TR-Electronic MP-200 User manual

User Manual
Interface
TR-EMO-BA-GB-0022 v03 09/29/2020
Decentralized positioning drives
_Additional safety instructions
_EtherCAT communication
_Configuration / Parameterization
_Troubleshooting / Diagnosis
MP-200

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TR-Electronic GmbH
D-78647 Trossingen
Eglishalde 6
Tel.: [phone]
Fax: [phone]
E-mail: [e-mail]
http://www.tr-electronic.de
Copyright protection
This Manual, including the illustrations contained therein, is subject to copyright
protection. Use of this Manual by third parties in contravention of copyright
regulations is not permitted. Reproduction, translation as well as electronic and
photographic archiving and modification require the written content of the
manufacturer. Violations shall be subject to claims for damages.
Subject to modifications
The right to make any changes in the interest of technical progress is reserved.
Document information
Release date / Rev. date: 09/29/2020
Document / Rev. no.: TR-EMO-BA-GB-0022 v03
File name: TR-EMO-BA-GB-0022-03.docx
Author: MÜJ
Font styles
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highlighting.
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Brand names
EtherCAT®is a registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
All other specified products, names and logos serve exclusively for information
purposes and may be trademarks of their respective owners, without any special
marking to indicate this.

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Contents
Contents.............................................................................................................................................. 3
List of tables ....................................................................................................................................... 8
List of figures...................................................................................................................................... 9
List of formulas................................................................................................................................... 9
Revision index .................................................................................................................................... 10
1 General information ........................................................................................................................ 11
1.1 Target group ........................................................................................................................... 11
1.2 Applicability............................................................................................................................. 11
1.3 References.............................................................................................................................. 12
1.4 Abbreviations used / Terminology .......................................................................................... 13
2 Additional safety instructions........................................................................................................ 15
2.1 Definition of symbols and instructions .................................................................................... 15
2.2 Organizational measures........................................................................................................ 15
3 Technical data.................................................................................................................................. 16
3.1 Current firmware versions....................................................................................................... 16
3.2 Electrical characteristics ......................................................................................................... 16
3.3 EtherCAT / DS-402................................................................................................................. 17
3.4 CE Conformity......................................................................................................................... 18
4 EtherCAT Information ..................................................................................................................... 19
4.1 EtherCAT functional principle................................................................................................. 19
4.2 Protocol................................................................................................................................... 20
4.3 EtherCAT State Machine (ESM)............................................................................................. 21
4.3.1 Transition into the OPERATIONAL state................................................................ 22
4.4 Device profile.......................................................................................................................... 23
4.4.1 CANopen over EtherCAT (CoE)............................................................................. 24
4.5 Object dictionary..................................................................................................................... 25
4.6 Process and Service Data Objects......................................................................................... 25
4.6.1 Compatibility with the CiA DS-301 communication profile...................................... 26
4.7 Transmission of SDO messages............................................................................................ 27
4.8 PDO mapping ......................................................................................................................... 29
4.9 Further information ................................................................................................................. 29
5 DSP 402 drive profile....................................................................................................................... 30
5.1 DSP 402 state machine.......................................................................................................... 31

Contents
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5.1.1 Operating condition................................................................................................. 32
5.1.2 State transitions ...................................................................................................... 33
5.1.3 Change mode of operation ..................................................................................... 34
5.2 “Profile Position (PP)” operating mode ................................................................................... 35
5.2.1 Control word............................................................................................................ 35
5.2.2 Status word............................................................................................................. 36
5.2.3 Perform positioning................................................................................................. 37
5.2.3.1 Absolute / relative positioning.................................................................... 38
5.2.3.2 Transfer of new movement records........................................................... 39
5.2.3.3 Termination of a positioning movement .................................................... 39
5.2.3.4 Relevant parameters ................................................................................. 39
5.3 “Profile Velocity (PV)” operating mode ................................................................................... 40
5.3.1 Control word............................................................................................................ 40
5.3.2 Status word............................................................................................................. 41
5.3.3 Perform speed ramp............................................................................................... 42
5.3.4 Relevant parameters............................................................................................... 43
5.4 “Homing (HM)” operating mode.............................................................................................. 44
5.4.1 Control word............................................................................................................ 44
5.4.2 Status word............................................................................................................. 45
5.4.3 Perform position adjustment................................................................................... 46
5.4.4 Relevant parameters............................................................................................... 46
5.5 “Cyclic Synchronous Position (CSP)” operating mode ........................................................... 47
5.5.1 Control word............................................................................................................ 47
5.5.2 Status word............................................................................................................. 48
5.5.3 Perform operating mode......................................................................................... 49
5.5.4 Relevant parameters............................................................................................... 49
5.6 “Cyclic Synchronous Velocity (CSV)” operating mode ........................................................... 50
5.6.1 Control word............................................................................................................ 50
5.6.2 Status word............................................................................................................. 51
5.6.3 Perform operating mode......................................................................................... 52
5.6.4 Relevant parameters............................................................................................... 52
5.7 “Cyclic Synchronous Torque (CST)” operating mode............................................................. 53
5.7.1 Control word............................................................................................................ 53
5.7.2 Status word............................................................................................................. 54
5.7.3 Perform operating mode......................................................................................... 55
5.7.4 Relevant parameters............................................................................................... 55
5.8 Units........................................................................................................................................ 56
5.8.1 Object 0x608F: Position encoder resolution........................................................... 56
5.8.2 Object 0x6090: Speed encoder resolution.............................................................. 56
5.8.3 Object 0x6093: Position factor................................................................................ 57
5.8.4 Object 0x6094: Speed factor .................................................................................. 59
5.8.5 Object 0x6097: Acceleration factor......................................................................... 61
6 Installation- / connection notes, pin assignments....................................................................... 66
7 Optional holding brake / ballast circuit......................................................................................... 67
8 Commissioning................................................................................................................................ 67
8.1 Device description file............................................................................................................. 67

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9 Object directory............................................................................................................................... 68
9.1 Object types, data types ......................................................................................................... 68
9.2 Communication-Specific Standard Objects CiA DS-301........................................................ 69
9.2.1 Object 0x1000: Device Type................................................................................... 70
9.2.2 Object 0x1001: Error Register ................................................................................ 70
9.2.3 Object 0x1003: Pre-defined Error Field .................................................................. 71
9.2.4 Object 0x1008: Manufacturer's Device Name........................................................ 72
9.2.5 Object 0x1009: Manufacturer's Hardware Version................................................. 72
9.2.6 Object 0x100A: Manufacturer's Software Version.................................................. 72
9.2.7 Object 0x1010: Save Backup Parameters.............................................................. 73
9.2.8 Object 0x1011: Reset Backup Parameters............................................................. 74
9.2.9 Object 0x1018: Identity........................................................................................... 75
9.2.10 Structure of the mapping parameter..................................................................... 76
9.2.10.1 Objects 0x1600-0x1601: Receive PDO mapping.................................... 77
9.2.10.2 Objects 0x1A00-0x1A01: Transmit PDO mapping.................................. 78
9.2.11 Object 0x1C00: Sync Manager Communication Type.......................................... 79
9.2.12 Object 0x1C12: SM2 PDO assignment ................................................................ 81
9.2.13 Object 0x1C13: SM3 PDO assignment ................................................................ 82
9.3 Manufacturer-specific objects................................................................................................. 83
9.3.1 Object 0x2EF3: TrAbeData.MVI16 ......................................................................... 83
9.3.2 Object 0x2F04: DS402M.MPU32 ........................................................................... 85
9.3.3 Object 0x2F0E: DS402M.MPX ............................................................................... 89
9.4 Objects of the DSP 402 device profile.................................................................................... 91
9.4.1 Object 0x6007: Abort Connection Code ................................................................. 93
9.4.2 Object 0x603F: Error Code..................................................................................... 93
9.4.3 Object 0x6040: Control word .................................................................................. 93
9.4.4 Object 0x6041: Status word.................................................................................... 94
9.4.5 Object 0x605A: Quick Stop Option Code ............................................................... 94
9.4.6 Object 0x605B: Shutdown Option Code................................................................. 95
9.4.7 Object 0x605C: Disable Operation Option Code.................................................... 95
9.4.8 Object 0x605D: Stop Option Code ......................................................................... 96
9.4.9 Object 0x605E: Fault Reaction Option Code.......................................................... 96
9.4.10 Object 0x6060: Operation Mode........................................................................... 97
9.4.11 Object 0x6061: Operation Mode Display.............................................................. 97
9.4.12 Object 0x6062: Required Position ........................................................................ 97
9.4.13 Object 0x6064: Actual Position............................................................................. 98
9.4.14 Object 0x6065: Following Error Window............................................................... 98
9.4.15 Object 0x6066: Following Error Timeout .............................................................. 98
9.4.16 Object 0x6067: In-Position Window...................................................................... 99
9.4.17 Object 0x6068: In-Position Timeout...................................................................... 99
9.4.18 Object 0x6069: Sensor Velocity............................................................................ 99
9.4.19 Object 0x606B: Required Velocity........................................................................ 100
9.4.20 Object 0x606C: Actual Velocity ............................................................................ 100
9.4.21 Object 0x606D: Velocity Window.......................................................................... 100
9.4.22 Object 0x606E: Velocity Window Timeout............................................................ 101
9.4.23 Object 0x606F: Velocity Threshold....................................................................... 101
9.4.24 Object 0x6070: Velocity Threshold Timeout......................................................... 101
9.4.25 Object 0x6071: Target Torque.............................................................................. 102
9.4.26 Object 0x6072: Torque Limit................................................................................. 102
9.4.27 Object 0x6073: Limit for Torque generating Current ............................................ 102
9.4.28 Object 0x6074: Required Torque.......................................................................... 103
9.4.29 Object 0x6075: Motor rated Current/mA............................................................... 103

Contents
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9.4.30 Object 0x6076: Motor rated Torque/mNm............................................................ 103
9.4.31 Object 0x6077: Actual Torque .............................................................................. 104
9.4.32 Object 0x6078: Actual Current.............................................................................. 104
9.4.33 Object 0x6079: Actual DC Link Circuit Voltage/mV.............................................. 104
9.4.34 Object 0x607A: Target Position............................................................................ 105
9.4.35 Object 0x607B: Position Range Limits ................................................................. 105
9.4.36 Object 0x607C: Home Offset................................................................................ 106
9.4.37 Object 0x607D: Software Position Limits.............................................................. 106
9.4.38 Object 0x607E: Polarity ........................................................................................ 107
9.4.39 Object 0x607F: Max Profile Velocity..................................................................... 107
9.4.40 Object 0x6080: Max Motor Speed ........................................................................ 107
9.4.41 Object 0x6081: Profile Velocity............................................................................. 108
9.4.42 Object 0x6083: Profile Acceleration...................................................................... 108
9.4.43 Object 0x6084: Profile Deceleration ..................................................................... 108
9.4.44 Object 0x6085: Quick Stop Deceleration.............................................................. 109
9.4.45 Object 0x608F: Position Encoder Resolution....................................................... 109
9.4.46 Object 0x6090: Velocity Encoder Resolution........................................................ 110
9.4.47 Object 0x6093: Position Factor............................................................................. 111
9.4.48 Object 0x6094: Velocity Encoder Factor .............................................................. 112
9.4.49 Object 0x6097: Acceleration Factor...................................................................... 113
9.4.50 Object 0x6098: Homing Method ........................................................................... 113
9.4.51 Object 0x6099: Homing speeds............................................................................ 114
9.4.52 Object 0x609A: Homing Acceleration................................................................... 114
9.4.53 Object 0x60B0: Position Offset............................................................................. 115
9.4.54 Object 0x60B1: Velocity Offset............................................................................. 115
9.4.55 Object 0x60B2: Torque Offset .............................................................................. 115
9.4.56 Object 0x60C5: Max Acceleration ........................................................................ 116
9.4.57 Object 0x60C6: Max Deceleration........................................................................ 116
9.4.58 Object 0x60F4: Following Error ............................................................................ 116
9.4.59 Object 0x60FD: Digital Inputs............................................................................... 117
9.4.60 Object 0x60FE: Digital Outputs ............................................................................ 117
9.4.61 Object 0x60FF: Target Velocity ............................................................................ 118
9.4.62 Object 0x6402: Motor Type .................................................................................. 118
9.4.63 Object 0x6502: Supported Drive Modes............................................................... 118
9.4.64 Object 0x6508: Runtime in 0.1 hours ................................................................... 119
9.4.65 Object 0x6510: Measuring Range in revolutions.................................................. 119
10 Projecting with TwinCAT System Manager V2.10...................................................................... 120
10.1 Installation of the ESI file ...................................................................................................... 120
10.2 Connection of the encoTRive device.................................................................................... 120
10.3 Creation of a TwinCAT project for an encoTRive device ..................................................... 121
10.4 Changing data objects.......................................................................................................... 122
10.5 Storing and resetting backup parameters............................................................................. 123
10.6 Stop conditions, Digital Inputs and Hardware Limit Switches .............................................. 124
10.6.1 Turning on the drive.............................................................................................. 124
10.6.2 Stop conditions: Priorities, Behavior..................................................................... 124
10.6.3 Control of the Digital Inputs................................................................................... 127
10.6.4 Operation of the Digital Inputs as Limit Switches ................................................. 128
10.7 Control word and Status word .............................................................................................. 131
10.7.1 General ................................................................................................................. 131
10.7.2 Status bit 27- Warning.......................................................................................... 131

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10.7.3 Status bit 29- Remote........................................................................................... 131
10.7.4 Status bit 210 - Target Reached ............................................................................ 131
10.7.5 Status bit 211 - Internal limit active ........................................................................ 132
10.7.6 Status bit 212 - Set-point-acknowledge, Zero Speed ............................................ 132
10.7.7 Status bit 213 - Following error .............................................................................. 132
10.8 Profile Position Mode (operating mode 1) ............................................................................ 133
10.9 Profile Velocity Mode (operating mode 3) ............................................................................ 136
10.10 Cyclic synchronous modes (operating modes 8, 9, 10) ..................................................... 137
10.11 Backup-EEPROM, runtime................................................................................................. 137
10.12 Position adjustment by Homing (operating mode 6) .......................................................... 138
10.13 Manual tuning of the position and speed regulation........................................................... 141
10.14 Gear backlash cancellation (Opmodes -48=0xD0)............................................................. 143
11 TwinCAT System Manager –Example program (Download).................................................... 144
12 Troubleshooting and diagnosis options..................................................................................... 145
12.1 SDO error codes................................................................................................................... 145
12.2 EMCY error information........................................................................................................ 146
12.2.1 EncoTRive RE - Emergencies.............................................................................. 146
12.2.2 Error register, object 0x1001 ................................................................................ 146
12.2.3 Error code, object 0x1003 (Bit 0-15)..................................................................... 147
12.2.3.1 General.................................................................................................... 147
13 EncoTRive RE - Accessories, Test Setup................................................................................... 151
13.1 Power supply cables with Solenoid Valve or M23 Connectors ............................................ 151
13.2 Test parameters for "EncoTRive RELC" .............................................................................. 151
14 EtherCAT Conformance Test Tool 1.20.80.0 .............................................................................. 152

List of tables
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List of tables
Table 1: References.............................................................................................................................. 12
Table 2: Abbreviations used / Terminology........................................................................................... 14
Table 3: States, State Machine ............................................................................................................. 21
Table 4: States of the status word......................................................................................................... 32
Table 5: Operating states, status word.................................................................................................. 32
Table 6: State transitions....................................................................................................................... 34
Table 7: Change operating state........................................................................................................... 34
Table 8: Control word (object 0x6040), “Profile Position” operating mode ........................................... 35
Table 9: Status word (object 0x6041), “Profile Position” operating mode............................................. 36
Table 10: Positioning parameter ........................................................................................................... 39
Table 11: Control word (object 0x6040), “Profile velocity” operating mode .......................................... 40
Table 12: Status word (object 0x6041), “Profile velocity” operating mode............................................ 41
Table 13: Speed ramp parameter ......................................................................................................... 43
Table 14: Control word (object 0x6040), “Homing” operating mode..................................................... 44
Table 15: Status word (object 0x6041), “Homing” operating mode....................................................... 45
Table 16: Definition of the homing status bits 10, 12, 13 ...................................................................... 45
Table 17: Control word (object 0x6040), “Cyclic synchronous position (CSP)” operating mode .......... 47
Table 18: Status word (object 0x6041), “Cyclic synchronous position (CSP)” operating mode ........... 48
Table 19: Control word (object 0x6040), “Cyclic synchronous velocity (CSV)” operating mode .......... 50
Table 20: Status word (object 0x6041), “Cyclic synchronous velocity (CSV)” operating mode............ 51
Table 21: Control word (object 0x6040), “Cyclic synchronous torque (CST)” operating mode ............ 53
Table 22: Status word (object 0x6041), “Cyclic synchronous torque (CST)” operating mode.............. 54
Table 23: Object codes in encoTRive ................................................................................................... 68
Table 24: Attributes ............................................................................................................................... 68
Table 25: encoTRive data types............................................................................................................ 68
Table 26: Communication specific standard objects............................................................................. 69
Table 27: Profile specific objects........................................................................................................... 92
Table 28: Values for Quick Stop Option Code ...................................................................................... 94
Table 29: Values for Shutdown Option Code........................................................................................ 95
Table 30: Values for Disable Operation Option Code........................................................................... 95
Table 31: Values for Halt Option Code.................................................................................................. 96
Table 32: Values for Fault Reaction Option Code................................................................................. 96
Table 33: Values for operating mode .................................................................................................... 97
Table 34: Direction reversal................................................................................................................. 107
Table 35: SDO Abort Codes................................................................................................................ 145
Table 36: EMCY Error register, object 0x1001.................................................................................... 146
Table 37: EMCY Error code, object 0x1003........................................................................................ 150

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List of figures
Figure 1: EtherCAT functional principle................................................................................................. 19
Figure 2: Ethernet frame structure ........................................................................................................ 20
Figure 3: EtherCAT state machine........................................................................................................ 21
Figure 4: CANopen over EtherCAT communication mechanism.......................................................... 23
Figure 5: CANopen organized in the ISO/OSI layer model................................................................... 24
Figure 6: EtherCAT organized in the ISO/OSI layer model................................................................... 24
Figure 7: Structure of the object dictionary............................................................................................ 25
Figure 8: Comparison of PDO/SDO characteristics.............................................................................. 25
Figure 9: DSP 402 state machine ......................................................................................................... 31
Figure 10: Positioning ramp................................................................................................................... 37
Figure 11: Absolute positioning (top) and relative positioning (bottom)................................................ 38
Figure 12: Speed ramp.......................................................................................................................... 42
Figure 13: Cyclic synchronous position control function (CSP) ............................................................ 49
Figure 14: Cyclic synchronous velocity control function (CSV)............................................................. 52
Figure 15: Cyclic synchronous torque control function (CST)............................................................... 55
List of formulas
Formula 1: Position encoder resolution................................................................................................. 56
Formula 2: Default value, position encoder resolution.......................................................................... 56
Formula 3: Speed encoder resolution ................................................................................................... 56
Formula 4: Default value, speed encoder resolution............................................................................. 56
Formula 5: Position factor...................................................................................................................... 57
Formula 6: Gear ratio ............................................................................................................................ 57
Formula 7: Default value, position factor............................................................................................... 57
Formula 8: Speed factor........................................................................................................................ 59
Formula 9: Default value, speed factor ................................................................................................. 59
Formula 10: Acceleration factor ............................................................................................................ 61
Formula 11: Default for acceleration factor ........................................................................................... 61

Revision index
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Revision index
Revision
Date
Index
First release
11/23/16
00
TwinCAT System Manager –Example program (Download)
02/06/17
01
Added chapters:
- 3.1, Current firmware versions
- 9.3.3, Object 0x2F0E: DS402M.MPX
- 10.6, Stop conditions, Digital Inputs and Hardware Limit Switches
- 10.7, Control word and Status word
- 12.2.1,EncoTRive RE - Emergencies
Diverse corrections in the chapters:
- 10.5, Storing and resetting backup parameters
- 10.8, Profile Position Mode (operating mode 1)
- 10.9, Profile Velocity Mode (operating mode 3)
Reference to the EtherCAT Conformance Test Tool:
- 10, Projecting with TwinCAT System Manager V2.10
02/14/17
02
Adaptations, up to point of time: MAH 6-May-2019; in document
“EncoTRiveReManualEng.rtf”. The document is now fully integrated and no
longer needs to be referenced.
09/29/20
03

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1 General information
This Manual contains the following topics:
Additional safety instructions
EtherCAT communication
Configuration / Parameterization
Troubleshooting and diagnosis
As the documentation is arranged in a modular structure, this encoTRive EtherCAT
User Manual is supplementary to other documentation, such as customer-specific
user manuals, dimensional drawings, brochures etc.
The encoTRive EtherCAT User Manual may be included in the customer’s specific
delivery package or it may be requested separately.
1.1 Target group
This documentation is directed towards
●Commissioning, operating and maintenance personnel, who are instructed to
carry out activities on the encoTRive RELC positioning drive.
The respective qualifications of the personnel are defined in the
assembly/commissioning manual in the chapter entitled "Choice and qualifications of
personnel; basic obligations".
1.2 Applicability
This encoTRive EtherCAT Manual applies exclusively for the following decentralized
positioning drive types with EtherCAT interface:
MP-XXX-ETC
The products are labeled with affixed nameplates and are components of a system.
The following documentation therefore also applies:
operator’s operating instructions specific to the system,
this encoTRive EtherCAT manual,
the assembly/installation instructions TR-EMO-BA-DGB-0015

General information
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1.3 References
1.
EN 50325-4 Industrial Communication Systems, based on
ISO 11898 (CAN) for Controller Device Interfaces.
Part 4: CANopen
2.
ETG.1300 ETG specification “Indicator and Labeling”
3.
CiA DS-301 CANopen communication profile based on CAL
4.
CiA DSP-402, P1 –5 CANopen Profile for drives
5.
IEC/PAS 62407 Real-time Ethernet control automation technology
(EtherCAT); International Electrotechnical Commission
6.
IEC 61158-1 - 6 Digital data communications for measurement and control
- Fieldbus for use in industrial control systems
- Protocols and Services, Type 12 = EtherCAT
7.
IEC 61784-2 Digital data communications for measurement and control
- Additional profiles for ISO/IEC 8802-3 based
communication networks in real-time applications, 12 = EtherCAT
8.
IEC 61800-7-200 Adjustable speed electrical power drives systems –
Profile specifications
9.
IEC 61800-7-201 Adjustable speed electrical power drives systems –
Profile type 1 specification
10.
ISO/IEC 8802-3 Carrier Sense Multiple Access with Collision Detection
(CSMA/CD)
Access Method and Physical Layer Specifications
11.
ISO 15745-4 AMD 2 Industrial automation systems and integration
- Open systems application integration framework
- Part 4: Reference description for Ethernet-based control systems;
Amendment 2:
Profiles for Modbus TCP, EtherCAT and ETHERNET Powerlink
12.
IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization
Protocol for Networked Measurement and Control Systems
Table 1: References

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1.4 Abbreviations used / Terminology
A
Ampere
ASCII
American Standard Code for Information Interchange
CAN
Controller Area Network
CCD
Command Code
CiA
CAN in Automation e.V.
COB
Communication Object
COB-ID
COB Identifier
CPU
Central Processing Unit
DS
Draft Standard
DSP
Draft Standard Proposal
EDS
Electronic Data Sheet
EMCY
Emergency
encoTRive
TR-specific term for the drive
HW
Hardware
inc
Increments
LSB
Least Significant Bit
mA
Milliampere
mm
Millimeter
mNm
Millinewton meter
mV
Millivolt
MSB
Most Significant Bit
Nm
Newtonmeter
NMT
Network Management
OV
Object directory
PC
Personal Computer
PDO
Process Data Object
PI
Proportional-Integral
PID
Proportional-Integral-Derivative
PZD
Process data
ro
read only
RPDO
Receive PDO
rph
Revolutions per hour
rpm
Revolutions per minute
rps
Revolutions per second
RTR
Remote Transmission Request
rw
read/write
SDO
Service Data Object
sec
second
STW
Control word
STW.x
Bit x of the control word
PLC
Programmable Logic Controller

General information
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Continuation “Abbreviations used / Terminology”
SW
Software
SYNC
Synchronization
TPDO
Transmit PDO
V
Volt
XML
Extensible Markup Language
wo
write only
ZSW
Status word
ZSW.x
Bit x of the status word
Table 2: Abbreviations used / Terminology

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2 Additional safety instructions
2.1 Definition of symbols and instructions
means that death or serious injury can occur if the required
precautions are not met.
means that minor injuries can occur if the required
precautions are not met.
means that damage to property can occur if the required
precautions are not met.
indicates important information’s or features and application
tips for the product used.
2.2 Organizational measures
This encoTRive EtherCAT Manual must be kept ready to hand at all times at
the place of use of the encoTRive.
Prior to commencing work, the personnel working with the encoTRive must
have read and understood
- the Assembly/Installation Instructions, particularly the chapter "Basic
Safety Instructions",
- and this encoTRive EtherCAT Manual, particularly the chapter "Additional
safety instructions".
This particularly applies for personnel who are only deployed occasionally, e.g. in
the parameterization of the encoTRive.

Technical data
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3 Technical data
3.1 Current firmware versions
MP-060-ETC
Device name.......................................................
MP-060-ETC
Firmware file name............................................
M01907000
Motor type ..........................................................
"Dunker BG65x25", 60W, 24V
CoE Manufacturer code ....................................
1289 = "TR Electronic GmbH"
CoE Device name ..............................................
"EncoTRive RELC"
CoE Product code .............................................
736055
CoE Revision number .......................................
0x10001000 = "V1.1"
CoE Hardware version ......................................
"736055a"
CoE Software version .......................................
"V1.1 7-May-2019"
MP-200-ETC
Device name.......................................................
MP-200-ETC
Firmware file name............................................
M01707000
Motor type ..........................................................
"Schneider Electric BDM 754", 300W, 48V
CoE Manufacturer code ....................................
1289 = "TR Electronic GmbH"
CoE Device name ..............................................
EncoTRive RELC
CoE Product code .............................................
736055
CoE Revision number .......................................
0x10001000 = "V1.1"
CoE Hardware version ......................................
736055a
CoE Software version .......................................
V1.1 7-May-2019
3.2 Electrical characteristics
Logic supply
24 V version................................................
+10...+36 VDC
60 V version................................................
+10...+60 VDC
Polarity protection.......................................
yes
Current consumption, logic..............................
300 mA, 3 W
Power supply .....................................................
0...+54 VDC
Polarity protection.......................................
yes
Current consumption........................................
4...20 A, 50...300W; depending of the motor
Drive....................................................................
3 phasefield oriented control for brushless DC motors
PWM and regulator cycle..................................
100 µs

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PWM output frequency .....................................
20 kHz due to symmetrical space vector modulation
PWM power outputs
3x motor phases.........................................
60 V / 21.3 A peak; push-pull
1x holding brake.........................................
60 V / 2 A; open-drain
1x ballast output .........................................
60 V / 21.3A peak; open-drain
CPU .....................................................................
Hilscher NETX100 - 32 Bit ARM 926EJ-S, 200 MHz
Ethernet..............................................................
2 ports with integrated switch, 10/100 MBit with
auto-negotiation and auto-crossover
Digital I/O´s.........................................................
- 3 inputs 24 V, 44 kOhm
- common ground
- not isolated
- customization on request
Analog I/O´s........................................................
- 2 differential inputs ±10 V, 10 kOhm,
- not isolated
- customization on request
3.3 EtherCAT / DS-402
Supported EtherCAT cycle times........................
all down to 50 µs
I/O cycle frequency...............................................
≤ 10 KHz, depending on the PDO configuration
PDOs......................................................................
- 2x transmit with up to 200 bytes total
- 2x receive with up to 200 bytes total
PDO-Mapping........................................................
configurable with up to 80 entries each
Sync manager for PDOs ......................................
1x transmit, 1x receive
Sync manager
assignment tables for PDOs................................
configurable with up to 2 entries each
Full EtherCAT and DS402 conformance ............
according to CTT 1.20.52 and 1.20.80
FoE = Bootstrap mode for firmware updates ....
not supported
DS-402 operating modes .....................................
1, 3, 6, 8, 9, 10

Technical data
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Page 18 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020
3.4 CE Conformity
Low Voltage Directive 2014/35/EU:
EN 61010-1:2011 - Overvoltage Category I,
Power Supply only by SELV/PELV (<= 60Vdc)
EMC Directive 2014/35/EU:
EN 61800-3:2014 - Emission Category C2: Immunity and emission limits according to
the second (industrial) environment
->
EN 61000-4-2: Immunity against ESD (electrostatic discharges).
EN 61000-4-3: Immunity against radiated RF disturbances.
EN 61000-4-4: Immunity against electrical fast transient/burst immunity.
EN 61000-4-5: Immunity against surge.
EN 61000-4-6: Immunity against conducted RF disturbances.
CISPR 11, CISPR 16-1: Limits for conducted and radiated RF emissions.
Tests that are not required by EN61800-3:
EN 61000-4-29:
Immunity against voltage dips, short interruptions and voltage variations of DC
powered devices: Omitted!
Reason: EN 61800-3 requires only tests according to EN 61000-4-11 that are
applicable only for AC powered devices.
EN 61000-4-8: Immunity against power frequency magnetic fields: Omitted!
Reason: EN 61800-3 assumes that the magnetic interferences inside the device
caused by the usual operation are much stronger than any disturbance that is
suggested by the standard, so that this test is superfluous.

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4 EtherCAT Information
EtherCAT (Ethernet for Control and Automation Technology) is a real-time Ethernet
technology and is particularly suitable for communication between control systems
and peripheral devices such as e.g. I/O systems, drives, sensors and actuators.
EtherCAT was developed in 2003 by Beckhoff Automation GmbH and is available as
an open standard. The "EtherCAT Technology Group" (ETG) user association was
established for the further development of this technology.
EtherCAT is a publicly accessible specification, which was published by the IEC
(IEC/Pas 62407) in 2005 and is part of ISO 15745-4. This part was integrated into the
new editions of the international field bus standards IEC 61158 (Protocols and
Services), IEC 61784-2 (Communication Profiles) and IEC 61800-7 (Drive Profiles and
Communication).
4.1 EtherCAT functional principle
The EtherCAT technology overcomes the generally known limitations of other
Ethernet solutions:
The Ethernet packet is no longer received in each slave first of all, then interpreted
and the process data copied onward. The slave takes the data intended for it, while
the frame passes through the device. Input data are likewise inserted into the frame as
it passes through. The frames are only delayed by a few nano-seconds. The last slave
in the segment sends the now completely processed frame back to the first slave,
which returns the frame to the control as a response frame, so to speak. A logical ring
structure thus results for the communication. As Fast-Ethernet works with Full Duplex,
a physical ring structure also results.
Figure 1: EtherCAT functional principle

EtherCAT Information
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4.2 Protocol
The EtherCAT protocol, optimized for process data, is transported directly in the
Ethernet frame via a special Ether type. A complete transmission can consist of
several sub-frames. The data sequence is independent of the physical sequence of
the slaves in the network. The addressing can be freely selected:
Broadcast, Multicast and lateral communication between slaves are possible.
The protocol also supports acyclical parameter communication. The structure and
meaning of the parameters is predetermined by the device profile "CANopen Device
Profile Drives and Motion Control CiA DSP-402".
UDP/IP datagrams are not supported. This means that the master and the EtherCAT
slaves must be located in the same subnet. Communication across routers into other
subnets is thus not possible.
EtherCAT exclusively uses standard frames in accordance with IEEE802.3 without
shortening. EtherCAT frames can thus be sent by any Ethernet controllers (master),
and standard tools (e.g. monitor) can be used.
Figure 2: Ethernet frame structure