ICP DAS USA ECAT-2610 User manual

ECAT-2610 EtherCAT to Modbus
RTU Gateway User Manual
English Ver. 1.1, May 2018
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. However, 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], service.[email protected]

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TABLE OF CONTENTS
PACKAGE LIST ............................................................................................................................................................ 5
MORE INFORMATION ................................................................................................................................................ 5
1. INTRODUCTION ................................................................................................................................................ 6
1.1 FEATURES.............................................................................................................................................................. 7
1.2 BLOCK DIAGRAM .................................................................................................................................................... 7
2. HARDWARE INFORMATION ............................................................................................................................. 8
2.1 APPEARANCE ......................................................................................................................................................... 8
2.2 SPECIFICATION ..................................................................................................................................................... 11
2.3 PIN ASSIGNMENTS ................................................................................................................................................ 12
EtherCAT Interface ..................................................................................................................................................... 12
COM1 (Console Port) ................................................................................................................................................. 12
COM2/COM3 (Modbus RTU) ..................................................................................................................................... 12
2.4 WIRING CONNECTIONS .......................................................................................................................................... 13
3-wire RS-232 Wiring................................................................................................................................................. 13
4-wire RS-422 Wiring................................................................................................................................................. 13
2-wire RS-485 Wiring................................................................................................................................................. 13
2.5 INIT/NORMAL OPERATING MODE ............................................................................................................................ 14
2.6 DIMENSIONS........................................................................................................................................................ 15
3. GETTING STARTED ......................................................................................................................................... 16
3.1 FACTORY DEFAULT SETTINGS ................................................................................................................................... 16
3.2 CONNECTING THE POWER AND THE HOST PC............................................................................................................. 17
3.3 CONFIGURATION AND OPE RATI ON ............................................................................................................................ 19
3.3.1 Module Status and Error Mode ........................................................................................................................ 22
4. MODBUS RTU DEVICE SETUP ........................................................................................................................ 25
4.1CONFIGURE THE MODBUS RTU DEVICE .................................................................................................................... 26
4.2 CONFIGURING DATA SETTINGS................................................................................................................................. 29
4.2.1 Configuration Data Formats (Commands.txt) .................................................................................................. 32
4.3 DOWNLOADING THE CONFIGURATION DATA ............................................................................................................... 35
4.4 TESTING MODBUS RTU DEVICE .............................................................................................................................. 41
5. MODBUS INFORMATION ................................................................................................................................ 45
01(0X01) READ THE STATUS OF THE COILS (READBACK DOS) ..................................................................................................... 48
02(0X02) READ THE STATUS OF THE INPUT (READ DIS) ............................................................................................................. 49
03(0X03) READ THE HOLDING REGISTERS (READBACK AOS) ...................................................................................................... 50
04(0X04) READ THE INPUT REGISTERS (READ AIS) ................................................................................................................... 51

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05(0X05) FORCE A SINGLE COIL (WRITE DO).......................................................................................................................... 52
06(0X06) PRESET A SINGLE REGISTER (WRITE AO) .................................................................................................................. 53
15(0X0F) FORCE MULTIPLE COILS (WRITE DOS)...................................................................................................................... 54
16(0X10) PRESET MULTIPLE REGISTERS (WRITE AOS) .............................................................................................................. 55
6. DIAGNOSTIC OPERATION .............................................................................................................................. 57
7. DISTRIBUTED CLOCKS (DC) .......................................................................................................................... 62
7.1 MODBUS RTU TIMING .......................................................................................................................................... 62
7.2 DC CONFIGURATION AND OPERATI ON ...................................................................................................................... 68
8. OBJECT DESCRIPTION AND PARAMETERIZATION ...................................................................................... 76
8.1 STANDARD OBJECT................................................................................................................................................ 76
8.2 SPECIFIC OBJECTS ................................................................................................................................................. 77
Input Buffer ............................................................................................................................................................... 77
Output Buffer ............................................................................................................................................................ 77
9. APPLICATIONS ................................................................................................................................................ 78
9.1 ECAT FAMILY OF ICPDAS ...................................................................................................................................... 78
9.2 ODM IS WELCOME .............................................................................................................................................. 81
APPENDIX................................................................................................................................................................. 84
A1. HOW DO IGET THE MODBUS COMMAND VIA DCON UTILITY?.............................................................................................. 84
A2. CONFIGURATION FILES REFERENCE ................................................................................................................................... 85
00. Baudrate.............................................................................................................................................................. 86
115200_N81_Init.txt ...............................................................................................................................................................86
9600_N81.txt...........................................................................................................................................................................87
19200_N82.txt.........................................................................................................................................................................87
38400_E81.txt..........................................................................................................................................................................88
57600_O81.txt.........................................................................................................................................................................88
01. DIO ...................................................................................................................................................................... 89
DIO_Addr01_1.txt ...................................................................................................................................................................89
DIO_Addr01_2.txt ...................................................................................................................................................................90
DIO_Addr01_3.txt ...................................................................................................................................................................91
DIO_Addr01_4.txt ...................................................................................................................................................................91
02. DA........................................................................................................................................................................ 92
DA_Addr02_1.txt.....................................................................................................................................................................92
DA_Addr02_2.txt.....................................................................................................................................................................93
DA_Addr02_3.txt.....................................................................................................................................................................94
DA_Addr02_4.txt.....................................................................................................................................................................94
DA_Addr02_5.txt.....................................................................................................................................................................95
03. AD........................................................................................................................................................................ 96
AD_Addr03_1.txt.....................................................................................................................................................................96
AD_Addr03_2.txt.....................................................................................................................................................................97
04. DIO_DA_AD ......................................................................................................................................................... 98

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DIO_DA_AD_1.txt....................................................................................................................................................................98
05. Rising_Trigger...................................................................................................................................................... 99
RisingTrigger _1.txt..................................................................................................................................................................99
RisingTrigger _2.txt................................................................................................................................................................100
RisingTrigger _3.txt................................................................................................................................................................101
06. Initial_Value ...................................................................................................................................................... 102
Init_Value _1.txt ....................................................................................................................................................................102
07. Swap_Byte_Word .............................................................................................................................................. 104
Both_Swap _1.txt ..................................................................................................................................................................104
Byte_Swap _1.txt ..................................................................................................................................................................105
Word_Swap _1.txt.................................................................................................................................................................106
08. State_Change_Trigger....................................................................................................................................... 107
State_Change _1.txt ..............................................................................................................................................................107
State_Change _2.txt ..............................................................................................................................................................108
09. Constant_Output............................................................................................................................................... 109
Constant _1.txt ......................................................................................................................................................................109
10. Bit_Command.................................................................................................................................................... 110
Bit _Cmd_1.txt.......................................................................................................................................................................110
11. Delay_Command............................................................................................................................................... 111
Delay_Cmd_1.txt ...................................................................................................................................................................111
12. TxPdo_RxPdo_0x80_0xFF .................................................................................................................................. 112
TxPdo_RxPdo_0x80.txt .........................................................................................................................................................112
TxPdo_RxPdo_0xFF.txt ..........................................................................................................................................................112
TxPdo_RxPdo_AD_0x80.txt...................................................................................................................................................113
TxPdo_RxPdo_AD_0xFF.txt ...................................................................................................................................................113
TxPdo_RxPdo_DA_0x80_0xFF.txt..........................................................................................................................................114
13. Commands_128_202 ........................................................................................................................................ 114
14. End_of_Cmd_Dealy ........................................................................................................................................... 115
End_Delay_1.txt ....................................................................................................................................................................115
15. TxPdo_RxPdo_Max............................................................................................................................................ 116
TxRxPdo_Max_1.txt ..............................................................................................................................................................116
TxRxPdo_Max_2.txt ..............................................................................................................................................................117
TxRxPdo_Max_3.txt ..............................................................................................................................................................117
A3. SUPPORT IN ICP DAS MODBUS RTU PRODUCTS .............................................................................................................. 118
A4. REVISION HISTORY ...................................................................................................................................................... 119

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Package List
The shipping package includes the following items:
NOTE
If any of these items is missing or damaged, please contact your local distributor for
more information. Keep the shipping materials and overall package in case you want to
ship the module back in the future.
More Information
Manual/Quick Start/Datasheet:
http://ftp.icpdas.com/pub/cd/fieldbus_cd/ethercat/slave/ecat-2000/manual/
XML Device Description (ESI):
http://ftp.icpdas.com/pub/cd/fieldbus_cd/ethercat/slave/ecat-2000/software/
FAQ:
http://www.icpdas.com/root/support/faq/faq.html
ECAT-2610 x 1
Quick Start x 1 CA-0915 Cable x 1

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1. Introduction
Integrate your serial RS-232/422/485 based industrial devices and equipment to an EtherCAT
control system without the need for any changes to the device. Just connect, configure and it’s
finished.
The ECAT-2610 Communicator is a proven and trusted protocol converter gateway that connects
non-networked industrial devices and equipment to EtherCAT. The gateway performs an intelligent
protocol conversion and presents the serial data to the Master PLC/Controller as easily processed
I/O data.
Figure 1-1 The System diagram of EtherCAT to Modbus RTU gateway

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1.1 Features
Powerful MCU handles efficient network traffic.
2 x RJ-45 bus interface.
Integrate RS-232/422/485 serial device to EtherCAT interface.
Allows system integrators to retro-fit older automation devices into modern EtherCAT
communication structures.
Requires no hardware or software changes to be made to the connected device.
Compatible with all PLCs with EtherCAT support.
Performs complete serial protocol conversion, no PLC function blocks required.
Supports maximum 256 WORD input and 256 WORD output data.
Supports maximum Baud Rate 115200 bps.
1.2 Block Diagram
The block diagram of the ECAT-2610 module is given as follows:
Figure 1-2 Block Diagram of ECAT-2610

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2. Hardware Information
2.1 Appearance
The front panel and top panel of the ECAT-2610 module contain the Modbus COM Port, PC COM
port, LEDs, Ethernet Port and power connector.
Top Panel
1.
DC Power Input Connector
The “PWR(+)”and “GND(-)” pins are used for the power supply applies to all types of ECAT-2610
module. The valid power voltage range is from +12 to +48 VDC.
The definition of “F.G.”(Frame Ground):
Electronic circuits are constantly vulnerable to
Electrostatic Discharge (ESD), which becomes worse in a continental climate area. ECAT-2610
module feature a new design for the frame ground, which provides a path that bypasses ESD,
resulting in an enhanced ESD protection capability and ensuring that the module is more reliable.
2.
EtherCAT Interface
ECAT-2610 module is equipped with two RJ-45 EtherCAT Interface ports. IN is EtherCAT signal input
port that connect EtherCAT Master or EtherCAT signal output of previous EtherCAT slave module，
OUT
is EtherCAT signal output that connect the next EtherCAT signal input of EtherCAT slave
module.
1. DC Power
Input Connector
2. EtherCAT Interface
Figure 2-1
Top panel of ECAT-2610

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Front Panel
3.
EtherCAT bus Status Indicators
Notation Color States Description
RUN Red
Off The device is in state INIT
Blinking The device is in state PRE-OPERARIONAL
Single Flash The device is in state SAFE-OPERARIONAL
On The device is in state OPERARIONAL
Link Activity
IN/OUT Green
Off No link
Blinking Link and activity
On Link without activity
6. COM2/COM3
(Modbus RTU)
5. COM1
(Console Port)
3. EtherCAT bus Status
Indicators
4. ECAT-2610 Status
Indicators
Figure 2-2
Front panel of ECAT-2610

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4.
ECAT-2610 Status Indicators
Notation Color States Description
Err Red Off Normal
Blinking Error
Mode Green
Flashing for 0.3 sec DC enable
Flashing for 1 sec Normal
Flashing for 2 sec
No configuration file or configuration file
error
Flashing for 4 sec Configuration CRC error
Modbus Green Off No Modbus Command
Flashing for 1 sec Normal
5.
COM1 (Console Port, DB9-Male)
Configuration/Diagnostic Port. The more detailed information of pin assignments for the PC COM
Port, refer to Section 2.3 “Pin Assignments” .
6.
COM2/COM3 (Modbus RTU)
Connect to Modbus RTU devices. The more detailed information of pin assignments for the
Modbus COM Port, refer to Section 2.3 “Pin Assignments” .

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2.2 Specification
Model
ECAT-2610
Protocol
EtherCAT
Communication
RJ-45 Port RJ-45 x 1 Distance between Stations: Max. 100 m (100BASE-TX)
Data Transfer Medium: Ethernet/EtherCAT Cable (Min.CAT 5e)
Serial
Interface
RS-232
The RS-232, RS-422 and RS-485 cannot be used simultaneously
TxD, RxD, GND
TxD+, TxD-, RxD+, RxD-
Data+, Data-
RS-422
RS-485
Power Input
Redundant Input Range
+12 ~ +48 V
DC
Power Consumption
0.1 A @ 24 VDC
Protection
Power reverse polarity protection
Connector
3-Pin Removable Terminal Block (5.08 mm)
Mechanical
Dimensions (H x W x D)
110 mm x 90 mm x 33 mm
Installation
DIN-Rail Mounting
Environment
Operating Temperature
-25 ~ +75°C
Storage Temperature
-30 ~ +80°C
Relative Humidity
10 ~ 90% RH, Non-condensing

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2.3 Pin Assignments
EtherCAT Interface
COM1 (Console Port)
COM2/COM3 (Modbus RTU)
Pin Assignment
F.G .
GND(-)
PWR(+)
IN
OUT
Pin Assignment
Terminal
No.
- 01
RxD
02
TxD
03
-
04
GND
05
Terminal No.
Pin Assignment
COM2
TxD+/D+
TxD-/D-
RxD+
RxD-
N/A
COM3
ISO.GND
TxD
RxD
NOTE
The RS-232, RS-422 and RS-485 cannot be used
simultaneously.
Terminal
No.
Pin Assignment
06 -
07
-
08
-
09
-

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2.4 Wiring Connections
3-wire RS-232 Wiring
4-wire RS-422 Wiring
2-wire RS-485 Wiring
NOTE
1. Usually, you have to connect all signal grounds
of RS-422/485devices together to reduce
common-mode voltage between devices.
2. Twisted-paircable must beused for the
DATA+/- wires.
3. Both two endsof the cable may require a
termination resistor connected across the two
wires (DATA+ and DATA-). Typically 120 Ω
resisters are used.
4. The Data+ and B pins are positive-voltage pins,
and Data- andApins are negative-voltage pins
in the above figure.The B/Apins may be
defined in another way depending on devices,
please check it first.

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2.5 Init/Normal Operating Mode
The ECAT-2610 module has two operating modes that can be selected, each of which will be
described in more detail below.
Init Mode
Init Mode should only be selected for
troubleshooting.
1. Power off the ECAT-2610 module, and connect
the ECAT-2610 to Host PC.
2. Short the TxD and RxD pins on the COM3 to Init mode.
3. Run the 7188ECAT.exe, and power on the ECAT-2610 module to verify that enter the Init mode.
4. Disconnect the TxD and RxD pins on the COM3 to normal mode.
5. Erase the EEPROM and download new configuration file to EEPROM.
6. Reboot the ECAT-2610 module to work in normal mode.
Refer to Chapter 6 “Download Commands.txt Operation” of how to perform the above procedure.
Normal Mode
Normal Mode is the default operating mode and
should be used in most cases.

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2.6 Dimensions
The following diagrams provide the dimensions of the ECAT-2610 module and can be used as a
reference when defining the specifications for any custom enclosures. All dimensions are in
millimeters.
Left Side
Right Side
Front
Rear
Top
Bottom

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3. Getting Started
This chapter provides detailed information about the Self-test process, which is used to confirm
that the ECAT-2610 is operating correctly.
3.1 Factory Default Settings
The following is an overview of the factory default settings for ECAT-2610 module:
Item
Default Settings
Reference
InTxPDO 10
Refer to Chapter 8 “Object
Description and Parameterization”for
more detail about InTxPDO and
OutRxPDO.
OutRxPDO 10
Run LED
Red
Refer to Section 2.1 “Appearance” for
more detail about LED indicators.
IN LED
Flashing Green
Mode LED
Flashing Green
Baud Rate
115200
Refer to Section 4.2.1 “Configuration
Data Formats (Commands.txt)”for
more detail about Baud Rate, Data
Format and Command Settings.
Parity
N (None)
Stop Bit
1
Command: Read system status
FF 03 00 00 00 02
Command: Delay 1 sec
FF 06 00 00 00 64
Command: Delay 0.1 sec
FF 06 00 01 00 64
InTxPDO[00] = 2610SYS0 Sys_low = 0x0000
Refer to Section 3.3.1 “Module Status
and Error Mode”for more detail
about Sys_low and Sys_hi.
InTxPDO[01] = 2610SYS1 Sys_hi = 0x8000

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3.2 Connecting the Power and the Host PC
Step 1
Connect both the IN port of ECAT-2610 module and RJ-45 Ethernet port
of Host PC.
Ensure that the network settings on the Host PC have been correctly configured and are functioning
normally. Ensure that the Windows firewall or any Anti-Virus firewall is properly configured to allow
incoming connections, or temporarily disable these functions.
NOTE
Attaching an ESC (EtherCAT Slave Controller) directly to an office network will result in network flooding, since
the ESC will reflect any frame – especially broadcast frames – back into the network (broadcaststorm).
Step 2
Apply power to the ECAT-2610 module

Connect the PWR(+) pin to positive
terminal on a +12 ~ +48 VDC power
supply, and connect the GND(-) pin to
the negative terminal.
Connect the Host device to the
IN Port on ECAT-2610 module.
Figure 3-2.1

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Step 3
Verify that LEDs indicator on the ECAT-2610 module is given as follows:
NOTE
The Run indicator is ON when
ECAT-2610 connected to EtherCAT
Master.
IN = Green Flashing
Mode = Green Flashing
RUN = Red
Run
IN
Figure 3-2.2

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3.3 Configuration and Operation
NOTE
Installation of the latest XML device description(ESI)
Please ensure that you have installed the latest XML device description in TwinCAT.
This can be downloaded from the ICP DAS website
(http://ftp.icpdas.com/pub/cd/fieldbus_cd/ethercat/slave/ecat-2000/software/) and
installed according to the installation instructions.
Step 1
Install the ESI file
Copy the “ICPDAS ECAT-2610.xml” file to the Master Tools installation folder, as indicated in the
table below.
Software
Default Path
Beckhoff EtherCAT Configuration
C:\EtherCAT Configurator\EtherCAT
Beckhoff TwinCAT 3.X
C:\TwinCAT\3.x\Config\Io\EtherCAT
Beckhoff TwinCAT 2.X
C:\TwinCAT\Io\EtherCAT
Beckhoff TwinCAT 2.X is most commonly used EtherCAT Master software to operate ECAT-2610
module.
Step 2
Automatic Scanning
The EtherCAT system must be in a safe, de-energized state before the ECAT-2610 module
connected to EtherCAT network!
Switch on the operating voltage, open the TwinCAT System Manager (Config mode), and scan
in the devices (below the picture). Acknowledge all dialogs with “OK”, so that the configuration
is in “FreeRun”mode.

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Step 3
Verify that status of the ECAT-2610
In the left-hand of the TwinCAT System Manager, click on the branch of the EtherCAT Box you wish
to configure. Click TxPDO 0x00-0x7F to get and configure state.
Scanning in the configuration
(I/O Devices-> right-click-> Scan Devices…)
Figure 3-2.3
Figure 3-2.4