sub Index Contents Size Access PDO map Setting range default setting 0 Number of Objects 1Byte U8 RO Not possible 01 hex 1 PDO entry 1 4Byte U32 RO Possible 4209 0120 hex 4289 0120 hex 4309 0120 hex 4...

Страница 62: ...PDO Mapping Sub Index Contents Size Access PDO map Setting range default setting 0 Number of Objects 1Byte U8 RO Not possible 01 hex 1 PDO entry 1 4Byte U32 RO Possible 5800 0120 hex 5801 0120 hex 580...

Страница 63: ...0101 hex 5820 0201 hex to 5820 1701 hex 5820 1801 hex 1 to 24 275th TxPDO PDO entry 1 to 24 4Byte U32 RO Possible 5821 0101 hex 5821 0201 hex to 5821 1701 hex 5821 1801 hex 1 to 24 288th TxPDO PDO ent...

Страница 64: ...0108 hex 5840 0108 hex Gives the 290th and 291st TxPDO mapping for the MG80 31 Index 1B23 hex to 1B32 hex 292nd TxPDO Mapping to 307th TxPDO Mapping Sub Index Contents Size Access PDO map Setting ran...

Страница 65: ...y 1 to 3 4Byte U32 RO Possible 5860 0108 hex 5860 0208 hex 5860 0308 hex 1 to 3 309th TxPDO PDO entry 1 to 3 4Byte U32 RO Possible 5861 0108 hex 5861 0208 hex 5861 0308 hex 1 to 3 322th TxPDO PDO entr...

Страница 66: ...5870 0208 hex 1 to 2 325th TxPDO PDO entry 1 to 2 4Byte U32 RO Possible 5871 0108 hex 5871 0208 hex Gives the 324th to 325th TxPDO mapping for the MG80 34 Index 1B45 hex 326th TxPDO Mapping Sub Index...

Страница 67: ...e SM2 1Byte U8 RO Not possible 03 hex 4 Communication Type SM3 1Byte U8 RO Not possible 04 hex The sync manager has the following settings SM0 Mailbox receive EtherCAT master unit to slave unit SM1 Ma...

Страница 68: ...1 to 17 RxPDO Mapping Assignment 1 to 17 2Byte U16 RW 1 Not possible 1600 hex to 17FF hex 1600 hex to 1610 hex 1 RO is set if there is no RxPDO Gives the RxPDO used by the sync manager 5 Index 1C13 h...

Страница 69: ...e default setting 0 Number of Entries 1Byte U8 RO Not possible 08 hex 08 hex 1 Communication Busy 1bit BOOL RO Possible 00 hex to 01 hex Bit 0 ON Communication busy in progress 00 hex 2 Communication...

Страница 70: ...of Measuring Units Setting function is not available for the MG80 EC even if set Also Number of Connected Measuring Units is fixed to 10 hex and Number of Dummies Setting is fixed to 00 hex 3 Index 30...

Страница 71: ...1 sets the dummy setting Sub index 2 gives the dummy setting Sub index 3 sets the dummy response setting Dummy Setting and Dummy Response Setting do not function with the MG80 EC even if set Also Dumm...

Страница 72: ...x Sub index 1 indicates the measuring unit communication status Measuring Unit Communication Status 8bit is fixed to 00 hex for the MG80 EC 7 Index 300B hex Measuring Unit Warning Status Sub Index Con...

Страница 73: ...apping mode Sub index 2 gives the TxPDO mapping mode information The TxPDO Mapping Mode Setting function is not available for the MG80 EC even if set Also TxPDO Mapping Mode Information is fixed to 00...

Страница 74: ...00 hex to 407F hex 2 4080 hex to 40FF hex 3 4100 hex to 417F hex 4 4180 hex to 41FF hex 5 4200 hex to 427F hex 6 4280 hex to 42FF hex 7 4300 hex to 437F hex 8 4380 hex to 43FF hex 9 4400 hex to 447F h...

Страница 75: ...map Setting range default setting 0 Number of Entries 1Byte U8 RO Not possible 01 hex 01 hex 1 Threshold 1 Settings 4Byte INT32 RW Possible 999999999 to 999999999 C4653601 hex to 3B9AC9FF hex 0000 000...

Страница 76: ...1 ON Head related error 0000 hex Sub index 1 gives the measuring unit status Measuring Unit Status is fixed at 0000 hex for the MG80 EC 14 Index 4008 N 1 80 hex Output Mode Setting Sub Index Contents...

Страница 77: ...alue of the measuring unit Detection Value is the frame measurement value for the MG80 EC 16 Index 400A N 1 80 hex Operating Mode Setting Sub Index Contents Size Access PDO map Setting range default s...

Страница 78: ...x Sub index 1 sets the detection function The Detection Function Setting function is not available for the MG80 EC even if set 18 Index 4011 N 1 80 hex Display Digits Setting Sub Index Contents Size A...

Страница 79: ...FFFF hex Sub index 1 sets the eco function The Eco Function Setting function is not available for the MG80 EC even if set 20 Index 4016 N 1 80 hex Key Lock Setting Sub Index Contents Size Access PDO m...

Страница 80: ...ng The Display Blinking Setting function is not available for the MG80 EC even if set 22 Index 4020 N 1 80 hex Hysteresis Width Setting Sub Index Contents Size Access PDO map Setting range default set...

Страница 81: ...0 Number of Entries 1Byte U8 RO Not possible 01 hex 01 hex 1 2 point Setting 1st point 2Byte U16 RW Not possible 0000 hex to 0001 hex Write 0001 hex to execute 0000 hex Sub index 1 executes the 1st p...

Страница 82: ...The 1 point Setting Tolerance Setting Setup function is not available for the MG80 EC even if set 27 Index 4038 N 1 80 hex Reference Point Use Setting Sub Index Contents Size Access PDO map Setting r...

Страница 83: ...of Entries 1Byte U8 RO Not possible 01 hex 01 hex 1 Tolerance Setting High 4Byte INT32 RW Not possible 19999 9999 to 9999 9999 FECE D301 hex to 05F5 E0FF hex 0000 0000 hex Sub index 1 sets the tolera...

Страница 84: ...ing 0 Number of Entries 1Byte U8 RO Not possible 01 hex 01 hex 1 Measuring Unit Initialization 2Byte U16 RW Not possible 0000 hex to 0001 hex Write 0001 hex to execute 0000 hex Sub index 1 executes me...

Страница 85: ...id 0000 hex Sub index 1 sets the output mode selection The Output Mode Selection function is not available for the MG80 EC even if set 35 Index 4075 N 1 80 hex Preset Call Sub Index Contents Size Acce...

Страница 86: ...ex are respectively the master cyclic input information 1 to 16 Sub indexes 1 to 16 give bits 0 to 15 of the master cyclic input information The details of each bit are shown below bit0 Name Remarks 0...

Страница 87: ...er Cyclic Input Information bit 1 Reserved It is fixed to 00 hex 2 Master Cyclic Input Information bit 2 Reserved It is fixed to 00 hex 3 Master Cyclic Input Information bit 3 Reserved It is fixed to...

Страница 88: ...etting 0 Number of Entries 1Byte U8 RO Not possible 01 hex 01 hex 1 Frame A to P Measurement Values 4Byte INT32 RO Possible 2147483648 to 2147483647 8000 0000 hex to 7FFF FFFF hex 0000 0000 hex Indexe...

Страница 89: ...information bit 7 Reserved It is fixed to 00 hex 8 Measuring unit bit information bit 8 Reserved It is fixed to 00 hex 9 Measuring unit bit information bit 9 It gives the bit information of phase A of...

Страница 90: ...are shown below bit0 Name Remarks 7 Measuring Unit Status bit 7 When this bit is ON a CRC error has occurred 6 Measuring Unit Status bit 6 When this bit is ON pause is ON 5 Measuring Unit Status bit...

Страница 91: ...e 00 hex to 03 hex 00 hex Current value output 01 hex Maximum value output 02 hex Minimum value output 03 hex Peak to peak value output 00 hex 3 Comparator Group Number 1Byte U8 RO Possible 01 hex to...

Страница 92: ...tatus of I O module input terminal 4 3 I O module input signal bit 3 Indicates the status of I O module input terminal 3 2 I O module input signal bit 2 Indicates the status of I O module input termin...

Страница 93: ...omparator Group Number Setting 1Byte U8 RW Not possible 01 hex to 08 hex 01 hex 7 Comparator Step Number Mode Setting 2Byte U16 RW Not possible 0000 hex to 0004 hex 0000 hex 8 to 39 Comparator Thresho...

Страница 94: ...ors Sub indexes 16 to 15 set thresholds 1 to 4 for the group number 3 comparators Sub indexes 20 to 15 set thresholds 1 to 4 for the group number 4 comparators Sub indexes 24 to 15 set thresholds 1 to...

Страница 95: ...erence Point Use Setting Reference Point Use Setting is a 1 byte parameter setting The details are shown below Offset Contents 00 Use Ref point 00 hex Reference point not used 01 hex Reference point u...

Страница 96: ...ositive 01 hex negative FF hex No reference axis 03 Reference axis number 00 hex Axis 1 01 hex Axis 2 to 0F hex Axis 16 When Sign 2 is set to FF hex No reference axis the reference axis number becomes...

Страница 97: ...g is a 2 byte parameter setting The details are shown below Offset Contents 00 Comparator Step Number Mode Setting 00 hex 0 steps mode 02 hex 2 steps mode 04 hex 4 steps mode 01 00 hex Reset Instructi...

Страница 98: ...is available only when Reference Point Use Setting is ON Also Master Preset Call cannot be used together with Preset Call Start Instruction Start Instruction is a 1 byte parameter setting The details...

Страница 99: ...it 7 Indexes 5A10 hex and 5A11 hex are respectively the I O module 1 and I O module 2 parameter settings Sub index 1 sets the input terminal function Sub index 2 sets the output terminal function 1 Th...

Страница 100: ...on Setting Output Terminal Function Setting is a 2 byte parameter setting The details are shown below Offset Contents 00 Output terminal number 00 hex Output terminal bit 0 01 hex Output terminal bit...

Страница 101: ...tries 1Byte U8 RO Not possible 01 hex 01 hex 1 Parameter Backup Instruction 1Byte U8 RW Not possible 00 hex to 01 hex 01 hex Executes backup 00 hex Index 5B01 hex is the parameter backup setting Sub i...

Страница 102: ...ent l usage des acqu reurs de l quipement d crit dans ce manuel Magnescale Co Ltd interdit formellement la copie de quelque partie que ce soit de ce manuel ou son emploi pour tout autre but que des op...

Страница 103: ...foreign customers Note This product or technology may be restricted by the government in your country Please make sure that end use end user and country of destination of this product do not violate...

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