ESD EtherCAT ECX-EC E.3022.02 User manual

ECX-EC
Slave Bridge
Manual
to Product E.3022.02
ECX-EC Manual • Doc. No.: E.3022.21 / Rev. 1.9 Page 1 o 74
esd electronic system design gmbh
Vahrenwalder Str. 207 • 30165 Hannover • ermany
http://www.esd.eu
Phone: [phone] • Fax: [phone]

N O T E
The in ormation in this document has been care ully checked and is believed to be entirely reliable.
esd electronics makes no warranty o any kind with regard to the material in this document, and
assumes no responsibility or any errors that may appear in this document. In particular
descriptions and technical data speci ied in this document may not be constituted to be guaranteed
product eatures in any legal sense.
esd electronics reserves the right to make changes without notice to this, or any o its products, to
improve reliability, per ormance or design.
All rights to this documentation are reserved by esd electronics. Distribution to third parties, and
reproduction o this document in any orm, whole or in part, are subject to esd electronics's
written approval.
© 2020 esd electronics gmbh, Hannover
esd electronics gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Phone: [phone]
Fax: [phone]
E-Mail: in [email protected]
Internet: www.esd.eu
This manual contains important in ormation and instructions on sa e and e icient
handling o the ECX-EC. Care ully read this manual be ore commencing any work and
ollow the instructions.
The manual is a product component, please retain it or uture use.
Trademark Notices
EtherCAT® is a registered trademark and patented technology, licensed by Beckho Automation GmbH, Germany.
All other trademarks, product names, company names or company logos used in this manual are reserved by their
respective owners.
Page 2 o 74 Manual • Doc. No.: E.3022.21 / Rev. 1.9 ECX-EC

Document file: I:\Texte\Doku\MANUALS\ECX\ECX-EC\Englisch\ECX-EC-Manual_en_19.odt
Date of print: 2020-01-14
Document t pe
number: DOC0800
Firmware version: rom Version 1.0.3
Document Histor
The changes in the document listed below a ect changes in the hardware as well as changes in
the description o the acts, only.
Revision Chapter Changes versus previous version Date
1.5
6.2.4.1 Fixed re erence to wrong object
2015-04-24
6.2.6 Chapter “UDP Gateway” added
6.3.2.5 Chapter or Object 0x2030 added
9. Declaration o Con ormity updated
1.6
- Sa ety In ormation revised, Classi ication o sa ety Instructions inserted,
Note to data sa ety inserted
2016-09-19
2.1 Note to „Hardware Installation “ inserted
3 Warning message inserted
5.1 Note inserted
5.3 Chapter revised
6.1, 6.2 Note to UDDC So tware
6.2.6.2 New chapter: „Con iguration with UDDC - Universal Device Description
Composer“ , text moved rom chapter „Con iguration“
6.4 Note to Firmware-Update inserted
6.4.1 LED description supplemented
1.7
1.1 Note on ECX-EC-CD inserted
2016-09-26
4.5, 6.1,
6.2, 6.4
Note on EtherCAT Workbench on ECX-EC-CD inserted
1.8 1.1 Block circuit diagram revised 2017-02-15
1.9 9. EU-Declaration o Con ormity updated 2020-01-14
Technical details are subject to change without urther notice.
ECX-EC Manual • Doc. No.: E.3022.21 / Rev. 1.9 Page 3 o 74

Classification of Warning Messages and Safet Instructions
This manual contains noticeable descriptions, warning messages and sa ety instructions, which
you must ollow to avoid personal injuries or death and property damage.
This is the sa ety alert symbol.
It is used to alert you to potential personal injury hazards. Obey all sa ety messages
and instructions that ollow this symbol to avoid possible injury or death.
DANGER, WARNING, CAUTION
Depending on the hazard level the signal words DANGER, WARNING or CAUTION are used to
highlight sa ety instructions and warning messages. These messages may also include a warning
relating to property damage.
DANGER
Danger statements indicate a hazardous situation which, i not avoided, will result in
death or serious injury.
WARNING
Warning statements indicate a hazardous situation that, i not avoided, could result in
death or serious injury.
CAUTION
Caution statements indicate a hazardous situation that, i not avoided, could result in
minor or moderate injury.
NOTICE
Notice statements are used to noti y people on hazards that could result in things other than
personal injury, like property damage.
NOTICE
This NOTICE statement contains the general mandatory sign and gives in ormation that
must be heeded and complied with or a sa e use.
INFORMATION
INFORMATION
Notes to point out something important or use ul.
Page 4 o 74 Manual • Doc. No.: E.3022.21 / Rev. 1.9 ECX-EC

Safet Instructions
● When working with the ECX-EC ollow the instructions below and read the manual care ully to
protect yoursel rom injury and the ECX-EC rom damage.
● Do not use damaged or de ective cables to connect the ECX-EC.
● In case o damages to the device, which might a ect sa ety, appropriate and immediate measures
must be taken, that exclude an endangerment o persons and domestic animals and property.
● Current circuits which are connected to the device have to be su iciently protected against
hazardous voltage (SELV according to EN 60950-1).
● The ECX-EC may only be driven by power supply current circuits, that are contact protected.
A power supply, that provides a sa ety extra-low voltage (SELV) according to EN 60950-1, complies
with this conditions.
● Do not open the housing o the ECX-EC.
● The ECX-EC has to be securely installed be ore commissioning.
● The permitted operating position is speci ied as shown (Figure: 33). Other operating positions are not
allowed.
●Never let liquids get inside the ECX-EC. Otherwise, electric shocks or short circuits may result.
● Protect the ECX-EC rom dust, moisture and steam.
● Protect the ECX-EC rom shocks and vibrations.
● The ECX-EC may become warm during normal use. Always allow adequate ventilation around the
ECX-EC and use care when handling.
● Do not operate the ECX-EC adjacent to heat sources and do not expose it to unnecessary thermal
radiation. Ensure an ambient temperature as speci ied in the technical data.
Qualified Personnel
This documentation is directed exclusively towards personnel quali ied in control and automation
engineering. The installation and commissioning o the product may only be carried out by quali ied
personnel, which is authorized to put devices, systems and electric circuits into operation
according to the applicable national standards o sa ety engineering.
Conformit
The ECX-EC meets the demands o the EU regulations and EMC standards printed in the
con ormity declaration at the end o this manual.
Data Safet
This device is equipped with an Ethernet or other inter ace which is suitable to establish a
connection to data networks. Depending on the so tware used on the device, these inter aces may
allow attackers to compromise normal unction, get illegal access or cause damage.
esd does not take responsibility or any damage caused by the device i operated at any networks.
It is the responsibility o the device's user to take care that necessary sa ety precautions or the
device's network inter ace are in place.
Intended Use
The intended use o the ECX-EC is the operation as EtherCAT Slave Bridge.
The guarantee given by esd does not cover damages which result rom improper use, usage not in
accordance with regulations or disregard o sa ety instructions and warnings.
● The ECX-EC is intended or indoor installation only.
● The operation o the ECX-EC in hazardous areas, or areas exposed to potentially explosive
materials is not permitted.
● The operation o the ECX-EC or medical purposes is prohibited.
ECX-EC Manual • Doc. No.: E.3022.21 / Rev. 1.9 Page 5 o 74

Service Note
The ECX-EC does not contain any parts that require maintenance by the user. The ECX-EC does
not require any manual con iguration o the hardware. Unauthorized intervention in the device
voids warranty claims.
Disposal
Devices which have become de ective in the long run have to be disposed in an appropriate way or
have to be returned to the manu acturer or proper disposal. Please, make a contribution to
environmental protection.
Number Representation
All numbers in this document are base 10 unless designated otherwise. Hexadecimal numbers have a pre ix
o 0x. For example, 42 is represented as 0x2A in hexadecimal.
Abbreviations
ESI Ether CAT Slave In ormation
PDO Process Data Object
SDO Service Data Object
XML Extensible Markup Language
Page 6 o 74 Manual • Doc. No.: E.3022.21 / Rev. 1.9 ECX-EC

Table of contents
Sa ety Instructions........................................................................................................................... 5
1. Overview.................................................................................................................................... 10
1.1 Description o the ECX-EC...................................................................................................10
2. Hardware Installation.................................................................................................................. 11
2.1 Connecting Diagram............................................................................................................11
2.2 LED Display......................................................................................................................... 12
3. Hardware Installation ................................................................................................................. 14
4. Technical Data........................................................................................................................... 15
4.1 General Technical Data.......................................................................................................15
4.2 Microprocessor and Memory................................................................................................16
4.2.1 EtherCAT Slave EC-A (Primary)..................................................................................16
4.2.2 EtherCAT Slave EC-B (Secondary).............................................................................16
4.3 Ethernet Inter ace................................................................................................................17
4.4 USB Inter ace...................................................................................................................... 17
4.5 So tware Support.................................................................................................................17
5. Connector Assignments.............................................................................................................18
5.1 24 V-Power Supply Voltage.................................................................................................18
5.2 EtherCAT EC-A, EC-B.........................................................................................................19
5.3 Conductor Connection/Conductor Cross Sections...............................................................20
6. So tware..................................................................................................................................... 21
6.1 Quick Start / First Steps.......................................................................................................21
6.1.1 Requirements..............................................................................................................22
6.1.2 esd EtherCAT Workbench...........................................................................................22
6.1.2.1 ESI Installation......................................................................................................22
6.1.2.2 Scan the EtherCAT Segment................................................................................23
6.1.2.3 Creating Variables................................................................................................24
6.1.2.4 Test Data Trans er................................................................................................26
6.1.3 Beckho TwinCAT®....................................................................................................28
6.1.3.1 ESI Installation......................................................................................................28
6.1.3.2 Scan EtherCAT Segment......................................................................................28
6.1.3.3 Create variables....................................................................................................29
6.1.3.4 Test Data Trans er................................................................................................31
6.2 Start-Up............................................................................................................................... 33
6.2.1 Functionality o the ECX-EC........................................................................................33
6.2.2 Per ormance................................................................................................................33
6.2.3 De inition o the Bridge Variables................................................................................34
6.2.4 Distributed Clocks.......................................................................................................35
6.2.4.1 Automatic Synchronisation...................................................................................35
6.2.4.2 Standard Synchronisation.....................................................................................37
6.2.4.2.1 PDOs............................................................................................................37
6.2.4.2.2 Synchronisation o two EtherCAT Segments.................................................37
6.2.4.2.3 DC in Redundancy Case...............................................................................38
6.2.4.2.4 Sample (synchronization o two EtherCAT segments)...................................39
6.2.5 PDOs........................................................................................................................... 40
6.2.5.1 0x1600 – “Outputs”...............................................................................................40
6.2.5.2 0x1605 – “Outputs PDO Parameter”.....................................................................40
6.2.5.3 0x1A00 – “Inputs”.................................................................................................40
6.2.5.4 0x1A01 – “SYNC Slave (status only)”...................................................................41
6.2.5.5 0x1A02 – “SYNC Slave (64 bit)”...........................................................................41
6.2.5.6 0x1A03 – “SYNC Slave (32 bit)”...........................................................................42
6.2.5.7 0x1A04 – “SYNC Master”.....................................................................................42
ECX-EC Manual • Doc. No.: E.3022.21 / Rev. 1.9 Page 7 o 74

6.2.5.8 0x1A05 – “Inputs PDO Parameter”.......................................................................42
6.2.6 UDP Gateway..............................................................................................................43
6.2.6.1 Con iguration........................................................................................................43
6.2.6.2 Con iguration with UDDC - Universal Device Description Composer....................44
6.2.6.3 Protocol Overview.................................................................................................45
6.2.6.4 UDP Protocol Details............................................................................................45
6.3 CoE Object Directory...........................................................................................................48
6.3.1 Standard Objects (0x1000..0x1FFF)...........................................................................48
6.3.1.1 Object 0x1000 – “Device Type”.............................................................................48
6.3.1.2 Object 0x1008 – “Device Name”...........................................................................48
6.3.1.3 Object 0x1009 – “Hardware Version”....................................................................48
6.3.1.4 Object 0x100A – “So tware Version”.....................................................................48
6.3.1.5 Object 0x1018 – “Identity”.....................................................................................48
6.3.1.6 Object 0x10F4 – “External Synchronization Status”..............................................49
6.3.1.7 Object 0x10F5 – “Synchronization Settings”.........................................................49
6.3.1.8 Object 0x10FF – “Bridge Variables Con iguration”................................................50
6.3.1.9 Object 0x1400 – “RxPDO 0x1600 Parameter”......................................................51
6.3.1.10 Object 0x1600 – “Outputs”..................................................................................51
6.3.1.11 Object 0x1605 – “Outputs PDO Parameters”......................................................51
6.3.1.12 Object 0x1800 – “TxPDO 0x1A00 Parameter”....................................................52
6.3.1.13 Object 0x1801 – “TxPDO 0x1A01 Parameter”....................................................52
6.3.1.14 Object 0x1802 – “TxPDO 0x1A02 Parameter”....................................................52
6.3.1.15 Object 0x1803 – “TxPDO 0x1A03 Parameter”....................................................52
6.3.1.16 Object 0x1804 – “TxPDO 0x1A04 Parameter”....................................................53
6.3.1.17 Object 0x1A00 – “Inputs”....................................................................................53
6.3.1.18 Object 0x1A01 – “SYNC Slave (Status Only)”.....................................................53
6.3.1.19 Object 0x1A02 – “SYNC Slave (64 bit)”..............................................................54
6.3.1.20 Object 0x1A03 – “SYNC Slave (32 bit)”..............................................................54
6.3.1.21 Object 0x1A04 – “SYNC Master”........................................................................55
6.3.1.22 Object 0x1A05 – “Inputs PDO Parameter”..........................................................55
6.3.1.23 Object 0x1C00 – “SM Types”..............................................................................55
6.3.1.24 Object 0x1C12 – “PDO Assignment”...................................................................56
6.3.1.25 Object 0x1C13 – “PDO Assignment”...................................................................56
6.3.2 Manu acturer-speci ic Objects (0x2000..0x5FFF)........................................................57
6.3.2.1 Object 0x2000 – “Other Settings”..........................................................................57
6.3.2.2 Object 0x2001 – “Other In os”...............................................................................57
6.3.2.3 Object 0x2010 – “Statistics”..................................................................................58
6.3.2.4 Object 0x2020 – “Ethernet”...................................................................................59
6.3.2.5 Object 0x2030 – “UDP Gateway”..........................................................................60
6.3.3 Pro ile-speci ic Objects (0x6000..0xFFFF)...................................................................62
6.3.3.1 Object 0x6000 – “Inputs”.......................................................................................62
6.3.3.2 Object 0x7000 – “Outputs”....................................................................................62
6.3.3.3 Object 0xF000 – “Modular Device Pro ile”............................................................62
6.3.3.4 Object 0xF008 – “Code Word”..............................................................................62
6.3.3.5 Object 0xF010 – “Module List”..............................................................................62
6.4 FoE (Firmware-Update).......................................................................................................63
6.4.1 Firmware-Update with esd EtherCAT Workbench.......................................................63
6.4.2 Firmware-Update with Beckho TwinCAT/Con igurator..............................................64
6.5 EoE (Switch Port).................................................................................................................66
7. Appendix InRailBus (Option)......................................................................................................67
7.1 Connector Assignment 24V via InRailBus (Option)..............................................................67
7.2 Using InRailBus Connector..................................................................................................68
7.2.1 Connection o the Power Supply Voltage....................................................................68
7.2.2 Installation o the Module Using the InRailBus Connector...........................................69
7.2.2.1 Connecting Power Supply via CBX-InRailBus......................................................71
7.2.3 Remove the ECX-EC Module rom InRailBus..............................................................71
Page 8 o 74 Manual • Doc. No.: E.3022.21 / Rev. 1.9 ECX-EC

8. Re erences................................................................................................................................. 72
9. Declaration o Con ormity...........................................................................................................73
10. Order In ormation.....................................................................................................................74
ECX-EC Manual • Doc. No.: E.3022.21 / Rev. 1.9 Page 9 o 74

Overview
1. Overview
1.1 Description of the ECX-EC
Fig. 1: Block circuit diagram
The ECX-EC EtherCAT Slave Bridge connects two EtherCAT segments. There ore the EtherCAT
slave bridge implements two separate EtherCAT slave inter aces or integration into two EtherCAT
networks. The bridge allows EtherCAT process data exchange between the networks.
For synchronization o Distributed Clocks (DC) the ECX-EC o ers the exact di erence between the
two slave time stamps as CoE object to allow one master adjusting its time to the other.
For DC synchronization in the redundancy case the ECX-EC bridge is used as irst and last slave
simultaneously, which allows the master to keep all slaves synchronized in both segments.
Additionally the ECX-EC comes with an Ethernet inter ace, that can be used as Ethernet over
EtherCAT (EoE) Switch Port.
The ECX-EC is a compact hat-rail module designed or carrier rail mounting (TS 35).
The 24 V-power supply can be applied via a connector with spring-cage connection or optionally
via the InRailBus connector (TBUS-connector) integrated in the mounting-rail.
Furthermore, an optional CAN inter ace can be realized, accessible via the InRailBus connector.
The 100BASE-T-EtherCAT inter aces are designed according to IEEE 802.3.
The ECX-EC can be con igured by typical network con iguration tools (e.g. esd Workbench,
TwinCAT®, etc.).
INFORMATION
The enclosed ECX-EC-CD contains the documentation, the EtherCAT Workbench as
network con iguration and diagnostic tool or EtherCAT networks and the esd So tware
UDDC (Universal Description Composer).
Page 10 o 74 Manual • Doc. No.: E.3022.21 / Rev. 1.9 ECX-EC
EtherCAT
Slave
Controller
ET1100
MII
MII
SPI-Flash
ARM® Cortex
TM
A8
Microprocessor
MII
MII
Ethernet
PH
Ethernet
PH DDR2
RAM
Status
LEDs
24V
+24 V=
DC/DC
Converter
24V
DC-Latch
MII
Ethernet
PH
USB
Physical
CAN
Layer
CAN
VCC
Ethernet
PH
Ethernet
PH
Optional CAN Interface
without electrical isolation
EtherCAT B OUT
100-BASE-TX
RJ45 with LEDs
EtherCAT A OUT
100-BASE-TX
RJ45 with LEDs
EtherCAT A IN
100-BASE-TX
RJ45 with LEDs
24V
Power Connector
MSTBO 2,5/4-
G1L-KMG
InRailBus
Connector for
CAN-CBX-TBUS
Ethernet ETH
100-BASE-TX
RJ45 with LEDs
EtherCAT B IN
100-BASE-TX
RJ45 with LEDs