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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3 LED Definition
The ECAT-2092T provides on the front side several diagnostic LEDs which indicates the
signal status of each encoder channel.
Furthermore there are three LEDs to show the EtherCAT network status. The exact
meaning of each LED is described in the following tables:
Figure 3: ECAT-2092T LEDs
EtherCAT LED Color State Description
RUN red This LED indicates the operation state of
the EtherCAT slave:
Off Device is in INIT state
Flashing Device is in PREOP state
Single flash Device is in SAFEOP state
Outputs remain in safe state
On Device is in OP state
IN green Indicates the communication status of
the EtherCAT port IN
Off No connection
Flashing Link and activity (e.g. data exchange with
the master)
On Link without any activity
OUT green Indicates the communication status of
the EtherCAT port OUT. Further EtherCAT
slave can be connected to the port OUT
Off No EtherCAT slaves are connected to port
OUT
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EtherCAT LED Color State Description
Flashing Link and activity (e.g. data exchange
connected slaves)
On Link without any activity
Table 2: EtherCAT status indicator
Control LED Color Description
*red -Power indicator
* * * * * * * *
0 1 2 3 4 5 6 7
green -LED 0: A0 Channel status
-LED 1: B0 Channel status
-LED 2: C0 Channel status (index input)
-LED 3: I0 Channel status (external latch input R)
-LED 4: A1 Channel status
-LED 5: B1 Channel status
-LED 6: C1 Channel status
-LED 7: I1 Channel status (external latch input R)
Table 3: Diagnostic LEDs
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4 Wiring
4.1 Connection Interfaces
Figure 4: ECAT-2092T side view with power supply and EtherCAT connection
Name Signal Description
F.G Frame ground
GND Power supply: Ground 0V (from
negative power contact)
Feeding for ECAT-2092T
+Vs Power supply: +24 VDC (from positive
power contact)
IN EtherCAT signal input Incoming EtherCAT cable
OUT EtherCAT signal output Outgoing EtherCAT cable
Table 4: ECAT-2092T power supply and EtherCAT interfaces
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Figure 5: ECAT-2092T front view with encoder inputs
Name Signal Signal Description
A0+ Input Encoder input A0+
Encoder Channel 0
A0- Input Encoder input A0-
B0+ Input Encoder input B0+
B0- Input Encoder input B0-
C0+ Input Encoder input C0+
C0- Input Encoder input C0-
I0+ Input Latch input R0+
I0- Input Latch input R0-
T0+ Output Compare trigger output (DO0)
T0- External ground for DO0
A1+ Input Encoder input A1+
Encoder Channel 1
A1- Input Encoder input A1-
B1+ Input Encoder input B1+
B1- Input Encoder input B1-
C1+ Input Encoder input C1+
C1- Input Encoder input C1-
I1+ Input Latch input R0+
I1- Input Latch input R0-
T1+ Output Compare trigger output DO1
T1- External ground for DO1
Table 5: Connection interfaces of the encoder
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4.2 Internal I/O Structure
Figure 6: DIO circuit
4.3 Jumper Settings
The ECAT-2092T can accept encoder inputs from either differential or single-ended
signals. By default it is set to support differential encoder signals as they are preferred
due to their excellent noise immunity. For open collector type encoder the internal
resistor needs to be enabled. The ECAT-2092T does not provide an internal power supply
for the encoder therefore the encoder has to be connected to an external power supply.
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Figure 7: Encoder channel circuit
For single-ended encoder connection the ECAT-2092T provides an internal 1k Ohm
resistor for each signal input. The internal resistor can be selected by setting the jumper
of the corresponding encoder channel to the position 1-2. The housing needs to be
opened in order to set the jumper. For enabling the internal resistor Table 6 lists for each
encoder signal input the corresponding jumper position. Figure 8 shows the basic wiring
diagram for open collector connection.
Figure 8: Open collector wiring diagram
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Figure 9: Jumper location
Jumper No Channel Jumper position 2-3 Jumper position 1-2
JP5 Encoder input A0 Differential channel Open collector channel
JP6 Encoder input B0 Differential channel Open collector channel
JP7 Encoder input Z0 (C0) Differential channel Open collector channel
JP8 Extern latch input I0 ( R0) Differential channel Open collector channel
JP9 Encoder input A1 Differential channel Open collector channel
JP10 Encoder input B1 Differential channel Open collector channel
JP11 Encoder input Z1 (C1) Differential channel Open collector channel
JP12 Extern latch input I1 ( R1) Differential channel Open collector channel
Table 6: Jumper definitions for the encoder channels
The input levels for the open collector with the internal resistor of 1 K ohm is as follows
Input 12 V:
-Logic igh: 5 V ~ 12 V
-Logic Low: 0 V ~ 2 V
Input 24V:
-Logic igh: 5 V ~ 24 V
-Logic Low: 0 V ~ 2 V
4.4 Digital Input Wiring
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Figure 10: Encoder counter (A/B), index (C) and external latch (HR) input wiring
4.5 Compare Trigger Output Wiring
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Figure 11: Compare trigger output wiring
5 asics Communication
5.1 EtherCAT Cabling
The cable length between two EtherCAT devices must not exceed 100 m.
Cables and connectors
For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet
the requirements of at least category 5 (CAT5) according to EN 50173 or ISO/IEC 11801
should be used. EtherCAT uses 4 wires for signal transfer.
The pin assignment is compatible with the Ethernet standard (ISO/IEC 8802-3).
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5.2 EtherCAT State Machine
The state of the EtherCAT master and slave is controlled via the EtherCAT State Machine
(ESM) . The state determines which functions are accessible or executable in the
EtherCAT slave. State changes are typically initiated by requests of the master and
acknowledged by the slave after the successful initialization. In case of an internal error,
the slave automatically changes to a lower state.
The ECAT-2092T supports four states:
Init (state after Reset)
Pre-Operational
Safe-Operational
Operational
Figure 12: EtherCAT state machine
Init
After switch-on the EtherCAT slave is in the initial state. Only ESC register
communication is possible, but no mailbox or process data communication. The slave
initializes the service object data with default value or with values previously stored to
the local memory. The EtherCAT master assigns the station address and configures the
sync manager channels 0 and 1 for acyclic mailbox communication.
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