tpm 207-c244d object dictionary manual 207-c244d...tpm 207-c244d object dictionary manual 4...

TPM 207-C244D Object Dictionary Manual

1

207-C244D

Object Dictionary Manual

Version: V1.0 2018 Jan. 12

To properly use the product, read this manual thoroughly is necessary.

Part No.: 81-18C244D-010


2

Revision History

Date Revision Description

2018/01/12 1.0 Document creation.


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.


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.


5

Contents

CONTENTS ............................................................................................................................................................................ 5

1. ETHERCAT INTRODUCTION ............................................................................................................................................ 7

1.1 INTRODUCTION ................................................................................................................................................................ 7

1.2 SYSTEM CONFIGURATIONS .............................................................................................................................................. 8

1.3 DATA TRANSITION ............................................................................................................................................................ 8

1.4 ETHERCAT TOOL: TWINCAT ............................................................................................................................................ 9

2. PRODUCT OVERVIEW .................................................................................................................................................... 10

2.1 NAMING RULE ............................................................................................................................................................... 10

2.2 DIMENSION ................................................................................................................................................................... 10

2.3 SPECIFICATION .............................................................................................................................................................. 11

2.4 CONNECTION ................................................................................................................................................................ 12

2.4.1 Rotary Switch Description .................................................................................................................... 13

2.4.2 LED Description .................................................................................................................................... 14

2.4.3 EtherCAT Communication .................................................................................................................... 17

2.4.4 Power Connector .................................................................................................................................. 20

2.4.5 Carrier Board ........................................................................................................................................ 21

2.5 SIGNAL CIRCUIT ............................................................................................................................................................ 22

3. TWINCAT 3 OPERATION ................................................................................................................................................. 24

3.1 INSTALL THE ESI DEVICE DESCRIPTION .......................................................................................................................... 24

3.2 CREATE THE ETHERCAT DEVICE ................................................................................................................................... 25

3.3 SCAN THE ETHERCAT DEVICE ....................................................................................................................................... 34

APPENDIX A BASIC INFORMATION .................................................................................................................................. 38

A.1 SYMBOLS AND ABBREVIATIONS ...................................................................................................................................... 38

A.2 DATA TYPES ................................................................................................................................................................. 39

A.3 UNIT NOTATION ............................................................................................................................................................. 40

A.4 SPECIFICATION LIST ...................................................................................................................................................... 41

A.5 ESM (ETHERCAT STATE MACHINE) .............................................................................................................................. 42

APPENDIX B PROCESS DATA OBJECTS (PDOS) ........................................................................................................... 44

B.1 TXPDO LIST [SLAVE TRANSMITS DATA TO MASTER] ........................................................................................................ 44

B.1.1 4-Ch. Digital Inputs (6000h) ................................................................................................................. 45

B.1.2 Encoder Counter Inputs (60n0h) .......................................................................................................... 45

B.2 RXPDO LIST [MASTER TRANSMITS DATA TO SLAVE] ........................................................................................................ 46

B.2.1 4-Ch. Digital Outputs (7000h) .............................................................................................................. 46


6

B.2.2 Encoder Counter Setting (70n0h) ........................................................................................................ 47

APPENDIX C SERVICE DATA OBJECTS (SDOS) ............................................................................................................. 48

C.1 STATION ALIAS (4000H) ................................................................................................................................................ 49

C.1.1 Device Addressing ............................................................................................................................... 50

C.2 RETAIN VARIABLE OPERATION (4005H) .......................................................................................................................... 53

C.2.1 Enter / Exit Retain Operation ............................................................................................................... 54

C.2.2 Save Retain Parameters to Flash Memory .......................................................................................... 55

C.2.3 Load Default Parameters from Flash Memory ..................................................................................... 56

C.3 ENCODER INPUT MODES (8000H).................................................................................................................................. 57

C.3.1 Encoder Operational Process .............................................................................................................. 58


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).


8

1.2 System Configurations

1.3 Data Transition


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


10

2. Product Overview

2.1 Naming Rule

2 0 7 - C 2 4 4 D EtherCAT Plug-in module Counter

EtherCAT

series 4 IN 4 OUT

4 DI

4DO

2.2 Dimension

12

2 m

m

66mm

CN6CN5

CN7

CN0 CN1

CN2 CN3

00

10

03

13

P0 P1 R E

SW1

SW2

Figure 2-1: Dimension


11

2.3 Specification

EtherCAT

Serial interface Fast Ethernet, Full-Duplex

Distributed Clock 1ms

Cable type CAT5 UTP/STP Ethernet cable

Surge protection 10KV

Transmission speed 100 Mbps

Communication type DC

Encoder

I/O isolation voltage 3750Vrms

Encoder Ch. 4-Ch. independent 32-bit counter

Encoder input

frequency Max. 4MHz

Input type CMP x2, 255 Points / Ch.

Isolated input voltage Logic level 0: Max. 1V

Logic level 1: 5V or 24V

Incremental encoder ±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


12

2.4 Connection

12

2 m

m

66mm

CN6CN5

CN7

CN0 CN1

CN2 CN3

00

10

03

13

P0 P1 R E

SW1

SW2

Label Function

CN0 I/O Signal Connector




CN5 EtherCAT Communication IN

CN6 EtherCAT Communication OUT

CN7 Power Connector

SW1 Address Switch1

SW2 Address Switch2


13

2.4.1 Rotary Switch Description

98

mm

24.5mm

Front Rear

Gold Finger

00

10

03

13

P0 P1 R E

SW1

SW2

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 * 2 + 1 * 10=

42”

*Default value is 0.


14

2.4.2 LED Description

98 mm

24.5mm

Front Rear

Gold Finger

00

10

03

13

P0 P1 R E

SW1

SW2

00

10

03

13

P0 P1 R E

SW1

SW2

00 01 02 03

PORT#0(DI)

PORT#1(DO)

10 11 12 13

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


15

98 mm

24.5mm

Front Rear

Gold Finger

00

10

03

13

P0 P1 R E

SW1

SW2

00

10

03

13

P0 P1 R E

SW1

SW2

P0 P1 R E

There are four patterns below indicating the LED status besides ON and OFF.

Pattern 1: Flickering

50ms 50ms

Figure 2-2: Flickering pattern

LED Description

P0 - Yellow DC +24V In Normal Level

P1 - Yellow DC +5V Supply for Internal

R - Green In Normal Communication

E - Red Error Communication


16

Pattern 2: Blinking

200ms200ms

Figure 2-3: Blinking pattern

Pattern 3: Single flash

200ms

Figure 2-4: Single flash pattern

Pattern 4: Double flash

200ms200ms

200ms1000ms

Figure 2-5: Double flash pattern

Run Indicator

Run Indicator indicates the ESM (EtherCAT® State Machine) status. LED lights in green.

LED Status Meaning

OFF ESM: In INIT state

Blinking ESM: In Pre-operational state

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 error


17

2.4.3 EtherCAT Communication

Communication IN and OUT

CN2CN1

1 1

INO

UT

No. Description

1 TX+

2 TX-

3 RX+

4 -

5 -

6 RX-

7 -

8 -


18

EtherCAT LED Status

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

200ms200ms

Figure 2-7: Blinking pattern

Pattern 3: Single flash

200ms

Figure 2-8: Single flash pattern

LED Description

Left

(Orange)

Link/Activity indicator:

Blinking – There is activity on this port.

Off – No link is established.

Right

(Green)

Speed indicator:

Green on – Operating as a 100/1000-Mbps

connection.

Off – Operating as a 10-Mbps connection.


19

Pattern 4: Double flash

200ms200ms

200ms1000ms

Figure 2-9: Double flash pattern

RUN Indicator

Run Indicator indicates the ESM (EtherCAT State Machine) status. LED lights in green.

LED Status Meaning

OFF ESM: In INIT state

Blinking ESM: In Pre-operational state

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 error


20

2.4.4 Power Connector

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

1


21

2.4.5 Carrier Board

CN6CN5

CN7

CN0 CN1

CN2 CN3

CN0 CN1

00

10

03

13

P0 P1 R E

SW1

SW2

CN0

Pin Label Function

P00 IN_00 Port#0 Bit0 Input




P04 - -

P05 - -

P06 - -

P07 - -

P0A 24V DC 24V Output

P0B GND DC 24V Ground

CN1

Pin Label Function

P10 EAX+ ENC_X A phase (+)

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 (-)

P16 EBY+ ENC_Y B phase (+)

P17 EBY- ENC_Y B phase (-)

P1A DC5V DC 5V Output

P1B G5V DC 5V Ground

CN6CN5

CN7

CN0 CN1

CN2 CN3

CN2 CN3

00

10

03

13

P0 P1 R E

SW1

SW2

CN2

Pin Label Function

P20 Out_10 Port#1 Bit0 Output




P24 - -

P25 - -

P26 - -

P27 - -

P2A 24V DC 24V Output

P2B GND DC 24V Ground

CN3

Pin Label Function

P30 EAZ+ ENC_Z A phase (+)

P31 EAZ- ENC_Z A phase (-)

P32 EBZ+ ENC_Z B phase (+)

P33 EBZ- ENC_Z B phase (-)

P34 EAU+ ENC_U A phase (+)

P35 EAU- ENC_U A phase (-)

P36 EBU+ ENC_U B phase (+)

P37 EBU- ENC_U B phase (-)

P3A DC5V DC 5V Output

P3B G5V DC 5V Ground


22

2.5 Signal Circuit

Encoder Input Circuit

6

5

4 3

1

EA-

EA+

Internal Curcuit

13

2

AM26C31

100

100

20mA

Differential line driver encoder input

6

5

4 3

1

EA-

EA+

Internal Curcuit

100

100

Pulse input

GND

Pulse10mA


23

Digital Input Signal Circuit (NPN type)

Digital Output Signal Circuit (NPN type)

GND

5.6K

+24V

Internal Circuit

Input Signal

GND

5.6K

+24V

Internal Circuit

Input Signal

+24V

GND Internal Circuit

Output Signal

R > 1.2K

I < 350mA

+24V

GND Internal Circuit

Output Signal Relay_1NO I < 350mA


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


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


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


27

Step 5 Select “EtherCAT Master”.

Figure 3-6: EtherCAT Master

Step 6 Click button “OK”.

Figure 3-7: EtherCAT Master


28

Step 7 Select your “Local LAN”.

Figure 3-8: Local LAN

Step 8 Click button “OK”.



29

Step 9 The “Device 1” will show in the list.

Figure 3-10: Device 1 EtherCAT Master


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


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


32

Step 11-2 Select your “Local LAN”, and click button “Install”.



33

Step 11-3 Click “Search”, select your “Local LAN”, and click button “OK”.

Figure 3-14: Search 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”.


34

3.3 Scan the EtherCAT Device

Step 1 Right click on “Device 1”.

Figure 3-16: I/O list


35

Step 2 Select “Scan”.

Figure 3-17: Device 1 → Scan


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


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.

Figure 3-21: Version check

1010100 V11 10

Decimal Hexadecimal

Hardware Version Firmware Version


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

11898.

CANopen CANopen An upper-layer protocol based on the international CAN standard (EN

50325-4). 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 Ethernet for Control

Automation Technology

An open network developed by Beckhoff Automation.

FMMU Fieldbus Memory

Management Unit

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


39

SERVOPACK.

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.

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 65535

U32 Unsigned 32 bit integer 0 to 4,294,967,295

F32 32 bit float

F64 64 bit double float

STRING Character string –


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


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

connected

Up to 65535

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, 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 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


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.

Init

Pre_Operational Bootstrap

Safe-Operational

Operational

Safe-Operational

(OI) (OP)

(PI)

(OS)

(SP) (SI)

(BI) (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 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

(Mailbox) are possible.

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.

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.


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


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

(Hex)

Sub-

Index

Name/Description Units Range Data

Type

Acc

-ess

PDO OP

Mode

EEPRO

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. -231 ~ 231 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














45

B.1.1 4-Ch. Digital Inputs (6000h)

Index

(Hex)

Sub-

Index


Type

Acc

-ess

PDO OP

Mode

EEPRO

M

6000h 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)

Sub-

Index


Type

Acc

-ess

PDO OP

Mode

EEPRO

M

60n0h Encoder Counter#(n-1) Inputs (n=1~4)


The value of current encoder counter.


This value will be true when the counter is reset .

(1: Active, 0:Inactive)


This value will be true when the counter is set .

(1: Active, 0:Inactive)


46

B.2 RxPDO List [Master transmits data to Slave]

Index

(Hex)

Sub-

Inde

x


Type

Acc

-ess

PDO OP

Mode

EEPRO

M

7000h 4 Channels Digital Outputs

0x00 CH1 -> Bit0-Bit3 BIT 0x00 ~ 0x0F U8 rw RxPDO All No

7010h Encoder Counter#0 Setting

01h Counter Value Inc. -231 ~ 231 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.2.1 4-Ch. Digital Outputs (7000h)

Index

(Hex)

Sub-

Inde

x


Type

Acc

-ess

PDO OP

Mode

EEPROM

7000h 4 Channels Digital Outputs

0x00 CH1 -> Bit0-Bit3 BIT 0x00 ~ 0x0F U8 rw RxPDO All No

Digital Output: (1:Enable , 0: Disable)


47

B.2.2 Encoder Counter Setting (70n0h)

Index

(Hex)

Sub-

Inde

x


Type

Acc

-ess

PDO OP

Mode

EEPROM

70n0h Encoder Counter#(n-1) Setting. (n=1~4)

01h Counter Value Inc. -231 ~ 231 I32 rw RxP

DO

All No

The value is set to counter.

02h Reset Counter -- (0,1) BOOL rw RxP

DO

All No

To execute reset counter. (1:Enable , 0:Disable)

03h Set Counter -- (0,1) BOOL rw RxP

DO

All No

To execute set counter. The value of counter to be set is in object (SDO:70n0-01h).

(1:Enable , 0:Disable)


48

Appendix C Service Data Objects (SDOs)

Index Sub-

Index


Type

Acc

-ess

Default

value

OP

Mode

EEP-

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




49

C.1 Station Alias (4000h)

Index Sub-

Index


Type

Acc

-ess

Default

value

OP

Mode

EEP-

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-

Index


Type

Acc

-ess

Default

value

OP

Mode

EEP-

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 Low Byte

Value set by 4000h:02h 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.


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. 0 - 65535 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.


51

0120hbit5

AL Control

0130hbit5

AL Status

0134hbit5

Al Status Code

4000h Station Alias Selection 01h

4000hStation Alias Setup

(High byte) 02h

0010hConfigured Station

Address


Alias

Slave CPU


Alias

SII (EEPROM)

Station Alias ID (Low Byte )Set by Dip Switch

Slave

Master

(1)

ESC (EtherCAT Slave Controller)

(4)

(2)

(3)

Object Backup(EEPROM)

(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.


52

(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.

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.

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 Request)

AL Status Reg 0x0130.4(Error Ind)

AL Status Reg 0x0130.5(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


53

C.2 Retain Variable Operation (4005h)

Index Sub-

Index


Type

Acc

-ess

Default

value

OP

Mode

EEP-

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-

Index


Type

Acc

-ess

Default

value

OP

Mode

EEP-

ROM

4005 Retain Variable Operation

01h Control Word 0x0000 ~ 0xFFFF U16 rw 0x0000 All No

03478111215 1314

STA CMDID/PSWD3 PSWD2 PSWD1PSW RW ERST

02h Status Word 0x0000 ~ 0xFFFF U16 ro 0x0000 All No

03478111215 1314

OPEN CMDID Reserved ErrCodeBUSY 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 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


54

C.2.1 Enter / Exit Retain Operation

ControlWord.STA=1ControlWord.PSW=1ControlWord.RW=1ControlWord.ERST=0Password=135h

Enter/Exit Retain Operational Mode

Write Enter CodeSOD:4005-01h=0xE135

Read StatusWord Status=SOD:4005-02h

(StatusWord & 0x8000) !=0(Bit15=1)

Start

NO

Write Enter CodeSOD:4005-01h=0xE246

Read StatusWord Status=SOD:4005-02h

(StatusWord & 0x8000) ==0(Bit15=0)

End

YES

NO

ControlWord.STA=1ControlWord.PSW=1ControlWord.RW=1ControlWord.ERST=0Password=246h

?Exit Operation

Clear STA SOD:4005-01h=0x0000

ControlWord.STA=0

YES

Command Executed

No


55

C.2.2 Save Retain Parameters to Flash Memory

Save Retain Parameters To Flash

Write ControlWord

SOD:4006-01h=0xA1xx

(x=not care)

Read StatusWord

StatusWord=SOD:4005-02h

?

StatusWord.BUSY=1

Yes

End

?

StatusWord.EFLG=1

No

Check Error Code

StatusWord.ErrCode

Yes

ControlWord.STA=1

ControlWord.PSW=0

ControlWord.RW=1

ControlWord.ERST=0

ControlWord.CMDID=1

Start

Clear ControlWord.STA=0

SOD:4005-01h=0x0000

ControlWord.STA=0


SOD:4005-01h=0x0000

?

New Command

ControlWord.STA=0

No

Yes


56

C.2.3 Load Default Parameters from Flash Memory

Load Default Parameters From Flash

Write ControlWord

SOD:4006-01h=0xA2xx

(x=not care)

Read StatusWord

StatusWord=SOD:4005-02h

?

StatusWord.BUSY=1

Yes

End

?

StatusWord.EFLG=1

No

Check Error Code

StatusWord.ErrCode

Yes

ControlWord.STA=1

ControlWord.PSW=0

ControlWord.RW=1

ControlWord.ERST=0

ControlWord.CMDID=2

Start


SOD:4005-01h=0x0000

ControlWord.STA=0


SOD:4005-01h=0x0000

?

New Command

ControlWord.STA=0

No

Yes


57

C.3 Encoder Input Modes (8000h)

Index Sub-

Index


Type

Acc

-ess

Default

value

OP

Mode

EEP-

ROM

8000h Encoder Counter Mode


(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

)


see 8000-01h

03h Encoder Input #2 Mode -- (0-2) U8 rw 0:AB All Yes(OP

)


See 8000-01h

04h Encoder Input #3 Mode -- (0-2) U8 rw 0:AB All Yes(OP

)


See 8000-01h


58

C.3.1 Encoder Operational Process

Start

Set Encoder Input ModeSDO:8000-0nh=InputMode

(0:AB 1:CW/CCW 2:PUSE/DIR)

Encoder Input Channel nn=(1-4)

?Set Initial Value for Encoder

Counter

Set Encoder Counter initial valuePDO:700n0h-01=SetValue

Execute Encoder Counter SetPDO:700n0h-03=1

(1:Enable, 0:Disable)

?Reset Encoder Counter

Execute Encoder Counter ResetPDO:700n0h-02=1


Yes No

Yes

Encoder Input

No

Read the current value of encoderEncValue=PDO:600n0h-01

IsPDO:60n0-03h==1

No

IsPDO:60n0-2==1

Start

Execute Encoder Counter SetPDO:700n0h-03=0


Execute Encoder Counter ResetPDO:700n0h-02=0


YesYes

No

Stop Encoder

Yes

No

Encoder Operational Proccess

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