ADF Web HD67E08-A1 User manual

Industrial Electronic Devices
ADFweb.com S.r.l.
User Manual
EtherCAT Slave / CANopen
Document code: MN67E08_ENG Revision 1.000 age 1 of 32
User Manual
Revision 1.000
English
EtherCAT / CANopen - Converter
(Order Code: HD67E08-A1 )
For Website information:
www.adfweb.com? roduct=HD67E08
For rice information:
www.adfweb.com? rice=HD67E08-A1
Benefits and Main Features:
Very easy to configure
Triple Electrical isolation
Temperature range: -40°C/+85°C (-40°F/+185°F)
For other EtherCAT Slave products see also the following link:
Converter EtherCAT Slave to
www.adfweb.com? roduct=HD67E00 (Serial)
www.adfweb.com? roduct=HD67E01 (Modbus Master)
www.adfweb.com? roduct=HD67E02 (Modbus Slave)
www.adfweb.com? roduct=HD67E03 (Modbus TC Master)
www.adfweb.com? roduct=HD67E04 (Modbus TC Slave)
www.adfweb.com? roduct=HD67E05 (BACnet Master)
www.adfweb.com? roduct=HD67E06 (BACnet Slave)
www.adfweb.com? roduct=HD67E07 (CAN)
www.adfweb.com? roduct=HD67E09 (DeviceNet Master)
www.adfweb.com? roduct=HD67E10 (DeviceNet Slave)
www.adfweb.com? roduct=HD67E11 (DMX)
www.adfweb.com? roduct=HD67E12 (Ethernet)
www.adfweb.com? roduct=HD67E14 (IEC61850 Client)
www.adfweb.com? roduct=HD67E15 (IEC61850 Server)
www.adfweb.com? roduct=HD67E16 (J1939)
www.adfweb.com? roduct=HD67E17 (MQTT)
www.adfweb.com? roduct=HD67E18 (NMEA0183)
www.adfweb.com? roduct=HD67E19 (NMEA2000)
www.adfweb.com? roduct=HD67E20 (O C UA Client)
www.adfweb.com? roduct=HD67E21 (O C UA Server)
www.adfweb.com? roduct=HD67E22 ( ROFINET Master)
www.adfweb.com? roduct=HD67E23 ( ROFINET Slave)
www.adfweb.com? roduct=HD67E24 (SNM Manager)
www.adfweb.com? roduct=HD67E25 (SNM Agent)
www.adfweb.com? roduct=HD67E26 (EtherNet/I Master)
www.adfweb.com? roduct=HD67E27 (EtherNet/I Slave)
www.adfweb.com? roduct=HD67E28 (S7comm Client)
www.adfweb.com? roduct=HD67879 (IO-Link Master)
User Manual

Industrial Electronic Devices
ADFweb.com S.r.l.
User Manual
EtherCAT Slave / CANopen
Document code: MN67E08_ENG Revision 1.000 age 2 of 32
INDEX:
age
INDEX 2
U DATED DOCUMENTATION 2
REVISION LIST 2
WARNING 2
TRADEMARKS 2
SECURITY ALERT 3
EXAM LE OF CONNECTION 4
CONNECTION SCHEME 5
CHARACTERISTICS 6
CONFIGURATION 6
OWER SU LY 7
FUNCTION MODES 8
LEDS 9
ETHERCAT 10
CAN 11
ETHERNET 12
USE OF COM OSITOR SW67E08 13
NEW CONFIGURATION / O EN CONFIGURATION 14
SOFTWARE O TIONS 15
SET COMMUNICATION 17
ETHERCAT SET ACCESS 19
SET SDO SERVER 21
SET SDO CLIENT 22
SET DO ACCESS 24
EDS FILE 26
ETHERCAT ESI FILE 26
U DATE DEVICE 27
MECHANICAL DIMENSIONS 29
ORDERING INFORMATIONS 30
ACCESSORIES 30
DISCLAIMER 31
OTHER REGULATIONS AND STANDARDS 31
WARRANTIES AND TECHNICAL SU ORT 32
RETURN OLICY 32
U DATED DOCUMENTATION:
Dear customer, we thank you for your attention and we remind you that
you need to check that the following document is:
Updated
Related to the product you own
To obtain the most recently updated document, note the “document code”
that appears at the top right-hand corner of each page of this document.
With this “Document Code” go to web page www.adfweb.com/download/
and search for the corresponding code on the page. Click on the proper
“Document Code” and download the updates.
REVISION LIST:
WARNING:
ADFweb.com reserves the right to change information in this manual about
our product without warning.
ADFweb.com is not responsible for any error this manual may contain.
TRADEMARKS:
All trademarks mentioned in this document belong to their respective
owners.
Revision Date Author Chapter Description
1.000 18/09/2020 Ff All First Release

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User Manual
EtherCAT Slave / CANopen
Document code: MN67E08_ENG Revision 1.000 age 3 of 32
SECURITY ALERT:
G ENERAL I NFORMATION
To ensure safe operation, the device must be operated according to the instructions in the manual. When using the device, legal and
safety regulation are required for each individual application. The same applies also when using accessories.
I NTENDED U SE
Machines and systems must be designed so the faulty conditions do not lead to a dangerous situation for the operator (i.e.
independent limit switches, mechanical interlocks, etc.).
Q UALIFIED ERSONNEL
The device can be used only by qualified personnel, strictly in accordance with the specifications.
Qualified personnel are persons who are familiar with the installation, assembly, commissioning and operation of this equipment and
who have appropriate qualifications for their job.
R ESIDUAL R ISKS
The device is state-of-the-art and is safe. The instruments can represent a potential hazard if they are inappropriately installed and
operated by untrained personnel. These instructions refer to residual risks with the following symbol:
This symbol indicates that non-observance of the safety instructions is a danger for people that could lead to serious injury or
death and / or the possibility of damage.
CE CONFORMITY
The declaration is made by our company. You can send an email to [email protected]om or give us a call if you need it.

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User Manual
EtherCAT Slave / CANopen
Document code: MN67E08_ENG Revision 1.000 age 4 of 32
EXAM LE OF CONNECTION:

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User Manual
EtherCAT Slave / CANopen
Document code: MN67E08_ENG Revision 1.000 age 5 of 32
CONNECTION SCHEME:
Figure 1: Connection scheme for HD67E08 A1

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User Manual
EtherCAT Slave / CANopen
Document code: MN67E08_ENG Revision 1.000 age 6 of 32
CHARACTERISTICS:
The HD67E08-A1 are EtherCAT / CANopen - Converters.
It allows for the following characteristics:
Isolation between EtherCAT – CANopen – ower Supply;
Two-directional information between EtherCAT bus and CANopen bus;
Mountable on 35mm Rail DIN;
Wide power supply input range: 8…24V AC or 12…35V DC;
Wide temperature range: -40°C / 85°C [-40°F / +185°F].
CONFIGURATION:
You need Compositor SW67E08 software on your C in order to perform the following:
Define the parameters of EtherCAT line;
Define the parameters of CANopen line;
Define EtherCAT variables to read and write;
Define SDO Server information;
Define SDO Client information;
Define DO information (R DO/T DO);
Export the ESI file for configuration of EtherCAT Master;
Export the EDS file for configuration of CANopen Master;
Update the device.

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EtherCAT Slave / CANopen
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OWER SU LY:
The devices can be powered at 8…24V AC and 12…35V DC. For more details see the two tables below.
VAC
VDC
Vmin Vmax Vmin Vmax
8V 24V 12V 35V
Consumption at 24V DC:
Device Consumption [W/VA]
HD67E08-A1 3.5
HD67E08
-
A1
Caution:
Do n
ot reverse the polarity power

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User Manual
EtherCAT Slave / CANopen
Document code: MN67E08_ENG Revision 1.000 age 8 of 32
FUNCTION MODES:
The device has got two function modes depending on the position of the ‘Dip1 of Dip-Switch A’:
The first, with ‘Dip1 of Dip-Switch A’ at “OFF” position, is used for the normal working of the device.
The second, with ‘Dip1 of Dip-Switch A’ at “ON” position, is used for uploading the roject and/or Firmware.
For the operations to follow for the updating, see ‘U DATE DEVICE’ section.
According to the functioning mode, the LEDs will have specific functions, see ‘LEDS’ section.

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EtherCAT Slave / CANopen
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LEDS:
The device has got seven LEDs that are used to give information about the functioning status.
The various meanings of the LEDs are described in the table below.
LED Normal Mode Boot Mode
1: Device State (green) Blinks slowly (~1Hz) Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress
2: EtherCAT comm. (green) It blinks when EtherCAT communication is running Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress
3: CANopen comm. (green) It blinks when a CANopen message is received Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress
4: Error state (green) ON: An error in the communication busses occurs
OFF: No errors are present
Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress
5: EtherCAT state (green)
OFF: EtherCAT Master not connected
Blinking: EtherCAT Master is connecting
ON: EtherCAT Master is connected
Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress
6: Ethernet1 link (green) ON: Ethernet cable connected
OFF: Ethernet cable disconnected
ON: Ethernet cable connected
OFF: Ethernet cable disconnected

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User Manual
EtherCAT Slave / CANopen
Document code: MN67E08_ENG Revision 1.000 age 10 of 32
ETHERCAT
EtherCAT (Ethernet for Control Automation Technology) is an Ethernet-based fieldbus system, invented by Beckhoff Automation.
The protocol is standardized in IEC 61158 and is suitable for both hard and soft real-time computing requirements in automation technology.
With EtherCAT, the standard Ethernet packet or frame (according to IEEE 802.3) is no longer received, interpreted, and copied as process
data at every node. The EtherCAT slave devices read the data addressed to them while the telegram passes through the device, processing
data "on the fly". In other words, real-time data and messages are prioritized over more general, less time-sensitive or heavy load data.
The converter has two EtherCAT ports, one is used as Input port (Connector6) and it will receive the incoming messages from the Master,
the other is used as Output port (Connector7) and i twill forward the messages to the others nodes of the network.

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EtherCAT Slave / CANopen
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CAN:
For terminating the CAN line with a 120Ω resistor it is necessary that the Dip1 of ‘Dip-Switch B’ is at ON position.
Cable characteristics:
DC parameter: Impedance 70 Ohm/m
AC parameters: Impedance 120 Ohm/m
Delay 5 ns/m
Length Baud Rate [bps] Length MAX [m]
10 K 5000
20 K 2500
50 K 1000
100 K 650
125 K 500
250 K 250
500 K 100
800 K 50
1000 K 25

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EtherCAT Slave / CANopen
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ETHERNET:
The updating of the converter must be made using Connector8 of the HD67E08-A1 with at least a Category 5E cable. The maximum length
of the cable should not exceed 100m. The cable has to conform to the T568 norms relative to connections in cat.5 up to 100 Mbps. To
connect the device to an Hub/Switch is recommended the use of a straight cable, to connect the device to a C/ LC/other is recommended
the use of a cross cable.

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User Manual
EtherCAT Slave / CANopen
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USE OF COM OSITOR SW67E08:
To configure the Converter, use the available software that runs with Windows called SW67E08. It is downloadable on the site
www.adfweb.com and its operation is described in this document. (This manual is referenced to the last version of the software present on
our web site). The software works with MSWindows (X , Vista, Seven, 8, 10; 32/64bit).
When launching the SW67E08, the window below appears (Fig. 2).
Note:
It is necessary to have installed .Net Framework 4.
Figure 2: Main window for SW67E0
8

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User Manual
EtherCAT Slave / CANopen
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NEW CONFIGURATION / O EN CONFIGURATION:
The “New Configuration” button creates the folder which contains the entire device’s configuration.
A device’s configuration can also be imported or exported:
To clone the configurations of a programmable “EtherCAT Slave / CANopen -
Converter” in order to configure another device in the same manner, it is necessary to
maintain the folder and all its contents;
To clone a project in order to obtain a different version of the project, it is sufficient to
duplicate the project folder with another name and open the new folder with the
button “Open Configuration”.

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EtherCAT Slave / CANopen
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SOFTWARE O TIONS:
By pressing the “Settings” ( ) button there is the possibility to change the language of the software and check the updatings for the
compositor.
In the section “Language” it is possible to change the language of the
software.
In the section “Connection Options”, it is possible to check if there are some
updatings of the software compositor in ADFweb.com website.
Checking the option “Check Software Update at Start of rogram”, the
SW67E08 checks automatically if there are updatings when it is launched.

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EtherCAT Slave / CANopen
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In the section “Software Settings”, it is possible to enable/disable some
keyboard’s commands for an easier navigation inside the tables contained in
the different sections of the software.

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EtherCAT Slave / CANopen
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SET COMMUNICATION:
This section define the fundamental communication parameters of two buses, EtherCAT and
CANopen.
By ressing the “Set Communication” button from the main window for SW67E08 (Fig. 2)
the window “Set Communication” appears (Fig. 3).
The means of the fields for “EtherCAT Slave” are:
In the field “Revision Number” the revision number of the converter is defined;
In the field “Slave Name” the name of the converter is defined;
In the field “Node Address” the ID of the converter is defined.
The means of the fields for the “CANopen” section are:
In the field “Device ID” the ID of the CANopen side is defined;
In the field “Baud Rate” the data rate of the CANopen line is defined;
In the field “Set Operational State at Start-Up” the state of the CANopen is
defined. I.e. If it is checked the board starts in Operational State, else it starts in re-
Operational;
In the field “Network Start at Start-Up” the state of the CANopen network is
defined. I.e. If it is checked the board sends a command to set the Operational State
of all the devices present in the network, after the time defined in the “Delay” field;
In the field “Delay (seconds)” the delay before sending the “Start” command for the
CANopen is defined;
In the field “SDO Client TimeOut (1/10 ms)” the maximum time that the device
attends for the answer from the Slave interrogated is defined;
Figure 3: “Set Communication” window

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The means of the fields for “Ethernet” are:
In the fields “I Address” the I address for Ethernet side of the converter is defined;
In the fields “SubNet Mask” the SubNet Mask for Ethernet side of the converter is defined;
In the fields “Gateway” the default gateway of the net is defined. This feature can be enabled or disabled pressing the Check Box
field. This feature is used for going out of the net;
In the fields “DNS” the I address of the DNS server is defined

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Figure 4a: “EtherCAT Slave Set Access

Slave To Master” window
ETHERCAT SET ACCESS:
By ressing the “EtherCAT Set Access” button from the main window for SW67E08 (Fig. 2) the window “EtherCAT Slave Set Access”
appears (Fig. 4).
This section is used to define the EtherCAT variables readable by the EtherCAT Master (Slave To Master) and the EtherCAT variables
writeable by the EtherCAT Master (Master To Slave).
S LAVE T O M ASTER
The means of the fields are:
If the field “Enable” is checked, the EtherCAT variable is enabled;
In the field “Type” the data format of the EtherCAT variable is defined;
In the field “Lenght” the dimension of the EtherCAT variable is defined;
In the field “Name” the name of the EtherCAT variable is defined;
In the field “Init Value” the default value of the EtherCAT variable is defined;
In the field “ osition” the starting address of the EtherCAT array where the variable is mapped is defined;
In the field “Start Bit” the starting bit of the selected osition where the variable is mapped is defined;
In the field “Mnemonic” a description of the variable is defined.

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EtherCAT Slave / CANopen
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Figure 4b: “EtherCAT Slave Set Access

Master To Slave” window
M ASTER T O S LAVE
The means of the fields are:
If the field “Enable” is checked, the EtherCAT variable is enabled;
In the field “Type” the data format of the EtherCAT variable is defined;
In the field “Lenght” the dimension of the EtherCAT variable is defined;
In the field “Name” the name of the EtherCAT variable is defined;
In the field “ osition” the starting address of the EtherCAT array where the variable is mapped is defined;
In the field “Start Bit” the starting bit of the selected osition where the variable is mapped is defined;
In the field “Mnemonic” a description of the variable is defined.