Fastech Ezi-IO EtherCAT DA User manual

User Manual

-2-
INDEX
Safety and Installation Precautions.............................................................................. 6Chapter 1.
1.1 Before Operation............................................................................................................................... 6
1.2 Precautions ......................................................................................................................................... 6
General Precautions......................................................................................................................................61.2.1
Installation Precautions ...............................................................................................................................61.2.2
Safety Precautions .........................................................................................................................................71.2.3
Configuration .................................................................................................................... 9Chapter 2.
2.1 Ezi-IO EtherCAT DA Part Numbering ............................................................................................ 9
2.2 Ezi-IO EtherCAT DA Part Number.................................................................................................. 9
2.3 System Configuration.....................................................................................................................10
Specifications .................................................................................................................. 11Chapter 3.
3.1 EtherCAT Specifications .................................................................................................................11
3.2 Module Specifications ....................................................................................................................12
3.3 Module Dimensions ........................................................................................................................13
Connection Panel View ................................................................................................. 14Chapter 4.
4.1 Names and Functions (Ezi-IO-EC-DA04-T) .................................................................................14
EtherCAT ID Setting Switches (SW1, SW2) ..................................................................................... 154.1.1
Output Range Setting Switch (SW3).................................................................................................. 154.1.2
LED Indications............................................................................................................................................. 164.1.3
Power Connector (CN1) ........................................................................................................................... 164.1.4
Output Connector (CN2) ......................................................................................................................... 174.1.5
EtherCAT Connectors (CN3, CN4) ....................................................................................................... 174.1.6
Parts Included............................................................................................................................................... 184.1.7
Accessories (Sold Separately)................................................................................................................ 184.1.8
IO Connector Wiring...................................................................................................... 19Chapter 5.
5.1 Signal Wiring....................................................................................................................................19
Wiring of Voltage Outputs..................................................................................................................... 195.1.1
Wiring of Current Outputs ..................................................................................................................... 195.1.2
5.2 Internal Circuit Diagram ................................................................................................................20

-3-
Setting Output Range ................................................................................................... 21Chapter 6.
6.1 Setting Voltage Output Range .....................................................................................................21
Setting Voltage Output Range through SDO Communication............................................. 216.1.1
Setting Voltage Output Range with DIP Switches ...................................................................... 216.1.2
6.2 Setting Current Output Range .....................................................................................................22
Setting Current Output Range through SDO Communication ............................................. 226.2.1
Setting Current Output Range with DIP Switches ...................................................................... 226.2.2
EtherCAT Communication ............................................................................................ 23Chapter 7.
7.1 CAN Application Protocol Over EtherCAT..................................................................................23
Object Dictionary ........................................................................................................................................ 237.1.1
Mailbox Communication ......................................................................................................................... 237.1.2
Process Data Communication............................................................................................................... 247.1.3
7.2 PDO Mapping ..................................................................................................................................24
PDO Mapping............................................................................................................................................... 247.2.1
PDO Assign.................................................................................................................................................... 257.2.2
7.3 EtherCAT Communication State ...................................................................................................25
EtherCAT State Machine.......................................................................................................................... 257.3.1
EtherCAT Communication State Indication .................................................................................... 267.3.2
7.4 Synchronization ...............................................................................................................................27
Free Run .......................................................................................................................................................... 277.4.1
SM Event ......................................................................................................................................................... 277.4.2
DC Sync Event .............................................................................................................................................. 277.4.3
7.5 EtherCAT Slave Information..........................................................................................................28
7.6 EtherCAT Device ID.........................................................................................................................28
Setting and Operation................................................................................................... 29Chapter 8.
Functions.......................................................................................................................... 31Chapter 9.
9.1 Activating Channels ........................................................................................................................31
9.2 Output Ranges.................................................................................................................................31
Data Conversions for Output Ranges ............................................................................................... 319.2.1
Output Range Setting Methods........................................................................................................... 349.2.2
9.3 Analogue Output Fault Action .....................................................................................................35
Output Patterns When Error Occurs.................................................................................................. 359.3.1
Setting Output Patterns for When Error Occurs.......................................................................... 359.3.2

-4-
9.4 User Calibration for Output Deviation........................................................................................36
Terms Used .................................................................................................................................................... 369.4.1
Example of Using User Calibration..................................................................................................... 369.4.2
User Calibration Method ......................................................................................................................... 379.4.3
EtherCAT Object Dictionary ....................................................................................... 39Chapter 10.
10.1 Object Description Format ..........................................................................................................39
Index and Sub-Index............................................................................................................................... 3910.1.1
Name.............................................................................................................................................................. 3910.1.2
Data Types ................................................................................................................................................... 4010.1.3
Access............................................................................................................................................................. 4010.1.4
SAVE................................................................................................................................................................ 4010.1.5
PDO Mapping ............................................................................................................................................ 4010.1.6
Constant Value .......................................................................................................................................... 4010.1.7
Value Range................................................................................................................................................ 4110.1.8
Default Value .............................................................................................................................................. 4110.1.9
10.2 Communication Object.................................................................................................................42
Object 1000h: Device Type .................................................................................................................. 4210.2.1
Object 1001h: Error Register............................................................................................................... 4210.2.2
Object 1008h: Device Name ............................................................................................................... 4210.2.3
Object 1009h: Hardware Version ...................................................................................................... 4310.2.4
Object 100Ah: Software Version ....................................................................................................... 4310.2.5
Object 1011h: Restore Default Parameters .................................................................................. 4310.2.6
Object 1018h: Identity............................................................................................................................ 4310.2.7
Object 10F1h: Error Setting ................................................................................................................. 4410.2.8
10.3 PDO Mapping Object ...................................................................................................................45
Object 1600h: RxPDO-Map.................................................................................................................. 4510.3.1
Object 1C12h: RxPDO Assign ............................................................................................................. 4510.3.2
Object 1C13h: TxPDO Assign.............................................................................................................. 4510.3.3
10.4 Sync Manager Object ...................................................................................................................46
Object 1C00h: Sync Manager Type.................................................................................................. 4610.4.1
Object 1C32h: SM Output Parameter............................................................................................. 4610.4.2
Object 1C33h: SM Input Parameter................................................................................................. 4710.4.3
10.5 IO Module Profile Object.............................................................................................................48
Object 6411h: Write Analogue Output 16 bit ............................................................................ 4810.5.1
10.6 Manufacturer Specific Object .....................................................................................................49

-5-
Object 2300h: Analogue Output Available Channel Choice ................................................ 4910.6.1
Object 2301h: Analogue Output Range ........................................................................................ 4910.6.2
Object 2302h: Analogue Output Calibration Low Value ....................................................... 5010.6.3
Object 2303h: Analogue Output Calibration High Value...................................................... 5010.6.4
Object 2304h: Analogue Output Fault Action ............................................................................ 5110.6.5
Object 2305h: Analogue Output Fault Value .............................................................................. 5110.6.6

-6-
Safety and Installation PrecautionsChapter 1.
1.1 Before Operation
•Thank you for purchasing FASTECH Ezi-IO EtherCAT DA products.
•Ezi-IO EtherCAT DA is an Analogue Output Module mounted with an EtherCAT Slave Controller chip.
•This manual describes the handling, safety precautions, and specifications of Ezi-IO EtherCAT DA.
•Before starting the operation of Ezi-IO EtherCAT, thoroughly read this manual.
•After reading this manual, keep the manual near Ezi-IO EtherCAT DA, so that any user can read this
manual whenever needed.
1.2 Precautions
General Precautions1.2.1
•Contents of this manual are subject to change without prior notice for functional improvements,
change of specifications or user’s better understanding. Thoroughly read the manual which is provided
with the purchased product.
•In case of manual is damaged or lost, please contact FASTECH or our agents. You can find our contact
information on the last page of this manual.
•FASTECH is not responsible for a product breakdown due to the user’s dismantling of the product, and
such a breakdown is not guaranteed by the warranty.
Installation Precautions1.2.2
•This product has been designed for indoor use. Use the product in the ambient temperature 0°~ 50°C.
•When installing the products in an enclosed space, keep the ambient temperature of the product at or
below 50℃using a cooling fan.
•Do not install the product under direct rays, near magnetic or radioactive objects.
•When installing more than 2 product units together, keep the distance between two units at least 20mm
vertically and 50mm horizontally.

-7-
Safety Precautions1.2.3
•Before installation, operation, or repairing of the products, thoroughly read the manual and fully
understand the contents. Before operating the products, please understand the mechanical
characteristics of the products and related safety information and precautions.
•Safety precautions are indicated by and .
If a user does not properly handle the products, the user may be seriously
or lightly injured, and damages may occur to the machine.
If a user does not properly handle the products, a dangerous situation
(such as an electric shock) may occur resulting in deaths or serious injuries.
•Follow all the safety precautions indicated in this manual. Otherwise, serious damage or injury can be
resulted depending on the situation.
Safety Precautions When Designing
Design an appropriate protection circuit to protect the entire system from
faults in external power or connected devices.
Protect the system to ensure that the entire system is safe from
communication errors (emergency stop, interlock circuit, limit circuit, etc.).
Safety Precautions When Installing
Check if there is any damage on the product and if any part is missing.
Otherwise, the machine may get damaged or the user may get injured.
Carry the product carefully.
Otherwise, the product may get damaged or user’s foot may get injured by
dropping the product.
Use non-flammable materials such as metal in the place where the product
is to be installed.
Otherwise, a fire may occur.
When installing multiple products in an enclosed space, use a cooling fan
to keep the ambient temperature of the product at or below 50℃.
Otherwise, a fire or other kinds of accidents may occur due to overheating.
The process of installation, Connection, Operation, Checking and Repairing
should be done by qualified personnel.
Otherwise, a fire or other kinds of accidents may occur.

-8-
Safety Precautions When Connecting Cables
Keep the rated range of input voltage for the drive.
Otherwise, a fire or other kinds of accidents may occur.
Connect cables according to the wiring diagram in this manual.
Otherwise, a fire or malfunction of the machine may occur.
Before connecting cables, make sure the input power is off.
Otherwise, an electric shock or a fire may occur.
When the product is isolated from the ground of the internal circuit by the
condenser, ground the product properly.
Otherwise, an electric shock, a fire or a malfunction of the machine may occur.
Safety Precautions When Operating and Setting
Before changing the settings of the product, thoroughly read this manual
and fully understand the contents.
Otherwise, the machine may get damaged or the product may malfunction.
Safety Precautions When Repairing & Maintaining
Stop supplying power to the main circuit and wait sufficient time before
checking or repairing the product.
Electricity remained in the condenser may cause an electric shock.
Do not change cabling while power is being supplied.
Otherwise, the user may get injured or the product and machine may get
damaged.
Do not reconstruct the product.
Otherwise, an electric shock may occur or the product and machine get
damaged. And the reconstructed product cannot get after service.

-9-
ConfigurationChapter 2.
2.1 Ezi-IO EtherCAT DA Part Numbering
2.2 Ezi-IO EtherCAT DA Part Number

-10-
2.3 System Configuration

-11-
SpecificationsChapter 3.
3.1 EtherCAT Specifications
Communication
EtherCAT
Physical Layer
Ethernet –100BASE-TX
Connector Type
RJ45
IN: EtherCAT input
OUT: EtherCAT output
ECAT Device ID
Configured Station Alias Setting by Rotary Switch : 0 ~ 99
Physical Address Setting in Master Unit : 1 ~ 65535
Topology
Line (Configured by I/O modules only)
Tree, Star, Ring (When using a switching hub)
Protocol
CoE (CANopen application protocol over EtherCAT)
FoE (File Access over EtherCAT)
Control Profile
CiA 401 Profile
Distributed Clock
Free Run, SM Event, DC SYNC Event
(Min. Communication Cycle: 250us)
Processing Data
Fixed PDO Mapping
Cable
STP (Shielded Twisted Pair) Cable, Category 5e or higher / Max. 100m

-12-
3.2 Module Specifications
Part Number
Ezi-IO-EC-DA04-T
Output Mode
Voltage Output
Current Output
Input Voltage
24 [VDC] ±10%
Current Consumption
Max. 120 [mA]
Operating
Condition
Ambient Temperature
·In Use: 0~50℃
·In Storage: -20~70℃
Humidity
·In Use: 35~85% RH (Non-Condensing)
·In Storage: 10~90% RH (Non-Condensing)
Vib. Resist.
0.5g
Function
Number of Channels
4CH
Output Range
·0~5 [V]
·1~5 [V]
·0~10 [V]
·10~10 [V]
·0~20 [mA]
·4~20 [mA]
Output Range Setting Method
·SDO Communications (Separate setting for each channel)
·DIP Switch (Separate setting for each channel)
Load Impedance
Min. 1 [kΩ]
Max. 400 [Ω]
Resolution
Max. 1/50,000
Accuracy
25℃
±0.3%(Full Scale)
0~50℃
±0.4%(Full Scale)
Output Delay
Max. 500 [μs]
D/A Converted Data
·-25,000~25,000 (for -10~10 [V]
voltage output)
·0~25,000 (for all voltage output
except -10~10 [V])
0~25,000 (for current output)
Signal Isolation Method
Digital isolation between analogue output and communication
connections
LED Indication
·Power Status (PWR)
·EtherCAT Communication State (RUN)
·Operation Error (ERR)
·EtherCAT Link/Activity Status (LA IN, LA OUT)

-13-
3.3 Module Dimensions
[Unit: mm]
* Can be installed on 35mm DIN Rail.
* Can be installed on 35mm DIN Rail.

-14-
Connection Panel ViewChapter 4.
4.1 Names and Functions (Ezi-IO-EC-DA04-T)

-15-
EtherCAT ID Setting Switches (SW1, SW2)4.1.1
Use two rotary switches to set EtherCAT ID (ECAT Device ID). Set ones digit (x1) of EtherCAT ID on the right
rotary switch (SW1), and set tens digit (x10) of EtherCAT ID on the left rotary switch (SW2).
Setting Range is 0 ~ 99.
* The Configured Alias ID set by the rotary switches is applied when the power is supplied to the I/O module.
Output Range Setting Switch (SW3)4.1.2
Select the output range by SW3 referring to the chart.
①Selecting Output Setting Method
Select the output setting method with LSET switch (SW3.1).
* Set SW3.1 before supply power to the module.
* SW3.2 is not used.
②Selecting Output Range
When using the DIP Switch for the setting method (SW3.1=ON), select output range referring to the chart.
* 1~5 [V], 0~10 [V] voltage output range can be set by the SDO communication ONLY.
Switch
Setting Method
LSET
Description
SW3.1
DIP Switch
ON
Setting output range with DIP switches (SW3.3~SW3.10)
SDO Communication
OFF
Setting voltage/current output range through EtherCAT SDO communication
Switch
Output Range
CH1
CH2
CH3
CH4
SW3.3
SW3.4
SW3.5
SW3.6
SW3.7
SW3.8
SW3.9
SW3.10
0~5 [V]
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
-10~10 [V]
OFF
ON
OFF
ON
OFF
ON
OFF
ON
0~20 [mA]
ON
OFF
ON
OFF
ON
OFF
ON
OFF
4~20 [mA]
ON
ON
ON
ON
ON
ON
ON
ON

-16-
LED Indications4.1.3
LED
Color
Status
Description
PWR
Red
OFF
Power OFF
ON
Power ON
LED
Color
Status
Description
RUN
Green
OFF
INIT State or Power OFF
Blinking
PRE-OPERATIONAL State
Single Flash
SAFE-OPERATIONAL State
ON
OPERATIONAL State
Flickering
BOOTSTRAP State
LED
Color
Status
Description
ERR
Red
OFF
No Error or Power OFF
Blinking
Invalid Configuration
Single Flash
Local Error
Double Flash
Watchdog Time Out
LED
Color
Status
Description
Link/
Activity
Green
OFF
Link is not established physically.
ON
Link is established physically.
Flickering
Link is active in operation.
* Refer to 7.3.2 EtherCAT Communication State Indication
Power Connector (CN1)4.1.4
NO.
Function
1
24 [VDC]
2
GND

-17-
Output Connector (CN2)4.1.5
EtherCAT Connectors (CN3, CN4)4.1.6
NO.
Label
Function
I/O
1
G
GND
─
2
V1
Voltage Out 1
Output
3
I1
Current Out 1
Output
4
G
GND
─
5
V2
Voltage Out 2
Output
6
I2
Current Out 2
Output
7
G
GND
─
8
V3
Voltage Out 3
Output
9
I3
Current Out 3
Output
10
G
GND
─
11
V4
Voltage Out 4
Output
12
I4
Current Out 4
Output
NO.
Function
NO.
Function
1
TD+
6
RD-
2
TD-
7
─
3
RD+
8
─
4
─
Connector
Hood
F.GND
5
─

-18-
Parts Included4.1.7
Power Connector
* The connector above is the most suitable model for Ezi-IO EtherCAT DA. Another equivalent connector can be
used.
Accessories (Sold Separately)4.1.8
EtherCAT Cable
* If you need another length of cable (in unit of m), please contact FASTECH.
Function
Item
Part Number
Manufacturer
Power Connector (CN1)
Terminal Block
MC421-38102
DECA
Function
Part Number
Cable Length [m]
Remarks
EtherCAT Connector
(CN3, CN4)
CGNR-EC-001F
1
•STP (Shielded Twisted Pair) cable
•Category 5e or higher
•Maximum cable length: 100m
•For fixed installation
CGNR-EC-002F
2
CGNR-EC-003F
3
CGNR-EC-005F
5

-19-
IO Connector WiringChapter 5.
Ezi-IO EtherCAT DA is supplied with push-in spring type terminal blocks which are connected with wires in simple
and easy way using ferrule connectors. Connections of Ezi-IO EtherCAT DA to analogue devices are also simplified.
5.1 Signal Wiring
Each output channel of Ezi-IO EtherCAT DA has separate voltage output and current output pins.
Refer to the Figure 5-2 and Figure 5-3 for wire connections of your applications.
Wiring of Voltage Outputs5.1.1
Figure 5-2. Wiring of Voltage Outputs (Example: Channel 1)
Wiring of Current Outputs5.1.2
Figure 5-3. Wiring of Current Outputs (Example: Channel 1)
Figure 5-1. Ferrule Connection

-20-
5.2 Internal Circuit Diagram
Figure 5-4. Internal Circuit Diagram