Advantech PCM-26R1EC User manual

User Manual
PCM-26R1EC
EtherCAT Master mPCIe Card

PCM-26R1EC User Manual ii
Copyright
The documentation and software included with this product are copyrighted 2022 to
Advantech Co., Ltd. All rights are reserved. Advantech Co., Ltd. reserves the right to
make improvements on the products described herein at any time without notice. No
part of this manual may be reproduced, copied, translated, or transmitted in any form
or by any means without prior written permission from Advantech Co., Ltd. The infor-
mation provided in this manual is intended to be accurate and reliable. However,
Advantech Co., Ltd. assumes no responsibility for its use, nor for any infringement of
the rights of third parties, which may result from its use.
Acknowledgments
IBM and PC are trademarks of International Business Machines Corporation.
All other product names and trademarks are the property of their respective owners.
Product Warranty (2 years)
Advantech warrants to you, the al purchaser, that this product will be free from
defects in materials and workmanship for 2 years from the date of purchase.
This warranty does not apply to products that have been repaired or altered by per-
sons other than repair personnel authorized by Advantech, nor does it apply to prod-
ucts that have been subject to misuse, abuse, accident, or improper installation.
Under the terms of this warranty, Advantech assumes no liability for consequences
arising from such events.
Because of Advantech’s high quality-control standards and rigorous testing, most of
our customers never need to use our repair service. If an Advantech product is defec-
tive, it will be repaired or replaced at no charge during the warranty period. For out-
of-warranty repairs, you will be billed according to the cost of replacement materials,
service time, and freight. Please consult your dealer for more details.
If you believe that you have a defective product, follow these steps:
1. Collect all the information about the problem encountered (e.g., CPU speed,
Advantech products used, other hardware and software used, etc.). Note any-
thing abnormal and list any on-screen messages that appear when the problem
occurs.
2. Call your dealer and describe the problem. Please have your manual, product,
and any helpful information readily available.
3. If your product is diagnosed as defective, obtain a return merchandize authori-
zation (RMA) number from your dealer. This allows us to process your return
more quickly.
4. Carefully pack the defective product, a fully completed Repair and Replacement
Order Card, and proof of purchase date (e.g., a photocopy of your sales receipt)
in a shippable container. A product returned without proof of the purchase date
is not eligible for warranty service.
5. Write the RMA number clearly on the outside of the package and ship it prepaid
to your dealer.
Part No. 2004R1EC00 Edition 1
Printed in Taiwan June 2022

iii PCM-26R1EC User Manual
Declaration of Conformity
CE
This product has passed the CE test for environmental specifications when shielded
cables are used for external wiring. We recommend using shielded cables. This type
of cable is available from Advantech. Please contact your local supplier for ordering
information.
FCC Class A
This equipment has been tested and found to comply with the limits for a Class A dig-
ital device, pursuant to Part 15 of the FCC rules. These limits are designed to provide
reasonable protection against harmful interference when the equipment is operated
in a commercial environment. This equipment generates, uses, and can radiate
radio-frequency energy and, if not installed and used in accordance with the instruc-
tion manual, may cause harmful interference to radio communications. Operation of
this equipment in a residential area is likely to cause harmful interference in which
case the user will be required to correct the interference at his or her own expense.
FM
This equipment has passed FM certification. According to the National Fire Protec-
tion Association, work sites are classified into different classes, divisions, and groups
on the basis of hazard considerations. This equipment complies with the specifica-
tions of Class I, Division 2, Groups A, B, C, and D indoor hazards.
Technical Support and Assistance
1. Visit the Advantech website at www.advantech.com/support for the latest infor-
mation about this product.
2. Should you require additional assistance, contact your distributor, sales repre-
sentative, or Advantech's customer service center for technical support. Please
have the following information ready before you call:
–Product name and serial number
–Description of your peripheral attachments
–Description of your software (OS, version, application software, etc.)
–A complete description of the problem
–The exact wording of any error messages
Safety Precaution - Static Electricity
Follow these simple precautions to protect yourself from harm and the products from
damage.
To avoid electrical shock, always disconnect the power from your PC chassis
before you work on it. Do not touch any components on the CPU card or other
cards while the PC is on.
Disconnect the power before making any configuration changes. The power spike
that occurs as you connect a jumper or insert a card may damage sensitive electronic
components.

PCM-26R1EC User Manual iv
Safety Instructions
1. Read these safety instructions carefully.
2. Retain this user manual for later reference.
3. Disconnect the equipment from any AC outlet before cleaning. Use a damp
cloth. Do not use liquid or spray detergents for cleaning.
4. For plug-in equipment, the power socket must be located near the equipment
and be easily accessible.
5. Keep the equipment away from humidity.
6. Place the equipment on a reliable surface during installation. Dropping it or let-
ting it fall may cause damage.
7. The openings on the enclosure are for ventilation. To protect the equipment
from overheating, do not cover the openings.
8. Ensure that the power source voltage is correct before connecting the equip-
ment to the power outlet.
9. Position the power cord so that people cannot step on it. Do not place anything
over the power cord.
10. Please pay attention to any cautions and warnings noted on the equipment.
11. If the equipment is not used for a long time, disconnect it from the power source
to prevent damage from transient overvoltage.
12. Never pour any liquid into the openings. This may cause fire or electrical shock.
13. Never open the equipment. For safety reasons, the equipment should be
opened only by qualified service personnel.
14. If one of the following situations arises, have the equipment checked by service
personnel:
–The power cord or plug is damaged.
–Liquid has penetrated into the equipment.
–The equipment has been exposed to moisture.
–The equipment does not work well, or you cannot get it to work according to
the user manual.
–The equipment has been dropped and damaged.
–The equipment shows obvious signs of breakage.
15. Do not store this equipment in an environment where the temperature may go
below -20°C (-4°F) or above 60°C (140°F). This could damage the equipment.
The equipment should be kept in a controlled environment.
16. CAUTION! The battery may explode if it is incorrectly replaced. Replace only
with the same or equivalent type recommended by the manufacturer, and dis-
card used batteries in accordance with the manufacturer's instructions.
17. In accordance with IEC 704-1:1982, the sound pressure level at the operator's
position does not exceed 70 dB (A).
DISCLAIMER: These instructions are given in accordance with IEC 704-1. Advant-
ech disclaims all responsibility for the accuracy of any statements contained herein.

v PCM-26R1EC User Manual
Contents
Chapter 1 Introduction..........................................1
1.1 EtherCAT Introduction............................................................................... 2
1.1.1 EtherCAT ...................................................................................... 2
Figure 1.1 The Functional Principle of EtherCAT ........................ 2
Figure 1.2 The EtherCAT Protocol .............................................. 3
Figure 1.3 EtherCAT Topology .................................................... 3
Figure 1.4 EtherCAT Distributed Clock........................................ 4
Figure 1.5 EtherCAT Distributed Clock Jitter............................... 5
1.2 PCM-26R1EC Features ............................................................................ 5
1.3 Specifications............................................................................................ 6
1.3.1 EtherCAT ...................................................................................... 6
1.3.2 General ......................................................................................... 6
Chapter 2 Installation............................................7
2.1 Unpacking ................................................................................................. 8
2.2 Driver Installation ...................................................................................... 8
2.3 Hardware Installation ................................................................................ 9
Chapter 3 Hardware ............................................11
3.1 Overview of the PCM-26R1EC ............................................................... 12
Table 3.1: Connectors and Switches......................................... 12
3.2 Dimension ............................................................................................... 13
3.3 LAN Port (CN56)..................................................................................... 13

PCM-26R1EC User Manual vi

Chapter 1
1Introduction

PCM-26R1EC User Manual 2
1.1 EtherCAT Introduction
EtherCAT is a high-performance, Ethernet-based fieldbus industrial network system.
The protocol is standardized in IEC 61158 and applies to automation applications
requiring faster and more efficient communications. Short data update times with pre-
cise synchronization make EtherCAT suitable for applications requiring real-time
automation.
1.1.1 EtherCAT
1.1.1.1 The Functional Principle of EtherCAT
EtherCAT is a real-time, high-speed, and flexible Ethernet-based protocol. In an Eth-
erCAT network, the master node sends Ethernet frames via all of the slave nodes.
Under the EtherCAT protocol, standard Ethernet packets or frames are no longer
received, interpreted, or copied as process data at every node. Instead, slave
devices read only the data addressed to them, and the input data are inserted simul-
taneously as the telegram passes through the device, thus processing data “on the
fly.” Typically, the entire network can be addressed with just one frame. Compared
with other Ethernet-based communication protocols, EtherCAT is more efficient in uti-
lizing the available full-duplex bandwidth.
Figure 1.1 The Functional Principle of EtherCAT
1.1.1.2 The EtherCAT Protocol
Data exchanges are cyclically updated between EtherCAT master and slave nodes.
Data in EtherCAT frames are transported directly within the standard IEEE 802.3
Ethernet frame by using Ethertype 0x88a4, and they are processed by the EtherCAT
slave controller on the fly. Each EtherCAT datagram is a command comprising a
header, data, and a working counter (WKC). The datagram header indicates what
type of access the master device requires:
Read, write, read/write
Access to a specified slave device through direct addressing
Access to multiple slave devices through logical addressing
Logical addressing is used for the cyclical exchange of process data. The header and
data are used to specify the operation that the slave must perform, and the WKC is
updated by the slave to inform the master that a slave has processed the command.

3 PCM-26R1EC User Manual
Chapter 1 Introduction
Every EtherCAT datagram ends with a 16-bit WKC, indicating the number of devices
that were successfully addressed by each EtherCAT datagram.
Figure 1.2 The EtherCAT Protocol
EtherCAT datagrams are processed before the complete frame is received. In cases
where the data are invalid, the frame check sum is not valid and the slave will not set
the data as valid for local applications.
1.1.1.3 Topologies Supported by EtherCAT
EtherCAT supports various network topologies, including line, tree, ring, and star
topologies. The line and tree topologies are more conducive to fieldbus applications
because they require fewer connections and utilize a much simpler and more flexible
cabling schema, rendering switches and hubs necessary for these topologies.
Figure 1.3 EtherCAT Topology
Industrial Ethernet cables (up to 100 m in length) can be used between two nodes in
100BASE-TX mode. EtherCAT makes a pure bus or line topology with hundreds of
nodes possible. In fact, up to 65535 devices can be connected to EtherCAT, so net-
work expansion is virtually unlimited.
EtherCAT supports individual nodes to be connected and disconnected during opera-
tion. If one of the slaves in the network is removed, the rest of the network can con-
tinue to operate normally. EtherCAT also enables other communication features such
as cable redundancy or even master redundancy with hot standby.

PCM-26R1EC User Manual 4
1.1.1.4 Synchronization With EtherCAT
A distributed clock mechanism is used to provide highly precise time synchronization
between slaves in an EtherCAT network, which is equivalent to the Precision Time
Protocol defined in the IEEE 1588 standard. By using distributed clocks, EtherCAT
can synchronize the time in all local bus devices within a very narrow tolerance
range. All EtherCAT slaves are provided with an internal clock named as system time
(tLocal Time). One EtherCAT slave, usually the first slave, will be used as a reference
clock, and this slave cyclically distributes its clock time to other slaves.
Misalignment between the reference clock and clocks of the other slaves usually
occurs because when a slave is switched on, the internal free-running register that
holds the current time is reset to zero. This action does not occur at the same time in
all slaves, resulting in an initial offset (toffset) among clocks. This offset must be com-
pensated for.
Figure 1.4 EtherCAT Distributed Clock
Typically, the master sends a broadcast to all other slaves in the system. Once the
message has been received, the slaves latch the value of their internal clock twice:
once when the message is received and once when the message is returned. Thus,
the master can read all latched values and calculate the delay for each slave (tPropa-
gation Delay). Delays are stored in an offset register. Subsequently, the master sends a
message periodically to all other slaves in the EtherCAT network to make the first
slave the reference clock and force all other slaves to account for the calculated off-
set by setting their internal clock.
∆t = (tLocal Time + tOffset - tPropagation Delay) - tReceived System Time

5 PCM-26R1EC User Manual
Chapter 1 Introduction
Because synchronization between slaves in distributed clock mode is achieved by
internal clocks in the hardware, EtherCAT guarantees a time jitter of less than 1 μs.
Figure 1.5 EtherCAT Distributed Clock Jitter
1.1.1.5 Diagnosis with an Exact Localization
EtherCAT is an ultrafast I/O system. To achieve the optimal level of high-speed com-
munication, a high level of communication accuracy is necessary. EtherCAT com-
prises a wide range of system-inherent diagnostic features that help detect and
locate system errors precisely. Apart from broken wire detection and localization, the
protocol, physical layer, and topology of an EtherCAT system enable individual qual-
ity monitoring of each transmission segment.
As mentioned, every EtherCAT datagram ends with a 16-bit WKC to count the num-
ber of devices successfully addressed by the datagram. The master device can
check the WKC to determine the data exchange situation in the same cycle, and the
error frame can be determined by analyzing the nodes’ error counters. A slave appli-
cation will be executed only when the frame is received correctly. The automatic eval-
uation of the associated error counters enables the precise localization of critical
network sections.
Bit errors during transmission are detected reliably through the analysis of the cyclic
redundancy check (CRC) check sum. CRC is an error-detection code commonly
used in digital networks and storage devices to detect errors in raw data. In addition
to the error-detection ability and localization protocol, the transmission physics and
topology of the EtherCAT system ensure that the quality of all transmission paths can
be monitored. Thus, EtherCAT features a very effective monitoring mechanism.
1.2 PCM-26R1EC Features
Advantech designed iDoor technology by support for the flexible optional connector
arrangement for the Advantech embedded Automation computing platform including
connector, internal cabling and a wide range of I/O and communication Modules.
PCM-26R1EC are an ARM-based EtherCAT Master with Advantech iDoor technol-
ogy. It can support as motion master (axes control) or pure I/O master. Data
exchange and memory allocation in EtherCAT communication can be executed auto-
matically by the PCM-26R1EC series. You can benefit from EtherCAT’s high-perfor-
mance communication features without having to handle the complicated EtherCAT
communication protocol.
It also supports “Common Motion API” for all EtherCAT slaves connected automati-
cally without ENI data. GUI is easy to use and configure EtherCAT system and pro-
vides Error Detection and Diagnostics to monitor the entire EtherCAT network.

PCM-26R1EC User Manual 6
1.3 Specifications
1.3.1 EtherCAT
1.3.2 General
Number of Axes 0
Number of Rings 1
Surge Protection 10 kV
Communication Time 500 μs
Communication I/O
Slave
1024-CH DI and 1024-CH DO
128-CH AI and 128-CH AO
Bus Type PCI Express Mini Card Revision 1.2
Certification CE, FCC Class A
Connectors 1 x Female RJ45
Dimensions (L x H) Module: 51 x 30 x 12.4mm (2" x 1.18" x 0.49"),
I/O Plate: 81 x 19.4 x 41mm (3.19" x 0.76" x 1.61")
Power Consumption Typical: +3.3 V @ 650 mA
Humidity 5% ~ 95% RH, non-condensing (IEC 60068-2-3)
Operating Temp. 0 ~ 60°C (32 ~ 140°F)
Storage Temp. -20 ~ 85°C (-4 ~ 185°F)

Chapter 2
2Installation

PCM-26R1EC User Manual 8
2.1 Unpacking
After receiving your PCM-26R1EC package, you should first inspect the contents to
ensure that the following items are included:
PCM-26R1EC card
The PCM-26R1EC card has certain electronic components that are vulnerable to
electrostatic discharge (ESD). ESD can easily damage the integrated circuits and
certain components if preventive measures are not carefully taken.
Before removing the card from the anti-static plastic bag, you should take the follow-
ing precautions to prevent ESD damage:
Touch the metal part of your computer chassis with your hand to discharge static
electricity accumulated on your body. Alternatively, wear a grounding strap.
Touch the anti-static bag to a metal part of your computer chassis before open-
ing the bag.
Hold the card only by the metal bracket when removing it from the bag.
After taking removed card, you should first:
Inspect the card for any possible signs of external damage (loose or damaged
components, etc.). If the card is visibly damaged, notify our service department
or your local sales representative immediately. We recommend not installing
damaged cards in your system.
Also pay extra attention to the following to ensure a proper installation:
Avoid physical contact with materials that could hold static electricity (e.g., plas-
tic, vinyl, and styrofoam).
Whenever you handle the card, hold it only by its edges. Do not touch the
exposed metal pins of the connector or the electronic components.
2.2 Driver Installation
We recommend you install the driver before installing the PCM-26R1EC card in your
system.
The DLL driver setup program for the card can be downloaded from Advantech's offi-
cial website. Follow these steps to install the driver software:
1. The setup program will be launched automatically if you have the AutoPlay
function enabled on your system.
2. Select which Windows OS you are using and follow the installation instructions
to complete your DLL driver setup.
3. Common Motion Utility will then be installed automatically.
For further information on driver-related issues, an online version of the Device Driv-
ers Manual can be found via Advantech official website:
https://www.advantech.com/search/?q=PCM-26R1EC&st=support
Example source codes are same as Advantech EtherCAT PCI/PCIE master and can
be found in the corresponding installation folder. The default installation path is as fol-
lows:
\Program Files\Advantech\Common Motion\Example_1203

9 PCM-26R1EC User Manual
Chapter 2 Installation
2.3 Hardware Installation
The PCM-26R1EC was carefully inspected mechanically and electrically before it
was shipped. It should be free of marks and scratches and in perfect working order
when received.
As you unpack the PCM-26R1EC, check for signs of shipping damage (damaged
box, scratches, dents, etc.). If it is damaged or it fails to meet specifications, notify
our service department or your local sales representative immediately. Also notify the
carrier. Retain the shipping carton and packing material for inspection by the carrier.
After inspection we will make arrangements to repair or replace the unit. When you
handle the PCM-26R1EC, remove it from its protective packaging by grasping the
rear metal panel. Keep the anti-vibration packing. Whenever you remove the card
from the PC, store it in this package for protection.
Note! Make sure you have installed the driver first before you install the card
(refer to2.2 Driver Installation).
Warning! Discharge your body's static electric charge by touching the back of the
grounded chassis of the system unit (metal) before handling the board.
You should avoid contact with materials that hold a static charge such
as plastic, vinyl and Styrofoam. Handle the board only by its edges to
avoid static damage to its integrated circuits. Avoid touching the
exposed circuit connectors. We also recommend that you use a
grounded wrist strap and place the card on a static dissipative mat
whenever you work with it.

PCM-26R1EC User Manual 10

Chapter 3
3Hardware

PCM-26R1EC User Manual 12
3.1 Overview of the PCM-26R1EC
Table 3.1 shows the location of connectors and switches on the PCM-26R1EC.
Table 3.1: Connectors and Switches
No. Part Reference Function
1 CN57 Boot master from flash memory (short
Pin 2 and Pin 3, Default)
Note! Confirm that Pins 2 and 3 are short-circuited by a jumper before using
the PCM-26R1EC.

13 PCM-26R1EC User Manual
Chapter 3 Hardware
3.2 Dimension
3.3 LAN Port (CN56)
RJ45 10/100/1000 LAN port connectors for connecting to EtherCAT slaves via a LAN
cable.
Note! Shielding cables below are recommended.
S/FTP: shielded with foiled twisted pairs
SF/FTP: shielded and foiled with foiled twisted pairs

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purposes only.
All product specifications are subject to change without notice.
No part of this publication may be reproduced in any form or by any means,
electronic, photocopying, recording or otherwise, without prior written permis-
sion of the publisher.
All brand and product names are trademarks or registered trademarks of their
respective companies.
© Advantech Co., Ltd. 2022