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TPM

207-D533-NN User Manual

PDI

Physical Device Internal

Interface

A set of elements that allows access to DL-Service from the AL

PDO

Process Data Object

Objects that are sent and received in cyclic communications.

PDO mapping

Definitions

Process Data Object

Mapping

Definitions of the applications objects that are sent with

PDOs.

SDO

Service Data Object

Objects that are sent and received in mailbox communications.

PREOP

PRE-OPERATIONAL

The Pre-operational state in the EtherCAT state machine.

RXPDO

Receive Process Data Object The process data received by the ESC.

TXPDO

Transmit Process Data

Object

The process data sent by the ESC.

Sync. Manager

The ESC unit that coordinates data exchange between the master and

slaves.

Read only

COE Object just can be read only

Read & write

COE Object just can be read and written.

SAVE

Save to flash memory

There is flash memory on K121 which can be used to save retain

variables.

STLD

Step Loss Detection

Function is used to detect the loss of stepper motor when it is running.

FoE

File transfer over EtherCAT

File can transfer over EtherCAT like Ethernet operation.

4.2

Data Types

The following table lists the data types and ranges that are used in this manual

Symbol

Data Type

Range

BOOL

Boolean

True or False

Signed 8-bit integer

-128 to 127

I16

Signed 16-bit integer

-32,768 to 32,767

I32

Signed 32-bit integer

-2,147,483,648 to 2,147,483,627

Unsigned 8-bit integer

0 to 255

U16

Unsigned 16-bit integer

0 to 65535

U32

Unsigned 32-bit integer

0 to 4,294,967,295

F32

32-bit float

F64

64-bit double float

STRING

Character string

–

Содержание 207-D533-NN

Страница 1: ...TPM 207 D533 NN User Manual 1 207 D533 NN User Manual Version V1 0 2019 Nov 12 To properly use the product read this manual thoroughly is necessary Part No 81 18D533 010 ...

Страница 2: ...TPM 207 D533 NN User Manual 2 Revision History Date Revision Description 2019 11 12 1 0 Document creation ...

Страница 3: ...d trademarks and may or may not have copyrights of their respective companies These names should be used only for identification or explanation and to the owners benefit should not be infringed without any intention The product s name and version number are both printed on the product itself Released manual visions for each product design are represented by the digit before and after the period of...

Страница 4: ...pt the grounding circuit Make sure that your power supply is set to the voltage available in your area If the power supply is broken contact a qualified service technician or yourretailer Operational safely Please carefully read all the manuals that came with the package before installing the new device Before use the product ensure all cables are correctly connected and the power cables are not d...

Страница 5: ... Connector 17 2 4 5 207 D533 NN Pin Definition 18 2 5 SIGNAL CIRCUIT 21 3 TWINCAT 3 OPERATION 22 3 1 INSTALL THE ESI DEVICE DESCRIPTION 22 3 2 CREATE THE ETHERCAT DEVICE 23 3 3 SCAN THE ETHERCAT DEVICE 25 4 ETHERCAT BASIC INFORMATION 32 4 1 SYMBOLS AND ABBREVIATIONS 32 4 2 DATA TYPES 33 4 3 SPECIFICATION LIST 34 4 4 ESM ETHERCAT STATE MACHINE 35 5 PROCESS DATA OBJECTS PDOS 37 5 1 TXPDO LIST SLAVE ...

Страница 6: ...ser Manual 6 6 1 STATION ALIAS 4000H 40 6 1 1 Device Addressing 41 6 2 OUTPUT PORT AUTO RESET SETTING 4001H 44 6 3 RETAIN VARIABLE OPERATION 4005H 45 6 4 SAVE PARAMETERS 1010H 46 6 5 RESTORE DEFAULT PARAMETERS 1011H 46 ...

Страница 7: ...egment can connect up to 65 535 nodes With 100BASE TX the distance between two nodes is up to 100M with EtherCAT With 100BASE FX fiber optics the distance between two nodes is longer than 100M Precise synchronization is one of the features of EtherCAT The Distributed Clocks DC can adjust the time of Master and Slaves to achieve the synchronization The time of synchronization is less than 1μs Ether...

Страница 8: ...TPM 207 D533 NN User Manual 8 1 2 System Configurations 1 3 Data Transition ...

Страница 9: ... The TwinCAT software system turns almost any PC based system into a real time control with multiple PLC NC CNC and or robotics runtime systems All TPM modules can be tested with TwinCAT easily With the RJ45 cable EtherCAT Master and EtherCAT slaves can connect to achieve the control system EZE xxx model names will be displayed on TwinCAT for users to operate system conveniently Carrier specific m...

Страница 10: ...3 NN User Manual 10 2 Product Overview 2 1 Naming Rule 2 0 7 D 5 3 3 N N EtherCAT Plug in module Digital EtherCAT series 48 DI 48 DO NPN type Input NPN type Output 2 2 Dimension P0 P1 R E E I N E O T 122 mm 123mm ...

Страница 11: ...O I O isolation voltage 3750Vrms Input type NPN type Input impendence 5 6KΩ 0 5W Input current 5mA Max Digital input 48 channel Output type NPN open collector Darlington transistors Digital output 48 channel Max Current 100mA per Ch Response Time On to Off about 50μs Off to On about 10μs Over Current Protection 1A max for each port 8 channel General Power input 24VDC 10 Power consumption 6W typica...

Страница 12: ... 1 2 3 4 5 6 7 8 Note that node number 128 A7 64 A6 32 A5 16 A4 8 A3 4 A2 2 A1 1 A0 Default values are all off Label Function CN1 Power Connector for Module CN2 Power Connector for External CN3 CN8 Input Signal Connector CN9 CN14 Output Signal Connector EIN EtherCAT Communication IN EOUT EtherCAT Communication OUT Pin Label On Off 1 A7 1 0 2 A6 1 0 3 A5 1 0 4 A4 1 0 5 A3 1 0 6 A2 1 0 7 A1 1 0 8 A0...

Страница 13: ...1 R E E R P1 P0 LED Description Pn0 Pn7 Green DI Port n Bit0 Bit7 n 0 5 Pn0 Pn7 Red DO Port n Bit0 Bit7 n 6 11 LED Description E Red Error Communication R Green In Normal Communication P1 Yellow DC 5V Supply for Module Internal P0 Yellow DC 24V Input for Module Internal PWR DC 24V Input for Module Internal ...

Страница 14: ...Manual 14 There are four patterns below indicating the LED status besides ON and OFF Pattern 1 Flickering 50ms 50ms Pattern 2 Blinking 200ms 200ms Pattern 3 Single flash 200ms Pattern 4 Double flash 200ms 200ms 200ms 1000ms ...

Страница 15: ...ate Single Flash ESM In Safe operational state ON ESM Operation state Error Indicator Error Indicator indicates an alarm defined in the AL Status Code LED Lights in red LED Status Meaning OFF No occurrence of alarms defined in the AL status code Blinking Communication setup error Single flash Synchronous event error Double flash Application watchdog timeout Flickering Initialization error ON PDI e...

Страница 16: ...T Ethernet LED Status P0 P1 R E E I N E O T No Description 1 TX 2 TX 3 RX 4 5 6 RX 7 8 LED Description Green Speed indicator Green on Operating as a 100 1000 Mbps connection Off Operating as a 10 Mbps connection Orange Link Activity indicator Blinking There is activity on this port Off No link is established ...

Страница 17: ...nector P0 P1 R E E I N E O T 1 6 Pin Label Description 1 24VS DC 24V Input for module internal 2 GNDS DC 24V ground for module internal 3 FG Field ground Pin Label Description 1 24V DC 24V 2 GND DC 24V ground 3 FG Field ground 4 24V DC 24V 5 GND DC 24V ground 6 FG Field ground Max 8A input current each DC 24V contact ...

Страница 18: ...put 9 26 Port 2 Bit6 Input 10 07 Port 0 Bit7 Input 10 27 Port 2 Bit7 Input 11 GND DC 24V Ground 11 GND DC 24V Ground 12 GND DC 24V Ground 12 GND DC 24V Ground CN4 I1 CN6 I3 Pin Label Function Pin Label Function 1 24V DC 24V 1 24V DC 24V 2 24V DC 24V 2 24V DC 24V 3 10 Port 1 Bit0 Input 3 30 Port 3 Bit0 Input 4 11 Port 1 Bit1 Input 4 31 Port 3 Bit1 Input 5 12 Port 1 Bit2 Input 5 32 Port 3 Bit2 Input...

Страница 19: ... 06 Port 6 Bit6 Output 10 47 Port 4 Bit7 Input 10 07 Port 6 Bit7 Output 11 GND DC 24V Ground 11 GND DC 24V Ground 12 GND DC 24V Ground 12 GND DC 24V Ground CN8 I5 CN10 Q1 Pin Label Function Pin Label Function 1 24V DC 24V 1 24V DC 24V 2 24V DC 24V 2 24V DC 24V 3 50 Port 5 Bit0 Input 3 10 Port 7 Bit0 Output 4 51 Port 5 Bit1 Input 4 11 Port 7 Bit1 Output 5 52 Port 5 Bit2 Input 5 12 Port 7 Bit2 Outpu...

Страница 20: ...it6 Output 10 27 Port 8 Bit7 Output 10 47 Port 10 Bit7 Output 11 GND DC 24V Ground 11 GND DC 24V Ground 12 GND DC 24V Ground 12 GND DC 24V Ground CN12 Q3 CN14 Q5 Pin Label Function Pin Label Function 1 24V DC 24V 1 24V DC 24V 2 24V DC 24V 2 24V DC 24V 3 30 Port 9 Bit0 Output 3 50 Port 11 Bit0 Output 4 31 Port 9 Bit1 Output 4 51 Port 11 Bit1 Output 5 32 Port 9 Bit2 Output 5 52 Port 11 Bit2 Output 6...

Страница 21: ...TPM 207 D533 NN User Manual 21 2 5 Signal Circuit Digital Input Signal Circuit NPN Type Digital Output Signal Circuit NPN Type 5 6K NPN GND 24V Internal Curcuit GND 24V Internal Curcuit LOAD ...

Страница 22: ...EZE_D533_NN_VxxxxSxxxx_rls Note1 207 D533 series is a form factor of EZE D533 combined with carrier board Both 207 D533 and EZE D533 are applied the same esi file Note2 Please update the latest ESI file If there is any question please contact your vendor Step 2 Paste the ESI file into the EtherCAT Master PC s folder C TwinCAT 3 1 Config Io EtherCAT ...

Страница 23: ...TPM 207 D533 NN User Manual 23 3 2 Create the EtherCAT Device Step 1 Open Visual Studio 2017 Step 2 Open a new TwinCAT project ...

Страница 24: ...TPM 207 D533 NN User Manual 24 Step 3 Provide a name to this project 207 D533 Test Step 4 Click button OK to finish creating the project ...

Страница 25: ...TPM 207 D533 NN User Manual 25 3 3 Scan the EtherCAT Device Step 1 Right click on Device Step 2 Select Scan Note Before scan the device the TwinCAT System Manager may first have to be set to Config mode ...

Страница 26: ...TPM 207 D533 NN User Manual 26 Step 3 Click OK Step 4 Click OK Step 5 Click Yes Step 6 Click Yes ...

Страница 27: ...TPM 207 D533 NN User Manual 27 Step 7 The name of the slave will be shown as EZE_D533_NN Step 8 If the slave is not found please do the following steps ...

Страница 28: ...l 28 Step 8 1 Take 207 D222 for example Double click Box 1 with green point Step 8 2 Click EtherCAT and check the Version of the slave Step 8 3 Check if the version is the same with the ESI file 1000 0200 Decimal Hexadecimal X O ...

Страница 29: ...TPM 207 D533 NN User Manual 29 Step 9 Double click Device 2 and select Adapter Step 10 The detailed information of the Device will show at Description Device Name MAC Address and IPAddress ...

Страница 30: ...TPM 207 D533 NN User Manual 30 Step 10 1 If the detailed information of the Device isn t shown or is garbled please select Compatible Devices Step 10 2 Select your Local LAN and click button Install ...

Страница 31: ...r Manual 31 Step 10 3 Click Search select your Local LAN and click button OK Step 10 4 After finishing the above steps the detailed information of the Device will show at Description Device Name MAC Address and IPAddress ...

Страница 32: ...n for the application layer in a seven layer OSI reference model DC Distributed Clocks A clock distribution mechanism that is used to synchronize the EtherCAT slaves with the EtherCAT master EEPROM Electrically Erasable Programmable Read Only Memory A ROM that can be electrically overwritten ESC EtherCAT Slave Controller A hardware chip that processes EtherCAT communications such as loopbacks and ...

Страница 33: ...xchange between the master and slaves ro Read only COE Object just can be read only rw Read write COE Object just can be read and written SAVE Save to flash memory There is flash memory on K121 which can be used to save retain variables STLD Step Loss Detection Function is used to detect the loss of stepper motor when it is running FoE File transfer over EtherCAT File can transfer over EtherCAT li...

Страница 34: ...e Explicit Device ID Supported Device profile MDP ETG5001 1 SyncManager 4 FMMU 3 Synchronous Mode DC SYNC0 event synchronization Free Run No Slave application synchronization Cycle Time Minimum DC time 1ms Communication object SDO Service Data Object PDO Process Data Object SDO message Supported SDO Request SDO Response SDO information Not supported Emergency Message Complete Access Maximum number...

Страница 35: ...IB SO PS IP Power On ESM contains states Symbol Name Communication Operation Description INIT Init The communication part is initializing and the transmission and reception with both SDO Mailbox and PDO are impossible INIT state defines basic communication relation between the master and slave in the application layer Direct communication between the master and slaves is not possible in the applic...

Страница 36: ...end and receive both SDO and PDO in this state In BOOT state slave applications can receive new firmware downloaded to the FoE File access over EtherCAT State transition and local Management Service Transition Symbol Direction Local Management Service IP INIT PREOP Start Mailbox Communication PI PREOP INIT Stop Mailbox Communication PS PREOP SAVEOP Start Input Update SP SAVEOP PREOP Stop Input Upd...

Страница 37: ... because the data of SDO will be covered by the data of PDO PDO types Sender Receiver TxPDO Slave Master RxPDO Master Slave 5 1 TxPDO List Slave transmits data to Master 5 1 1 48 Ch Digital Inputs 6000h Index Sub Index Name Description Units Range Data Type Acc ess PDO OP Mode Save to EEPROM 6000h 48 Channels Digital Inputs 0x01 Port_0 CH0 CH1 Bit0 Bit7 0 255 U8 ro TxPDO OP No 0x02 Port_1 CH0 CH1 ...

Страница 38: ...e Save to EEPROM 7000h 48 Channels Digital Outputs 0x01 Port_6 CH0 CH1 Bit0 Bit7 0 255 U8 rw RxPDO OP No 0x02 Port_7 CH0 CH1 Bit0 Bit7 0 255 U8 rw RxPDO OP No 0x03 Port_8 CH0 CH1 Bit0 Bit7 0 255 U8 rw RxPDO OP No 0x04 Port_9 CH0 CH1 Bit0 Bit7 0 255 U8 rw RxPDO OP No 0x05 Port_10 0x0A CH0 CH1 Bit0 Bit7 0 255 U8 rw RxPDO OP No 0x06 Port_11 0x0B CH0 CH1 Bit0 Bit7 0 255 U8 rw RxPDO OP No ...

Страница 39: ...s 01h Selection 0 2 I16 rw 1 All Yes OP 02h Setup High byte 0x00 0xFF I16 rw 0 All Yes OP 03h Station Switch 0x00 0xFF I16 rw 0 All No 04h Station Alias 0x0000 0xFFFF I16 ro 0 All No 4001h Output Port Auto Reset Setting 00h Output Port Auto Reset Setting 0x0000 0xFFFF U16 rw 0x0000 PreOP Yes 4005h Retain Variable Operation 01h Control Word 0x0000 0xFFFF U16 rw All No 02h Status Word 0x0000 0xFFFF ...

Страница 40: ...tion alias 1 The value made of object 4000h 02h and dip switch of amplifier is set as station alias 1 2 Read station alias via AL control word 1 If Setting values for both the dip switch and object 4000h 02 are 0 the value of the SII area 0004h is regard as Station Alias 02h Setup High byte 0x00 0xFF U8 rw 0 All Yes OP High byte of Station Alias How to set the parameters with dip switch and object...

Страница 41: ...d Station Alias must be enabled by the master The appropriate command action will be executed if Node Address matches with either Configured Station Address or Configured Station Alias The slave matched to the address set at station register 0x0010 from the master by position addressing is normally addressed in node addressing This enables access without fail even when a device is added the segmen...

Страница 42: ...ion selection from backup EEPROM at the control power on If the value is 0 the value saved at 0004h Configured Station Alias in the SII into 0012h Configured Station Alias of ESC register and master reads this value 3 Reading the value of dip switch from Configured Station Alias 4000h 01h 1 Setting the value of CoE object 4000h 01h to 1 and reading the value which is combined by object 4000h 02h S...

Страница 43: ...code occurs AL status code of the alarm is returned When the alarm is cleared Station Alias will return again AL Control Reg 0x0120 5 ID Request AL Status Reg 0x0130 5 ID Loaded AL Status Code 0x0134 Station Alias Station Alias is requested by the request of AL Control AL Status Code is cleared without the request of AL Control AL Control Reg 0x0120 4 Error Ind Ack AL Control Reg 0x0120 5 ID Reque...

Страница 44: ...o Reset Setting 0x0000 0xFFFF U16 rw 0x0000 PreOP Yes This parameter is used to set the output port which will be automatically reset when it is not in the OP operational mode The number of bit indicates the number of the output port Bit0 Port0 Bit1 Port1 Bit2 Port2 Bit15 Port15 Example for EZE D222 NN module The numbers of output ports are port2 and port3 If you want these ports to be automatical...

Страница 45: ... 14 STA CMDID PSWD3 PSWD2 PSWD1 PSW RW ERST 02h Status Word 0x0000 0xFFFF U16 ro 0x0000 All No 0 3 4 7 8 11 12 15 13 14 OPEN CMDID Reserved ErrCode BUSY RW EFLG 03h State of Control Cycle 0 99 U8 ro 0 All No Value Symbol Description Note 0x00 RETAIN_STATE_WAIT_TO_START Wait to enter retain operation Write the Enter Password to start retain operation See C 2 1 0x01 RETAIN_STATE_WAIT_FOR_NEW_CMD Wai...

Страница 46: ...stem will back up the whole target objects with retain function into Flash Memory 6 5 Restore Default Parameters 1011h Index Sub Index Name Description Units Range Data Type Acc ess Default value OP Mode Save to EEPROM 1011h Restore default parameters 00h Highest sub index supported U8 ro 1 01h Restore default parameters 0x00000000 0x FFFFFFFF U32 rw 0x00000000 OP No Restore the default parameters...

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