ADF Web HD67E58-A1 User manual

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User Manual
EtherCAT Master / CAN
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Document code: MN67E58_ENG Revision 1. Page 1 of 31
User Manual
Revision 1.
English
EtherCAT Master / CANopen - Converter
(Order Code: HD67E58-A1)
For Website information:
www.adfweb.com?Product=HD67E58
For Price information:
www.adfweb.com?Price=HD67E58-A1
Benefits and Main Features:
Very easy to configure
Triple Electrical isolation
Temperature range: -4 °C/+85°C (-4 °F/+185°F)
For other EtherCAT Master products see also the following link:
Converter EtherCAT Slave to
www.adfweb.com?Product=HD67E5 (Serial)
www.adfweb.com?Product=HD67E51 (Modbus Master)
www.adfweb.com?Product=HD67E52 (Modbus Slave)
www.adfweb.com?Product=HD67E53 (Modbus TC Master)
www.adfweb.com?Product=HD67E54 (Modbus TC Slave)
www.adfweb.com?Product=HD67E55 (BACnet Master)
www.adfweb.com?Product=HD67E56 (BACnet Slave)
www.adfweb.com?Product=HD67E57 (CAN)
www.adfweb.com?Product=HD67E59 (DeviceNet Master)
www.adfweb.com?Product=HD67E6 (DeviceNet Slave)
www.adfweb.com?Product=HD67E61 (DMX)
www.adfweb.com?Product=HD67E62 (Ethernet)
www.adfweb.com?Product=HD67E64 (IEC61850 Client)
www.adfweb.com?Product=HD67E65 (IEC61850 Server)
www.adfweb.com?Product=HD67E66 (J1939)
www.adfweb.com?Product=HD67E67 (MQTT)
www.adfweb.com?Product=HD67E68 (NMEA0183)
www.adfweb.com?Product=HD67E69 (NMEA2000)
www.adfweb.com?Product=HD67E7 (O C UA Client)
www.adfweb.com?Product=HD67E71 (O C UA Server)
www.adfweb.com?Product=HD67E72 ( ROFINET Master)
www.adfweb.com?Product=HD67E73 ( ROFINET Slave)
www.adfweb.com?Product=HD67E74 (SNM Manager)
www.adfweb.com?Product=HD67E75 (SNM Agent)
www.adfweb.com?Product=HD67E76 (EtherNet/I Master)
www.adfweb.com?Product=HD67E77 (EtherNet/I Slave)
www.adfweb.com?Product=HD67E78 (S7comm Client)
User Manual

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User Manual
EtherCAT Master / CAN
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Document code: MN67E58_ENG Revision 1. Page 2 of 31
INDEX:
Page
INDEX 2
UPDATED DOCUMENTATION 2
REVISION LIST 2
WARNING 2
TRADEMARKS 2
SECURITY ALERT 3
EXAMPLE OF CONNECTION 4
CONNECTION SCHEME 5
CHARACTERISTICS 6
CONFIGURATION 6
POWER SUPPLY 7
FUNCTION MODES 8
LEDS 9
ETHERCAT 1
ETHERNET 1
CANOPEN 11
USE OF COMPOSITOR SW67E58 12
NEW CONFIGURATION / OPEN CONFIGURATION 13
SOFTWARE OPTIONS 14
SET COMMUNICATION 16
ETHERCAT SET ACCESS 18
SET SDO SERVER 21
SET SDO CLIENT 22
SET PDO ACCESS 24
EDS FILE 25
UPDATE DEVICE 26
MECHANICAL DIMENSIONS 28
ORDERING INFORMATIONS 29
ACCESSORIES 29
DISCLAIMER 3
OTHER REGULATIONS AND STANDARDS 3
WARRANTIES AND TECHNICAL SUPPORT 31
RETURN POLICY 31
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. 15/ 9/2 21 Ff All First Release

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Document code: MN67E58_ENG Revision 1. Page 3 of 31
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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EXAM LE OF CONNECTION:

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CONNECTION SCHEME:
Figure 1: Connection scheme for HD67E58 A1

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Document code: MN67E58_ENG Revision 1. Page 6 of 31
CHARACTERISTICS:
The HD67E58-A1 are EtherCAT Master / CANopen - Converters.
It allows for the following characteristics:
Isolation between EtherCAT – CAN – Power 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: -4 °C / 85°C [-4 °F / +185°F].
CONFIGURATION:
You need Compositor SW67E58 software on your PC in order to perform the following:
Define the parameters of EtherCAT line;
Define the parameters of CANopen line;
Define EtherCAT slaves from which reading/writing the data;
Define SDO Server information;
Define SDO Client information;
Define PDO information (RPDO/TPDO);
Update the device.

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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]
HD67E58-A1 3.5
HD67E5
8
-
A1
Caution:
Do n
ot reverse the polarity power

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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 Project and/or Firmware.
For the operations to follow for the updating, see ‘UPDATE DEVICE’ section.
According to the functioning mode, the LEDs will have specific functions, see ‘LEDS’ section.

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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: ON [supply voltage ]
(green)
ON: Device powered
OFF: Device not powered
ON: Device powered
OFF: Device not powered
2: Device State (green) Blinks slowly (~1Hz) Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress
3: EtherCAT comm. (green) It blinks when EtherCAT communication is running Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress
4: CANopen comm. (green) It blinks when CANopen communication is running Blinks quickly: Boot state
Blinks very slowly (~0.5Hz): update in progress
5: EtherCAT link (green) ON: EtherCAT cable connected
OFF: EtherCAT cable disconnected
ON: EtherCAT cable connected
OFF: EtherCAT cable disconnected
6: Ethernet link (green) ON: Ethernet cable connected
OFF: Ethernet cable disconnected
ON: Ethernet cable connected
OFF: Ethernet cable disconnected

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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 8 2.3) 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.
EtherCAT connection must be made using Connector5 of the HD67E58-A1.
ETHERNET:
The updating of the converter must be made using Connector6 of the HD67E58-A1 with at least a Category 5E cable. The maximum length
of the cable should not exceed 1 m. The cable has to conform to the T568 norms relative to connections in cat.5 up to 1 Mbps. To
connect the device to an Hub/Switch is recommended the use of a straight cable, to connect the device to a PC/PLC/other is recommended
the use of a cross cable.

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CANO EN:
For terminating the CAN line with a 12 Ω resistor it is necessary that the Dip1 of ‘Dip-Switch C’ is at ON position.
Cable characteristics:
DC parameter: Impedance 7 Ohm/m
AC parameters: Impedance 12 Ohm/m
Delay 5 ns/m
Length Baud Rate [bps] Length MAX [m]
1 K 5
2 K 25
5 K 1
1 K 65
125 K 5
25 K 25
5 K 1
8 K 5
1 K 25

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USE OF COM OSITOR SW67E58:
To configure the Converter, use the available software that runs with Windows called SW67E58. 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 (XP, Vista, Seven, 8, 1 , 11; 32/64bit).
When launching the SW67E58, the window below appears (Fig. 2).
Note:
It is necessary to have installed .Net Framework 4.
Figure 2: Main window for SW67E
5
8

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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 Master / 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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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
SW67E58 checks automatically if there are updatings when it is launched.

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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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SET COMMUNICATION:
This section define the fundamental communication parameters of two buses, EtherCAT and
CANopen.
By Pressing the “Set Communication” button from the main window for SW67E58 (Fig. 2)
the window “Set Communication” appears (Fig. 3).
The means of the fields for “Ethernet Connection” are:
In the field “Device Name (Hostname)” the Hostname to assign to the converter is
defined;
If the field “Obtain an I Address Automatically (DHC for Cable Connection)”
is checked, DHCP for LAN connection is enabled;
If the field “Enable DNS” is checked, DNS protocol is enabled;
In the field “ rimary DNS” the IP Address of the primary DNS server is defined;
In the field “Secondary DNS” the IP Address of the secondary DNS server is defined.
The means for the fields for the “CANopen” 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 Pre-
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 the “Ethernet” section are:
In the fields “I ADDRESS” the IP address of Ethernet side of the converter is defined;
In the fields “SUBNET Mask” the SubNet Mask of Ethernet side of the converter is defined;
In the fields “GATEWAY” the default gateway of the network is defined. This feature can be enabled or disabled pressing the Check
Box field. This feature is used for going out of the net.

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Figure 4a: “EtherCAT Master Access” window
ETHERCAT SET ACCESS:
By Pressing the “EtherCAT Set Access” button from the main window for SW67E58 (Fig. 2) the window “EtherCAT Master Access” appears
(Fig. 4). This section is used to define the list of the EtherCAT slave devices to connect and the parameters to read/write.
Below the “EtherCAT Master Devices List”, the list of the EtherCAT devices to connect is defined. It is possible to import the slaves using
the standard ESI file provided by the manufacturer of the device. For each node, it is necessary to indicate the “Node Address” into the
related column. If a slave device has more device instances, it is possible to select them using “Slots Config” button.
Note:
The EtherCAT devices must be listed with the correct order, respecting the order of the physical connection to have a correct
communication.

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Figure 4b: “Process Data” table
For each EtherCAT slave device, it is possible to define the map from/to the other bus for Process Data and for CoE objects.
The list of accessible objects is imported directly from ESI file.
ROCESS D ATA
The means of the fields are:
In the field “Slot” the selected Slot is defined;
In the field “Name” the name of the variable is defined;
In the field “Type” the format of the EtherCAT variable is defined;
In the field “Lenght” the dimension in bit of the variable is defined;
In the field “ osition” the starting address of the memory array where the variable is mapped is defined;
In the field “Start Bit” the starting bit of the selected Position where the variable is mapped is defined;
In the field “Mnemonic” a description of the variable is defined.

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Figure 4c: “CoE Object” table
C O E O BJECT
The means of the fields are:
If the field “Enable” is checked, the EtherCAT variable is enabled;
In the field “Index” the index of the EtherCAT variable is defined;
In the field “SubIndex” the SubIndex of the EtherCAT variable is defined;
In the field “Name” the name of the EtherCAT variable is defined;
In the field “Bit Lenght” the dimension of the EtherCAT variable is defined;
In the field “Access” the allowed access to the EtherCAT variable is defined;
In the field “ os Read” the starting address of the memory array where the read value of the variable is mapped is defined;
In the field “Start Bit R” the starting bit of the selected Position where the variable is mapped is defined;
In the field “Time Read” the cyclical time in ms for the data reading is defined;
In the field “ os Write” the starting address of the memory array where the value to write to the variable is taken is defined;
In the field “Start Bit R” the starting bit of the selected Position where the value to write is taken is defined;
If the field “On Change” is checked, the writing command is sent only when the data from CANopen is changed;
If the field “On CMD” is checked, the writing command is sent when a CANopen message from CANopen is received;
If the field “On Timer” is checked, the writing command is sent cyclically with the “Time” defined;
In the field “Mnemonic” a description of the variable is defined.