ICPDAS EtherCAT Solution

• P. F. Huang, R&D Group Leader

• ECAT System Diagram

• ECAT Master Hardware

• ECAT Master Software

• ECAT Embedded Master Software

• ECAT Slave Hardware

• Demo

EtherCAT System Diagram(Bechoff )

ECAT System Diagram (ICPDAS)

Master Hardware (X86+ARM)

Master Software Package(SCADA+HMI+PLC+Logger)

Master Software Environment(Real-time/Standard)

EthertCAT Master (Linux)

Linux-based PAC

LP-8K, LP-5K series

Linux-based HMI

SmartView series

EtherCAT Master

EtherCAT

EtherCAT Master Architecture

Userspace Application

Linux platform with EtherCAT Master Protocol Stack

PAC/HMI Hardware

RT_PREEMPT Linux

Min = 12us, Avg =152us, Max = 780usMin = 23us, Avg = 45us, Max = 140us

EtherCAT Event Latency Service Routine EtherCAT Msg

LP-8x81-AtomEtherCAT Master Demo

ECAT Library & Demo

• ECAT Linux library & demo, ready now

• ECAT Windows library & demo, 2015,Q4

• ECAT Embedded Library & demo, 2016,Q1

ECAT Utility, QC, Application Program

EtherCAT

ECAT-2045 ECAT-2055 ICP DAS EtherCat Slave I/O module

EtherCAT Windows Software

ECAT-2051 ECAT-2060

….

ECAT Utility

Beckhoff TwinCAT2

ICP DAS ECAT Utility

• Export EtherCAT Network Information file

• ICP DAS Slave I/O Module Diagnostic

• Firmware Configuration/Download

• Release 2015, Q4

ECAT Utility Feature:

ECAT Windows QC

Embedded TCP/IP Library

Embedded ECAT Master Library

EtherCAT Master List 1Products Description Status

Linux

LP-8081 LX800 Ready

LP-8381 LX800 + I/O slot X 3 Ready

LP-8781 LX800 + I/O slot X 7 Ready

Linux

LP-8187-ATOM ATOM + I/O slot X 1 Ready

LP-8387-ATOM ATOM + I/O slot X 3 Ready

LP-8787-ATOM ATOM + I/O slot X 7 Ready

Linux LP-5231 AM3352 + IO EXT X 1 Ready

Linux Smart View AM3352, panel, 7 inch 2015 Q4

More More More ODM

EtherCAT Master List 2

Products Description Status

ECAT-7586 ECAT master, 80586 Designing, 2016,Q1

ECAT-7186 ECAT master, 80186 Designing, 2016,Q1

ECAT-2092 EtherCAT Master Card, 8-Axis Designing, 2016,Q2

ECAT-2094 EtherCAT Master Card, 16-Axis Planning, 2016,Q2

PCIe PISO-EC2092 PCI Bus, EtherCAT Master Card, 8-Axis Planning, 2016, Q3

PCIe PISO-EC2094 PCI Bus, EtherCAT Master Card, 16-Axis Planning, 2016, Q3

More More More ODM

EtherCAT Slave List 1

Products Description Status

IO16

ECAT-2055 DI X 8 + DO X 8 Ready

ECAT-2060 DI X 6 + Relay X 6 Ready

ECAT-2051 DI X16 Ready

ECAT-2045 DO X16, NPN Ready

ECAT-2045-PNP DO X16, PNP Ready

IO32 ECAT-2145-PNP DO X 32, PNP Designing,2015,Q4

IO64 ECAT-2245-PNP DO X 64, PNP Designing,2015,Q4

More More More ODM

EtherCAT Slave List 2

Products Description Status

IO16 ECAT-2017 AI X 8, +/-10V Designing,2015,Q4

IO16 ECAT-2510 3-port EtherCAT Repeater Designing,2015,Q4

IO16

ECAT-2391 EtherCAT Stepper Motor Slave Designing,2015,Q4

ECAT-2291 EtherCAT Servo Motor Slave Planning, 2016,Q2

More More More ODM

EtherCAT Motion Slave

Products Description Status

Gateway

ECAT-2391 EtherCAT Stepper Motor Slave 2015, Q4

ECAT-2291 EtherCAT Servo Motor Slave 2016, Q2

PC or HMIEtherCAT Master

EtherCAT

SynchronousServomotors

2-PhaseStepper Motors(with Encoder)

ECAT-2391 ECAT-2291

EtherCAT Motion Slave Solutions

ECAT-2391: EtherCAT Stepper Motor Slave

Features :• Motor outputs: 1 stepper motor (2 phases)• Control outputs: 1 brake (0.5 A)• Control inputs:

• 2 limit position• 3 inputs for quadrature encoder

• Load type: uni- or bipolar stepper motors• Nominal voltage: 24 V DC (-15 %/+20 %)• Power supply: 24 V DC• Max. output current: 2 A• Step pattern: 1/256 micro stepping• Encoder signal: 5…24 V DC, 5 mA, singl

e-ended• Motion Controller with sixPoint™ ramp

EtherCAT Motion Slave Solutions

ECAT-2291: EtherCAT Servo Motor Slave

EtherCAT Motion Slave Solutions

Features :• Motor outputs: 1 servomotor• Control outputs: 1 brake (0.5 A)• Control inputs:

• 2 limit position• 3 differential input for resolver

• Load type: permanent-magnet synchronous motors

• Nominal voltage: 8…50 V DC• Output current: 3 A (rms) / 5 A (pea

k)• PWM clock frequency: 500 kHz• Motion Controller with T-Curve or S-

Curve ramp

EtherCAT Motion Master

Products Description Status

MotionControlMaster

PAC-based Controller

ECAT-2092 EtherCAT Master Card, 8-Axis 2016, Q2

ECAT-2094 EtherCAT Master Card, 16-Axis 2016, Q2

PC-based Controller

PISO-EC2092 PCI Bus, EtherCAT Master Card, 8-Axis 2016, Q3

PISO-EC2094 PCI Bus, EtherCAT Master Card, 16-Axis 2016, Q3

EtherCAT Master CardEtherCAT Master Module

EtherCAT

EtherCATDriver

EtherCAT Motion Solutions

Master Module:

ECAT-2092 (8-axis),

ECAT-2094 (16-axis)

EtherCAT Motion Solutions

Features :• Develop applications for PAC by API or software PLC • RJ-45 bus interface• Control Single / Multiple axes motion and I/O • Control Max. 8/16 Axes Synchronously• Control up to 64 stations• High performance CPU inside the master card• Communication length: Max. 100 m• Transmission Rate: 100 Mbps• Utility available for configuring EtherCAT systems• Utility available for testing EtherCAT slaves

PCI EtherCAT Master Card:

PISO-EC2092 (8-axis),

PISO-EC2094 (16-axis)

EtherCAT Motion Solutions(3/4)

Features :• Develop applications by API• RJ-45 bus interface• Control Single / Multiple axes motion and I/O • Control Max. 8/16 Axes Synchronously• Control up to 64 stations• High performance CPU inside the master card• Communication length: Max. 100 m• Transmission Rate: 100 Mbps• Utility available for configuring EtherCAT systems• Utility available for testing EtherCAT slaves• Additional 8DI and 4DO provided

EtherCAT Gateway List

Products Description Status

Gateway

ECAT-2610 EtherCAT Slave to Modbus RTU Gateway 2016, Q2

ECAT-2611 EtherCAT Slave to Modbus TCP Gateway 2016, Q3

ECAT-2612 EtherCAT Slave to CANopen Gateway 2016, Q4

PC or HMIEtherCAT Master

EtherCAT

Modbus RTU Modbus TCP

ET-7000Series

CANopen

M-7000Series

CAN-2000CSeries

Modbus RTUSlaves

Modbus TCPSlaves

CANopenSlaves

ECAT-2610 ECAT-2611 ECAT-2612

EtherCAT Gateway Solutions

ECAT-2610: EtherCAT Slave to Modbus RTU Master

Features :

• Integrates a Modbus RTU Network into EtherCAT• 2 x RJ-45 bus interface and Daisy Chain Supported• EtherCAT Conformance Test Tool Verified• Supports Modbus Coils, Input, Holding Registers • Supports Function Code: 01, 02, 03, 04, 05, 06, 15

and 16• Handles 5 Modbus RTU Slaves• Quick Configuration Tool• LED Indicators• RoHS compliant

EtherCAT Gateway Solutions

ECAT-2611: EtherCAT Slave to Modbus TCP Client

Features :

• Integrates a Modbus TCP Network into EtherCAT• 2 x RJ-45 bus interface and Daisy Chain Supported• EtherCAT Conformance Test Tool Verified• Supports Modbus Coils, Input, Holding Registers • Supports Function Code: 01, 02, 03, 04, 05, 06, 15

and 16• Handles 5 Modbus TCP Servers • Quick Configuration Tool• LED Indicators• RoHS compliant

EtherCAT Gateway Solutions

ECAT-2612: EtherCAT Slave to CANopen Master

Features :

• Integrates a CANopen Network into EtherCAT• 2 x RJ-45 bus interface and Daisy Chain Supported• EtherCAT Conformance Test Tool Verified• CiA CANopen Standard DS-301 • Supports NMT, Node Guarding and Heartbeat Con

sumer protocol• Handles 120 CANopen SDO/PDO Commands• Quick Configuration Tool• LED Indicators• RoHS compliant

EtherCAT Gateway Solutions

TouchPAD with EtherCAT Master

Model Description Status

TPD-283U-ECM 2.8’’ Touch HMI with EtherCAT Master Planning

TPD-283U-ECM-Mx

2.8’’ Touch HMI with EtherCAT Master Planning

VPD-133-ECM 3.5’’ Touch HMI with EtherCAT Master Planning

TPD-433F-ECM 4.3’’ Touch HMI with EtherCAT Master Planning

TPD-703-ECM 7’’ Touch HMI with EtherCAT Master PLanning

TPD-283U-ECM / TPD-283U-ECM-Mx

2.8’’ Touch HMI with EtherCAT Master• 2.8’’ high-color Touch HMI• RTC (Real-Time Clock)• Built-in EtherCAT Master

– Quick Configuration Tool

• Free HMIWorks software– Drag & Drop design– Supports C language– Supports Ladder Designer

• Operating Temperature: -20 to +60 ℃

VPD-133-ECM3.5’’ Touch HMI with EtherCAT Master

• 3.5’’ high-color Touch HMI• RTC (Real-Time Clock)• Built-in EtherCAT Master

– Quick Configuration Tool• IP65 waterproof front panel• Front panel keypad• Free HMIWorks software

– Drag & Drop design– Supports C language– Supports Ladder Designer

• Operating Temperature: -20 to +60 ℃

TPD-433F-ECM4.3’’ Touch HMI with EtherCAT Master

• 4.3’’ high-color Touch HMI• RTC (Real-Time Clock)• Built-in EtherCAT Master

– Quick Configuration Tool

• Free HMIWorks software– Drag & Drop design– Supports C language– Supports Ladder Designer

• Operating Temperature: -20 to +60 ℃

TPD-703-ECM7’’ Touch HMI with EtherCAT Master

• 7’’ high-color Touch HMI• RTC (Real-Time Clock)• Built-in EtherCAT Master

– Quick Configuration Tool

• Free HMIWorks software– Drag & Drop design– Supports C language– Supports Ladder Designer

• Operating Temperature: -20 to +60 ℃