EtherCAT Fieldbus Interface

Xtrapuls – EtherCAT Fieldbus Interface ! This is a specific manual describing the EtherCat fieldbus interface. It must be used in conjunction with the Installation, User and Programming manuals of the XtrapulsPac, XtrapulsPacHP and XtrapulsGem drives. Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational. Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed (EN 60204-1 standard)...

Xtrapuls – EtherCAT Fieldbus Interface

Xtrapuls - EtherCAT Fieldbus Interface Chapter 1 - Introduction The purpose of this manual is to provide the user with a support when designing an application and configuring the EtherCAT1 communication. The EtherCAT fieldbus interface allows the Xtrapuls drives to be used in an EtherCAT communication network using the CANopen over EtherCAT protocol. In this manual, the EtherCAT slave is supposed to be: • the XtrapulsGem drive equipped with an EtherCAT extension board, 1 EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Xtrapuls – EtherCAT Fieldbus Interface Chapter 2 - BASIC INFORMATION ABOUT EtherCAT EtherCAT (“Ethernet for Controller and Automation Technology”) is a real-time Ethernet-based fieldbus. 2.1 - MAIN ETHERCAT SLAVE FUNCTIONS The following EtherCAT slave node reference model makes it easy to locate the impact of the EtherCAT specific functions on the communication architecture. CANopen Profile Object Dictionary Application Layer Data Link Layer EtherCAT State Machine Distributed Clock EtherCAT Data Link Layer Physical Layer Ethernet Physical Layer (100Base-TX or 100Base-FX) or LVDS The green box...

Xtrapuls - EtherCAT Fieldbus Interface The EtherCAT master controls the following state machine in every slave: Description of the states and the transitions: Description Initial state at the power on. Amplifier configuration is performed. No communication. SM0 and SM1 are active : SDO exchange is possible. SM0, SM1, SM3 are active : SDO and TPDO exchange is possible. DC generates event. SM0, SM1, SM2 and SM3 are active : SDO, TPDO and RPDO exchange is possible. DC generates event. Chapter 2 - Basic information about EtherCAT®

Xtrapuls - EtherCATFieldbus Interface In motion control applications, EtherCAT slaves are connected together in one line. The physical layer technology employed by the EtherCAT fieldbus is the 100BASE-TX. The EtherCAT master is connected at one end of the line. Sockets on EtherCAT slaves are labelled “IN” and “OUT”. The EtherCAT Master should be connected to the first EtherCAT Slave using the “IN” socket of the EtherCAT slave. Each drive have his specifics vendor ID and product codes. Chapter 3 - Electrical installation

Xtrapuls - EtherCAT Fieldbus Interface 3.1.1 - XtrapulsGem, XtrapulsPac, and Xtrapuls PacHP connectors and cables On the XtrapulsGem EtherCAT extension board, the EtherCAT fieldbus connectors E3 and E4 are located on the front panel. On the XtrapulsPac drive, the EtherCAT fieldbus connectors X6 and X7 are located on the top of the drive. On the XtrapulsPacHP drive, the EtherCAT fieldbus connectors X6 and X7 are located on the front panel. The cables used for the EtherCAT network must fulfil the following requirements: - Allowed cable conception: o F/UTP: general Foil + Unshielded Twisted Pair...

Xtrapuls - EtherCATFieldbus Interface 3.1.2 - XtrapulsIRD connectors and cables The cables used for the EtherCAT network must fulfil the following requirements: - Allowed cable conception : S/FTP: general Shield (with shield pin recovery) + Foiled Twisted Pair ; - Maximum cable length: 30m from EtherCAT master to the last slave. 3.1.1.3 Exemple of XtrapulsIRD daisy chaining For the daisy chaining of the XtrapulsIRD both straight or crossed connection between the RX and TX can be made. 3.2 - INDICATORS Four LEDs are available for quick diagnosis purposes on the XtrapulsPac, XtrapulsPacHP and XtrapulsGem...

Xtrapuls – EtherCAT Fieldbus Interface Link/Activity indicators Run/Error indicators On the XtrapulsIRD, only Run/Error indicators are presents. Chapter 3 – Electrical installatio

Xtrapuls - EtherCATFieldbus Interface 3.2.1 - Link/Activity Indicators (XtrapulsGem, XtrapulsPac, and Xtrapuls PacHP only) These two LEDs are integrated in RJ-45 sockets The green led “run” highlights the status of the EtherCAT state machine. Blinking Single Flash On The red led “ERR” highlights the error of the EtherCAT state machine. No error Booting error Invalid Configuration Unsollicited state change Application watchdog timeout Flickering Blinking Single Flash Double Flash 3.3 SLAVE ADDRESSING MODES The EtherCAT master has the possibility to use 3 addressing modes: Logical addressing: this...

Xtrapuls - EtherCAT Fieldbus Interface All four Sync Manager channels need to be setup by the EtherCAT master during the communication initialisation phases according to the device description file “Infranor_Xtrapuls_Vx_x.xml”. All of the Xtrapuls parameters can be accessed through the SDO communication channel which is carried in the EtherCAT telegrams. Please see “Xtrapuls User Guide” for more details about the available objects. SDO services encapsulated into the EtherCAT telegrams are only 8 byte long. Specific objects OF the EtherCAT Chapter 4 - Specifications of the SDOs and PD0s for the...

Xtrapuls - EtherCATFieldbus Interface 4.1.2 - Sync manager channel 0 PDO assignment Value description Chapter 4 - Specifications of the SDOs and PD0s for the EtherCAT

Xtrapuls - EtherCAT Fieldbus Interface 4.1.4 - Sync manager channel 2 PDO assignment Chapter 4 - Specifications of the SDOs and PD0s for the EtherCAT

Xtrapuls - EtherCATFieldbus Interface 4.1.6 - Synchronisation clock object ESC register read sequence has to be performed as follows: 1- write into the object (index 0x2320 sub-index 0) the address of the ESC register to be read 2- read from the object the data stored at the previously written address Chapter 4 - Specifications of the SDOs and PD0s for the EtherCAT