HMS EtherCAT Slave Installation and operating instructions

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X-gateway Interface Addendum
EtherCAT Slave
Rev. 1.02

Preface About This Document
How To Use This Document ............................................................................................................ P-1
Important User Information .............................................................................................................. P-1
Related Documents.............................................................................................................................. P-2
Document History ............................................................................................................................... P-2
Conventions & Terminology.............................................................................................................. P-3
Support .................................................................................................................................................. P-3
Chapter 1 About the EtherCAT Slave Interface
General Description..............................................................................................................................1-1
Features...................................................................................................................................................1-1
External View ........................................................................................................................................1-2
EtherCAT Interface Status LEDs ..............................................................................................1-2
Connectors and Switches................................................................................................................1-2
Chapter 2 Installation and Configuration
Gateway Config Interface ....................................................................................................................2-1
Chapter 3 Data Exchange
General Information.............................................................................................................................3-1
Input Data (Gateway to EtherCAT) ...........................................................................................3-2
Output Data (EtherCAT to Gateway) ........................................................................................3-2
Chapter 4 CANopen Object Dictionary Implementation
Standard Objects ...................................................................................................................................4-1
General Information......................................................................................................................4-1
Object Entries...............................................................................................................................4-1
Manufacturer Specific Objects............................................................................................................4-2
Input Buffer ..................................................................................................................................4-2
Output Buffer ...............................................................................................................................4-3
Appendix A Technical Specification
Network Interface Details ..................................................................................................................A-1
General Information.....................................................................................................................A-1
Sync Managers.............................................................................................................................A-1
EtherCAT Connector Pinout.............................................................................................................A-2
Table of Contents
Table of Contents

Preface
About This Document
How To Use This Document
This document describes network specific features and procedures needed when operating the Ether-
CAT Slave Interface for the Anybus X-gateway. For general information and operating instructions for
the Anybus X-gateway, consult the Anybus X-gateway User Manual.
The reader of this document is expected to be familiar with EtherCAT networking technology, and com-
munication systems in general.
For further information, documentation etc., please visit the HMS website, ‘www.anybus.com’.
Important User Information
The data and illustrations found in this document are not binding. We, HMS Industrial Networks AB,
reserve the right to modify our products in line with our policy of continuous product development. The
information in this document is subject to change without notice and should not be considered as a com-
mitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for
any errors that may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure
that all the necessary steps have been taken to verify that the application meets all performance and safe-
ty requirements including any applicable laws, regulations, codes, and standards.
Anybus® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the prop-
erty of their respective holders.
Warning: This is a class A product. In a domestic environment this product may cause radio interfer-
ence in which case the user may be required to take adequate measures.
ESD Note: This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged
if ESD control procedures are not followed. Static control precautions are required when
handling the product. Failure to observe this may cause damage to the product.

About This Document P-2
Related Documents
Document History
Summary of Recent Changes (v1.00... 1.02)
Revision List
Document Author
Anybus X-gateway User Manual HMS
Anybus-S EtherCAT Fieldbus Appendix HMS
EtherCAT Slave Interface, Installation Sheet HMS
- -
Change Page(s)
Added chapter ‘Installation and Configuration’ 2-1
Corrected RxPDO and TxPDO numbers and object associations 3-1
Misc. minor corrections and adjustments -
- -
Revision Date Author Chapter Description
1.00 2007-09-20 PeP All First release
1.01 2007-12-30 PeP - Minor update
1.02 2008-05-21 PeP - Minor update

About This Document P-3
Conventions & Terminology
The following conventions are used throughout this document:
• Numbered lists provide sequential steps
• Bulleted lists provide information, not procedural steps
• The term ‘X-gateway’ refers to the Anybus X-gateway
• The term ‘Slave Interface’ refers to the EtherCAT Slave interface for the Anybus X-gateway.
• The term ‘user manual’ refers to the Anybus X-gateway User Manual.
• Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value.
• 16/32 bit values are generally stored in Motorola (big endian) format unless otherwise stated.
Support
HMS Sweden (Head Office)
E-mail: [email protected]
Phone: +46 (0) 35 - 17 29 20
Fax: +46 (0) 35 - 17 29 09
Online: www.anybus.com
HMS America
E-mail: [email protected]
Phone: [phone]
Toll Free: 888-8-Anybus
Fax: [phone]
Online: www.anybus.com
HMS Germany
E-mail: [email protected]
Phone: [phone]
Fax: [phone]
Online: www.anybus.com
HMS Japan
E-mail: [email protected]
Phone: [phone]
Fax: [phone]
Online: www.anybus.com

Chapter 1
About the EtherCAT Slave Interface
General Description
The EtherCAT Slave Interface for the Anybus X-gateway implements CANopen over EtherCAT, and
exchanges up to 512 bytes of data in each direction. The interface acts as a slave node, which means it
can be accessed by an EtherCAT master, but it will not initiate communication by itself.
The interface exchanges data through two buffers as follows:
• Input Buffer
This buffer holds data forwarded
from the other network, i.e. data
which can be read by the Ether-
CAT master.
• Output Buffer
This buffer is forwarded to the
other network, i.e. data which can
be written by the EtherCAT mas-
ter.
Features
• CANopen over EtherCAT
• DS301 v4.02 compliant
• Galvanically isolated network electronics
• Up to 512 bytes of cyclic data in each direction (PDO)
• Up to 512 bytes of acyclic data in each direction (SDO)
EtherCAT
Output
Buffer (to Gateway)
Input
Buffer (from Gateway)
EtherCAT Slave Interface

About the EtherCAT Slave Interface 1-2
External View
EtherCAT Interface Status LEDs
Connectors and Switches
LED Colour Indication
L/A 1 Off No link sensed on port 1 (no power)
Green Link sensed on port 1
Green, flickering Exchanging packets on port 1
RUN Off Device in INIT state (no power)
Green, blinking Device in PRE-OPERATIONAL state
Green, single flash Device in SAFE-OPERATIONAL state
Green Device in OPERATIONAL state
ERR Off Normal operation (no power)
Red, blinking General EtherCAT configuration error
Red, single flash EtherCAT state changed autonomously
Red, double flash Major internal fault
Red Sync manager watchdog timeout
L/A 2 Off No link sensed on port 2 (no power)
Green Link sensed on port 2
Green, flickering Exchanging packets on port 2
Gateway
Status
(Consult the user manual for further details)
# Description
1 EtherCAT Port 1
(See A-2 “EtherCAT Connector Pinout”)
2 EtherCAT Port 2
(See A-2 “EtherCAT Connector Pinout”)
3 Gateway power connector
(Consult the user manual for further details)
4 Gateway config connector
(Consult the user manual for further details)
(Top mounted EtherCAT Interface)
3
1 2
RJ45
18
(Bottom mounted EtherCAT Interface)
RJ45
18
4
12
L/A 1
Gateway
Status
RUN
ERR
Gateway
Status
L/A 2
L/A 1
RUN
ERR
L/A 2
(Top mounted EtherCAT Interface)
(Bottom mounted EtherCAT Interface)

Chapter 2
Installation and Configuration
Gateway Config Interface
The Gateway Config Interface features the following EtherCAT-specific settings:
---------------------------------------------------
Change configuration
---------------------------------------------------
EtherCAT Slave (Upper)
Input PDO size (bytes): 20
Output PDO size (bytes): 20
Input SDO size (bytes): 0
Output SDO size (bytes): 0
Offline option (+/-): Clear
Control / Status word (+/-): Disabled
• Input PDO size (bytes)
Specifies the amount of input data to exchange by means of Process Data Objects (TxPDO).
• Output PDO size (bytes)
Specifies the amount of output data to exchange by means of Process Data Objects (RxPDO).
• Input SDO size (bytes)
Specifies the amount of input data to exchange by means of Service Data Objects (SDO).
• Output SDO size (bytes)
Specifies the amount of output data to exchange by means of Service Data Objects (SDO).
•Offlineoption
(Consult the Anybus X-gateway User Manual for further information).
• Control / Status word
This settings enables/disables representation of the Control/Status word on EtherCAT.
(Consult the Anybus X-gateway User Manual for further information).
See also...
• 3-1 “Data Exchange”
• 4-1 “CANopen Object Dictionary Implementation”
• 4-2 “Manufacturer Specific Objects”

Chapter 3
Data Exchange
General Information
As mentioned previously, the EtherCAT Slave Interface im-
plements CANopen over EtherCAT. This means that the
Input- and Output Data is mapped to dedicated object en-
tries in the manufacturer-specific range.
The amount of data that is exchanged by means of PDOs
(Process Data Objects) can be specified via the Gateway
Config Interface.
See also...
• 3-2 “Input Data (Gateway to EtherCAT)”
• 3-2 “Output Data (EtherCAT to Gateway)”
• 4-2 “Manufacturer Specific Objects” (4-2 “Input Buffer” & 4-3 “Output Buffer”)
The EtherCAT Slave Interface uses a fixed PDO mapping as follows:
Note: The Slave Interface will only map as many PDOs as required to hold the specified configuration.
PDO Corresponding Object Gateway Memory
TxPDO 1A00h Index 2000h, sub-index 1...128 Input Data, bytes 0... 127
TxPDO 1A01h Index 2001h, sub-index 1...128 Input Data, bytes 128... 255
TxPDO 1A02h Index 2002h, sub-index 1...128 Input Data, bytes 256... 383
TxPDO 1A03h Index 2003h, sub-index 1...128 Input Data, bytes 384... 511
RxPDO 1600h Index 2100h, sub-index 1...128 Output Data, bytes 0... 127
RxPDO 1601h Index 2101h, sub-index 1...128 Output Data, bytes 128... 255
RxPDO 1602h Index 2102h, sub-index 1...128 Output Data, bytes 256... 383
RxPDO 1603h Index 2103h, sub-index 1...128 Output Data, bytes 384... 511
EtherCAT
SDO
RxPDO
Control Word
(from Gateway)
(to Gateway)
SDO
TxPDO
Status Word
Live List
EtherCAT Slave Interface

Data Exchange 3-2
Input Data (Gateway to EtherCAT)
Depending on the actual gateway configuration and how it has been set up to operate, parts of the data
produced by the EtherCAT Slave Interface may be used to represent status information (i.e. Status
Word, Live List etc.).
Note: The Live List is only available on master-slave gateway configurations.
See also...
• 4-2 “Input Buffer”
Output Data (EtherCAT to Gateway)
Depending on the actual gateway configuration and how it has been set up to operate, the first two bytes
consumed by the EtherCAT Slave Interface may be interpreted as control information (i.e. the Control
Word).
Note: The exact interpretation of the Control Word depends on the actual gateway configuration. Con-
sult the main User Manual and X-gateway Interface Appendix for the other network interface for further
information.
See also...
• 4-3 “Output Buffer”
Example A:
Input PDO Size: 16
Input SDO Size: 8
Live List: Enabled
Control & Status Word: Enabled
Example B:
Input PDO Size: 24
Input SDO Size: 0
Live List: Disabled
Control & Status Word: Enabled
Example A:
Output PDO Size: 12
Output SDO Size: 12
Control & Status Word: Enabled
Example B:
Output PDO Size: 8
Output SDO Size: 14
Control & Status Word: Disabled
2000h, 0F... 10h
Input PDO Size
(16 bytes)
Input SDO Size
(8 bytes)
Status Word
Live List (8 bytes)
Data from
gateway (14 bytes)
2000h, 01... 02h
2000h, 11...
2000h, 03h...
2000h, 17... 18h
2000h, 09... 0Ah
2000h, 0Bh...
...
...
Input PDO Size
(24 bytes)
Status Word
Live List (8 bytes)
Data from
gateway (22 bytes)
2000h, 01... 02h
2000h, 03h...
2000h, 17... 18h
...
...
Output PDO Size
(12 bytes)
Output SDO Size
(12 bytes)
Control Word
Live List (8 bytes)
Data to
gateway (22 bytes)
2100h, 01... 02h
2100h, 03h...
2100h, 0B... 0Ch
2100h, 03h...
2100h, 17... 18h
...
...
Live List (8 bytes)
Data to
gateway (22 bytes)
Output PDO Size
(8 bytes)
Output SDO Size
(14 bytes)
2100h, 01... 02h
2100h, 09... 0Ah
2100h, 07... 08h
2100h, 15... 16h
2100h, 03h...
...
...

Chapter 4
CANopen Object Dictionary Implementation
Standard Objects
General Information
The standard object dictionary is implemented in accordance with the DS301 specification (v4.02).
Object Entries
Index Object Name Sub-Index Description Type Access Notes
1000h Device Type 00h Device Type U32 RO 0000 0000h (No profile)
1008h Manufacturer
device name
00h Manufacturer device
name
Visible
string
RO -
1018h Identity object 00h Number of entries U8 RO 04h
01h Vendor ID U32 RO -
02h Product Code U32 RO
03h Revision Number U32 RO
04h Serial Number U32 RO
1600h
...
1603h
Receive PDO
mapping
00h Number of entries U8 R See 3-1 “Data Exchange”
01h... n Mapped object #n U32 R
1A00h
...
1A03h
Transmit PDO
mapping
00h Number of entries U8 R See 3-1 “Data Exchange”
01h... Nn Mapped object #n U32 R
1C00h Sync Manager
Communica-
tion Type
00h Number of entries U8 R 04h
01h Mailbox wr U8 R 01h
02h Mailbox rd U8 R 02h
03h Process Data out U8 R 03h
04h Process Data in U8 R 04h
1C12h Sync Manager
Rx PDO Assign
00h Number of entries a
a. The number of entries equals the number of mapped PDOs, see 3-1 “Data Exchange”.
U8 R No. of assigned RxPDOs (0... 4)
01h Assigned RxPDO U8 R Assigned to RxPDO 1600h
02h Assigned RxPDO U8 R Assigned to RxPDO 1601h
03h Assigned RxPDO U8 R Assigned to RxPDO 1602h
04h Assigned RxPDO U8 R Assigned to RxPDO 1603h
1C13h Sync Manager
Tx PDO Assign
00h Number of entriesaU8 R No. of assigned TxPDOs (0... 4)
01h Assigned TxPDO U8 R Assigned to TxPDO 1A00h
02h Assigned TxPDO U8 R Assigned to TxPDO 1A01h
03h Assigned TxPDO U8 R Assigned to TxPDO 1A02h
04h Assigned TxPDO U8 R Assigned to TxPDO 1A03h

CANopen Object Dictionary Implementation 4-2
Manufacturer Specific Objects
Input Buffer
Note: The EtherCAT Slave Interface will only create the number of objects and sub-indexes needed to
hold the specified data size (e.g. for a configuration which uses 130 byte of input data (PDO+SDO), the
Slave Interface creates Object Index 2000h, Sub-Index 00h... 80h, and Object Index 2001, Sub-Index
00h... 02h).
See also...
• 4-2 “Input Buffer”
Index Object Name Sub-Index Description Type Access Notes
2000h Inputs 00h No. of entries U8 RO -
01h Input byte 0000 U8 RO -
02h Input byte 0001
... ...
80h Input byte 0127
2001h Inputs 00h No. of entries U8 RO -
01h Input byte 0128 U8 RO -
02h Input byte 0129
... ...
80h Input byte 0255
2002h Inputs 00h No. of entries U8 RO -
01h Input byte 0256 U8 RO -
02h Input byte 0257
... ...
80h Input byte 0383
2003h Inputs 00h No. of entries U8 RO -
01h Input byte 0384 U8 RO -
02h Input byte 0385
... ...
80h Input byte 0511

CANopen Object Dictionary Implementation 4-3
Output Buffer
Note 1: For consistency reasons, PDO data will be read-only when accessed acyclically.
Note: The EtherCAT Slave Interface will only create the number of objects and sub-indexes needed to
hold the specified data size (e.g. for a configuration which uses 130 byte of output data (PDO+SDO),
the Slave Interface creates Object Index 2100h, Sub-Index 00h... 80h, and Object Index 2101, Sub-Index
00h... 02h).
See also...
• 4-3 “Output Buffer”
Index Object Name Sub-Index Description Type Access Notes
2100h Outputs 00h No. of entries U8 RO -
01h Output byte 0000 U8 R(W) -
02h Output byte 0001
... ...
80h Output byte 0127
2101h Outputs 00h No. of entries U8 RO -
01h Output byte 0128 U8 R(W) -
02h Output byte 0129
... ...
80h Output byte 0255
2102h Outputs 00h No. of entries U8 RO -
01h Output byte 0256 U8 R(W) -
02h Output byte 0257
... ...
80h Output byte 0383
2103h Outputs 00h No. of entries U8 RO -
01h Output byte 0384 U8 R(W) -
02h Output byte 0385
... ...
80h Output byte 0511

Appendix A
Technical Specification
Network Interface Details
General Information
The EtherCAT Slave Interface acts as a full EtherCAT slave device with the following properties:
General Properties
• Full EtherCAT slave device
• 4 FMMU channels (can be used freely by the EtherCAT master for any purpose.)
• 4 SM channels
• Bit-oriented FMMU operation
• Position addressing, node addressing and logical addressing
•PDIWatchdog
• Output I/O Sync Manager Watchdog
Supported Features
• CANopen over EtherCAT
• DS301 v4.02 compliant
• Supports segmented SDO access
• Up to 512 bytes of cyclic data in each direction
Sync Managers
The EtherCAT Slave Interface features four Sync Managers:
• Sync Manager 0
Used for mailbox write transfers (Master to Slave).
The Slave Interface supports mailbox sizes of 50... 256 bytes (default = 192).
• Sync Manager 1
Used for mailbox read transfers (Slave to Master).
The Slave Interface supports mailbox sizes of 50... 256 bytes (default = 192).
• Sync Manager 2
Contains the RxPDOs specified by the PDO assignment.
In practice, Sync Manager 2 holds the unmodified Output I/O data.
• Sync Manager 3
Contains the TxPDOs specified by the PDO assignment.
In practice, Sync Manager 3 holds the unmodified Input I/O data.

Technical Specification A-2
EtherCAT Connector Pinout
Pin Signal Notes
1TD+-
2TD--
3RD+-
4 - Normally left unused; to ensure signal integrity, these pins are internally tied
together and terminated to PE via a filter circuit.
5-
6RD--
7 - Normally left unused; to ensure signal integrity, these pins are internally tied
together and terminated to PE via a filter circuit.
8-
18