ICP DAS USA ECAT-2092T User manual

ECAT-2092T
EtherCAT
Two-Channel Incremental Encoder
Counter
with Latch and Compare Function
User Manual
( ersion 1.0)

WARRANTY
All products manufactured by ICP DAS are warranted against defective materials for a
period of one year from the date of delivery to the original purchaser.
WARNING
ICP DAS assumes no liability for damages consequent to the use of this product. ICP DAS
reserves the right to change this manual at any time without notice. The information
furnished by ICP DAS is believed to be accurate and reliable. owever, no responsibility
is assumed by ICP DAS for its use, nor for any infringements of patents or other rights of
third parties resulting from its use.
COPYRIGHT
Copyright © 2018 by ICP DAS. All rights are reserved.
TRADEMARK
Names are used for identification only and may be registered trademarks of their
respective companies.
CONTACT US
If you have any questions, please feel free to contact us via email at:
[email protected]
[email protected]

Revision
Revision Date Description Author
1 18.02.2019 Initial version M. K.

Contents
1 Product Overview........................................................................................................6
1.1 Introduction.................................................................................................6
1.2 Technical Data..............................................................................................6
1.3 Specification.................................................................................................7
1.4 Dimensions..................................................................................................9
2 Scope of Delivery.......................................................................................................10
3 LED Definition............................................................................................................11
4 Wiring.........................................................................................................................13
4.1 Connection Interfaces................................................................................13
4.2 Internal I/O Structure................................................................................15
4.3 Jumper Settings.........................................................................................15
4.4 Digital Input Wiring....................................................................................17
4.5 Compare Trigger Output Wiring................................................................18
5 Basics Communication...............................................................................................19
5.1 EtherCAT Cabling........................................................................................19
5.2 EtherCAT State Machine............................................................................20
5.3 Synchronization Modes.............................................................................21
5.3.1 Free Run Mode.........................................................................................21
5.3.2 SM-Synchron.............................................................................................23
5.3.3 Distributed Clocks (DC Mode)...................................................................24
6 Project Integration.....................................................................................................27
6.1 ESI File........................................................................................................27
6.1.1 Import of ESI File.......................................................................................27
6.2 Device Setup and Configuration................................................................27
6.2.1 Scanning of the EtherCAT Device..............................................................28
6.2.2 Encoder Counter Configuration................................................................29
6.2.3 EtherCAT Slave Process Data Assignment.................................................32
7 Parameter Description...............................................................................................35
7.1 Configuration Parameters..........................................................................35
7.1.1 Counting Mode.........................................................................................35
7.1.2 Signal Polarity Setting...............................................................................38
7.1.3 Extern Latch Mode....................................................................................39
7.1.4 Low Pass Filter Setting..............................................................................40
7.1.5 Compare Trigger Pulse Width...................................................................41
7.2 Process Data Paramater.............................................................................41
7.2.1 Counter.....................................................................................................41
7.2.2 Position Compare Trigger.........................................................................44
7.2.3 Index and Extern Latch.............................................................................46
CoE Interface......................................................................................................................51
7.3 General Description...................................................................................51
7.4 Save Configuration Data to Memory.........................................................52
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8 Object Description and Parameterization.................................................................56
8.1 Standard Objects.......................................................................................56
8.2 RxPDO Mapping Objects............................................................................57
8.3 TxPDO Mapping Objects............................................................................58
8.4 Sync Manager Objects...............................................................................59
8.5 Input Data..................................................................................................63
8.6 Output Data...............................................................................................65
8.7 Configuration Data.....................................................................................67
8.8 Configuration Parameters Storage.............................................................68
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1 Product Overview
1.1 Introduction
The EtherCAT slave ECAT-2092T is an incremental encoder counter which provides two
independent high-speed counter channels. It reads the pulse train generated by an
incremental encoder and can be used in positioning feedback applications. Each channel
has two counter (A, B) and one index inputs (C). The inputs can either be single-ended or
differential signals. Three counting modes are supported: clockwise/counterclockwise,
pulse/direction and quadrant counting mode. Each 32-bit counter and the trigger level
(falling/rising edge) can be configured and set by software.
In addition to the encoder inputs A, B and C, a latch input R for each encoder channel
llows the latching and clearing of each encoder counter.
The ECAT-2092T supports position compare: Each encoder channel is equipped with one
32-bit compare register which compares the counter position with the compare position
and generates an output signal when the counter reaches or passes the compare
position. The compare function supports single and auto incremental position compare.
The pulse width of the compare output can be set.
Each channel has got an adjustable input signal filter for filtering out electrical noises.
1.2 Technical Data
Features:
EtherCAT slave
Two channels, 32-bit incremental encoder counters
Encoder counting mode: CW/CCW , Pulse/Direction, A/B Phase
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Maximum counting rate: 4 M z
Encoder Input: A, B, C ifferential or single-ended signals
Two digital input for counter latching
Two digital output for position compare signal trigger: single and auto-increment
compare
Encoder digital input filter
Input level: 5V, 12V/24V with internal resistor
Polarity setting by software for active high or active low encoder input
A/B/Csignal isolation voltage: 2500V optical isolation
1.3 Specification
Item Specification
Encoder Input
Number of encoder inputs 2x encoder counter (A, B, C,
differential or single-ended
Counter resolution 32 bit
Encoder mode A/B Phase, CW/CCW, Pulse/Dir
Maximum input pulse frequency A/B Phase 4 M z
CW/CCW 4 M z
Pulse/Dir 4 M z
Programmable digital filter 1 ~ 250 μs
Input level 5V (default) Logic high: 4 V ~ 5 V
Logic low: 0 V ~ 2 V
12 V (set by jumper) Logic high: 5 V ~ 12 V
Logic low: 0 V ~ 2 V
24 V (set by jumper) Logic high: 5 V ~ 24 V
Logic low: 0 V ~ 2 V
A/B/C signal photo-isolation 2500 VDC
External Latch Input
Channel 2
Input level 5V (default) Logic high: 4 V ~ 5 V
Logic low: 0 V ~ 2 V
12 V (set by jumper) Logic high: 5 V ~ 12 V
Logic low: 0 V ~ 2 V
24 V (set by jumper) Logic high: 5 V ~ 24 V
Logic low: 0 V ~ 2 V
Compare Trigger Output
Channel 2
Trigger pulse width 15 ~ 50 μs
Load voltage 5 ~ 48 V
Max load current 100 mA
LED Indicators
Diagnostic LED Power, EtherCAT status, signal status of each
encoder input
Communication Interface
Connector 2 x RJ-45
Protocol EtherCAT
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Item Specification
Distance between stations Max. 100 m (100BASE-TX)
Data transfer medium Ethernet/EtherCAT Cable (Min. CAT 5), Shielded
Power
Input voltage range 20 VDC ~ 30VDC
Power consumption Maximum 4.5W
EMS Protection
ESD (IEC 61000-4-2) 4 KV Contact for each channel
EFT (IEC 61000-4-4) Signal: 1 KV Class A; Power: 1 KV Class A
Surge (IEC 61000-4-5) 1 KV Class A
Mechanism
Installation DIN-Rail
Dimensions (LxWx ) [mm] 110mm x 90mm x 33mm (without connectors)
Case material UL 94V-0 housing
Environment
Operating temperature -25℃ ~ 70℃
Storage temperature -30℃ ~ 80℃
Relative humidity 10 ~ 90%, No condensation
Table 1: Technical data
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1.4 Dimensions
Figure 1: Dimensions of the ECAT-2092T
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2 Scope of Delivery
The shipping package includes the following items:
1 x ECAT-2092T
1 x 20-pin plug-in connector
1 x 3-pin plug in connector (for power supply)
1 x Quick Start manual
Figure 2: ECAT-2092T module and Quick Start manual
Note:
If any of these items are missing or damaged, please contact your local distributor.
Please keep the original retail box with all retail packaging (Styrofoam, inner boxes,
fasteners, etc.) in case you need to return the product.
More Information:
Product website:
http://www.icpdas.com/root/product/solutions/industrial_communication/fieldbus/e
thercat/motion/ecat-2092t.html
Manual:
ftp://ftp.icpdas.com/pub/cd/fieldbus_cd/ethercat/slave/motion/ecat-2092t/manual/
XML EtherCAT Slave Information (ESI) file:
ftp://ftp.icpdas.com/pub/cd/fieldbus_cd/ethercat/slave/motion/ecat-2092t/esi/
FAQ:
http://www.icpdas.com/root/product/solutions/industrial_communication/fieldbus/e
thercat/ethercat_faqs.html
Technical support:
[email protected]
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