SEW-Eurodrive DFE24B EtherCAT User manual

Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services
Fieldbus Interface DFE24B
EtherCAT
M anual
Edition 05/2007
11571810 / EN

SEW-EURODRIVE – Driving the world
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Manual – Fieldbus Interface DFE24B EtherCAT 3
1 Important Notes...................................................................................................... 6
1.1 Explanation of symbols.................................................................................. 6
1.2 Integral part of the product............................................................................. 6
1.3 Note on the documentation............................................................................ 6
1.4 Liability for defects ......................................................................................... 7
1.5 Product names and trademarks..................................................................... 7
1.6 Waste disposal............................................................................................... 7
2 Safety Notes ........................................................................................................... 8
2.1 Preliminary information .................................................................................. 8
2.2 General safety notes...................................................................................... 8
2.2.1 General safety notes for bus systems.................................................. 8
2.3 Transportation / putting into storage .............................................................. 8
2.4 Assembly / installation.................................................................................... 9
2.5 Startup / operation ......................................................................................... 9
3 Introduction .......................................................................................................... 10
3.1 Content of this manual................................................................................. 10
3.2 Additional documentation............................................................................. 10
3.3 Features....................................................................................................... 10
3.3.1 MOVIDRIVE®, MOVITRAC®B and EtherCAT .................................. 10
3.3.2 Access to all information.................................................................... 11
3.3.3 Cyclic data exchange via EtherCAT ................................................. 11
3.3.4 Acyclic data exchange via EtherCAT ................................................ 11
3.3.5 Configuration of the EtherCAT option card........................................ 11
3.3.6 Monitoring functions........................................................................... 12
3.3.7 Diagnostics ........................................................................................ 12
3.3.8 Fieldbus monitor ................................................................................ 12
4 Assembly and Installation Notes........................................................................ 13
4.1 Installing option card DFE24B in MOVIDRIVE®MDX61B........................... 13
4.1.1 Before you begin................................................................................ 13
4.1.2 Basic procedure for installing and removing an option card .............. 14
4.2 Installing option card DFE24B in MOVITRAC®B........................................ 15
4.2.1 SBus connection................................................................................ 15
4.2.2 System bus connection...................................................................... 16
4.3 Installing the UOH11B gateway housing...................................................... 18
4.4 Connection and terminal description of the DFE24B option ........................ 19
4.5 Pin assignment ............................................................................................ 20
4.6 Shielding and routing bus cables................................................................. 21
4.7 Bus termination............................................................................................ 21
4.8 Setting the station address .......................................................................... 21
4.9 Operating displays of the DFE24B option.................................................... 22
4.9.1 EtherCAT LEDs ................................................................................. 22
4.9.2 Gateway LED..................................................................................... 24
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4Manual – Fieldbus Interface DFE24B EtherCAT
5 Configuration and Startup................................................................................... 25
5.1 Validity of the XML files for DFE24B............................................................ 25
5.2 Configuring the EtherCAT master for MOVIDRIVE®B with the XML file..... 25
5.2.1 XML for operation in MOVIDRIVE® B................................................ 25
5.2.2 Configuration procedure .................................................................... 26
5.2.3 PDO configuration for operation in MOVIDRIVE®............................. 27
5.3 Configuring the EtherCAT master for MOVITRAC®B / gateway
with XML file................................................................................................. 35
5.3.1 XML files for operation in MOVITRAC® B and
gateway housing UOH11B ................................................................ 35
5.3.2 Configuration procedure .................................................................... 35
5.3.3 PDO configuration for DFE24B gateway for MOVITRAC® B............. 36
5.3.4 Auto setup for gateway operation ...................................................... 41
5.4 Setting the MOVIDRIVE®MDX61B drive inverter ....................................... 42
5.5 Setting the MOVITRAC®frequency inverter................................................ 43
6 EtherCAT Operating Characteristics.................................................................. 45
6.1 Controlling the MOVIDRIVE®MDX61B drive inverter ................................. 45
6.1.1 Control example in TwinCAT with MOVIDRIVE® MDX61B ............... 46
6.1.2 EtherCAT timeout (MOVIDRIVE® MDX61B) ..................................... 48
6.1.3 Fieldbus timeout response (MOVIDRIVE® MDX61B)........................ 48
6.2 Controlling the MOVITRAC®B (Gateway) frequency inverter..................... 49
6.2.1 Control example in TwinCAT with MOVITRAC® B (gateway) ........... 50
6.2.2 SBus timeout ..................................................................................... 51
6.2.3 Unit faults........................................................................................... 51
6.2.4 DFE24B fieldbus timeout in gateway operation................................. 52
6.3 Configuration via EtherCAT ........................................................................ 52
6.3.1 SDO READ and WRITE services ...................................................... 52
6.3.2 Example of reading a parameter in TwinCAT via EtherCAT.............. 53
6.3.3 Example of writing a parameter in TwinCAT via EtherCAT ............... 55
6.4 Configuration return codes........................................................................... 56
6.4.1 Elements............................................................................................ 56
6.4.2 Error class.......................................................................................... 56
6.4.3 Error code .......................................................................................... 56
6.4.4 Additional code .................................................................................. 57
6.4.5 List of the error codes for SDO services............................................ 57
7 Motion Control via EtherCAT ............................................................................. 58
7.1 Introduction to EtherCAT ............................................................................. 58
7.1.1 Velocity mode .................................................................................... 61
7.1.2 Position mode .................................................................................... 62
7.2 Settings in MOVIDRIVE®B with MOVITOOLS®MotionStudio.................... 63
7.2.1 Settings for velocity mode.................................................................. 63
7.2.2 Settings for position mode ................................................................. 65
7.3 Settings in EtherCAT master........................................................................ 67
7.3.1 Settings for velocity mode.................................................................. 67
7.3.2 Settings for position mode ................................................................. 68
7.4 Example in TwinCAT.................................................................................... 69
7.4.1 Velocity mode .................................................................................... 71
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Manual – Fieldbus Interface DFE24B EtherCAT 5
8 Operating MOVITOOLS®MotionStudio via EtherCAT...................................... 74
8.1 Introduction .................................................................................................. 74
8.2 Required hardware ...................................................................................... 75
8.3 Required software........................................................................................ 75
8.4 Installation.................................................................................................... 75
8.5 Configuring the mailbox gateway................................................................. 76
8.6 Network settings on the engineering PC...................................................... 76
8.7 Configuring the SEW communication server ............................................... 78
8.7.1 Establishing communication .............................................................. 78
8.7.2 Procedure .......................................................................................... 78
8.8 Automatic search for connected units (unit scan)........................................ 80
8.9 Activating online mode................................................................................. 81
8.10 Familiar problems during the operation of MOVITOOLS®MotionStudio..... 81
9 Error Diagnostics................................................................................................. 82
9.1 Diagnostic procedures ................................................................................. 82
9.2 List of errors................................................................................................. 85
10 Technical Data...................................................................................................... 86
10.1 Option DFE24B for MOVIDRIVE®MDX61B................................................ 86
10.2 Option DFE24B for MOVITRAC®B and
Universal Gateway Housing UOH11B ......................................................... 87
11 Index...................................................................................................................... 88
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6Manual – Fieldbus Interface DFE24B EtherCAT
1Explanation of symbols
Important Notes
Manual
1 Important Notes
1.1 Explanation of symbols
Always observe the safety and warning information in this documentation.
1.2 Integral part of the product
This manual is an integral part of the DFE24B EtherCAT fieldbus interface and contains
important notes on operation and service.
1.3 Note on the documentation
• You must adhere to the documentation to ensure:
– Fault-free operation
– Fulfillment of any rights to claim under limited warranty
• Therefore, make sure you read this manual carefully before you install and startup
frequency inverters with the DFE24B EtherCAT option card.
• This manual assumes that the user has access to and is familiar with the
MOVIDRIVE® and MOVITRAC® documentation, in particular the MOVIDRIVE®
MDX60B/61B and MOVITRAC® B system manuals.
Electrical hazard
Possible consequences: Severe or fatal injuries.
Hazard.
Possible consequences: Severe or fatal injuries.
Hazardous situation.
Possible consequences: Slight or minor injuries.
Harmful situation.
Possible consequences: Damage to the unit and the
environment.
Tips and useful information.
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Manual – Fieldbus Interface DFE24B EtherCAT 7
1
Liability for defects
Important Notes
1.4 Liability for defects
Incorrect handling or any action performed that is not specified in this manual could
impair the properties of the product. In this case, you lose any right to claim under limited
warranty against SEW-EURODRIVE GmbH & Co KG.
1.5 Product names and trademarks
The brands and product names in this manual are trademarks or registered trademarks
of the titleholders.
1.6 Waste disposal
Please follow the current national regulations.
Dispose of the following materials separately in accordance with the country-specific
regulations in force:
• Electronics scrap
• Plastics
• Sheet metal
• Copper
etc.
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8Manual – Fieldbus Interface DFE24B EtherCAT
2Preliminary information
Safety Notes
2 Safety Notes
2.1 Preliminary information
2.2 General safety notes
2.2.1 General safety notes for bus systems
2.3 Transportation / putting into storage
Inspect the shipment for any damage that may have occurred in transit as soon
as you receive the delivery. Inform the shipping company immediately. Do not
operate the product if it is damaged.
Use suitable, sufficiently rated handling equipment if necessary.
Only install and startup the DFE24B EtherCAT fieldbus interface in accordance
with the relevant accident prevention regulations and the MOVIDRIVE®
MDX60B/61B and MOVITRAC®B operating instructions.
The following safety notes refer to the use of the DFE24B EtherCAT fieldbus
interface.
Please also observe the supplementary safety notes in the individual sections of
this manual.
Never install damaged products or take them into operation.
Submit a complaint to the shipping company immediately in the event of damage.
This communication system allows you to adjust the MOVIDRIVE® drive inverter to your
specific application very accurately. As with all bus systems, there is a danger of
invisible, external (as far as the inverter is concerned) modifications to the param-
eters which give rise to changes in the inverter behavior. This may result in unex-
pected (not uncontrolled) system behavior.
Possible damage caused by incorrect storage!
Store the unit in a dry, dust-free room if it is not to be installed straight away.
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Manual – Fieldbus Interface DFE24B EtherCAT 9
2
Assembly / installation
Safety Notes
2.4 Assembly / installation
Follow the instructions in section 4, "Assembly and Installation Notes."
2.5 Startup / operation
Follow the instructions in section 5, "Configuration and Startup."
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10 Manual – Fieldbus Interface DFE24B EtherCAT
3Content of this manual
Introduction
3 Introduction
3.1 Content of this manual
This user manual describes how to:
• install the DFE24B EtherCAT option card in the MOVIDRIVE®MDX61B drive
inverter
• use the DFE24B EtherCAT option card in the MOVITRAC®B frequency inverter and
in the UOH11B gateway housing
• startup MOVIDRIVE® MDX61B on the EtherCAT fieldbus system
• startup MOVITRAC®B on the EtherCAT gateway
• configure the EtherCAT master using XML files
• operate MOVITOOLS® MotionStudio via EtherCAT.
3.2 Additional documentation
For information on how to connect MOVIDRIVE® simply and effectively to the EtherCAT
fieldbus system, in addition to this user manual on the EtherCAT option, you should
request the following documentation on fieldbus technology:
•"MOVIDRIVE
® Fieldbus Unit Profile" manual
•MOVITRAC
® B system manual
The "MOVIDRIVE® Fieldbus Unit Profile" manual and the MOVITRAC®B system
manual describe the fieldbus parameters and their coding, and explains the whole range
of control concepts and application options in the form of brief examples.
The "MOVIDRIVE® Fieldbus Unit Profile" manual contains a list of all drive inverter
parameters that can be read or written via the various communication interfaces, such
as system bus, RS485 and also via the fieldbus interface.
3.3 Features
The MOVIDRIVE® MDX61B drive inverter and the MOVITRAC®B frequency inverter
enable you to use the DFE24B option to connect to higher-level automation systems via
EtherCAT using its powerful, universal fieldbus interface.
3.3.1 MOVIDRIVE®, MOVITRAC®B and EtherCAT
The unit behavior of the inverter that forms the basis of EtherCAT operation is referred
to as the unit profile. It is independent of any particular fieldbus and is therefore a
uniform feature. This feature allows the user to develop drive applications independent
of the fieldbus in operation. This makes it much easier to change to other bus systems,
such as DeviceNet (option DFD).
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Manual – Fieldbus Interface DFE24B EtherCAT 11
3
Features
Introduction
3.3.2 Access to all information
MOVIDRIVE® MDX61B offers digital access to all drive parameters and functions via
the EtherCAT interface. The drive inverter is controlled via fast, cyclic process data. You
can use this process data channel to enter setpoints (e.g. setpoint speed, ramp gener-
ator time for acceleration/deceleration, etc.) and to trigger various drive functions such
as enable, controller inhibit, normal stop, rapid stop, etc. At the same time you can use
this channel to read back actual values from the drive inverter, such as the actual speed,
current, unit status, fault number and reference signals.
3.3.3 Cyclic data exchange via EtherCAT
Process data is usually exchanged cyclically between the EtherCAT master and the
MOVIDRIVE® B and MOVITRAC® B inverters. The cycle time is specified during the
configuration of the EtherCAT master.
3.3.4 Acyclic data exchange via EtherCAT
The EtherCAT specification defines acyclical READ/WRITE services that are trans-
ferred together with the telegrams during ongoing cyclical bus operation without impact-
ing on the performance of the process data communication via EtherCAT.
Read and write access to the drive parameters is enabled via SDO (Service Data
Object) services that are implemented according to CoE (CANopen over EtherCAT) or
VoE (Vendor-specific over EtherCAT) services.
This parameter data exchange enables you to implement applications in which all the
important drive parameters are stored in the higher-level programmable controller, so
that there is no need to make parameter settings manually on the drive inverter itself.
3.3.5 Configuration of the EtherCAT option card
The EtherCAT option card is designed so that all fieldbus-specific settings are made
during startup of the EtherCAT system. This process enables the drive inverter to be
integrated and operated in the EtherCAT environment within a very short period of time.
61211AXX
Figure 1: EtherCAT with MOVIDRIVE®
SEW
Drive
EtherCAT
Ethernet
Header Frame Header EtherCAT
Header Data
...
EtherCAT
Master
SEW
Drive SEW Drive
FCS
I/O
Drive 1 Drive 2 Drive 3
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12 Manual – Fieldbus Interface DFE24B EtherCAT
3Features
Introduction
3.3.6 Monitoring functions
Using a fieldbus system requires additional monitoring functions for the drive
technology, for example, cycle time monitoring of the fieldbus (fieldbus timeout) or rapid
stop concepts. You can, for example, adapt the monitoring functions of MOVIDRIVE®B
/MOVITRAC
® B specifically to your application. You can determine, for instance, which
of the drive inverter’s fault responses should be triggered in the event of a bus error. It
is a good idea to use a rapid stop function for many applications. However you can also
freeze the last setpoints so that the drive continues to operate with the most recently
valid setpoints (for example, conveyor belt). As the functions of the control terminals are
still active in fieldbus operation, you can still implement fieldbus-independent
emergency stop concepts via the drive inverter terminals.
3.3.7 Diagnostics
The MOVIDRIVE® B drive inverter and MOVITRAC®B frequency inverter both offer a
number of diagnostic options for startup and service. For example, you can use the
integrated fieldbus monitor to control setpoint values sent from the higher-level
controller and the actual values.
3.3.8 Fieldbus monitor
Furthermore, you are supplied with a variety of additional information about the status
of the fieldbus option card. In conjunction with the MOVITOOLS® MotionStudio PC soft-
ware, the fieldbus monitor function offers you an easy-to-use diagnostic tool for setting
all drive parameters (including the fieldbus parameters) and for displaying the fieldbus
and device status information in detail.
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Manual – Fieldbus Interface DFE24B EtherCAT 13
4
Installing option card DFE24B in MOVIDRIVE® MDX61B
Assembly and Installation Notes
4 Assembly and Installation Notes
This section provides you with information on assembly and installation for the DFE24B
option card in MOVIDRIVE® MDX61B, MOVITRAC® B and the UOH11B gateway
housing.
4.1 Installing option card DFE24B in MOVIDRIVE®MDX61B
4.1.1 Before you begin
The DFE24B option card must be installed in the fieldbus slot.
Read the following notes before installing or removing the option card:
• Disconnect the inverter from the power. Switch off the DC 24 V and the supply
voltage.
• Take appropriate measures (discharge strap, conductive shoes, etc.) to protect the
option card from electrostatic charge before touching it.
• Before installing the option card, remove the keypad and the front cover (→
MOVIDRIVE® MDX60B/61B operating instructions, Sec. "Installation").
• After installing the option card, replace the front cover and the keypad (→
MOVIDRIVE® MDX60B/61B operating instructions, Sec. "Installation").
• Keep the option card in its original packaging until immediately before you are ready
to install it.
• Hold the option card by its edges only. Do not touch any subassemblies.
Only SEW-EURODRIVE personnel may install or remove option cards for
MOVIDRIVE®MDX61B size 0.
• Users may only install and remove options cards for MOVIDRIVE® MDX61B sizes 1
to 6.
• The DFE24B option is powered with voltage via MOVIDRIVE® B. A separate voltage
supply is not required.
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14 Manual – Fieldbus Interface DFE24B EtherCAT
4Installing option card DFE24B in MOVIDRIVE® MDX61B
Assembly and Installation Notes
4.1.2 Basic procedure for installing and removing an option card
1. Remove the two retaining screws holding the card retaining bracket. Pull the card
retaining bracket out evenly from the slot (do not twist!).
2. Remove the 2 retaining screws from the black cover plate on the card retaining
bracket. Remove the black cover plate.
3. Position the option card onto the retaining bracket so that the 3 retaining screws fit
into the corresponding holes on the card retaining bracket.
4. Insert the retaining bracket with the installed option card into the slot, pressing
slightly so it is seated properly. Secure the card retaining bracket with the two retain-
ing screws.
5. To remove the option card, follow the instructions in reverse order.
60039AXX
Figure 2: Installing an option card in MOVIDRIVE®MDX61B sizes 1 to 6
1.
4.
4.
1. 2.
3. 3. 3.
2.

Manual – Fieldbus Interface DFE24B EtherCAT 15
4
Installing option card DFE24B in MOVITRAC® B
Assembly and Installation Notes
4.2 Installing option card DFE24B in MOVITRAC®B
4.2.1 SBus connection
•MOVITRAC
® B does not require any special firmware status.
• Only SEW-EURODRIVE personnel may install or remove options cards into
MOVITRAC®B.
61212AXX
[1] Terminating resistor activated, S1 = ON
[2] DIP switch S2 (reserved), S2 = OFF
X45 X46
123456HL⊥
FSC11B
MOVITRAC
®
B
S1
OFF
ON
7
S2
X44
X26
1234567
X24
H1
H2
X12
1
2
3
4
5
6
7
8
24V IO
DC 24 V–
+
9
GND
=
[1]
01
F1
EtherCAT
AS
RUN
DFE 24B
ERR
INX30OUTX31 OUTX31
[2]
• DFE24B has an integrated SBus terminating resistor and must always be installed at
the start of the SBus line.
• DFE24B always has the address 0.
X46 X26
X46:1 X26:1 SC11 SBus +, CAN high
X46:2 X26:2 SC12 SBus –, CAN low
X46:3 X26:3 GND, CAN GND
X46:7 X26:7 DC 24 V
X12
X12:8 DC 24 V input
X12:9 GND reference potential for binary inputs

16 Manual – Fieldbus Interface DFE24B EtherCAT
4Installing option card DFE24B in MOVITRAC® B
Assembly and Installation Notes
For simple cabling, the DFE24B option can be provided with DC 24 V voltage at X26.7
from X46.7 of MOVITRAC® B.
When powering option DFE24B through MOVITRAC® B, MOVITRAC®B itself must be
provided with DC 24 V voltage at terminals X12.8 and X12.9.
4.2.2 System bus connection
61073AXX
Figure 3: System bus connection
X45 X46
123456HL⊥
FSC11B
MOVITRAC®B
S1
OFF
ON
7
S2
X44
X45 X46
123456HL⊥
FSC11B
MOVITRAC®B
S1
OFF
ON
7
S2
X44
X45 X46
123456HL⊥
FSC11B
MOVITRAC®B
S1
OFF
ON
7
S2
X44
X26
1234567
X24
H1
H2
X12
1
2
3
4
5
6
7
8
24V IO
DC 24 V-
+
9
GND
=
01
F1
EtherCAT
AS
RUN
DFE 24B
ERR
INX30OUTX31 OUTX31
DFE24B
GND = System bus reference
SC11 = System bus high
SC12 = System bus low
MOVITRAC® B
GND = System bus reference
SC22 = System bus low, outgoing
SC21 = System bus high, outgoing
SC12 = System bus low, incoming
SC11 = System bus high, incoming
S12 = System bus terminating resistor
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Manual – Fieldbus Interface DFE24B EtherCAT 17
4
Installing option card DFE24B in MOVITRAC® B
Assembly and Installation Notes
Please note:
• If available, use a 2 x 2 core twisted and shielded copper cable (data transmission
cable with braided copper shield). Apply the shield at both ends to the electronics
shield clamp of MOVITRAC® B over a large area. When using a 2-core cable connect
the shield ends additionally to GND. The cable must meet the following specifica-
tions:
– Core cross section 0.25 ... 0.75 mm2 (AWG23 ... AWG18)
– Line resistance 120 Ω at 1 MHz
– Capacitance per unit length ≤ 40 pF/m at 1 kHz
Suitable would be CAN bus or DeviceNet cable.
• The permitted total cable length depends on the baud rate setting of the SBus:
– 250 kBaud: 160 m
– 500 kBaud: 80 m
– 1000 kBaud:40 m
• Connect the system bus terminating resistor (S1 = ON) at the end of the system bus
connection. Switch off the terminating resistor on the other units (S1 = OFF). The
DFE24B gateway has a permanently installed terminating resistor and must always
be located at the beginning or end of the system bus line.
• Star like bus structure is not permitted.
• There must not be any potential displacement between the units connected with the
SBus. Take suitable measures to avoid potential displacement, e.g. by connecting
the unit ground connectors using a separate lead.
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18 Manual – Fieldbus Interface DFE24B EtherCAT
4Installing the UOH11B gateway housing
Assembly and Installation Notes
4.3 Installing the UOH11B gateway housing
The gateway housing is powered with DC 24 V at X26.
61074AXX
X26
X26:1 SC11 System bus +, CAN high
X26:2 SC12 System bus -, CAN low
X26:3 GND, CAN GND
X26:6 GND, CAN GND
X26:7 DC 24 V
X26
1234567
SEW Drive
UOH11B
DC+24
V
GND
X24
H1
H2
SC11 Systembus +, CAN high
SC12 Systembus -, CAN low
GND, CAN GND
01
F1
EtherCAT
AS
RUN
DFE 24B
ERR
INX30OUTX31 OUTX31
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Manual – Fieldbus Interface DFE24B EtherCAT 19
4
Connection and terminal description of the DFE24B option
Assembly and Installation Notes
4.4 Connection and terminal description of the DFE24B option
Part number EtherCAT interface type DFE24B: 1821 126 7
The option "EtherCAT interface type DFE24B" is only possible in conjunction with
MOVIDRIVE® MDX61B, not with MDX60B.
Plug the DFE24B option into the fieldbus slot.
Front view of DFE24B Description DIP
switches
Terminal Function
58083AXX
RUN: EtherCAT operation LED
(orange/green)
ERR: EtherCAT error LED (red)
Shows the operating status of bus electronics and
communication.
Displays EtherCAT errors.
DIP switch AS
F1 Auto setup for gateway operation Reserved
LED Link/Activity (green)
X30 IN: Incoming EtherCAT
connection
LED Link/Activity (green)
X31 OUT: Outgoing EtherCAT
connection
Shows that the EtherCAT connection with the preced-
ing unit is available/active.
Shows that the EtherCAT connection with the follow-
ing unit is available/active.
01
F1
EtherCAT
AS
RUN
DFE 24B
ERR
INX30OUTX31 OUTX31
Front view in
MOVITRAC®B and
UOH11B Description Function
58129AXX
LED H1 (red)
LED H2 (green)
X24 X terminal
System error (only for gateway functionality)
Reserved
RS485 interface for diagnostics via PC and
MOVITOOLS® MotionStudio
X24
H1
H2

20 Manual – Fieldbus Interface DFE24B EtherCAT
4Pin assignment
Assembly and Installation Notes
4.5 Pin assignment
Use prefabricated, shielded RJ45 plug connectors to IEC11801 edition 2.0, category 5.
DFE24B -
EtherCAT
connection
Option DFE24B is equipped with two RJ45 connectors for a linear bus structure. The
EtherCAT master is connected (if necessary, via additional EtherCAT slaves) to X30 IN
(RJ45) with a shielded, twisted-pair cable. Additional EtherCAT units are then
connected via X31 OUT (RJ45).
54174AXX
Figure 4: Pin assignment of an RJ45 plug connector
A = Front view
B = View from back
[1] Pin 1 TX+ Transmit Plus
[2] Pin 2 TX– Transmit Minus
[3] Pin 3 RX+ Receive Plus
[6] Pin 6 RX– Receive Minus
[3] [2][1]
236
1
[6]
AB
In accordance with IEC 802.3, the maximum permitted cable length for 100 MBaud
Ethernet (100BaseT), e.g. between two DFE24B units, is 100 m.
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