TDK-Lambda GENESYS GH1.5kW in 1U Half-Rack 0-600V /... User manual

Series
Programmable DC Power Supplies
GH1kW in 1U Half-Rack 0-600V / 0-100A
GH1.5kW in 1U Half-Rack 0-600V / 0-150A
G1kW in 1U 0-600V / 0-100A
G1.7kW in 1U 0-600V / 0-170A
G2.7kW in 1U 0-600V / 0-265A
G3.4kW in 1U 0-600V / 0-340A
G5kW in 1U 0-600V / 0-500A
G7.5kW in 1U 0-1500V / 0-375A
GSP10kW in 2U 0-600V / 0-1000A
GSP15kW in 3U 0-600V / 0-1500A
GSPS 30kW, 45kW, 60kW in 20U 0-600V / 0-4500A
Built in compliant LAN, USB, RS-232 & RS-485 Interface
Optional Interface: IS420, IEEE488.2 (GPIB), MODBUS TCP or EtherCAT
EtherCAT MANUAL
Manual Supplements
The full user manual is available on TDK-Lambda website or can be ordered, refer to User manual IA761-04-02_.
Modbus® is a registered trademark of Schneider Electric, licensed to the Modbus Organization, Inc.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
IA761-04-05B

This page intentionally left blank

TABLE OF CONTENTS
GENERAL INFORMATION.................................................................................................. 1
CHAPTER 1: INTRODUCTION ......................................................................................... 1
1.1 Introduction................................................................................................................. 1
1.2 Feature Summary....................................................................................................... 1
CHAPTER 2: SPECIFICATIONS ...................................................................................... 3
2.1 Power Supply Specifications ...................................................................................... 3
2.2 EtherCAT Specifications ............................................................................................ 3
2.3 EtherCAT (CoE) Command Speed ............................................................................ 4
CHAPTER 3: SELECT CONTROL METHOD ................................................................... 6
3.1 A Variety of Control Methods ..................................................................................... 6
3.2 EtherCAT, LAN, LOCAL, Serial or Analog Control .................................................... 6
3.2.1 Select Local (Front Panel) Mode .................................................................. 6
3.2.2 Select RS232/485, USB (Serial) or LAN Remote Mode............................... 7
3.2.3 Select EtherCAT Remote Mode ................................................................... 7
3.3 EtherCAT Interface Option Rear Panel View ............................................................. 8
3.4 EtherCAT Cable ......................................................................................................... 9
3.5 Power-up the EtherCAT Power Supply...................................................................... 9
3.6 View the MAC Addresses........................................................................................... 9
3.7 EtherCAT Reset ......................................................................................................... 9
CHAPTER 4: PROGRAMMING USING TWINCAT 3.......................................................10
4.1 Establish TwinCAT Communication ......................................................................... 10
CHAPTER 5: ETHERCAT DATA STRUCTURE ..............................................................13
5.1 Programming / Monitoring Values Translation ......................................................... 13
5.2 Data Type ................................................................................................................. 14
5.3 Data Access ............................................................................................................. 16
5.4 Data Length (Number of SDOs/PDOs) .................................................................... 16
5.5 Parameters Range ................................................................................................... 16
5.6 Read / Write SDOs / PDOs ...................................................................................... 16
5.7 PDOs Mapping ......................................................................................................... 17
5.8 SDOs Mapping ......................................................................................................... 18
5.9 EtherCAT Unique Commands Structure .................................................................. 21
5.10 Sequencer Activation ............................................................................................... 26
CHAPTER 6: MULTI POWER SUPPLY CONNECTION..................................................28
6.1 Introduction............................................................................................................... 28
6.2 Connection and Setup.............................................................................................. 28
6.3 Parallel Connection .................................................................................................. 29

This page intentionally left blank

1
GENERAL INFORMATION
Documentation (including this Manual) is subject to change without notice. Refer to TDK-Lambda Technical
Data web page for an up-to-date documentation:
https://www.emea.lambda.tdk.com/uk/technical-data/data.aspx?resource=Installation-Manuals
Drivers and GUIs are updated periodically to support new features. Refer to TDK-Lambda Technical Centre
web page for up-to-date drivers and GUIs:
https://www.emea.lambda.tdk.com/uk/technical-centre/software-tools.aspx
CHAPTER 1: INTRODUCTION
1.1 Introduction
The EtherCAT option for the power supply series allows the user to remotely program, measure
and check status of the power supply by EtherCAT (CANopen over EtherCAT) protocol implementation. Refer
to SAFETY & INSTALLATION manual (IA761-04-01_) for information on safety requirements,
specifications and installation. Refer to USER MANUAL (IA761-04-02_) for information on power
supply operation.
Figure 1–1: Rear Panel EtherCAT View
1.2 Feature Summary
A. Communicate over EtherCAT network
•CoE (CANopen over EtherCAT).
B. Full remote programming and monitoring functions
•Uses EtherCAT (CANopen over EtherCAT) command language.
•Compatible with EtherCAT test & measurement utilities.
C. Front Panel features
•View MAC address.
•EtherCAT (OPT) reset.
•Remote “Blink” identity function to locate the power supply in a rack.
Link/Activity LED
(IN Port)
Link/Activity LED
(OUT Port)
RUN LED
ERROR LED
EtherCAT RJ45
IN Port
EtherCAT RJ45
OUT Port

2
D. Rear Panel features (2-Port EtherCAT)
•Two Ethernet RJ-45 connectors (standard 8 pin jack).
•Allow connection of EtherCAT IN and OUT chain.
•RUN, ERROR and two ports link/activity indicators.

3
CHAPTER 2: SPECIFICATIONS
2.1 Power Supply Specifications
When using EtherCAT, power supply ratings and accuracies are the same as for digital remote programming
and monitoring using RS-232/485, USB or LAN. Refer to USER MANUAL (IA761-04-02_) for those
specifications.
2.2 EtherCAT Specifications
ELECTRICAL
ETHERNET Meets IEEE 802.3 specifications
Auto-MDIX Accepts patch or cross-over cable connection
Speed & Duplex 100Base-T networks (100 Megabits per second), Full Duplex
NETWORK CONFIGURATION
MAC Address EtherCAT has a unique MAC address (different from the built-in LAN)
EtherCAT Reset Reset in case of an unknown communication failure
EtherCAT PROTOCOLS
CoE CANopen over EtherCAT
FoE File access over EtherCAT (for firmware update only)
COMMANDS
EtherCAT PDO / SDO EtherCAT packets follow Transmission Control Protocol
SUPPLY CONFIGURATIONS
Local Control Supply may be controlled from the front panel even if operator is
monitoring via EtherCAT connection
EtherCAT Remote
Control
Supply may be controlled and monitored through EtherCAT connection
RS232/485, USB or
LAN
EtherCAT interface can be disabled to use RS232/485, USB or LAN
interfaces
Analog Control EtherCAT can monitor power supply while analog control is used
INDICATORS
MAC Addresses View addresses on front panel
Link & Activity LEDs Indicate Ethernet cable connected at both ends, defines connection
state and packets flow (LED per EtherCAT port)
Module RUN LED Indicate EtherCAT device states (INIT, OPERATIONAL, PRE-
OPERATIONAL or SAFE-OPERATIONAL)
Module ERROR LED Indicate errors and/or invalid configuration

4
SECURITY
Block All Protocols All protocols except EtherCAT (CoE & FoE) are blocked
COMPLIANCE
UL, IEC, TUV, CE,
ROHS, etc…
Conformances that are granted to basic power supply also apply to
power supply with MODBUS TCP interface installed
2.3 EtherCAT (CoE) Command Speed
The following communication speeds are typical values only. In addition to the variability in the
EtherCAT interface, there are timing variations within the controller and the network routing. Test is done
using a peer-to-peer configuration.
NOTE
The following speed specifications are subject to change without notice.
Typical PDOs cycle is about 20 mSec (for all PDOs).
Typical SDOs command or query speeds (including commands not listed below):
90% of
Commands
in less than:
100% of
Commands
in less than:
Basic Settings and Measurements
Examples: 14 mSec 20 mSec
VOLT nn.nn VOLT?
MEAS:VOLT?
MEAS:CURR?
MEAS:POW?
OUTP OUTP?
OUTP:MODE?
VOLT:PROT:LEV VOLT:PROT:LEV?
System Queries
Examples: 22 mSec 357 mSec
SYST:ERR?
*ESR?
*OPT?
SYST:PON:TIME?
SYST:TEMP?

5
90% of
Commands
in less than:
100% of
Commands
in less than:
Status Register Settings and Queries
Examples: 14 mSec 20 mSec
STAT:QUES:COND STAT:QUES:COND?
STAT:QUES:ENAB STAT:QUES:ENAB?
Identity Query
Example: 480 mSec 505 mSec
*IDN?
Operation Complete
Example: 12 mSec 18 mSec
*OPC *OPC?
NOTES
1. Data is shown as SCPI commands. Actual tests are performed on EtherCAT SDOs/PDOs.
2. Commands which are longer than a single SDO might require additional execution time.
3. Sequencer commands depend on the amount of SDOs being read/written (sequences with 100 points
might require a few seconds to store/load).

6
CHAPTER 3: SELECT CONTROL METHOD
3.1 A Variety of Control Methods
The power supply with EtherCAT interface is very flexible. In addition to the EtherCAT interface,
there are other ways the supply can be used.
Refer to USER MANUAL (IA761-04-02_) for more details on the local operation mode (Front Panel), Serial
operation mode (RS232/485 or USB), LAN operation mode (Ethernet) or Analog (Via J1, DB26HD).
3.2 EtherCAT, LAN, LOCAL, Serial or Analog Control
The power supply, with EtherCAT interface option installed, may be operated through five
interfaces. This section describes how to enable each.
MODE MODE DESCRIPTION
1 EtherCAT Control using EtherCAT connection
by EtherCAT PDO (Process Data
Objects) / SDO (Service Data
Objects)
EtherCAT disables serial and LAN
communication ports
2 LAN Control using Ethernet connection
by SCPI commands
EtherCAT is disabled if LAN is
selected
3 Local Control using the front panel
buttons and encoders
EtherCAT can be used to monitor
while in local mode
4 Serial Control using RS232/485 or USB EtherCAT is disabled if Serial is
selected
5 Analog Control using analog signals to the
26 pin ‘J1’ DB26HD connector
EtherCAT, LAN, Local or Serial can
be used to monitor and set
protections
3.2.1 Select Local (Front Panel) Mode
The supply may be operated in the local (or front panel) mode, even when a computer is using the EtherCAT
connection.
If the supply is in remote mode, the front panel REM indicator is ON. The supply may be returned to local by
pressing SYST / Lock Front Panel Button and acknowledged by clicking the Current Encoder Button.
If the power supply does not switch into local mode, then:
•If an EtherCAT program is running to change power supply settings/parameters, it will
automatically go to remote with every command. Stop EtherCAT program and then return the
supply to local mode by pressing SYST / Lock Front Panel Button and acknowledge by clicking
the Current Encoder Button.

7
•The supply may be set to Local Lockout. Use EtherCAT SDO (Service Data Object) 9199 to read
or write power supply remote state, or turn the supply AC off and back on, and then press SYST /
Lock Front Panel Button and acknowledge by clicking the Current Encoder Button.
3.2.2 Select RS232/485, USB (Serial) or LAN Remote Mode
The serial (RS232/485 & USB) and LAN remote control may be selected even if EtherCAT option is installed.
The serial and LAN remote modes are described in the USER MANUAL (IA761-04-02_). The
EtherCAT has similar capabilities as the serial and LAN remote modes, but the EtherCAT programming
language is not compatible with the serial or LAN languages (GEN or SCPI).
To select RS232/485, USB or LAN mode:
1. Press the COMM button.
COMM LED illuminates. INTFC message appears on the Voltage display.
2. Rotate the Current encoder to select the required communication interface.
3. Press the Current encoder to accept parameter.
When the parameter is accepted, the display blinks once.
4. To exit the menu, press the COMM button or the BACK button.
3.2.3 Select EtherCAT Remote Mode
Selecting the EtherCAT mode allows programming over the Ethernet cable. Any setting and measurement
may be done from a remote computer using the EtherCAT communication.
To select EtherCAT mode:
1. Press the COMM button.
COMM LED illuminates. INTFC message appears on the Voltage display.
2. Rotate the Current encoder to select the OPT communication interface.
3. Press the Current encoder to accept parameter.
When the parameter is accepted, the display blinks once.
4. To exit the menu, press the COMM button or the BACK button.
NOTE
Refer to USER MANUAL (IA761-04-02_), SYSTem[:COMMunicate]:INTerface <DSC> command
to select EtherCAT (OPT) communication interface via communication (via RS232/485, USB or LAN).

8
3.3 EtherCAT Interface Option Rear Panel View
The power supply rear panel, with the EtherCAT option installed, is shown below:
Figure 3–1: Rear Panel EtherCAT View
RUN LEDs
Off – INIT, EtherCAT device in ‘INIT’-state (or no power)
Green – OPERATIONAL, EtherCAT device in ‘OPERATIONAL’-state
Green, blinking – PRE-OPERATIONAL, EtherCAT device in ‘PRE-
OPERATIONAL’-state
Green, single flash – SAFE-OPERATIONAL, EtherCAT device in ‘SAFE-
OPERATIONAL’-state
Red – Fatal Event, if RUN and ERR turn red, this indicates a fatal event,
forcing the bus interface to a physically passive state. Reset via Front Panel or
recycle AC power
ERR LED
Off – No error (or no power)
Red, blinking – Invalid configuration, state change received from master is not
possible due to invalid register or object settings
Red, single flash – Unsolicited state change, slave device application has
changed the EtherCAT state autonomously
Red – Application controller failure, if RUN and ERR turn red, this indicates a fatal
event, forcing the bus interface to a physically passive state. Reset via Front
Panel or recycle AC power
Link / Activity LED
Off – No link, link not sensed (or no power)
Green – Link sensed, no activity, no traffic detected
Green, flickering – Link sensed, activity, traffic detected
NOTE
EtherCAT interface supply is ready for communication as soon as Link / Activity and RUN LEDs turn Green. If
communication is established prior the interface is ready, communication interruptions may occur.
Link/Activity LED
(IN Port)
Link/Activity LED
(OUT Port)
RUN LED
ERROR LED
EtherCAT RJ45
IN Port
EtherCAT RJ45
OUT Port

9
3.4 EtherCAT Cable
The EtherCAT cable must be supplied by the customer. It may be a standard straight “patch” CAT-5 (or
better) network cable or a “crossover” cable. Cable type is auto-detected by the power supply.
NOTE
The serial link (RS-485) cable (0.5 meters long) provided with the power supply cannot be used
for EtherCAT connection.
3.5 Power-up the EtherCAT Power Supply
The power supply EtherCAT option automatically detects if it is connected or disconnected from a network.
EtherCAT interface supply is ready for communication as soon as Link / Activity and RUN LEDs turn Green.
1. Apply the AC power and switch ON the power supply.
2. Connect the Ethernet cable before or after the power supply is switched ON.
3. Wait about 5 to 10 seconds. Link / Activity and RUN LEDs turn Green.
3.6 View the MAC Addresses
When the power supply is operating with the EtherCAT enabled, MAC address may be viewed on the front
panel. To view the MAC address, perform the following steps:
1. Press COMM button.
2. Rotate Voltage Encoder until MAC appears on the Voltage display, 1 appears on the Current
display.
3. Press Current encoder to enter MAC configuration. Rotate Voltage encoder to view the MAC
address.
The voltage display shows MAC1-MAC6 by rotating Voltage encoder. The current display shows
the corresponding MAC field.
4. To exit the menu, press the COMM button or the BACK button.
3.7 EtherCAT Reset
To reset EtherCAT in case of any unknown failure, perform the following steps:
1. Press the COMM button.
2. Rotate Voltage Encoder until OPT appears on the Voltage display, RESET appears on the
Current display. Press Current encoder.
3. SURE appears on the Voltage display, NO appears on the Current display. Rotate current
encoder one click clockwise. YES appears on the Current display.
4. Press Current encoder to reset EtherCAT optional communication interface.

10
CHAPTER 4: PROGRAMMING USING TWINCAT 3
4.1 Establish TwinCAT Communication
Follow the steps bellow to establish communication between power supplies (equipped with
EtherCAT interface option).
1. Create a new project in TwinCAT 3.
2. Import XML Description file (EtherCAT Slave Information) from TDK-Lambda Technical Centre
(https://www.emea.lambda.tdk.com/uk/technical-centre/software-tools.aspx). Refer to Figure 4–1.
Detailed information regarding XML file download is available in Communication Installation and
Applications Guide (IA761-04-03_).
Figure 4–1: Import XML Description
3. Scan for new Devices to add power supply into TwinCAT. Refer to Figure 4–2.
Figure 4–2: Scan for a Device

11
4. Select I/O device to search for EtherCAT instrument. Refer to Figure 4–3.
Figure 4–3: Select I/O Device
5. “Scan for boxes” query pops up. Click Yes. Refer to Figure 4–4.
Figure 4–4: “Scan for boxes” Query

12
6. Series Programmable DC Power Supply detected. Refer to Figure 4–5.
Figure 4–5: Series Programmable DC Power Supply detected
7. Series Programmable DC Power Supply is configured. Refer to Figure 4–6.
Figure 4–6: Series Programmable DC Power Supply EtherCAT Tab

13
CHAPTER 5: ETHERCAT DATA STRUCTURE
5.1 Programming / Monitoring Values Translation
EtherCAT communication interface preserves power supply resolution and accuracy, according to
specifications.
Programming / Monitoring values are represented in a form of 16 bits unsigned integer value. Rated Voltage,
Current and Power (nominal values) are represented as 53620 in a decimal base or 0xD174 in a hexadecimal
base.
For example, 10 Volts, 500 Amperes, 5000 Watts power supply programming and monitoring values are
represented as follows: 10 Volts = 53620, 2 volts = 10724 = 0x29E4
500 Amperes = 53620, 400 Amperes = 42896 = 0xA790
5000 Watts = 53620, 2500 Watts = 26810 = 0x68BA
600 Volts, 2.8 Amperes, 1680 Watts power supply programming and monitoring values are represented as
follows: 600 Volts = 53620, 100 Volts = 8937 = 0x22E9
2.8 Amperes = 53620, 2 Amperes = 38300 = 0x959C
1680 Watts = 53620, 680 Watts = 21703 = 0x54C7
Voltage, Current and Power values are limited to 105% (0xDBED) programming range. Protection functions
such as OVP are model dependent, ranging from 110% (0xE666) up to 120% (0xFB58) according to model
specifications (refer to power supply Instruction Manual).
NOTE
Values translation from real number (voltage, current, power, etc…) into unsigned 16 bits integer
(hexadecimal) representation may require rounding. Round naturally to the nearest unsigned 16 bits
representation.
Translation formula from actual value to programming / monitoring hexadecimal value is as follows:
ℎ  =     
 ()  ∗53620
Translation formula from programming / monitoring hexadecimal value to actual value is as follows:
     = ℎ 
53620 ∗()
NOTE
Decimal 53620 value is represented as 0xD174 hexadecimal value. Formulas above are shown in Decimal
base. Power supply operates with hexadecimal values.

14
5.2 Data Type
EtherCAT communication interface utilizes four data types: char, uint16, uint32 and float. Each SDO/PDO
holds 16 bits of data.
Char data type is used for strings represented as ASCII characters. Size of char is 1 byte.
Char data type example - *IDN? query (address 8196, 100 bytes, 50 SDOs) for 100 Volts, 50 Amperes power
supply: TDK-LAMBDA,G100-50-ETHERCAT,12345-123456,G:02.105.
SDO Address ASCII Characters Hexadecimal Data
8196 TD 5444
8197 K- 4B2D
8198 LA 4C41
8199 MB 4D42
8200 DA 4441
8201 ,G 2C47
8202 10 3130
8203 0- 302D
8204 50 3530
8205 -E 2D45
8206 TH 5448
8207 ER 4552
8208 CA 4341
8209 T, 542C
8210 12 3132
8211 34 3334
8212 5- 352D
8213 12 3132
8214 34 3334
8215 56 3536
8216 ,G 2C47
8217 :0 3A30
8218 2. 322E
8219 10 3130
8220 50 * 3530 *

15
NOTES
1. * Last 0 is added as the initial register value is 0, this value is not part of the *IDN? string.
2. Always start SDO access from the first SDO address according to commands mapping table (refer to
Section 5.8) for each command / query. Access to any other SDO won’t represent the actual data. For
example for *IDN? query, always read from address 8196.
3. SDOs 8221 ~ 8245 contain 0.
Uint16 data type is the most common type used for most of the functions. Size of uint16 is 2 bytes.
Uint16 data type example – MEASure:VOLTage[:DC]? query (address 8271, 2 bytes, 1 SDO) for 100 Volts
actual output value in a 100 Volts (nominal) power supply: 53620 = 0xD174
SDO Address Decimal value Hexadecimal Data
8271 53620 D174
Uint32 data type is used to query power supply operation time. Size of uint32 is 4 bytes.
Uint32 data type example – SYSTem:PON:TIME? query (address 9190, 4 bytes, 2 SDOs). 100 hours
operation time is represented as:
SDO Address Decimal value Hexadecimal Data
9190 100 0064
9191 0 0000
Float data type is used for sequencer time / dwell programming and voltage / current slew rate control. Size of
float is 4 bytes, represented according to IEEE 754 standard.
Float data type example – [PROGram]:LIST:DWELl? query (address 8388, 400 bytes, 200 SDOs). One
second dwell for a single sequence point is represented as: 0x3F800000. Rest of the cells contain 0 if not
used.
SDO Address Decimal value Hexadecimal Data
8388 0 0000
8389 16256 3F80
NOTES
1. Always start register access from the first register address according to commands mapping table (refer
to Section 5.8) for each command / query. Access to any other SDO won’t represent the actual data. For
example for [PROGram]:LIST:DWELl? query, always read from address 8388.
2. First sequencer point always starts at the first register address.

16
5.3 Data Access
EtherCAT supports two types of data access operations: Read or Write. Query commands (SDOs) have Read
access only.
NOTES
1. SDOs which don’t have Read access return 0.
2. Write of an out of range value results in an error. It is recommended to read SDO 9128 (SYSTem:ERRor?
query) to verify no errors.
5.4 Data Length (Number of SDOs/PDOs)
Each SDO length is 2 bytes. Read/Write of multiple SDOs results in Read/Write of a set of bytes multiplied by
two. For example, *IDN? query start from SDO address 8196, its length is 50 SDOs, 100 bytes. To read
multiple SDOs, read one SDO after another (one by one). Always start read process from the first SDO
corresponding to a command.
NOTE
Always start SDO access from the first SDO address according to commands mapping table (refer to Section
5.8) for each command / query. Access to any other SDO won’t represent the actual data.
5.5 Parameters Range
Each command (SDO/PDO) has a specified data range. It is mandatory to preserve data range to avoid data
overrun. For example, voltage setting range is 0 up to 105% of rated (nominal) value, translated to 0x0000 up
to 0xDBED. An out of range parameter generates an error, which can be read by SDO 9128
(SYSTem:ERRor? query).
Some other SDOs (commands) such as SDO 8194 (*ESE command), are limited to a specific range, 0 up to
255. A value out of the specified range might result in an unexpected setting value.
NOTE
It is recommended to follow parameters range specification to avoid an unexpected behavior of a power
supply.
5.6 Read / Write SDOs / PDOs
EtherCAT supports two types of Read / Write operations. Read single SDO / PDO or Write single
SDO / PDO. Each operation is defined per command (per SDO / PDO or SDOs / PDOs range).