ATEQ G6 Series User manual

G6 Series – EtherCAT
Manual

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Table of Contents
Safety advisory / Warranty
Good practices and safety instructions..........................................................................................3
Preamble
Introduction .................................................................................................................................4
Basic notions................................................................................................................................5
Hardware installation
Hardware configuration................................................................................................................7
Configuration of the ATEQ device (slave)
Setup of the EtherCAT configuration mode................................................................................. 10
Setup of the Unique ID ............................................................................................................... 11
Configuration of the master
Installation of the EtherCAT module ...........................................................................................12
Configuration files ......................................................................................................................13
Selection of the master board..................................................................................................... 14
Master Devices Installation......................................................................................................... 15
Checking of the EtherCAT configuration modes...........................................................................16
Functional description of an ATEQ device
Introduction ...............................................................................................................................21
Configuration .............................................................................................................................30
Cycle .......................................................................................................................................... 53
Results ....................................................................................................................................... 58

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ATEQ Manufacturer Plants –Measurement Solution, Global Leader
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JAPAN
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ATEQ China
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Shanghai
CHINA
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ATEQ SYSTEMS ANALYSIS TAIWAN CO.,
LTD.
NO. 3, LAN 223, San Jia Dong Street
40642, TAICHUNG
TAIWAN
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T.: [phone]
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ATEQ CORP.
35980 Industrial Road Suite L
Livonia MI 48150
UNITED STATES
[e-mail]
atequsa.com
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We continuously work on improving our products. This is why inforamtion contained in this manual,
the device and the technical specifications may be modified without prior notification.
Pictures and figures in this manual are non contractual

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Safety advisory / Warranty
GOOD PRACTICES AND SAFETY INSTRUCTIONS
Safety recommendations
If the device is supplied with 100 / 240 V AC, it is mandatory to connect it to the ground with a good
link to the ground, to protect against electric hazard or electrocution.
It is dangerous to change the status of the outputs.
They can control power actuators or other equipment (mechanical, pneumatic, hydraulic, electrical or
other) which can cause serious personal injury and damage to surrounding material.
For safety and quality measurement reasons, it is important, before powering on the device, to ensure
that it is air supplied with a minimum operating pressure (0.6 MPa ± 15%).
Recommendations for the test environment
Keep the test area as clean as possible.
Recommendations for operators
ATEQ recommends that the operators who use the devices have training and a level of qualification
that correspond to the job to perform.
General recommendations
— Read the user manual before using the device.
— All electrical connections to the device must be equipped with safety systems (fuses, circuit
breakers, etc.) adapted to the needs and in accordance with the applicable standards and rules.
— To avoid electromagnetic interference, electrical connections to the device must be shorter than 2
meters.
— Power supply plug must be grounded.
— Disconnect the device from the mains before performing any maintenance work.
— Shut off the compressed air supply when working on the pneumatic assembly.
— Do not open a connected device.
— Avoid splashing water on the device.
ATEQ is at your disposal for any information concerning the use of the device under maximum safety
conditions.
We draw your attention to the fact that ATEQ cannot be held responsible for any accident related to
a misuse of the measuring instrument, the workstation or non-compliance of the installation with
safety rules.
In addition, ATEQ declines any responsibility for the calibration or the fitting of their instruments that
is not done by ATEQ.
ATEQ also declines any responsibility for any modification (program, mechanical or electrical) of the
device done without their written consent.

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Preamble
INTRODUCTION
This manual intends to help you for the configuration and the use of your ATEQ G6 device on the
EtherCAT network.
For more information on your ATEQ equipment, refer to the Quick Start Manual.

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BASIC NOTIONS
The numerical values used in the ATEQ device are coded on a Long format.
ATEQ devices are configured in Little Endian format. It means that the Least Significant Byte is sent
first on the network.
Word
A word is a 16-bit data. It is coded with two bytes (8bits):
— The first byte is the Least Significant Byte ( LSB )
— The second byte is the Most Significant Byte ( MSB )
Example of a word:
Reminder: “h” indicates a hexadecimal code, “(d)” indicates a decimal code.
Long format (Signed Double word)
A Long format data is coded with two words (of 16 bits).
In the memory range of the ATEQ device or when they are transmitted, both words are coming in the
following order:
— The first word is the least significant word
— The second word is the most significant word
— Example of a Long format:
Address value
All address values are treated with the Long format.
Example –address of the “millibar” unit in the Unit table (see Unit table):

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Numerical value
All the numerical values are treated with the Long format with fixed comma (10-3).
Thus, their value is expressed in thousandths of unit. So, this value must be multiplied by 1000 to get
the value in units.
For example, a value of 207055 represents 207.055. So, any numerical value must be divided by 1000
to get the real value:
— 207.055 = 207055 ÷ 1000
Example –Pressure:
Negative numerical value
All the negative numerical values are treated with Signed long format with fixed comma (10-3).
Thus, they must be multiplied by 1000 to get the value in units.
Example –Leak value (signed long):

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Hardware installation
HARDWARE CONFIGURATION
Connect your ATEQ equipment to the EtherCAT fieldbus using its EtherCAT connectors and compatible
cables.
Your device has an EtherCAT internal board and two EtherCAT connectors.
The EtherCAT internal board is located inside your device. Only one version is available:
— COMX 51
You can see the version installed using your user interface (see Identification of the version of the
EtherCAT module).
Your device has two RJ45 type connectors.
For more information on your ATEQ equipment, refer to the Quick Start Manual.
EtherCAT connector
Standard connection Ethernet TCP / IP protocol.
RJ45 connector

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Wiring instructions
General notes on wiring in EtherCAT
—Use shielded Ethernet cables that meet the requirements of at least category 5 (Cat 5)
according to EN 50173 or ISO/IEC 11801.
—Do not use hubs in an EtherCAT network.
—Use switches only between EtherCAT master and first EtherCAT slave device (100 MBit/s, Full
Duplex).
—The cable length between two EtherCAT devices must not exceed 100 meters.
Standard wiring (without redundancy)
Standard wiring in EtherCAT connects channel 0 (also known as Port 0 or Main Port) of the master
device to the IN Port of the first slave device. The OUT Port of the first slave device is connected to the
IN Port of the next slave device, and so forth. The OUT Port of the last slave device and channel 1 of
the master device remain unused.
Figure 1: Standard Wiring in EtherCAT Network
Redundant wiring
EtherCAT master firmware version ≥ 2.5.x.x supports redundant wiring. In redundant wiring, the OUT
Port of the last slave device is connected to channel 1 (Port 1) of the master device in addition to the
standard wiring, thus creating a “ring topology” with the master channel 1 serving as "redundancy
port".
Figure 2: Redundant Wiring in EtherCAT Network

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In case of an interrupted cable connection between two EtherCAT slaves or in case of a defective slave
device, the redundant cable maintains the communication between the master and the other slaves,
which otherwise would be cut-off from the bus.
Figure 3: Cable Interrupt in Standard Wiring in EtherCAT Network
Figure 4: Cable Interrupt in Redundant Wiring in EtherCAT Network
Prerequisites for using redundant wiring in EtherCAT: Redundancy function has been enabled in
configuration of master.
Redundancy function and Distributed Clocks function cannot be used at the same time.
Firmware version 2.5.x.x does not support Distributed Clocks.
Firmware version 3.0.x supports either Redundancy or Distributed Clocks, but never both functions at
once.

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Configuration of the ATEQ device
(slave)
Use this procedure to configure your device.
This configuration can be done with the front panel of your ATEQ device or with the ATEQ Fieldbus
Configurator software.
SETUP OF THE ETHERCAT CONFIGURATION MODE
Five configuration modes are available according to the bytes number available:
Mode number
Configuration mode
Use
5
Standard mode (normal)
For the inputs/outputs, real time measurements, the
live cycle results and parameters management
4
Standard less mode
For the inputs/outputs, real time measurements, the
live cycle results and parameters management
3
Medium more mode
For the inputs/outputs, the real time measurements,
the live cycle results and parameters management
2
Medium mode
For the inputs/outputs and the real time
measurements
1
Light mode
For the digital inputs/outputs
Configuration modes according to bytes number available
Memory range
Mode number and bytes available
Functions available
(5)
200
bytes
(4)
96
bytes
(3)
64
bytes
(2)
32
bytes
(1)
16
bytes
00h-0Fh
X
X
X
X
X
Inputs/outputs
10h-1Fh
X
X
X
X
Real time measurements
20h-3Fh
X
X
X
Exchange zone: cycle result reading or 5
parameters management
40h-5Fh
X
X
Exchange zone: cycle result reading or 10
parameters management
60h-C8h
X
Exchange zone: cycle result reading or 20
parameters management
From the MAIN MENU screen of your ATEQ device:
➢CONFIGURATION
➢AUTOMATISM
➢FIELDBUS
➢ACCESS

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SETUP OF THE UNIQUE ID
The Unique ID must be the different for each device on the EtherCAT network.
From the ATEQ device
From the MAIN MENU screen of
your ATEQ device:
➢CONFIGURATION
➢AUTOMATISM
➢FIELDBUS
➢UNIQUE ID
From the ATEQ Fieldbus Configurator software
Connect your PC to the RS232 connector of your ATEQ device.
Run the ATEQ Fieldbus Configurator software:
The Alias is set only by the master (no access by the slave).

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Configuration of the master
INSTALLATION OF THE ETHERCAT MODULE
Identification of the version of the EtherCAT module
You can identify the hardware configuration using your ATEQ device or using a fieldbus configuration
software.
For the installation and configuration of the EtherCAT module, you have to select the component that
corresponds to the firmware (see Configuration files).
From the ATEQ device
From the MAIN MENU screen of your
ATEQ device:
➢ SERVICE
➢ FIELDBUS
The Hilscher firmware version is
displayed in the FIRMWARE parameter.
From the ATEQ Fieldbus Configurator software
Connect your PC to the RS232 connector of your ATEQ device.
Run the ATEQ Fieldbus Configurator software:
The Hilscher firmware version is displayed in the FIRMWARE parameter.

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CONFIGURATION FILES
Configuration files to use for the configuration of the master instrument.
EtherCAT hardware and software compatibilities
The table below gives the configuration file to use according to the hardware reference of the
EtherCAT internal board of your ATEQ device (Hilscher hardware reference).
EtherCAT
Specs
Device
software
Fieldbus
Software
Hilscher
Firmware
Config Files
Hilscher
Hardware Ref
V4.6
F6: ≥ 1.322
Others: ≥1.000
> 2.104
4.6.0.1
HILSCHER COMX 51XX RE ECS
V4.6.X.xml (15/06/2018)
COMX 51

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SELECTION OF THE MASTER BOARD
The screenshot used in this section correspond to the Sycon.net from Hilscher software.
Nevertheless, you may use your own software to configure the master.
From the Device Assignment screen, select the master card:

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MASTER DEVICES INSTALLATION
The screenshot used in this section correspond to the Sycon.net from Hilscher software.
Nevertheless, you may use your own software to configure the master.
Scan the devices
To have connection and communication with EtherCAT, you must follow the instruction displayed in
the examples below.
Right click on the master and select Network Scan…to detect slaves on the network:
Devices configuration
Once devices are detected, a window containing the information of these devices appears.
You can click on the Create Devices button and the software will create the corresponding slaves.

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CHECKING OF THE ETHERCAT CONFIGURATION MODES
Five configuration modes are available according to the bytes number available (see Configuration of
the ATEQ device (slave)).
As you can see with the Sycon example below, the outputs must be at the 0x1A00 index (TxPDO) and
the inputs must be at the 0x1600 index (RxPDO).
Setup of the Standard mode (normal)
The parameters configuration must be like the following ones:
— Input_Data: IB = 200 bytes
— Output_Data: QB = 200 bytes

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Setup of the Standard less mode
The parameters configuration must be like the following ones:
— Input_Data: IB = 96 bytes
— Output_Data: QB = 96 bytes

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Setup of the Medium more mode
The parameters configuration must be like the following ones:
— Input_Data: IB = 64 bytes
— Output_Data: QB = 64 bytes

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Setup of the Medium mode
The parameters configuration must be like the following ones:
— Input_Data: IB = 32 bytes
— Output_Data: QB = 32 bytes