207-C244D. Object Dictionary Manual TPM. Version: V Jan. 12. To properly use the product, read this manual thoroughly is necessary.

Transcription

1 207-C244D Object Dictionary Manual Version: V Jan. 12 To properly use the product, read this manual thoroughly is necessary. Part No.: 81-18C244D-010 1

2 Revision History Date Revision Description 2018/01/ Document creation. 2

3 Copyright 2018 TPM The product, including the product itself, the accessories, the software, the manual and the software description in it, without the permission of TPM Inc. ( TPM ), is not allowed to be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except the documentation kept by the purchaser for backup purposes. The names of products and corporations appearing in this manual may or may not be registered 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 the manual vision number. Manual updates are represented by the third digit in the manual vision number. Trademark MS-DOS and Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are registered trademarks of Microsoft. BCB (Borland C++ Builder) is registered trademark of Borland. Other product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies. 3

4 Electrical safely To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating the system. When adding or removing devices to or from the system, ensure that the power cables for the devices are unplugged before the signal cables are connected. Disconnect all power cables from the existing system before you add a device. Before connecting or removing signal cables from motherboard, ensure that all power cables are unplugged. Seek professional assistance before using an adapter or extension card. These devices could interrupt 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 your retailer. 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 damaged. If the power cables are detected damaged, contact the dealer immediately. To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and circuitry. Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may become wet. If you encounter technical problems with the product, contact a qualified service technician or the dealer. 4

5 Contents CONTENTS ETHERCAT INTRODUCTION INTRODUCTION SYSTEM CONFIGURATIONS DATA TRANSITION ETHERCAT TOOL: TWINCAT PRODUCT OVERVIEW NAMING RULE DIMENSION SPECIFICATION CONNECTION Rotary Switch Description LED Description EtherCAT Communication Power Connector Carrier Board SIGNAL CIRCUIT TWINCAT 3 OPERATION INSTALL THE ESI DEVICE DESCRIPTION CREATE THE ETHERCAT DEVICE SCAN THE ETHERCAT DEVICE APPENDIX A BASIC INFORMATION A.1 SYMBOLS AND ABBREVIATIONS A.2 DATA TYPES A.3 UNIT NOTATION A.4 SPECIFICATION LIST A.5 ESM (ETHERCAT STATE MACHINE) APPENDIX B PROCESS DATA OBJECTS (PDOS) B.1 TXPDO LIST [SLAVE TRANSMITS DATA TO MASTER] B Ch. Digital Inputs (6000h) B.1.2 Encoder Counter Inputs (60n0h) B.2 RXPDO LIST [MASTER TRANSMITS DATA TO SLAVE] B Ch. Digital Outputs (7000h)

6 B.2.2 Encoder Counter Setting (70n0h) APPENDIX C SERVICE DATA OBJECTS (SDOS) C.1 STATION ALIAS (4000H) C.1.1 Device Addressing C.2 RETAIN VARIABLE OPERATION (4005H) C.2.1 Enter / Exit Retain Operation C.2.2 Save Retain Parameters to Flash Memory C.2.3 Load Default Parameters from Flash Memory C.3 ENCODER INPUT MODES (8000H) C.3.1 Encoder Operational Process

7 1. EtherCAT Introduction 1.1 Introduction EtherCAT is an ultra-high-speed serial communication system. This technology is widely applied in factory and machinery automation industries. EtherCAT is real-time down to the I/O level. The transmission rate of EtherCAT is 2 x 100 Mbit/s, which makes it the fastest ethernet. Each EtherCAT slave device reads and writes the data by the function of "on the fly". One can extract or insert bits or bytes without suspending the system. Each EtherCAT segment 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. EtherCAT also leads to lower solution costs because of the low cost slave controller with FPGA, small volume with EtherCAT instead of IPC, and so on. EtherCAT is IEC, ISO, and SEMI standard protocol. The slave controller can provide interoperability. The master stacks are suitable for various Real-time Operating System (RTOS). 7

8 1.2 System Configurations 1.3 Data Transition 8

9 1.4 EtherCAT Tool: TwinCAT TwinCAT is the EtherCAT 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 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 model name will not be listed. Figure 0-1: illustration of the wiring topology of Motionnet master and slaves 9

10 2. Product Overview 2.1 Naming Rule C D EtherCAT 4 DI EtherCAT Plug-in module Counter 4 IN 4 OUT series 4DO 2.2 Dimension CN5 CN0 CN6 CN1 SW1 SW2 CN2 CN3 122 mm P0 P1 R E CN7 66mm Figure 2-1: Dimension 10

11 2.3 Specification Serial interface Distributed Clock Cable type Surge protection Transmission speed Communication type I/O isolation voltage Encoder Ch. Encoder input frequency Input type Isolated input voltage Incremental encoder EtherCAT Fast Ethernet, Full-Duplex 1ms CAT5 UTP/STP Ethernet cable 10KV 100 Mbps DC Encoder 3750Vrms 4-Ch. independent 32-bit counter Max. 4MHz CMP x2, 255 Points / Ch. Logic level 0: Max. 1V Logic level 1: 5V or 24V ±EA x4, ±EB x4 Digital I/O Isolated digital input IN x 4 Isolated digital output OUT x 4 General Power input 24VDC±10% Power consumption 3W typical Working temperature 0 to 60 C 11

12 2.4 Connection CN5 CN6 CN0 CN1 Label Function SW1 CN0 CN1 I/O Signal Connector I/O Signal Connector SW2 CN2 CN3 122 mm CN2 CN3 I/O Signal Connector I/O Signal Connector CN5 CN6 EtherCAT Communication IN EtherCAT Communication OUT P0 P1 R E CN7 SW1 Power Connector Address Switch1 CN7 SW2 Address Switch2 66mm 12

13 2.4.1 Rotary Switch Description Front Rear SW1 SW2 98 mm Gold Finger P0 P1 R E 24.5mm Label Description Value SW1 node number_l 0 ~ 15 SW2 node number_h 0 ~ 15 Node IP settings: The node number = 16 * SW2 + 1 * SW1 e.g. SW1 = 10, SW2 =2 The node number will be set as 16 * * 10= 42 *Default value is 0. 13

14 2.4.2 LED Description SW1 SW P0 P1 R E PORT#0 (DI) PORT#1 (DO) Disp Label 00 Port#0 Bit0 01 Port#0 Bit1 02 Port#0 Bit2 03 Port#0 Bit3 10 Port#1 Bit0 11 Port#1 Bit1 12 Port#1 Bit2 13 Port#1 Bit3 14

15 SW1 SW P0 P1 R E P0 P1 R E LED P0 - Yellow P1 - Yellow R - Green E - Red Description DC +24V In Normal Level DC +5V Supply for Internal In Normal Communication Error Communication There are four patterns below indicating the LED status besides ON and OFF. Pattern 1: Flickering 50ms 50ms Figure 2-2: Flickering pattern 15

16 Pattern 2: Blinking 200ms 200ms Pattern 3: Single flash Figure 2-3: Blinking pattern 200ms Pattern 4: Double flash Figure 2-4: Single flash pattern 200ms 200ms 200ms 1000ms Figure 2-5: Double flash pattern Run Indicator Run Indicator indicates the ESM (EtherCAT State Machine) status. LED lights in green. LED Status OFF Blinking Single Flash ON Meaning ESM: In INIT state ESM: In Pre-operational state ESM: In Safe-operational state 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 error 16

17 2.4.3 EtherCAT Communication Communication IN and OUT 1 1 CN1 CN2 IN OUT No. Description 1 TX+ 2 TX- 3 RX RX

18 EtherCAT LED Status LED Left (Orange) Right (Green) Description Link/Activity indicator: Blinking There is activity on this port. Off No link is established. Speed indicator: Green on Operating as a 100/1000-Mbps connection. Off Operating as a 10-Mbps connection. There are four patterns below indicating the LED status besides ON and OFF. Pattern 1: Flickering 50ms 50ms Figure 2-6: Flickering pattern Pattern 2: Blinking 200ms 200ms Figure 2-7: Blinking pattern Pattern 3: Single flash 200ms Figure 2-8: Single flash pattern 18

19 Pattern 4: Double flash 200ms 200ms 200ms 1000ms Figure 2-9: Double flash pattern RUN Indicator Run Indicator indicates the ESM (EtherCAT State Machine) status. LED lights in green. LED Status OFF Blinking Single Flash ON Meaning ESM: In INIT state ESM: In Pre-operational state ESM: In Safe-operational state 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 error 19

20 2.4.4 Power Connector 1 No. Label Description 1 24V DC 24V Input 2 GND DC 24V ground 3 FG Field ground 4 24V DC 24V Input 5 GND DC 24V ground 6 FG Field ground 20

21 2.4.5 Carrier Board CN0 CN1 CN5 CN6 Pin Label Function Pin Label Function CN0 CN1 P00 IN_00 Port#0 Bit0 Input P10 EAX+ ENC_X A phase (+) SW1 SW CN2 CN3 CN0 CN1 P01 IN_01 Port#0 Bit1 Input P02 IN_02 Port#0 Bit2 Input P03 IN_03 Port#0 Bit3 Input P P P11 EAX- ENC_X A phase (-) P12 EBX+ ENC_X B phase (+) P13 EBX- ENC_X B phase (-) P14 EAY+ ENC_Y A phase (+) P15 EAY- ENC_Y A phase (-) P0 P1 R E P P16 EBY+ ENC_Y B phase (+) CN7 P P0A 24V DC 24V Output P17 EBY- ENC_Y B phase (-) P1A DC5V DC 5V Output P0B GND DC 24V Ground P1B G5V DC 5V Ground CN2 CN3 CN5 CN0 CN6 CN1 Pin Label Function P20 Out_10 Port#1 Bit0 Output Pin Label Function P30 EAZ+ ENC_Z A phase (+) SW1 P21 Out_11 P22 Out_12 Port#1 Bit1 Output Port#1 Bit2 Output P31 EAZ- ENC_Z A phase (-) P32 EBZ+ ENC_Z B phase (+) SW2 P23 Out_13 Port#1 Bit3 Output P33 EBZ- ENC_Z B phase (-) P0 P1 R E CN2 CN3 CN2 CN3 P P P P34 EAU+ ENC_U A phase (+) P35 EAU- ENC_U A phase (-) P36 EBU+ ENC_U B phase (+) P P37 EBU- ENC_U B phase (-) CN7 P2A 24V DC 24V Output P3A DC5V DC 5V Output P2B GND DC 24V Ground P3B G5V DC 5V Ground 21

22 2.5 Signal Circuit Encoder Input Circuit AM26C31 Differential line driver encoder input 10mA Pulse EA+ 20mA 6 1 EA EA- 100 Internal Curcuit 4 3 EA- 100 Internal Curcuit Pulse input GND 22

23 Digital Input Signal Circuit (NPN type) +24V 5.6K Input Signal GND Internal Circuit +24V 5.6K Input Signal GND Internal Circuit Digital Output Signal Circuit (NPN type) Output Signal I < 350mA +24V R > 1.2K GND Internal Circuit Relay_1NO Output Signal I < 350mA +24V GND Internal Circuit 23

24 3. TwinCAT 3 Operation 3.1 Install the ESI Device Description Step 1 Copy the ESI file EZE_C244D_V1110D.xml. Figure 3-1: ESI file Note 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 24

25 3.2 Create the EtherCAT Device Step 1 Provide a name to this project 207-C244_Test. Figure 3-2: New project Step 2 Click button OK to finish creating the project. Figure 3-3: New project 25

26 Step 3 To create one EtherCAT Master, right click on Devices. Figure 3-4: I/O list Step 4 Select Add New Item. Figure 3-5: Device Add new item 26

27 Step 5 Select EtherCAT Master. Figure 3-6: EtherCAT Master Step 6 Click button OK. Figure 3-7: EtherCAT Master 27

28 Step 7 Select your Local LAN. Figure 3-8: Local LAN Step 8 Click button OK. Figure 3-9: Local LAN 28

29 Step 9 The Device 1 will show in the list. Figure 3-10: Device 1 EtherCAT Master 29

30 Step 10 Double click Device 1, and select Adapter. Step 11 The detailed information of the Device will show at Description, Device Name, MAC Address, and IP Address. Figure 3-11: Device 1 Adapter 30

31 Step 11-1 If the detailed information of the Device isn t shown, please select Compatible Devices. Figure 3-12: Device 1 EtherCAT Master missed 31

32 Step 11-2 Select your Local LAN, and click button Install. Figure 3-13: Local LAN 32

33 Step 11-3 Click Search, select your Local LAN, and click button OK. Figure 3-14: Search Local LAN Figure 3-15: Local LAN Step 11-4 After finishing the above steps, the detailed information of the Device will show at Description, Device Name, MAC Address, and IP Address. 33

34 3.3 Scan the EtherCAT Device Step 1 Right click on Device 1. Figure 3-16: I/O list 34

35 Step 2 Select Scan. Figure 3-17: Device 1 Scan 35

36 Step 3 The name of the slave will be shown as EZE-C244. Figure 3-18: Box 1 (EZE-C244D) Step 4 If the slave is not found, please do the following steps. Figure 3-19: EZE-C244D missed 36

37 Step 4-1 Double click Box 1 with green point. Figure 3-20: EZE-C244D missed Step 4-2 Click EtherCAT, and check the Version of the slave. Step 4-3 Check if the version is the same with the ESI file. Decimal V11 10 Hexadecimal Hardware Version Firmware Version Figure 3-21: Version check 37

38 Appendix A Basic Information A.1 Symbols and Abbreviations Abbreviation Term Description AL AL-layer EtheCAT Application Layer Service CiA CAN in Automation A non-profit organization established in 1992 as a joint venture between companies to provide CAN technical information, product information, and marketing information. CAN Controller Area Network Communications protocol for the physical layer and data link layer established for automotive LANs. It was established as an international standard as ISO CANopen CANopen An upper-layer protocol based on the international CAN standard (EN ). It consists of profile specifications for the application layer, communications, applications, devices, and interfaces. CoE CANopen over EtherCAT A network that uses Ethernet for the physical layer, EtherCAT for the data link layer, and CANopen 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 manages the distributed clock. ESM EtherCAT State Machine A state machine in which the state of EtherCAT (the data link layer) changes according to transition conditions. ETG EtherCAT Technology Group An international organization established in 2003 to provide support for developing EtherCAT technologies and to promote the spread of EtherCAT technologies. EtherCAT FMMU Ethernet for Control Automation Technology Fieldbus Memory Management Unit An open network developed by Beckhoff Automation. A unit that manages fieldbus memory. INIT INIT The Init state in the EtherCAT state machine. OP Object Dictionary A group of objects and structure supported by an EtherCAT 38

39 PDI Physical Device Internal Interface SERVOPACK. 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. SM Sync. Manager The ESC unit that coordinates data exchange 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 like Ethernet operation. A.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 I8 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 U8 Unsigned 8 bit integer 0 to 255 U16 Unsigned 16 bit integer 0 to U32 Unsigned 32 bit integer 0 to 4,294,967,295 F32 32 bit float F64 64 bit double float STRING Character string 39

40 A.3 Unit Notation The following table lists the data units and notations that are used in this manual. Notation Description Inc. Encoder Input pulse 40

41 A.4 Specification List Item Specification Physical layer 100 BASE-TX (IEEE802.3) Baud rate 100 Mbps, Full Duplex Topology Line Connection cable Twist pair CAT5e Cable length Between nodes: up to 100 m Number of slaves Up to connected EtherCAT Indicators RUN/ERROR/LINK(IN/OUT) RUN: Green LED, ERROR: RED LED, LINK(IN/OUT): Green LED Station Alias (ID) Range: 0 to 65535, SII Save Value Explicit Device ID Supported Device profile MDP, ETG 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 of PDO assigns RxPDO: 4 [table] TxPDO: 4 [table] Maximum PDO data length RxPDO: 25 [byte] TxPDO: 25 [byte] Diagnosis Object Not supported Command Object Not supported Firmware update Firmware download to update via FoE 41

42 A.5 ESM (EtherCAT State Machine) The EtherCAT State machine (ESM) is used to manage the communications states between the master and slave applications when EtherCAT communications are started and during operation, as show in the following figure. Normally, the requests of state changes are from the master. The master requests the change by writing the ESM with the request to be changed in the AL control register of the slaves. The slave confirms the result of the state change as either successful or failed and then responds to the master with the local AL status. If the requested state change fails, the slave responds with an error flag. Power On Init (PI) (IP) (BI) (IB) Pre_Operational Bootstrap (PS) (SP) Safe-Operational (SI) (OI) (OP) (SO) (OS) Operational ESM contains states Symbol Name Communication Operation Description INIT Init The communication part is initializing and the transmission and reception with bot 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 application layer. The master user the INIT state to initialize the setting for the configuration of the slaves. When the slaves support the mailbox service, the corresponding SM settings will also be executed in INIT state. PREOP Pre-Operational Possible to send and receive data through SDO (Mailbox) The mailbox communication can be performed in the PREOP state when the slaves support the optional mailbox. Both master and slaves can use the mailbox to initialize application specifications and to change parameters. Process data communication cannot be executed in this state. SAVEOP Safe-Operational The transmission (from slave to master) with PDO as well as the transmission and reception over SDO In SAVEOP state, Slave applications transfer the actual input data, but not the output data that may not be available for processing. The output must be set in this state. (Mailbox) are possible. OP Operational Possible to send and receive both SDO (Mailbox) and PDO. In OP state, slave applications transfer the actual input data and the master application transfers the actual output data. 42

43 BOOT Bootstrap Impossible to send 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 Update SO SAVEOP => OP Start Output Update OS OP => SAVEOP Stop Output Update OP OP => PREOP Stop Input Update, Stop Output Update SI SAVEOP => INIT Stop Input Update, Stop Mailbox Communication OI OP => INIT Stop Input Update, Stop Output Update, Stop Mailbox Communication IB INIT => BOOT Start Firmware Update(FoE), Start Bootstrap Mode BI BOO => INIT Start Firmware Update(FoE), Restart Device 43

44 Appendix B Process Data Objects (PDOs) The CANOpen over EtherCAT protocol allows the user to map objects to PDOs (Process Data Objects) in order to use the PDO for real-time data transfer. The PDO mappings define which objects will be included in the PDOs. PDO is composed of RxPDO transferring from master to slave and TxPDO transferring from slave to master. Note The object updates by the PDO should not carry out updating by SDO because the data of SDO will be covered by the data of PDO. PDO types Sender Receiver TxPDO Slave Master RxPDO Master Slave B.1 TxPDO List [Slave transmits data to Master] Index Sub- Name/Description Units Range Data Acc PDO OP EEPRO (Hex) Index Type -ess Mode M 6000h 4-Channels Digital Inputs 00h CH0 -> Bit0-Bit3 BIT 0x00 ~ 0x0F U8 ro TxPDO All No 6010h Encoder Counter#0 Inputs 01h Counter Value Inc ~ 2 31 I32 ro TxPDO All No 02h Reset Counter Done -- (0,1) BOOL ro TxPDO All No 03h Set Counter Done -- (0,1) BOOL ro TxPDO All No 6020h Encoder Counter#1 Inputs 01h Counter Value Inc ~ 2 31 I32 ro TxPDO All No 02h Reset Counter Done -- (0,1) BOOL ro TxPDO All No 03h Set Counter Done -- (0,1) BOOL ro TxPDO All No 6030h Encoder Counter#2 Inputs 01h Counter Value Inc ~ 2 31 I32 ro TxPDO All No 02h Reset Counter Done -- (0,1) BOOL ro TxPDO All No 03h Set Counter Done -- (0,1) BOOL ro TxPDO All No 6040h Encoder Counter#3 Inputs 01h Counter Value Inc ~ 2 31 I32 ro TxPDO All No 02h Reset Counter Done -- (0,1) BOOL ro TxPDO All No 03h Set Counter Done -- (0,1) BOOL ro TxPDO All No 44

45 B Ch. Digital Inputs (6000h) Index (Hex) 6000h Sub- Index Name/Description Units Range Data Type Acc -ess PDO OP Mode EEPRO M 4-Channels Digital Inputs 00h CH0 -> Bit0-Bit3 BIT 0x00 ~ 0x0F U8 ro TxPDO All No Digital Input: (1:Active 0: Inactive) B.1.2 Encoder Counter Inputs (60n0h) Index (Hex) 60n0h Sub- Index Name/Description Units Range Data Type Acc -ess PDO OP Mode EEPRO M Encoder Counter#(n-1) Inputs (n=1~4) 01h Counter Value Inc ~ 2 31 I32 ro TxPDO All No The value of current encoder counter. 02h Reset Counter Done -- (0,1) BOOL ro TxPDO All No This value will be true when the counter is reset. (1: Active, 0:Inactive) 03h Set Counter Done -- (0,1) BOOL ro TxPDO All No This value will be true when the counter is set. (1: Active, 0:Inactive) 45

46 B.2 RxPDO List [Master transmits data to Slave] Index (Hex) 7000h 7010h 7020h 7030h 7040h Sub- Inde x Name/Description Units Range Data Type Acc -ess PDO OP Mode EEPRO M 4 Channels Digital Outputs 0x00 CH1 -> Bit0-Bit3 BIT 0x00 ~ 0x0F U8 rw RxPDO All No Encoder Counter#0 Setting 01h Counter Value Inc ~ 2 31 I32 rw RxPDO All No 02h Reset Counter -- (0,1) BOOL rw RxPDO All No 03h Set Counter -- (0,1) BOOL rw RxPDO All No Encoder Counter#1 Setting 01h Counter Value Inc ~ 2 31 I32 rw RxPDO All No 02h Reset Counter -- (0,1) BOOL rw RxPDO All No 03h Set Counter -- (0,1) BOOL rw RxPDO All No Encoder Counter#2 Setting 01h Counter Value Inc ~ 2 31 I32 rw RxPDO All No 02h Reset Counter -- (0,1) BOOL rw RxPDO All No 03h Set Counter -- (0,1) BOOL rw RxPDO All No Encoder Counter#3 Setting 01h Counter Value Inc ~ 2 31 I32 rw RxPDO All No 02h Reset Counter -- (0,1) BOOL rw RxPDO All No 03h Set Counter -- (0,1) BOOL rw RxPDO All No B Ch. Digital Outputs (7000h) Index (Hex) 7000h Sub- Inde x Name/Description Units Range Data Type Acc -ess PDO OP Mode EEPROM 4 Channels Digital Outputs 0x00 CH1 -> Bit0-Bit3 BIT 0x00 ~ 0x0F U8 rw RxPDO All No Digital Output: (1:Enable, 0: Disable) 46

47 B.2.2 Encoder Counter Setting (70n0h) Index Sub- Name/Description Units Range Data Acc PDO OP EEPROM (Hex) Inde Type -ess Mode x 70n0h Encoder Counter#(n-1) Setting. (n=1~4) 01h Counter Value Inc ~ 2 31 I32 rw RxP All No DO The value is set to counter. 02h Reset Counter -- (0,1) BOOL rw RxP All No DO To execute reset counter. (1:Enable, 0:Disable) 03h Set Counter -- (0,1) BOOL rw RxP All No DO To execute set counter. The value of counter to be set is in object (SDO:70n0-01h). (1:Enable, 0:Disable) 47

48 Appendix C Service Data Objects (SDOs) Index Sub- Name/Description Units Range Data Acc Default OP EEP- Index Type -ess value Mode ROM 4000h Station Alias 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 4005h Retain Variable Operation 01h Control Word -- 0x0000 ~ 0xFFFF U16 rw - All No 02h Status Word -- 0x0000 ~ 0xFFFF U16 ro - All No 03h State Of Control Cycle -- 0x00~0x99 U16 ro All No 8000h Encoder Counter Mode 01h Encoder Input #0 Mode -- (0-2) U8 rw 0:AB All Yes 02h Encoder Input #1Mode -- (0-2) U8 rw 0:AB All Yes 03h Encoder Input #2 Mode -- (0-2) U8 rw 0:AB All Yes 04h Encoder Input #3 Mode -- (0-2) U8 rw 0:AB All Yes 48

49 C.1 Station Alias (4000h) Index Sub- Name/Description Units Range Data Acc Default OP EEP- Index Type -ess value Mode ROM 4000h Station Alias 01h Selection _ 0~2 U8 rw 1 All Yes (OP) 02h Setup (High byte) _ 0x00~0xFF U8 rw 0 All Yes (OP) 03h Station Switch _ 0x00~0xFF U8 ro - All No 04h Station Alias _ 0x0000~0x0000 U16 ro - All No Index Sub- Name/Description Units Range Data Acc Default OP EEP- Index Type -ess value Mode ROM 4000h Station Alias 01h Selection _ 0~2 U8 rw 1 ALL Yes how to set a station alias (Default is 1) value definition 0 The value saved at 004h in the SII is set as station 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 4000h:02h Station Alias (16 bits) High byte Value set by 4000h:02h Low Byte Value set by dip switch 03h Station Switch _ 0x00~0xFF U8 ro 0 All No This parameter is to show the value of Station ID Switch which is in front of device. This value will be refreshed when the switch is changed. 04h Station Alias _ 0x0000~0x0000 U16 ro 0 All No This parameter is to show the station alias which will be refreshed After power on. 49

50 C.1.1 Device Addressing The device can be addressed via Device Position Address (Auto Increment address), by Node Address (Configured Station Address/Configured Station Alias), or by a Broadcast. Position Addressing (Auto-Increment Addressing) In this mode, the datagram holds the position address of the addressed slave as a negative value. Each slave increments the address. The slave which reads the address equal zero is addressed and will execute the appropriate command at receives. Position Addressing should only be used during starting up of the EtherCAT system to scan the fieldbus and later only occasionally to detect newly attached slaves. Node Addressing (Fixed Addressing) The configured Station Address is assigned by the master during start up and cannot be changed by the EtherCAT slave. The Configured Station Alias address is stored in the ESI EEPROM. The Configured 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 segment topology has changed and/or the slave has been removed. The respective slave node address is set with the dip switch at the front of the device and CoE Object dictionary 4000h axes addresses can be set using the 8 dip switch (0x00-0xFF:bit7-0) at the front of the device and with a set value of bit 15 8, previously written in the non-volatile memory (4000h:02h) inside the device. When the alias selection (4000h:01h) is set to 1, the setting values will be written in the station alias setting register (0x0012) in an address space after the control power has been turned ON. When the device address has changed under the control power ON status, re-input the power to enable the change in axis address. 50

51 Master (1) 0004h Slave SII (EEPROM) Configured Station Alias (2) 0010h 0012h (EtherCAT Slave Controller) Configured Station Address Configured Station Alias ESC 0120h bit5 AL Control 0130h bit5 0134h bit5 AL Status Al Status Code (3) (4) Station Alias ID (Low Byte ) Set by Dip Switch Object Backup (EEPROM) Slave CPU 4000h 4000h 01h 02h Station Alias Selection Station Alias Setup (High byte) (1.) Set the position address by the master The slave matched to the address set at station register (0x0010) from the master by position addressing is normally addressed in node addressing. (2.) Reading the value of SII from configured station alias (4000h:01h=0) Setting the value of CoE object 4000h:01h to 0 and reading the value of 0004h (Configured Station Alias) in the SII from 0012h (Configured Station Alias) of ESC register. The device reads the value of object 4000h:01h (Configured Station 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 (Station Alias Setup (high byte)) and dip switch on the front of device from 0012h (Configured Station Alias) of ESC register. The device reads the value of the object 4000h:01h (Station alias selection) from backup EEPROM at the control power-on. If the value is 1, the value made of object 4000h:02h (Station alias setup(high)) and dip switch on the front of device from 0012h (Configured Station Alias) of ESC register. Master reads this value. (4.) Reading the value of dip switch from AL Status Code (Explicit Device ID) (4000h:01h=2) Reading the value which is combined by object 4000h:02h (Station Alias Setup (high byte)) and dip switch on the front of device from 0012h (Configured Station Alias) of ESC register. 51

52 AL Control Reg 0x (ID Request) AL Status Reg 0x (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. (1.) Bit5 (ID Request) of AL Control (0120h) is set to 1. (2.) The Station Alias set up by dip switch (low byte) and 4006h:02h (high byte) returns to AL Status Code (0134h). (3.) To put bit5 (ID Loaded) of AL Status (0130h) from 0 to 1. (4.) When bit5 (ID Request) of control register is set from 1 to 0, the bit5 (ID Loaded) of AL Status register (0x130) will change to 0. (5.) AL Status Code (0134h) is clear. AL Control Reg 0x (Error Ind Ack) AL Control Reg 0x (ID Request) AL Status Reg 0x (Error Ind) AL Status Reg 0x (ID Load) AL Status Code Reg 0x134 Station Alias AL Status code of alarm Station Alias AL status code of alarm is returned if a alarm which is defined in the AL status code occurs Station Alias will be returned if the alarm is cleared In the period of returning Station Alias, if an alarm which is defined in the AL status code occurs, AL status code of the alarm is returned. When the alarm is cleared, Station Alias will return again. 52

53 C.2 Retain Variable Operation (4005h) Index Sub- Name/Description Units Range Data Acc Default OP EEP- Index Type -ess value Mode ROM 4005 Retain Variable Operation 01h Control Word -- 0x0000 ~ 0xFFFF U16 rw 0x0000 All No 02h Status Word -- 0x0000 ~ 0xFFFF U16 ro 0x0000 All No Index Sub- Name/Description Units Range Data Acc Default OP EEP- Index Type -ess value Mode ROM 4005 Retain Variable Operation 01h Control Word 0x0000 ~ 0xFFFF U16 rw 0x0000 All No STA PSW RW ERST CMDID/PSWD3 PSWD2 PSWD1 02h Status Word 0x0000 ~ 0xFFFF U16 ro 0x0000 All No OPEN BUSY RW EFLG CMDID Reserved ErrCode 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. See C.2.1 Write the Enter Password to start retain operation 0x01 RETAIN_STATE_WAIT_FOR_NEW_CMD Wait for new read/write command See.C.2.2 / C.2.3 0x02 RETAIN_STATE_EXECUTE_WR_CMD Execute read command 0x03 RETAIN_STATE_EXECUTE_RD_CMD Execute write command 0x04 RETAIN_STATE_WAIT_CMD_FINISH Wait for command finish 0x05 RETAIN_STATE_CMD_IS_FINISHED Command has finished and STA bit set to 0. 0x99 RETAIN_STATE_ERROR Alarm happens for retain operation 53

54 C.2.1 Enter / Exit Retain Operation Enter/Exit Retain Operational Mode Start NO Write Enter Code SOD: h=0xE135 Read StatusWord Status=SOD: h ControlWord.STA=1 ControlWord.PSW=1 ControlWord.RW=1 ControlWord.ERST=0 Password=135h (StatusWord & 0x8000)!=0 (Bit15=1) No Command Executed? Exit Operation YES Clear STA SOD: h=0x0000 ControlWord.STA=0 NO Write Enter Code SOD: h=0xE246 ControlWord.STA=1 ControlWord.PSW=1 ControlWord.RW=1 ControlWord.ERST=0 Password=246h Read StatusWord Status=SOD: h (StatusWord & 0x8000) ==0 (Bit15=0) YES End 54

55 C.2.2 Save Retain Parameters to Flash Memory Save Retain Parameters To Flash Start Clear ControlWord.STA=0 SOD: h=0x0000 ControlWord.STA=0 Write ControlWord SOD: h=0xA1xx (x=not care) ControlWord.STA=1 ControlWord.PSW=0 ControlWord.RW=1 ControlWord.ERST=0 ControlWord.CMDID=1 Yes Read StatusWord StatusWord=SOD: h Yes? StatusWord.EFLG=1 Yes No? StatusWord.BUSY=1 Check Error Code StatusWord.ErrCode? New Command No Clear ControlWord.STA=0 SOD: h=0x0000 ControlWord.STA=0 End 55

56 C.2.3 Load Default Parameters from Flash Memory Load Default Parameters From Flash Start Clear ControlWord.STA=0 SOD: h=0x0000 ControlWord.STA=0 Write ControlWord SOD: h=0xA2xx (x=not care) ControlWord.STA=1 ControlWord.PSW=0 ControlWord.RW=1 ControlWord.ERST=0 ControlWord.CMDID=2 Yes Read StatusWord StatusWord=SOD: h Yes? StatusWord.EFLG=1 Yes No? StatusWord.BUSY=1 Check Error Code StatusWord.ErrCode? New Command No Clear ControlWord.STA=0 SOD: h=0x0000 ControlWord.STA=0 End 56

57 C.3 Encoder Input Modes (8000h) Index Sub- Name/Description Units Range Data Acc Default OP EEP- Index Type -ess value Mode ROM 8000h Encoder Counter Mode 01h Encoder Input #0 Mode -- (0-2) U8 rw 0:AB All Yes (OP) The encoder Input Mode for encoder counter #0 value Symbol Description 0 AB AB Phase 1 CW/CCW 2 PULS/DIR 02h Encoder Input #1Mode -- (0-2) U8 rw 0:AB All Yes(OP ) The encoder Input Mode for encoder counter #1 see h 03h Encoder Input #2 Mode -- (0-2) U8 rw 0:AB All Yes(OP ) The encoder Input Mode for encoder counter #2 See h 04h Encoder Input #3 Mode -- (0-2) U8 rw 0:AB All Yes(OP ) The encoder Input Mode for encoder counter #3 See h 57

58 C.3.1 Encoder Operational Process Encoder Operational Proccess Start Encoder Input Channel n n=(1-4) Set Encoder Input Mode SDO:8000-0nh=InputMode (0:AB 1:CW/CCW 2:PUSE/DIR) Yes? Set Initial Value for Encoder Counter No No Set Encoder Counter initial value PDO:700n0h-01=SetValue? Reset Encoder Counter Yes Execute Encoder Counter Set PDO:700n0h-03=1 (1:Enable, 0:Disable) Execute Encoder Counter Reset PDO:700n0h-02=1 (1:Enable, 0:Disable) No Is PDO:60n0-03h==1 Yes Execute Encoder Counter Set PDO:700n0h-03=0 (1:Enable, 0:Disable) No Is PDO:60n0-2==1 Yes Execute Encoder Counter Reset PDO:700n0h-02=0 (1:Enable, 0:Disable) No Encoder Input Read the current value of encoder EncValue=PDO:600n0h-01 Stop Encoder Yes Start 58