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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ATEQ China
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ATEQ SYSTEMS ANALYSIS TAIWAN CO.,
LTD.
NO. 3, LAN 223, San Jia Dong Street
40642, TAICHUNG
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ATEQ CORP.
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Livonia MI 48150
UNITED STATES
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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.