Delta CMC-EC01 User manual

CMC-EC01
EtherCAT Operation Manual
Applicable Products:
CMC-EC01 (C2000 Plus / CH2000 Option Card)
DELTA_IA-MDS_VFD-C2000 Series_CMM-EC01_OM_EN_20230221

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
2
Copyright Notice
©Delta Electronics, Inc. All rights reserved.
All information contained in this user manual is the exclusive property of Delta Electronics Inc. (hereinafter
referred to as "Delta") and is protected by copyright law and all other laws. Delta retains the exclusive
rights of this user manual in accordance with the copyright law and all other laws. No parts in this manual
may be reproduced, transmitted, transcribed, translated or used in any other ways without the prior consent
of Delta.
Limitation of Liability
The contents of this user manual are only for the use of the product manufactured by Delta. Except as
defined in special mandatory laws, Delta provides this user manual “as is” and does not offer any kind of
warranty through this user manual for using the product, either express or implied, including but not limited
to the following: (i) this product will meet your needs or expectations; (ii) the information contained in the
product is current and correct; (iii) the product does not infringe any rights of any other person. You shall
bear your own risk to use this product.
In no event shall Delta, its subsidiaries, affiliates, managers, employees, agents, partners and licensors
be liable for any direct, indirect, incidental, special, derivative or consequential damages (including but not
limited to the damages for loss of profits, goodwill, use or other intangible losses) unless the laws contains
special mandatory provisions to the contrary.
Delta reserves the right to make changes to the user manual and the products described in the user
manual without prior notice and afterwards.

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
3
Caution
This operation manual provides information on specifications, installation instructions,
basic operations/configurations, and details on network communication protocols.
The AC motor drive is a sophisticated electronic device. For the safety of the operator
and your mechanical equipment, only qualified electrical engineers are allowed to
perform the installation/trial runs and make parameter adjustments. If you have any
question or concern, please contact your local Delta distributor. Our professional staff will
be very glad to help you.
Please read this manual carefully and follow the instructions to avoid device damage or
personal injury.
Application Drive Firmware Version: C2000 Plus V3.07 / CH2000 V2.07 or above
CMC-EC01 Option Card Firmware Version: V3.00 or above

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
4
Table of Contents
1. Introduction to Option Card ........................................................................................................6
1.1 Communication Specification.................................................................................................6
1.2 Product Profile........................................................................................................................8
1.2.1 Dimension.....................................................................................................................8
1.2.2 Components Overview .................................................................................................8
1.3 LED Indicators .......................................................................................................................9
1.4 RJ45 PIN Definition................................................................................................................9
1.5 Applicable Models..................................................................................................................9
1.5.1 Applicable Model Versions............................................................................................9
2. Installation ..................................................................................................................................10
2.1 Mounting Position of Option Card ........................................................................................10
2.2 Mounting and Detatching Option Card.................................................................................13
2.2.1 Moutning the Option Card...........................................................................................13
2.2.2 Detaching the Option Card .........................................................................................14
2.3 Network Connection.............................................................................................................15
2.4 Drive Parameter Setting.......................................................................................................15
2.5 ESI .......................................................................................................................................16
3. Introduction to EtherCAT...........................................................................................................17
3.1 Protocol................................................................................................................................17
3.2 State Machine ......................................................................................................................18
4. System Settings .........................................................................................................................19
4.1 Synchronous Mode ..............................................................................................................19
4.1.1 Sync Mode Selection ..................................................................................................20
4.1.2 Synchronous Clock Setting.........................................................................................21
4.2 PDO Mapping Configuration ................................................................................................22
4.2.1 Default PDO Mapping Configuration ..........................................................................22
4.2.2 PDO Mapping Setting .................................................................................................23
5. CiA402 Device Specification .....................................................................................................24
5.1 CANopen over Ethernet (CoE) State Machine.....................................................................24
5.2 EtherCAT Operation Mode...................................................................................................26
5.2.1 Profile Position Mode..................................................................................................26
5.2.2 Profile Torque Mode....................................................................................................29
5.2.3 Velocity Mode .............................................................................................................31
5.2.4 Homing Mode .............................................................................................................33
5.2.5 Cyclic Synchronous Position Mode ............................................................................35
5.2.6 Cyclic Synchronous Torque Mode ..............................................................................37
6. Communication Warning/Fault Codes .....................................................................................39

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
5
6.1 Drive Warning/Fault Codes ..................................................................................................39
6.2 SDO Abort Code ..................................................................................................................40
7. Operation Example.....................................................................................................................41
7.1 Delta PLC – AX-8 Operation Example (Designer-AX (Codesys base)) ...............................41
7.2 Delta PLC – AH10EMC Operation Example (ECAT Builder) ...............................................50
Appendix A. Object Descriptions .....................................................................................................59
A.1 Object Specifications............................................................................................................59
A.1.1 Object Type.................................................................................................................59
A.1.2 Data Type ...................................................................................................................59
A.2 Object Dictionary..................................................................................................................60
A.2.1 OD 1000h Communication Group ..............................................................................60
A.2.2 OD 3000h Drive Group ...............................................................................................60
A.2.3 OD 6000h Communication Object Group ...................................................................60
A.3 Object Details.......................................................................................................................62
A.3.1 OD 1000h Communication Group ..............................................................................62
A.3.2 OD 3000h Drive Group ...............................................................................................67
A.3.3 OD 6000h Communication Object Group ...................................................................80
A.4 Reference Table of CiA402 Object and Drive Pr. Unit .........................................................99
Appendix B. Revision History .........................................................................................................100
Issued Edition: 02
Issued Date: February, 2023

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
6
1. Introduction to Option Card
1.1 Communication Specification

Environment Conditions
Item Specification
Noise Immunity
ESD (IEC 61800-5-1, IEC 6100-4-2)
EFT (IEC 61800-5-1, IEC 6100-4-4)
Surge Test (IEC 61800-5-1, IEC 6100-4-5)
Conducted Susceptibility Test (IEC 61800-5-1, IEC 6100-4-6)
Operating Temperature -10–50°C (temperature), 90% (humidity)
Storage Temperature -25–70°C (temperature), 95% (humidity)
Vibration/Shock
Resistance
International Standard Specification
IEC 61800-5-1, IEC 60068-2-6 / IEC 61800-5-1, IEC 60068-2-27
Ethernet Specifications
Item Specification
Interface RJ45
Port Number 2
Communication Mode IEEE802.3, IEEE802.3u
Cable Category 5e shielding 100 M
Transmission Speed 10 / 100 Mbps Auto-Defect
Communication Protocol EtherCAT
Synchronization Mode DC Mode: Distributed Clock Mode
Free Run mode (Asynchronous)
Communication Object
Process Data Object (PDO)
Service Data Object (SDO)
Emergency Object (EMCY)
Application Layer
Specifications CiA402 Drive Profile
Supported CiA402
Operation Mode
Profile Position Mode
Profile Torque Mode
Velocity Mode
Homing Mode
Cyclic Synchronous Position Mode
Cyclic Synchronous Torque Mode

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
7

Electrical Specifications
Item Specification
Power Voltage
15 V
DC
(supplied by the drive)
Power Consumption 0.8 W
Insulation Voltage
500 V
DC
Weight (approx.) 27 g

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
8
1.2 Product Profile
1.2.1 Dimension
1.2.2 Components Overview
①
Screw fixing hole
⑦
IN LINK indicator
②
Option card positioning hole
⑧
Fool-proof groove
③
RUN indicator
⑨
RJ45 port
④
ERR indicator
⑩
RJ45 port
⑤
POWER indicator
⑪
Control board port
⑥
OUT LINK indicator
Umit: mm [inch]

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
9
1.3 LED Indicators
Name Indicator Status Indication
RUN Green
Light
Always ON Normal operation
Flashes Pre-operation (ON/OFF 200 ms)
Safe mode operation (ON 200 ms / OFF 1000 ms)
OFF Initial state
ERROR Red
Light
Flashes
Basic configuration error (ON/OFF 200 ms)
State switching error (ON 200 ms / OFF 1000 ms)
Time-out (ON 200 ms twice / OFF 1000 ms)
OFF No error
IN LINK Green
Light
Always ON Internet connection is normal
Flashes Network in operation
OFF Not connected to the Internet
OUT LINK Green
Light
Always ON Internet connection is normal
Flashes Network in operation
OFF Not connected to the Internet
1.4 RJ45 PIN Definition
RJ45 Diagram PIN No. Definition Description
1 Tx+ Positive pole for data transmission
2 Tx- Negative pole for data transmission
3 Rx+ Positive pole for data reception
4 -- N / C
5 -- N / C
6 Rx- Negative pole for data reception
7 -- N / C
8 -- N / C
1.5 Applicable Models
1.5.1 Applicable Model Versions
Drive Firmware Version C2000 Plus V3.07 / CH2000 V2.07 or above
Communication Card
Firmware Version CMC-EC01 V3.00 or above
NOTE: This manual is applicable to C2000 Plus and CH2000 (hereinafter "C2000 series")

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
10
2. Installation
This chapter introduces how CMC-EC01 is connected with C2000 series, and how it is connected to
the network.
2.1 Mounting Position of Option Card
Before mounting the option card, remove the digital keypad and top cover. Be sure to follow the steps
below to prevent damage to the drive during installation.
Frame A–C Screw torque: 8–10 kg-cm / (6.9–8.7 lb-in.) / (0.8–1.0 Nm)
Frame D0 Screw torque: 8–10 kg-cm / (6.9–8.7 lb-in.) / (0.8–1.0 Nm)
Frame D Screw torque: 8–10 kg-cm / (6.9–8.7 lb-in.) / (0.8–1.0 Nm)

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
11
Frame E Screw Torque: 12–15 kg-cm / (10.4–13 lb-in.) / (1.2–1.5 Nm)
Frame F Screw Torque: 12–15 kg-cm / (10.4–13 lb-in.) / (1.2–1.5 Nm)
Frame G Screw Torque: 12–15 kg-cm / (10.4–13 lb-in.) / (1.2–1.5 Nm)

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
12
○
2
○
3
○
4
○
1
No. Description
①
RJ45 (Socket) for digital keypad KPC-CC01
For details on digital keypad, see chapter 10 Digital Keypad in
C2000 series user manuals.
For details on optional accessory RJ45 extension cable, see
chapter 10 Ditigal Keypad in C2000 series user manuals.
②
Communication extension card (Slot 1)
CMC-PD01; CMC-DN01; CMC-EIP01; EMC-COP01; CMC-EC01;
CMC-PN01
③I/O & relay extension card (Slot 3)
EMC-D42A; EMC-D611A; EMC-A22A; EMC-R6AA; EMC-BPS01
④
PG card (Slot 2)
EMC-PG01L; EMC-PG02L; EMC-PG01O; EMC-PG02O; EMC-
PG01U; EMC-PG02U; EMC-PG01R; EMC-PG01H
Screw specification for option card terminals
EMC-D42A; EMC-D611A;
EMC-BPS01
Wire
guage 0.2–0.5 mm2(26–20 AWG)
Torque 5 kg-cm / (4.4 Ib-in.) / (0.5 Nm)
EMC-R6AA
Wire
guage 0.2–0.5 mm2 (26–20 AWG)
Torque 8 kg-cm / (7 Ib-in.) / (0.8 Nm)
EMC-A22A
Wire
guage 0.2–4 mm2(24–12 AWG)
Torque 5 kg-cm / (4.4 Ib-in.) / (0.5 Nm)
EMC-PG01L; EMC-PG02L;
EMC-PG01O; EMC-PG02O;
EMC-PG01U; EMC-PG02U;
EMC-PG01R; EMC-PG01H
Wire
guage 0.2–0.5 mm2 (26–20 AWG)
Torque 2 kg-cm / (1.73 Ib-in.) / (0.2 Nm)
Slot 1
Slot 3
Slot 2

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
13
2.2 Mounting and Detatching Option Card
2.2.1 Moutning the Option Card
Insulation spacer
As the figure on the left shows, place the insulation
spacer into the positioning pin first. Next, aim the
two holes on PCB at the positioning pins, and then
press downward to have the two clips engage the PCB.
Model Name
CMC COP01
CMC EIP01
CMC DN01
CMC-PD01
CMC-PN01

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
14
2.2.2 Detaching the Option Card

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
15
2.3 Network Connection
Pay attention to the connection method for EtherCAT because its packet delivery is directional. When
front-mounting the communication card, the delivery direction for CMC-EC01 is from left (IN) to right
(OUT). The diagram below shows the correct wiring for front-mounting CMC-EC01.
After connecting CMC-EC01 with C2000 series is finished, check if Pr.09-60 is displayed as "6"
(EtherCAT). If not, verify the drive version and check if CMC-EC01 is correctly installed.
2.4 Drive Parameter Setting
When operating C2000 series using CMC-EC01, verify the following parameter settings:
Parameter No.
Settings /
Displayed
ValueDisplayed
Value
Function Description
00-20 8 Set communication card as the source of Frequency command.
00-21 5 Set communication card as the control source.
11-33 5 Set communication card as the source of torque command
11-40 5 Set communication card as the source of position control command
09-60 6
Communication card identification:
When CMC-EC01 communication card is connected, this parameter
value is displayed as 6 (EtherCAT Slave)
09-30 1 Communication decoding method:
EtherCAT only supports decoding method 2 (60xx)

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
16
2.5 ESI
The CMC-EC01 ESI file can be downloaded from Deltas official download center:
https://downloadcenter.deltaww.com/en-US/DownloadCenter
The file name for C2000 series description files is:
C2000 Plus: DELTA_IA-MDS_C2000Plus_CMC-EC01_Vx-xx_EC_EP_yyyymmdd.xml
CH2000: DELTA_IA-MDS_CH2000_CMC-EC01_Vx-xx_EC_EP_yyyymmdd.xml
NOTE:
Vx-xx is the firmware version of the EtherCAT card.
yyyymmdd is the released date (year/month/day).

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
17
3. Introduction to EtherCAT
3.1 Protocol
EtherCAT (Ethernet for Control Automation Technology) - Ethernet network control automation
technology was originally developed by Beckhoff Company in Germany based on the Ethernet
network communication protocol, and applied to the open real-time field bus (Fieldbus) in the field of
automation and industrial control technology. Currently this technology is supported and promoted by
the EtherCAT Technology Group (ETG) in the future.
EtherCAT architecture of the drive is as follows:
1. Communication layer:This protocol covers communication objects (PDO, SDO, Sync,
Emergency Object), and related communication object dictionary.
2. DS402 Drives and motion control device profile:Defines the behavior of each motion mode
and sets the object parameters required for execution.
EtherCAT Node
Communication Layer
Drive Profile 402
Homing Mode
Profile Position Mode
Profile Torque Mode
Velocity Mode
Cyclic Synchronous Position Mode
Cyclic Synchronous Torque Mode
Mode of Operation
EtherCAT
Motor

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
18
3.2 State Machine
State Description:
State Description
Init
Drive has successfully completed initialization after power-up without
any errors; there is no communication in the application layer.
Pre-Operational
Mailbox communication can be used at present.
Safe-Operational PDO input data (TxPDO) can be read.
PDO output data (RxPDO) cannot be received.
Operational
For cylic I/O communication, PDO output data (RxPDO) can be
processed.
State Switch Command Description
IP
Start mailbox communication
PI
Discontinue mailbox communication
PS
Start updating input data (TxPDO)
SP
Terminate updating input data (TxPDO)
SO
Start updating output data (RxPDO)
OS
Terminate updating output data (RxPDO)
OP
Terminate updating input/output data
SI
Terminate updating of input data and mailbox communications
OI
Terminate all input/output data updates and mailbox communications

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
19
4. System Settings
4.1 Synchronous Mode
The drive supports two synchronization modes: Free Run Mode and DC-Synchronous Mode. Note
that free-running mode is still defined as "synchronous mode" in the EtherCAT specification by the
EtherCAT Technology Group (ETG).
Free Run Mode (Asynchronous)
There is an asynchronous relationship between master station and the slave station, and both have
independent clocks for calculating time, that is, the clocks of the master station and the slave station
are not synchronized. The commands transmitted and replied between the master station and the
slave station are only sequential command exchanges without precise synchronization. For example,
the master sends a PDO at time T1 and the slave receives the PDO at T2 after the SM2 event.
DC-Synchronous Mode (SYNC0)
There is precise time synchronization between the master station and the slave station. The master
station will periodically execute the control program at a fixed time point according to the synchronous
clock and send PDO packets to transmit the command to the slave station and get feedback data
from the slave station, the slave station will obtain and update the PDO data at a fixed time according
to the synchronous clock.

EtherCAT Option Card CMC-EC01
CMC-EC01 Operation Manual
20
4.1.1 Sync Mode Selection
DC-Synchronous mode or Free Run mode can be selected by following steps:
1. Select Drive 1 (C2000 Plus (CMC-EC01 Card)) in the left window of TwinCAT
2. Select DC-Synchronous or Free Run as the operation mode under the DC tab in the right window.