EtherCAT Slave. EtherCAT Data Transition. EtherCAT Tool: TwinCAT. Taiwan Pulse Motion Co.,Ltd

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1 EtherCAT Slave In network, the master sends an Ethernet frame passing through all of the slave nodes. Each datagram is a command that consists of a header, data and a working counter. datagrams are sent by the master to all connected slaves. The data exchange is cyclically updated between master and slaves. EtherCAT Data Transition Master ENI File (EtherCAT Network Information) TwinCAT Slave ESI File (EtherCAT Slave Information) EtherCAT Tool: TwinCAT TwinCAT is the tool which is developed by Beckhoff. The TwinCAT (The Windows Control and Automation Technology) automation suite forms the core of the control system. The TwinCAT software system turns almost any PCbased 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, Master and slaves can connect together to achieve the control system. EZE-xxx model names will be displayed on TwinCAT. Carrier specific model name will not be listed. 41

2 Plug-in Module / Add-on Terminal Plug-in Module The plug-in EZE EtherCAT module follows the design concept of EZM Motionnet module. In addition to the compact size, the plug-in module also provides good flexibility. It is easy to support different wiring requirements with different carrier boards. The plug-in I/O modules can also be connected directly to the custom PCB. TPM provides design guides to help customers develop their signal boards. It is easy to combine the benefits of standard and tailored I/O solutions. The advantages of EZE plug-in modules include: Compact Size Space Saving Simple Wiring Customization PCB Carrier Board can have different terminal blocks Standard terminal blocks Customized I/O solutions E-CON Socket 10 Pin Box Header Customized Signal Board Add-on Terminal TPM EtherCAT Add-on Terminal = CAN Coupler + Add-on Module TPM CAN Coupler, EZC-N100, is the EtherCAT CAN Master that connects the EtherCAT realtime Ethernet system to extendable Add-on terminal blocks at fieldbus level. This flexible system can provide high-speed, high-accuracy and low-cost remote I/O for EtherCAT. EtherCAT IN EtherCAT OUT Ethernet Add-on module is the CAN Slave. With EZC-N100, the coupler can connect Max. 8 Addon modules by CAN bus. There are three kinds of Add-on modules: EZC-D111-8 Digital Input and 8 Digital Output EZC-D Digital Input EZC-D Digital Output EtherCAT IN EtherCAT OUT Ethernet CAN 42

3 Digital I/O Slave EZE-D1xx Series 32 Ch. DI/O Slave Module Customize PCB mounting (L-98 x W-26 x H-77 mm) Input type Input impedance Input current 5.6KΩ/0.5W ±5mA(Max) Output type Switch capacity Each output Ch. is 350mA at EZE-D140-NX 32 Ch. Digital Input (DI) with NPN type EZE-D104-XN 32 Ch. Digital Output (DO) with NPN type EZE-D122-NN 16 Ch. DI /16 Ch. DO with NPN type EZE-D140-PX (available soon) 32 Ch. Digital Input (DI) with PNP type EZE-D104-XP (available soon) 32 Ch. Digital Output (DO) with PNP type EZE-D122-PP (available soon) 16 Ch. DI /16 Ch. DO with PNP type Response time Over current protection On to Off, about 50µs; Off to On, about 10µs 3A (max) for each port (8 Ch.) 43

4 Digital I/O Slave 207-D140-NX EtherCAT Digital Slave 32 Ch. DI Slave Module with Pluggable Terminal DIN rail mounting (L-122 x W-65 x H-104 mm) Pluggable terminal block with spring plug connectors Input type Input impedance 5.6KΩ/0.5W Input current Response time ±5mA(Max) On to Off, about 50µs; Off to On, about 10µs 207-D140-NX 32 Ch. Digital Input (DI) with NPN type 207-D140-PX (available soon) 32 Ch. Digital Input (DI) with PNP type I/O connector 207-D140-NX Terminal Definitions 44

5 Digital I/O Slave 207-D104-XN 32 Ch. DO Slave Module with Pluggable Terminal DIN rail mounting (L-122 x W-65 x H-104 mm) Pluggable terminal block with spring plug connectors Output type Switch capacity Response time Over current protection Each output Ch. is 350mA at On to Off, about 50µs; Off to On, about 10µs 3A (Max) for each port (8 Ch.) 207-D104-XN 32 Ch Digital Output (DO) with NPN type 207-D104-XP (available soon) 32 Ch Digital Output (DO) with PNP type I/O connector D104-XN Terminal Definitions

6 Digital I/O Slave 207-D122-NN EtherCAT Digital Slave 16 Ch. DI/O Slave Module with Pluggable Terminal DIN rail mounting (L-122 x W-65 x H-104 mm) Pluggable terminal block with spring plug connectors Input type Input impedance 5.6KΩ/0.5W Input current ±5mA(Max) Output type Switch capacity Response time Each output Ch. is 350mA at On to Off, about 50µs; Off to On, about 10µs 207-D122-NN 16 Ch. DI and 16 Ch. DO with NPN type 207-D122-PP (available soon) 16 Ch. DI and 16 Ch. DO with PNP type Over current protection 3A (Max) for each port (8 Ch.) 46

7 Analog I/O Slave 207-A120FD Series 8 Ch. AI Slave Module with Pluggable Terminal DIN rail mounting (L-122 x W-65 x H-104 mm) purpose isolated I/O: 8 DO Rotary switch for address setting Pluggable terminal block with spring plug connectors Digital I/O purpose output OUT X 8 (4 Ch. High Speed) AD Converter Effective resolution 16 bits Fetch frequency Input range Max. 1KHz (DC Mode) Single End: ±10V Differential: ±10V 207-A120FD 8 Ch. Analog Input (AI) w. ±10V 207-A120FHD 8 Ch. Analog Input (AI) w. ±1V 207-A120FID 8 Ch. Analog Input (AI) w. 4~ 20mA 47

8 Analog I/O Slave 207-A102F EtherCAT Analog Slave 4 Ch. AO Slave Module with Pluggable Terminal DIN rail mounting (L-122 x W-65 x H-104 mm) Rotary switch for address setting Pluggable terminal block with spring plug connectors DA Converter Effective resolution 16 bits Output range ±10V Operation mode Ramp and Noise, Single Value, Single Coupled Value,Pattern 207-A102F 4 Ch. Analog Output (AO) 48

9 Analog I/O Slave 207-A121FC 8 Ch. AI and 2 Ch. AO Slave Module with Pluggable Terminal DIN rail mounting (L-122 x W-65 x H-104 mm) Rotary switch for address setting Pluggable terminal block with spring plug connectors AD Converter Effective resolution 16 bits Fetch frequency Max. 1KHz (DC Mode) Input range Single End: ±10V Differential: ±10V Effective resolution DA Converter 12 bits 207-A121FC 8 Ch. AI and 2 Ch. AO Output range ±10V Operation mode Ramp and Noise, Single Value, Single Coupled Value,Pattern 49

10 Microstep Driver STP-K121 EtherCAT Driver Slave 2-Axis Motion Controller Motor Wiring Diagram 4 wire (6 wire) Bipolar (Unipolar) A+ ( A ) A- B- ( B ) B+ Ultra compact, a 2-axis driver integrated controller 2-phase bi-polar current driving system Max. output current 2.0A 1/256 micro step Encoder feedback Dimension: L-76 x W-140 x H-47mm STP-K121 2-axis, 2-phase microstep driver w. encoder Driver Input voltage 0.5 / 1 / 2 / 4 ms Drive model 2-phase, bi-polar current driving system Current consumption 3.0W typical (120mA/) no load Ambient temperature In use: 0~50 In storage: -20~70 Humidity In use: 35~85% (Non-condensing) In storage: 10~90% (Non-condensing) Support mode CSP, PP, Home Vib. resist 0.5G Incremental encoder input ±EA x2, ±EB x2 Micro step 1,1/2,1/4,1/8,1/16,1/32,1/64,1/128, 1/256 selected by rotary switch 0~8 Encoder index signal input ±EZ x2 LED display EL+,EL-,ORG, EMG, SD, FAULT, PWR I/O input signal PEL x2, MEL x2, ORG x2, SD x2 and EMG x2 Protection functions Connect to current sense resistor for bridge A.B = 2A Position compare output Position control CMP x 2, 1024 Points / Ch. Incremental mode / Absolute mode Data range: 28 bits Current setting Current: Max. 2.0A Selected: Using a variable resistor STOP: 0~F RUN: 0~F Homing mode ORG, EZ, SD, Limit & totally 31 types 50

11 EtherCAT Slave Start-Kit 207-ADIO-Kit 8 Ch. AI / 2 Ch. AO / 8 Ch. DI / 8 Ch. DO Slave Module DIN rail mounting (L-122 x W-124 x H-104 mm) 207-ADIO-Kit supports TwinCAT with ESI File, and Object Dictionary of PDO and SDO DI/O Control Input types NPN Input impedance 5.6KΩ/0.5W AD Converter Input current ±5mA(Max) Effective resolution 16 bits Output type Fetch frequency Max. 1KHz (DC Mode) Switch capacity Each output Ch. is 350mA at Input range Single End: ±10 /±5 /±2.5 /±1.25V Differential: ±10 /±5 /±2.5 /±1.25V Response time On to Off, about 50µs; Off to On, about 10µs Input current 0~20mA Over current protection 3A (Max.) for each port (8 Ch.) DA Converter 207-ADIO-Kit 8 Ch. AI / 2 Ch. AO / 8 Ch. DI / 8 Ch. DO slave module with Switch / LED / Meter on-board 207-A121D 8 Ch. AI and 2 Ch. AO Effective resolution 12 bits Output range ±10V Operation mode Ramp and Noise, Single Value, Single Coupled Value,Pattern 51

12 Illustration of Wiring EtherCAT Start-Kit 4 DI: DI0 ~ DI3** 6 DO: DO0 ~ DO5** 2 DO: DO6 ~ DO7* 1 4 DI: DI4 ~ DI7* 2 2 AO: AO0 ~ AO1* 3 6 AI: AI2 ~ AI7** 2 AO: AO0 ~ AO1** Sample DI / DO / Program AI / AO 2 AI: AI0 ~ AI1* 4 1: DO connected with relay * 2: DI connected with switch * ** 3: AO connected with LED and Meter 4: AI connected with variable resistor : Open interface for user applicaiton Sample program under TwinCAT Demo Program Demo program under C# 52

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