ADLINK Technology EPS Series User manual

Advance Technologies; Automate the World.
EPS Series
EtherCAT Slave System
User’s Manual
Manual Rev.: 2.00
Revision Date: Aug. 2, 2015
Part No: 50-17043-1000

ii
Revision History
Revision Release Date Description of Change(s)
2.00 2015/10/2 Initial Release

Preface iii
EPS Series
Preface
Copyright 2015 ADLINK TECHNOLOGY, INC.
This document contains proprietary information protected by copy-
right. All rights are reserved. No part of this manual may be repro-
duced by any mechanical, electronic, or other means in any form
without prior written permission of the manufacturer.
Disclaimer
The information in this document is subject to change without prior
notice in order to improve reliability, design, and function and does
not represent a commitment on the part of the manufacturer.
In no event will the manufacturer be liable for direct, indirect,
special, incidental, or consequential damages arising out of the
use or inability to use the product or documentation, even if
advised of the possibility of such damages.
Environmental Responsibility
ADLINK is committed to fulfill its social responsibility to global
environmental preservation through compliance with the Euro-
pean Union's Restriction of Hazardous Substances (RoHS) direc-
tive and Waste Electrical and Electronic Equipment (WEEE)
directive. Environmental protection is a top priority for ADLINK.
We have enforced measures to ensure that our products, manu-
facturing processes, components, and raw materials have as little
impact on the environment as possible. When products are at their
end of life, our customers are encouraged to dispose of them in
accordance with the product disposal and/or recovery programs
prescribed by their nation or company.
Trademarks
PC, PS/2, and VGA are registered trademarks of International
Business Machines Corp. Borland®, Borland®C, C++ Builder®,
and Delphi®are registered trademarks of the Borlan9 Software
Corporation. LabVIEW™ is a trademark of National Instruments
Corporation. Microsoft®, Visual Basic®, Visual C++®, Windows®

iv Preface
98, Windows®NT, Windows®2000, Windows®XP, and
Windows®Vista®are registered trademarks of Microsoft®
Corporation. PCI™, is a registered trademark of the Peripheral
Component Interconnect Special Interest Group (PCI-SIG).
Product names mentioned herein are used for identification pur-
poses only and may be trademarks and/or registered trademarks
of their respective companies.
Conventions
Take note of the following conventions used throughout this
manual to make sure that users perform certain tasks and
instructions properly.
NOTE:
NOTE:
Additional information, aids, and tips that help users perform
tasks.
CAUTION:
Information to prevent minor physical injury, component dam-
age, data loss, and/or program corruption when trying to com-
plete a task.
WARNING:
Information to prevent serious physical injury, component
damage, data loss, and/or program corruption when trying to
complete a specific task.

Table of Contents v
EPS Series
Table of Contents
Preface.................................................................................... iii
List of Figures........................................................................ ix
List of Tables.......................................................................... xi
1 Introduction ........................................................................ 1
1.1 Features............................................................................... 2
1.2 Specifications....................................................................... 3
1.2.1 EPS-9905 Chassis ..................................................... 3
1.2.2 EPS-1132 Module ...................................................... 4
1.2.3 EPS-2032 Module ...................................................... 4
1.2.4 EPS-2132 Module ...................................................... 5
1.2.5 EPS-2308 Module ...................................................... 6
1.2.6 EPS-3032 Module ...................................................... 6
1.2.7 EPS-3216 Module ...................................................... 7
1.2.8 EPS-3504 Module ...................................................... 7
1.2.9 EPS-4008 Module ...................................................... 8
1.2.10 EPS-6000 Module ...................................................... 8
1.2.11 EPS-7002 Module ...................................................... 9
1.3 Schematics ........................................................................ 10
1.4 EPS Slave System Composition........................................ 13
2 Getting Started ................................................................. 15
2.1 Package Contents ............................................................. 15
2.2 Cooling Considerations...................................................... 16
2.3 Hardware Installation ......................................................... 17
2.3.1 Installing the Bus Coupler Module............................ 17
2.3.2 Installing Peripheral Modules ................................... 17
2.4 Rack Mounting................................................................... 18
2.4.1 Powering Up the System .......................................... 18

vi Table of Contents
3 EPS System Modules ....................................................... 19
3.1 EPS-1132 .......................................................................... 20
3.1.1 Connector and Wiring ............................................... 22
3.1.2 LED Indicators .......................................................... 23
3.1.3 Signal Connection..................................................... 23
3.1.4 Object Dictionary ...................................................... 24
3.2 EPS-2032 .......................................................................... 24
3.2.1 Connector and Wiring ............................................... 26
3.2.2 LED Indicators .......................................................... 27
3.2.3 Signal Connection..................................................... 27
3.2.4 Object Dictionary ...................................................... 27
3.3 EPS-2132 .......................................................................... 28
3.3.1 Connector and Wiring ............................................... 30
3.3.2 LED Indicators .......................................................... 31
3.3.3 Signal Connection..................................................... 31
3.3.4 Object Dictionary ...................................................... 31
3.4 EPS-2308 .......................................................................... 32
3.4.1 Connector and Wiring ............................................... 34
3.4.2 Signal Connection..................................................... 35
3.4.3 Object Dictionary ...................................................... 35
3.5 EPS-3032 .......................................................................... 36
3.5.1 Connector and Wiring ............................................... 38
3.5.2 LED Indicators .......................................................... 39
3.5.3 Signal Connection..................................................... 39
3.5.4 Object Dictionary ...................................................... 39
3.6 EPS-3216 .......................................................................... 42
3.6.1 Connector and Wiring ............................................... 44
3.6.2 LED Indicators .......................................................... 45
3.6.3 Signal Connection..................................................... 45
3.6.4 Object Dictionary ...................................................... 46
3.7 EPS-3504 .......................................................................... 47
3.7.1 Connector and Wiring ............................................... 49

Table of Contents vii
EPS Series
3.7.2 LED Indicators .......................................................... 50
3.7.3 Signal Connection .................................................... 50
3.7.4 Object Dictionary ...................................................... 51
3.8 EPS-4008 .......................................................................... 51
3.8.1 Connector and Wiring............................................... 54
3.8.2 LED Indicators .......................................................... 55
3.8.3 Signal Connection .................................................... 55
3.8.4 Object Dictionary ...................................................... 56
3.9 EPS-6000 .......................................................................... 56
3.9.1 Connector and Wiring............................................... 60
3.9.2 LED Indicators .......................................................... 61
3.9.3 Object Dictionary ...................................................... 62
3.10 EPS-7002 .......................................................................... 62
3.10.1 LED Indicators .......................................................... 67
3.10.2 Signal Connection .................................................... 67
3.10.3 Object Dictionary ...................................................... 67
A Appendix: LinkMasterPro™.............................................69
A.1 Interface............................................................................. 71
A.2 Installation.......................................................................... 72
A.3 Controls and Function........................................................ 74
A.3.1 Selecting MAC Address............................................ 74
A.3.2 Scanning for Devices................................................ 75
A.3.3 Exporting ESI............................................................ 76
A.3.4 Device Tree View ..................................................... 79
A.3.5 Error Logging and History......................................... 85
A.3.6 FOE (File Over EtherCAT) ....................................... 86
A.3.7 Getting OD Info......................................................... 88
A.3.8 Module I/O Panels .................................................... 89
A.3.9 Exporting Log Messages ........................................ 100
A.3.10 Version Information ................................................ 100

viii Table of Contents
Important Safety Instructions............................................. 101
Getting Service.................................................................... 103

List of Figures ix
EPS Series
List of Figures
Figure 1-1: Front View (slots vacant) .......................................... 10
Figure 1-2: Front View
(EPS-6000 EtherCAT bus coupler module installed) 11
Figure 1-3: (Left) Side View ........................................................ 12
Figure 1-4: Top View................................................................... 13
Figure 1-5: EPS System w/ Modules Installed............................ 14
Figure 3-1: EPS-1132 Specifications .......................................... 20
Figure 3-2: EPS-1132 Schematic ............................................... 22
Figure 3-3: EPS-2032 Schematic ............................................... 26
Figure 3-4: EPS-2132 Schematic ............................................... 30
Figure 3-5: EPS-2308 Schematic ............................................... 34
Figure 3-6: EPS-3032 Schematic ............................................... 38
Figure 3-7: EPS-3216 Schematic ............................................... 44
Figure 3-8: EPS-3504 Schematic ............................................... 49
Figure 3-9: EPS-4008 Schematic ............................................... 54
Figure 3-10: EPS-6000 Schematic ............................................... 60
Figure 3-11: EPS-7002 Schematic ............................................... 66
Figure A-1: LinkMasterPro™ Operational Overview ................... 70
Figure A-2: LinkMasterPro™ Interface........................................ 71
Figure A-3: LinkMasterPro™ Folder............................................ 74
Figure A-4: Scan Failure Notification........................................... 75
Figure A-5: EPS Slave System in Tree View .............................. 76
Figure A-6: Save ESI Path Selection .......................................... 77
Figure A-7: ESI Export Progress Display .................................... 78
Figure A-8: Export Successful Display ........................................ 79
Figure A-9: EPS Slave System Panel ......................................... 80
Figure A-10: EPS-6000 Product Page
(default Slot 1 installation) ........................................ 82
Figure A-11: EPS-2032 Product Page
(exemplary Slot 2 installation) .................................. 83
Figure A-12: DC Dialog Page........................................................ 84
Figure A-13: DC Parameters Page ............................................... 85
Figure A-14: Error Log Page (w/ Index 0 selected) ....................... 86
Figure A-15: Binary File Selection................................................. 87
Figure A-16: Binary File Download Success Notification .............. 88
Figure A-17: OD List...................................................................... 89
Figure A-18: Module Selection ...................................................... 90

xListofFigures
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List of Tables xi
EPS Series
List of Tables
Table 3-1: EPS Peripheral Modules................................................ 19
Table 3-2: EPS-1132 Pin Assignment ............................................ 21
Table 3-3: LED Indicator Legend .................................................... 23
Table 3-4: EPS-2032 Specifications ............................................... 24
Table 3-5: EPS-2032 Pin Assignment ............................................ 25
Table 3-6: LED Indicator Legend .................................................... 27
Table 3-7: EPS-2132 Specifications ............................................... 28
Table 3-8: EPS-2132 Pin Assignment ............................................ 29
Table 3-9: LED Indicator Legend .................................................... 31
Table 3-10: EPS-2308 Specifications ............................................... 32
Table 3-11: EPS-2308 Pin Assignment ............................................ 33
Table 3-12: EPS-3032 Specifications ............................................... 36
Table 3-13: EPS-3032 Pin Assignment ............................................ 37
Table 3-14: LED Indicator Legend .................................................... 39
Table 3-15: EPS-3216 Specifications ............................................... 42
Table 3-16: EPS-3216 Pin Assignment ............................................ 43
Table 3-17: LED Indicator Legend .................................................... 45
Table 3-18: EPS-3504 Specifications ............................................... 47
Table 3-19: EPS-3504 Pin Assignment ............................................ 48
Table 3-20: LED Indicator Legend .................................................... 50
Table 3-21: EPS-4008 Specifications ............................................... 52
Table 3-22: EPS-4008 Pin Assignment ............................................ 53
Table 3-23: LED Indicator Legend .................................................... 55
Table 3-24: EPS-6000 Specifications ............................................... 57
Table 3-25: EPS-6000 Pin Assignment ............................................ 59
Table 3-26: LED Indicator Legend .................................................... 61
Table 3-27: EPS-7002 Specifications ............................................... 63
Table 3-28: EPS-7002 Pin Assignment ............................................ 65
Table 3-29: LED Indicator Legend .................................................... 67
Table A-1: LinkMasterPro™ Interface Legend ................................ 71
Table A-2: EPS Slave System Panel Operations............................ 81

xii List of Tables
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Introduction 1
EPS Series
1 Introduction
The ADLINK complete EtherCAT solution, from hardware to mid-
dleware to software, with every element tailored for dedicated
EtherCAT functionality, includes Talos master controllers, EPS
slave systems, and remote monitoring and control providers. As
well, ADLINK’s Softmotion one-stop control kernel delivers flexible
and easy-to-use intelligent platforms for driving next-generation
modern Smart Factories.
ADLINK's EPS slave system brings the power the flexibility to
EtherCAT environments. State-of-the-art modular construction
allows the EtherCAT slave to be configured to fulfill the needs of
both small local applications and expansive distributed platforms.
The EPS system monitors and controls nearly any type of I/O
device and sensor as well as motors, with comprehensive and
high-density I/O modules that include DI/O, AI/O, and thermal as
well as pulse-chain motion modules. Leveraging ARM and FPGA
technologies, the EPS slave is able to monitor and report system
integrity via EtherCAT communication, while relay module lifecycle
and signal integrity of analog output are monitored cyclically, and
hot swappability reduces downtime significantly.
Uniquely designed for full operability in conditions from -20°C to
60°C,the EPS slave system is also fully compliant with the EN
60068-2 standard for shock and vibration and EN 61000-6 for
heavy industrial EMC protection, as well as emission certification.
Corresponding ESI files for each EPS system can be generated
thru ADLINK's Windows-based EtherCAT slave utility, LinkMaster-
Pro™.

2Introduction
1.1 Features
XCompatible with certified 3rd party EtherCAT masters
XComprehensive slave modules include high-density digital I/
O, analog I/O, thermal measurement, and motion control
XEtherCAT COE, FOE protocol support
XCompliance with industrial IEC standard
XAutomatic Detection System by LinkMasterPro™ applica-
tion detects and generates corresponding ESI files automat-
ically
XIntelligent status monitoring for EPS modules
XHot-swappable to reduce MTTR
XOperable in environments from -20°C to 60°C
NOTE:
NOTE:
The EPS slave system is fully capable of cooperation with not
only ADLINK's Talos master controller but also 3rd party Ether-
CAT master controllers, by importing corresponding ESI file for
eaqch individual module.

Introduction 3
EPS Series
1.2 Specifications
1.2.1 EPS-9905 Chassis
System Level
Processor Xillinx Zynq SoC
Memory
RAM 512 MB DDR3
Retain
Memory #1 16MB Flash on Bus Coupler
Retain
Memory #2
128KB FRAM on every EPS
module
Connectivity
EtherCAT 2 EtherCAT ports
Motion Protocol Compliant with CiA402
Miscellaneous Function
Monitored
Parameters
Relay lifecycle
Analog output signal integrity
System power integrity
Module Status
Power Supply
DC Input
Built-in 9-30 VDC wide-range DC input
3P pluggable connectors with latch (GND, V-,
V+)
AC Input Optional 40 W external AC-DC adapter for AC
input
Mechanical
Dimensions 130 (W) x 110 (D) x 105 (H) mm
Weight 950 g (net weight of EPS-9905)
Mounting DIN rail
Environmental
Operating
Temperature -20°C to 60°C
Storage
Temperature -40°C to 85°C (excl. HDD/SDD/CFAST)
Humidity Approx. °C (non-condensing)

4Introduction
1.2.2 EPS-1132 Module
1.2.3 EPS-2032 Module
Vibration EN 60068-2-6 certification
Operating, 5 Grms, 5-500 Hz, 3 axes
ESD Contact +/-4 kV and Air +/-8 kV
Shock
EN 60068-2-27 certification
Operating, 100 G, half sine 11 ms duration (w/
mSATA)
EMC EN 61000-2 / EN 61000-4 certification
CE and FCC Class A
Safety UL, CB
Channels 32
Input Type Sinking
EVCC Input 24V ±10%
OFF State Input Voltage <5V (IEC61131-2 Type1/3)
OFF State Input Current <2.3mA
ON State Input Voltage 10V to 30V (IEC61131-2 Type1/3)
ON State Input Current 2.3mA (typ.)
IO Protection Input Voltage Up to 30V
IO Protection Reverse Voltage Up to -30V
IO Protection Current limit < 2.3mA (typ.)
Response Time 150µs to 3ms
Power Consumption from Chassis < 600mW (max.)
Thermal Dissipation (at max
temp.)
< 2.55W (max.) @
EVCC=24V+10%
Isolation (Channel-to-DGND) 2kV (DC)
Channels 32
Output Type Sourcing
EVCC Input 12 to 24V ±10%
Output Impedance (Rout) 200Ω

Introduction 5
EPS Series
1.2.4 EPS-2132 Module
Output Current (Iout) 300mA per CH
800mA per 4-CH
Output Voltage (Vout) EVCC – (Iout x Rout)
IO Protection Reverse Voltage None
IO Protection Current limit 1.2A for 4CH
IO Protection Short Circuit None
Power On State Off
Response Time 4kHz
Power Consumption: Chassis < 400mW (max.)
Thermal Dissipation (at max temp.) < 2.55W (max.) @ EVCC=24V+10%
Isolation (Channel-to-DGND) 2kV (DC)
Channels 32
Output Type Sinking
EVCC Input 12 to 24V ±10%
Output Impedance (Rout) 250Ω
Output Current (Iout) 300mA per CH
800mA per 4-CH
Output Voltage (Vout) Iout x Rout
IO Protection Reverse Voltage None
IO Protection Current limit 1.2A for 4CH
IO Protection Short Circuit None
Power On State Off
Response Time 4kHz
Power Consumption from Chassis < 450mW (max.)
Thermal Dissipation (at max temp.) < 2.55W (max.) @
EVCC=24V+10%
Isolation (Channel-to-DGND) 2kV (DC)
Isolation (Channel-to-Chassis) 2kV (DC)

6Introduction
1.2.5 EPS-2308 Module
1.2.6 EPS-3032 Module
Channels 8
Type SPST (Single pole single throw)
Maximum switched voltage and
current 30V/2A, 240V/0.5A
Output Impedance (Rout) 50mΩ(Typ.)
IO Protection Reverse Voltage Yes
Power On State OFF
Response Time Operate 10ms & release 5ms (Typ.)
Power Consumption from Chassis < 600mW (max.)
Thermal Dissipation (at max temp.) < 2.55W (max.) @ EVCC=24V+10%
Isolation (Channel-to-DGND) DC 2kV 1min.
Isolation (Channel-to-Chassis) DC 2kV 1min.
Isolation (Channel-to-Channel)
adjacent relay 250Vrms 1min.
Isolation (Channel-to-Channel)
adjacent pin within a single relay 250Vrms 1min.
Channels 32 Single-ended
16 Differential
Input Range ±10V
Resolution 16 bit
Offset Error ±1mV
Offset Drift 0.0004% of range per °C
Gain Error ±0.05% of FSR
Gain Drift 0.002%FSR per °C
Voltage Protection Power On @ ±24V
Sampling Rate 100kHz
Power Consumption from Chassis < 450mW (max.)

Introduction 7
EPS Series
1.2.7 EPS-3216 Module
1.2.8 EPS-3504 Module
Thermal Dissipation (at max temp.) < 2.55W (max.) @
EVCC=24V+10%
Operating Temperature -20 to 60°C
Isolation (Channel-to-DGND) 2kV (DC)
Isolation (Channel-to-Chassis) 2kV (DC)
Channels 16 Single-ended
Input Range 0-20mA
Resolution 16 bit
Offset Error 0.5μA
Offset Drift 0.0005% of range per °C
Gain Error ±0.05% of FSR
Gain Drift 0.0008%FSR per °C
Voltage Protection Power On @ ±24V
Sampling Rate 100kHz
Power Consumption from Chassis < 450mW (max.)
Thermal Dissipation (at max temp.) < 2.55W (max.) @
EVCC=24V+10%
Operating Temperature -20 to 60°C
Isolation (Channel-to-DGND) 2kV (DC)
Isolation (Channel-to-Chassis) 2kV (DC)
Channels 4 RTD
Sensor Type PT100, PT500, PT1000
Technology 2/3/4-Wire
Resolution 24 bit
Sampling Rate 5 to 20Hz
Temperature Range -200°C to +850°C
Path Resistance 18 to 3900Ω

8Introduction
1.2.9 EPS-4008 Module
Accuracy (DC) ± 0.007% of FSR
Accuracy (Temperature) ± 0.5°C
Excitation Current (Max.) 500μA
Power Consumption from Chassis < 450mW (max.)
Thermal Dissipation (at max
temp.)
< 2.55W (max.) @
EVCC=24V+10%
Operating Temperature -20 to 60°C
Isolation (Channel-to-DGND) 2kV (DC)
Isolation (Channel-to-Chassis) 2kV (DC)
Channels 8 Single-ended
Output Range ±10V
Resolution 16 bit
Sampling Rate 100kHz
Offset Error ± 0.2mV
Gain Error ± 0.05% of FSR
Offset Drift ± 0.0075mV /°C
Gain Drift ± 0.00025% /°C of FSR
Output Current Capacity 5 mA
Power On State Relay off
Voltage Protection ± 24V / Relay off when error voltage
occurs
Power Consumption from Chassis < 450mW (max.)
Thermal Dissipation (at max temp.) < 2.55W (max.) @ EVCC=24V+10%
Operating Temperature -20 to 60°C
Isolation (Channel-to-DGND) 2kV (DC)
Isolation (Channel-to-Chassis) 2kV (DC)