ICP DAS USA ECAT-2094P User manual

ECAT-2094P
EtherCAT
4-Axis Pulse Output Module
User Manual
(Version 1.0)

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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 © 2023 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]om

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Contents
1 Product overview...................................................................................................5
1.1 Introduction ...............................................................................................5
1.2 Technical Data............................................................................................6
1.3 Hardware Specification ..............................................................................7
2 Wiring.....................................................................................................................8
2.1 LED Definition ............................................................................................8
2.2 Alias Rotary Swtich...................................................................................10
2.3 Connection Interfaces..............................................................................11
2.4 Digital Input Wiring..................................................................................14
2.5 Stepper Motor Wiring..............................................................................15
2.1 Encoder Connection.................................................................................16
3 Basics Communication .........................................................................................18
3.1 EtherCAT Cabling......................................................................................18
3.2 EtherCAT State Machine ..........................................................................18
3.3 Synchronization Modes ...........................................................................20
3.3.1 Free Run Mode ...................................................................................20
3.3.2 Distributed Clocks (DC Mode).............................................................21
4 CoE Communication Area (1000h ~ 1FFFh) .........................................................25
4.1 Device information...................................................................................25
4.2 PDO(Process Data Object)Mapping .........................................................27
4.2.1 PDO Assign Object(1C12h ~ 1C13h)....................................................27
4.2.2 PDO Mapping Object(1600h ~ 1630h、1A00~1A30h).......................27
4.3 Sync manager 2/3 sychronization(1C32h、1C33h) .................................30
5 Drive parameter Area (2000h ~ 5FFFh)................................................................32
6 Drive Profile Area (6000h ~ 6FFFh) ......................................................................37
6.1 Object List ................................................................................................37
6.2 PDS State Machine...................................................................................40
6.3 Controlword(6040h).................................................................................42
6.4 Statuslword(6041h)..................................................................................44
6.5 Operation mode Setting...........................................................................46
6.5.1 Supported drive modes(6502h)..........................................................46
6.5.2 Modes of operation (6060h)...............................................................47
6.5.3 Modes of operation display (6061h)...................................................48
6.5.4 Caution for Changing Operation mode...............................................49
6.6 Position Control Function ........................................................................50
6.6.1 Software position limit (Software position limit:607Dh)....................50

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6.6.2 Profile Position Mode(pp mode).........................................................51
6.6.3 Cyclic Synchronous Position Mode(csp mode) ...................................54
6.6.4 Homing Mode( hm mode) ..................................................................56
6.7 Velocity Control Function.........................................................................72
6.7.1 Cyclic Synchronous Velocity Mode(csv mode)....................................72
7 Alarm List .............................................................................................................74

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1Product overview
1.1 Introduction
The ECAT-2094P pulse output module is a cost-effective, four-in-one pulse output
module. The ECAT-2094P simultaneously controls up to four pulse type motor
drivers.
Pulse type motor drivers can be directly connected to the ECAT-2094P device. The
device is designed to operate a pulse-type drive with pulse output. Configuration has
to be done by the EtherCAT master and the application program.
The ECAT-2094P has four integrated incremental encoder interfaces. Four 32 bit high
frequency encoder counter counts the input signal of external incremental encoders.
The encoder can for example be used for homing purposes and for consistency
checks.
For each motor three digital input channels are provided: A Left and right hardware
limit switch and a home switch.The hardware limit switch which automatically stops
the motor when activated, and all three digital inputs can be used for home position
search.

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1.2 Technical Data
4 x Encoder interfaces (A, B, Z), differential
Maximum pulse frequency up to 4 MHz
12 x Digital input. Three DI channels for each axis: hardware limit input, home
switch input
Optically isolated I/O
LED indicators for I/O, EtherCAT and motion status
Internal memory for storing configuration data
EtherCAT:
-2 x RJ-45 bus interface
-Distance between stations up to 100 m (100BASE-TX)
-Support daisy chain connection
-EtherCAT conformance test tool verified
-Supports Free-Run and Distributed Clock (DC) operation modes
-Supports CoE and FoE
-Supports Control modes: CPS、CSV、Hm and PP
-Support minimum communication cycle 0.5ms
Removable terminal block connector

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1.3 Hardware Specification
Motors
Maximum step frequency 4 MHz
Encoder inputs
Number of encoder inputs 4x encoder counter (A, B, Z), differential
Maximum encoder pulse frequency 1 MHz
Digital Inputs
Number of digital inputs 12 (3 inputs for each motor)
Wet contact
ON voltage level: +10 to 24VDC
OFF voltage level: +4VDC MAX
Photo-Isolation 3750VDC
LED Indicators
Diagnostic LED Power, EtherCAT status, Digital IO
Communication Interface
Connector 2 x RJ-45
Protocol EtherCAT
Distance between stations Max. 100 m (100BASE-TX)
Data transfer medium Ethernet/EtherCAT Cable (Min. CAT 5), Shielded
Power
Input voltage range 20V ~ 30VDC
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 (LxWxH) [mm] 181 x 110 x 33 (without connectors)
Case material Metal
Environment
Operating temperature -25℃~ 40℃
Storage temperature -30℃~ 80℃
Relative humidity 10 ~ 90%, No Condensation

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2Wiring
2.1 LED Definition
The ECAT-2094P provides on the frontside of the connection cap several diagnostic
LEDs.
Furthermore there are three LEDs to indicate the network status for EtherCAT. The
exact meaning of the LED indication is specified in the following tables:
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
Flashing Link and activity (e.g. data exchange
connected slaves)
On Link without any activity
Control LED Color Description
* red -Power indicator
* * * * * * * * (first row)green -LED 0: AXIS X - Home Switch input

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0 1 2 3 4 5 6 7 -LED 1: AXIS X - Positive direction hardware limit input
-LED 2: AXIS X - Negative direction hardware limit input
-LED 3: AXIS X - Driving
-LED 4: AXIS X - Alarm Code Bit0
-LED 5: AXIS X - Alarm Code Bit1
-LED 6: AXIS X - Alarm Code Bit2
-LED 7: AXIS X - Alarm
* * * * * * * * (second row)
8 9 10 11 12 13 14 15
green -LED 0: AXIS Y - Home Switch input
-LED 1: AXIS Y - Positive direction hardware limit input
-LED 2: AXIS Y - Negative direction hardware limit input
-LED 3: AXIS Y - Driving
-LED 4: AXIS Y - Alarm Code Bit0
-LED 5: AXIS Y - Alarm Code Bit1
-LED 6: AXIS Y - Alarm Code Bit2
-LED 7: AXIS Y - Alarm
* * * * * * * * (third row)
16 17 18 19 20 21 22 23
green -LED 0: AXIS Z - Home Switch input
-LED 1: AXIS Z - Positive direction hardware limit input
-LED 2: AXIS Z - Negative direction hardware limit input
-LED 3: AXIS Z - Driving
-LED 4: AXIS Z - Alarm Code Bit0
-LED 5: AXIS Z - Alarm Code Bit1
-LED 6: AXIS Z - Alarm Code Bit2
-LED 7: AXIS Z - Alarm
* * * * * * * * (fourth row)
24 25 26 27 28 29 30 31
green -LED 0: AXIS U - Home Switch input
-LED 1: AXIS U - Positive direction hardware limit input
-LED 2: AXIS U - Negative direction hardware limit input
-LED 3: AXIS U - Driving
-LED 4: AXIS U - Alarm Code Bit0
-LED 5: AXIS U - Alarm Code Bit1
-LED 6: AXIS U - Alarm Code Bit2
-LED 7: AXIS U - Alarm

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2.2 Alias Rotary Swtich
The Alias range is 0x00~0xFF

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2.3 Connection Interfaces
Name Signal Description
F.G Frame ground
GND
Power supply: Ground 0V (from
negative power contact)
ECAT-2094P power
+Vs
Power supply: +24 VDC (from positive
power contact)
IN EtherCAT signal input Incoming EtherCAT cable
OUT EtherCAT signal output Outgoing EtherCAT cable
Name Signal Description
PGND
Ground 0V
(from negative power contact)
Power supply to encoder
DI.COM Common DI X supply: +10 to +24VDC
F.G. Frame ground
P5V Output Power supply to encoder
PGND
Ground 0V
(from negative power contact)
Power supply to encoder
Name Signal Description

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X_P+ Output Pulse Signal(+) / CW Signal(+)
Pulse X
X_P- Output Pulse Signal(-) / CW Signal(-)
X_N+ Output Dir. Signal(+) / CCW Signal(+)
X_N- Output Dir. Signal(-) / CCW Signal(-)
X_A+ Input Encoder X input A+
Encoder X
X_A- Input Encoder X input A-
X_B+ Input Encoder X input B+
X_B- Input Encoder X input B-
X_C+ Input Encoder X input C+
X_C- Input Encoder X input C-
X_LL
Input Negative direction hardware limit
switch for motor X
limit switch and home switch
for motor X
X_RL
Input Positive direction hardware limit
switch for motor X
X_ORG Input home switch for motor X
Y_P+ Output Pulse Signal(+) / CW Signal(+)
Pulse Y
Y_P- Output Pulse Signal(-) / CW Signal(-)
Y_N+ Output Dir. Signal(+) / CCW Signal(+)
Y_N- Output Dir. Signal(-) / CCW Signal(-)
Y_A+ Input Encoder Y input A+
Encoder Y
Y_A- Input Encoder Y input A-
Y_B+ Input Encoder Y input B+
Y_B- Input Encoder Y input B-
Y_C+ Input Encoder Y input C+
Y_C- Input Encoder Y input C-
Y_LL
Input Negative direction hardware limit
switch for motor Y
limit switch and home switch
for motor Y
Y_RL
Input Positive direction hardware limit
switch for motor Y
Y_ORG Input home switch for motor Y
Z_P+ Output Pulse Signal(+) / CW Signal(+)
Pulse Z
Z_P- Output Pulse Signal(-) / CW Signal(-)
Z_N+ Output Dir. Signal(+) / CCW Signal(+)
Z_N- Output Dir. Signal(-) / CCW Signal(-)
Z_A+ Input Encoder Z input A+ Encoder Z

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Z_A- Input Encoder Z input A-
Z_B+ Input Encoder Z input B+
Z_B- Input Encoder Z input B-
Z_C+ Input Encoder Z input C+
Z_C- Input Encoder Z input C-
Z_LL
Input Negative direction hardware limit
switch for motor Z
limit switch and home switch
for motor Z
Z_RL
Input Positive direction hardware limit
switch for motor Z
Z_ORG Input home switch for motor Z
U_P+ Output Pulse Signal(+) / CW Signal(+)
Pulse U
U_P- Output Pulse Signal(-) / CW Signal(-)
U_N+ Output Dir. Signal(+) / CCW Signal(+)
U_N- Output Dir. Signal(-) / CCW Signal(-)
U_A+ Input Encoder U input A+
Encoder U
U_A- Input Encoder U input A-
U_B+ Input Encoder U input B+
U_B- Input Encoder U input B-
U_C+ Input Encoder U input C+
U_C- Input Encoder U input C-
U_LL
Input Negative direction hardware limit
switch for motor U
limit switch and home switch
for motor U
U_RL
Input Positive direction hardware limit
switch for motor U
U_ORG Input home switch for motor U

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2.4 Digital Input Wiring
Digital
Input
Digital input c
hannels
12
(3 switches for each motor)
Input type
Wet
Wet contact
ON voltage level
+1
0to 24 VDC
OFF voltage level
+
4 VDC MAX
Photo
-isolation
3750 V
DC
The diagram for Positive (RL) and Negative (LL) direction hardware limit switches and
home switch (ORG) wiring for axis X, Y, Z, and U is shown below.

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2.5 Stepper Motor Wiring

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2.1 Encoder Connection
Differential encoder:
The ECAT-2094P supports differential encoder by default.
Figure 1: Encoder connection
Open collector type encoder:
For single-ended encoder connection refers to the Figure 2 which lists the possible
power supply values with the corresponding resistor sizes.

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Figure 2: Open collector wiring diagram

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3Basics Communication
3.1 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).
3.2 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.
Supports four states:
Init (state after Reset)
Pre-Operational
Safe-Operational
Operational

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Figure 3: 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.
Pre-Operational (Pre-Op)
In Pre-Op state acyclic mailbox communication is possible, but not process data
communication. In this state the EtherCAT master does the following configurations:
Set the sync manager 2 and 3 for process data communication (from sync
manager channel 2)
The FMMU channels
PDO mapping or the sync manager PDO assignment
Safe-Operational (Safe-Op)
In Safe-Op state both mailbox and process data communication is enabled, but the
slave keeps its outputs in a safe state, while the input data are updated cyclically. The
slave will ignore the output data sent by the master and just return the current input

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data (e.g. digital input, encoder value, etc.)
Outputs in Safe-Op state
The sync manager watchdog expires when the master application does not provide
new output process data within the configured watchdog time. In this case the slave
will automatically go from operational state to ERROR-SAFEOP state and set all the
outputs in a safe state. Will stop the stepper motor and the motor current will be
adjusted to 0.
Operational (Op)
Here both the process data object (PDO) and service data object (SDP) are fully
enabled. Master sends cyclic output data and read input data. This module supports
two types of Op modes: Free Run mode and Distributed Clock (DC) mode.
3.3 Synchronization Modes
ECAT-2094P devices support two different modes
Free Run: The master cycle time and slave cycle time is independent and not
synchronized.
Distributed Clock (DC): The master cycle time and slave cycle time are synchronized.
3.3.1 Free Run Mode
The slave operates autonomously according to its cycle and is not synchronized with
the EtherCAT cycle. The master cycle time and the slave cycle time are fully independent
which means each slave device reads/writes its own process data according to its local time,
independent of the master’s cycle time.
Figure 4: Master-slave cycle in Free Run mode