EtherCAT SlaveTaiw .,Ltd 41 In EtherCAT® network, the master sends an Ethernet frame passing...
Transcript of EtherCAT SlaveTaiw .,Ltd 41 In EtherCAT® network, the master sends an Ethernet frame passing...
Taiwan Pulse Motion Co.,Ltd41
In EtherCAT® network, the master sends an Ethernet frame passing through all of the slave nodes. Each EtherCAT® datagram is a command that consists of a header, data and a working counter. EtherCAT® datagrams are sent by the EtherCAT® master to all connected EtherCAT® slaves. The data exchange is cyclically updated between master and slaves.
EtherCAT Data Transition
EtherCAT Tool: TwinCAT
EtherCAT Slave
TwinCAT
(EtherCAT Slave Information)
Master SlaveESI File
(EtherCAT Network Information)
ENI File
®
®
TwinCAT® is the EtherCAT® tool which is developed by Beckhoff . The TwinCAT ® (The Windows Control and Automation Technology) automation suite forms the core of the control system. The TwinCAT® software system turns almost any PC-based system into a real-time control with multiple PLC, NC, CNC and/or robotics runtime systems.
All TPM modules can be tested with TwinCAT® easily. With the RJ45 cable, EtherCAT® Master and EtherCAT® slaves can connect together t o a c h i e v e t h e c o n t r o l s y s t e m . E Z E - x x x model names will be displayed on TwinCAT®. Carrier specific model name will not be listed.
Taiwan Pulse Motion Co.,Ltd42
Plug-in Module
Plug-in Module / Add-on Terminal
Add-on Terminal
The plug-in EZE EtherCAT module follows the design concept of EZM Motionnet module. In addition to the compact size, the plug-in module also provides good flexibility. It is easy to support different wiring requirements with different carrier boards.
The advantages of EZE plug-in modules include: Compact Size Space Saving Simple Wiring Customization
PCB Carrier Board can have different terminal blocks Standard terminal blocks Customized I/O solutions E-CON Socket 10 Pin Box Header Customized Signal Board
The plug-in I/O modules can also be connected directly to the custom PCB. TPM provides design guides to help customers develop their signal boards. It is easy to combine the benefits of standard and tailored I/O solutions.
TPM CAN Coupler, EZC-N100, is the EtherCAT CAN Master that connects the EtherCAT real-time Ethernet system to extendable Add-on terminal blocks at fieldbus level. This flexible system can provide high-speed, high-accuracy and low-cost remote I/O for EtherCAT.
TPM EtherCAT Add-on Terminal = CAN Coupler + Add-on Module
Add-on modu le i s the CAN S lave . Wi th EZC-N100, the coupler can connect Max. 8 Add-on modules by CAN bus.
There are three kinds of Add-on modules: EZC-D111 - 8 Digital Input and 8 Digital Output EZC-D120 - 16 Digital Input EZC-D102 - 16 Digital Output
EtherCAT OUT
EtherCAT OUT
EtherCAT IN
EtherCAT IN
Ethernet
Ethernet
CAN
Taiwan Pulse Motion Co.,Ltd43
Digital I/O SlaveEZE-D1xx Series
32 Ch. DI/O Slave Module
Specification
10KVSurge protection
3.75KVrmsI/O isolation voltage
5.6KΩ/0.5WInput impedance
Input type
±5mA(Max)Input current
24VDCPower supply
1msDistributed Clock
3W typicalPower consumption
0 to 60℃Working temperature
Transmission speed 100 Mbps
Cable type CAT5 UTP/STP Ethernet cable
Serial interface Fast Ethernet, Full-Duplex
EtherCAT®
General
FeaturesCustomize PCB mounting (L-98 x W-26 x H-77 mm)Max. 100Mbps transfer rateLED diagnostic
NPN open collector Darlington transistorsOutput type
Each output Ch. is 350mA at 24VDCSwitch capacity
On to Off, about 50µs;Off to On, about 10µsResponse time
3A (max) for each port (8 Ch.)Over current protection
Ordering informationEZE-D140-NX32 Ch. Digital Input (DI) with NPN typeEZE-D104-XN32 Ch. Digital Output (DO) with NPN typeEZE-D122-NN16 Ch. DI /16 Ch. DO with NPN typeEZE-D140-PX (available soon)32 Ch. Digital Input (DI) with PNP typeEZE-D104-XP (available soon)32 Ch. Digital Output (DO) with PNP typeEZE-D122-PP (available soon)16 Ch. DI /16 Ch. DO with PNP type
Dimension Diagram
Unit: mm
NPN open collector Darlington transistors
EtherC
AT Digital S
lave Digital I/O Slave207-D140-NX
32 Ch. DI Slave Module with Pluggable Terminal
Specification
10KVSurge protection
3.75KVrmsI/O isolation voltage
Transmission speed 100 Mbps
Cable type CAT5 UTP/STP Ethernet cable
Serial interface Fast Ethernet, Full-Duplex
EtherCAT®
24VDCPower supply
3W typicalPower consumption
0 to 60℃Working temperature
General
FeaturesDIN rail mounting (L-122 x W-65 x H-104 mm)Max. 100Mbps transfer rateEasy installation with RJ45 phone jack and LED diagnosticPluggable terminal block with spring plug connectors
Dimension Diagram
5.6KΩ/0.5WInput impedance
±5mA(Max)Input current
Input type
Unit: mm
Ordering information207-D140-NX32 Ch. Digital Input (DI) with NPN type207-D140-PX (available soon)32 Ch. Digital Input (DI) with PNP typeSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M
1msDistributed Clock
207-D140-NX Terminal Definitions
NPN open collector Darlington transistors
On to Off, about 50µs;Off to On, about 10µsResponse time
Taiwan Pulse Motion Co.,Ltd44
I/O connector
Taiwan Pulse Motion Co.,Ltd45
Digital I/O Slave207-D104-XN
32 Ch. DO Slave Module with Pluggable Terminal
Specification
10KVSurge protection
3.75KVrmsI/O isolation voltage
NPN open collector Darlington transistorsOutput type
Each output Ch. is 350mA at 24VDCSwitch capacity
On to Off, about 50µs;Off to On, about 10µsResponse time
3A (Max) for each port (8 Ch.)Over current protection
24VDCPower supply
3W typicalPower consumption
0 to 60℃Working temperature
Transmission speed 100 Mbps
Cable type CAT5 UTP/STP Ethernet cable
Serial interface Fast Ethernet, Full-Duplex
EtherCAT®
General
FeaturesDIN rail mounting (L-122 x W-65 x H-104 mm)Max. 100Mbps transfer rateEasy installation with RJ45 phone jack and LED diagnosticPluggable terminal block with spring plug connectors
Dimension Diagram
Unit: mm
Ordering information207-D104-XN32 Ch Digital Output (DO) with NPN type207-D104-XP (available soon)32 Ch Digital Output (DO) with PNP typeSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M
1msDistributed Clock
I/O connector
207-D104-XN Terminal Definitions
EtherC
AT Digital S
lave Digital I/O Slave207-D122-NN
16 Ch. DI/O Slave Module with Pluggable Terminal
Specification
10KVSurge protection
3.75KVrmsI/O isolation voltage
5.6KΩ/0.5WInput impedance
±5mA(Max)Input current
NPN open collector Darlington transistorsOutput type
Each output Ch. is 350mA at 24VDCSwitch capacity
On to Off, about 50µs;Off to On, about 10µsResponse time
3A (Max) for each port (8 Ch.)Over current protection
24VDCPower supply
3W typicalPower consumption
0 to 60℃Working temperature
Transmission speed 100 Mbps
Cable type CAT5 UTP/STP Ethernet cable
Serial interface Fast Ethernet, Full-Duplex
EtherCAT®
General
FeaturesDIN rail mounting (L-122 x W-65 x H-104 mm)Max. 100Mbps transfer rateEasy installation with RJ45 phone jack and LED diagnosticPluggable terminal block with spring plug connectors
Dimension Diagram
Input type
Unit: mm
Ordering information207-D122-NN16 Ch. DI and 16 Ch. DO with NPN type207-D122-PP (available soon)16 Ch. DI and 16 Ch. DO with PNP typeSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M
1msDistributed Clock
NPN open collector Darlington transistors
Taiwan Pulse Motion Co.,Ltd 46
Taiwan Pulse Motion Co.,Ltd47
Analog I/O Slave207-A120FD Series
8 Ch. AI Slave Module with Pluggable Terminal
Specification
24VDCPower supply
3W typicalPower consumption
0 to 60℃Working temperature
EtherCAT®
General
FeaturesDIN rail mounting (L-122 x W-65 x H-104 mm)Max. 100Mbps transfer rateGeneral purpose isolated I/O: 8 DORotary switch for address settingEasy installation with RJ45 phone jack and LED diagnosticPluggable terminal block with spring plug connectors
Ordering information207-A120FD8 Ch. Analog Input (AI) w. ±10V207-A120FHD 8 Ch. Analog Input (AI) w. ±1V207-A120FID 8 Ch. Analog Input (AI) w. 4~ 20mASCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M
Dimension Diagram
10KVSurge protection
3.75KVrmsI/O isolation voltage
Transmission speed 100 Mbps
Cable type CAT5 UTP/STP Ethernet cable
Serial interface Fast Ethernet, Full-Duplex
Max. 1KHz (DC Mode)Fetch frequency
Input range Single End: ±10VDifferential: ±10V
Effective resolution
General purpose output
16 bits
OUT X 8 (4 Ch. High Speed)
AD Converter
Digital I/O
Unit: mm
1msDistributed Clock
EtherC
AT Analog S
lave Analog I/O Slave207-A102F
4 Ch. AO Slave Module with Pluggable Terminal
Specification
24VDCPower supply
3W typicalPower consumption
0 to 60℃Working temperature
EtherCAT®
General
FeaturesDIN rail mounting (L-122 x W-65 x H-104 mm)Max. 100Mbps transfer rateRotary switch for address settingEasy installation with RJ45 phone jack and LED diagnosticPluggable terminal block with spring plug connectors
Ordering information207-A102F4 Ch. Analog Output (AO)SCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M
Dimension Diagram
10KVSurge protection
3.75KVrmsI/O isolation voltage
Transmission speed 100 Mbps
Cable type CAT5 UTP/STP Ethernet cable
Serial interface Fast Ethernet, Full-Duplex
Effective resolution 16 bits
DA Converter
Output range ±10V
Operation mode
Unit: mm
1msDistributed Clock
Ramp and Noise, Single Value, Single Coupled Value,Pattern
Taiwan Pulse Motion Co.,Ltd 48
Taiwan Pulse Motion Co.,Ltd49
Analog I/O Slave207-A121FC
8 Ch. AI and 2 Ch. AO Slave Module with Pluggable Terminal
Specification
24VDCPower supply
3W typicalPower consumption
0 to 60℃Working temperature
EtherCAT®
General
FeaturesDIN rail mounting (L-122 x W-65 x H-104 mm)Max. 100Mbps transfer rateRotary switch for address settingEasy installation with RJ45 phone jack and LED diagnosticPluggable terminal block with spring plug connectors
Ordering information207-A121FC8 Ch. AI and 2 Ch. AOSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M
Dimension Diagram
10KVSurge protection
3.75KVrmsI/O isolation voltage
Transmission speed 100 Mbps
CAT5 UTP/STP Ethernet cable
Serial interface Fast Ethernet, Full-Duplex
Max. 1KHz (DC Mode)Fetch frequency
Single End: ±10VDifferential: ±10V
Effective resolution
Effective resolution
16 bits
12 bits
AD Converter
DA Converter
Output range ±10V
Operation mode
Cable type
Input range
Unit: mm
1msDistributed Clock
Ramp and Noise, Single Value, Single Coupled Value,Pattern
EtherC
AT Driver S
lave
Taiwan Pulse Motion Co.,Ltd50
Microstep DriverSTP-K121
Ordering information
STP-K121EtherCAT® 2-axis, 2-phase microstep driver w. encoderSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M
FeaturesUltra compact, a 2-axis driver integrated controller2-phase bi-polar current driving systemMax. output current 2.0A1/256 micro stepEncoder feedbackMax. 100Mbps transfer rateEasy installation with RJ45 phone jack and LED diagnosticDimension: L-76 x W-140 x H-47mm
±EA x2 , ±EB x2Incremental encoder input
±EZ x2Encoder index signal input
PEL x2, MEL x2, ORG x2, SD x2 and EMG x2I/O input signal
CMP x 2, 1024 Points / Ch.Position compare output
Incremental mode / Absolute modeData range: 28 bitsPosition control
ORG, EZ, SD, Limit & totally 31 typesHoming mode
Specification
Driver
In use: 0~50℃In storage: -20~70℃Ambient temperature
Connect to current sense resistor for bridge A.B = 2AProtection functions
In use: 35~85% (Non-condensing)In storage: 10~90% (Non-condensing)Humidity
0.5GVib. resist
24VDCInput voltage
2-phase, bi-polar current driving systemDrive model
3.0W typical (120mA/24VDC) no loadCurrent consumption
EL+,EL-,ORG, EMG, SD, FAULT, PWRLED display
2-Axis Motion Controller
Motor Wiring Diagram
Dimension Diagram
( B )
( A )A+ A-
B+
B-4 wire (6 wire)Bipolar (Unipolar)
Current: Max. 2.0ASelected: Using a variable resistorSTOP: 0~FRUN: 0~F
Current setting
EtherCAT®
10KVSurge protection
Transmission speed 100 Mbps
CAT5 UTP/STP Ethernet cable
Serial interface Fast Ethernet, Full-Duplex
Cable type
0.5 / 1 / 2 / 4 msDistributed Clock
Support mode CSP, PP, Home
Micro step 1,1/2,1/4,1/8,1/16,1/32,1/64,1/128,1/256 selected by rotary switch 0~8
Taiwan Pulse Motion Co.,Ltd51
EtherCAT SlaveStart-Kit207-ADIO-Kit
8 Ch. AI / 2 Ch. AO / 8 Ch. DI / 8 Ch. DO Slave Module
SpecificationFeaturesDIN rail mounting (L-122 x W-124 x H-104 mm)Max. 100Mbps transfer rateEasy installation with RJ45 phone jack and LED diagnostic207-ADIO-Kit supports TwinCAT with ESI File, and Object Dictionary of PDO and SDO
Ordering information207-ADIO-Kit8 Ch. AI / 2 Ch. AO / 8 Ch. DI / 8 Ch. DO slave module with Switch / LED / Meter on-board207-A121D8 Ch. AI and 2 Ch. AOSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M
10KVSurge protection
3.75KVrmsI/O isolation voltage
Transmission speed 100 Mbps
Cable type CAT5 UTP/STP Ethernet cable
Serial interface Fast Ethernet, Full-Duplex
EtherCAT®
24VDCPower supply
3W typicalPower consumption
0 to 60℃Working temperature
General
Max. 1KHz (DC Mode)Fetch frequency
Input current
Input range
0~20mA
Single End: ±10 /±5 /±2.5 /±1.25VDifferential: ±10 /±5 /±2.5 /±1.25V
Effective resolution
Effective resolution
16 bits
12 bits
AD Converter
DA Converter
Output range ±10V
Ramp and Noise, Single Value, Single Coupled Value,PatternOperation mode
5.6KΩ/0.5WInput impedance
±5mA(Max)Input current
NPNInput types
DI/O Control
NPN open collector Darlington transistorsOutput type
Each output Ch. is 350mA at 24VDCSwitch capacity
On to Off, about 50µs;Off to On, about 10µsResponse time
3A (Max.) for each port (8 Ch.)Over current protection
1msDistributed Clock
Taiwan Pulse Motion Co.,Ltd 52
EtherC
AT Start-K
it
DI / DO / AI / AO
Illustration of Wiring
4 DI: DI4 ~ DI7*2
2 AO: AO0 ~ AO1*3
2 AI: AI0 ~ AI1*4
2 DO: DO6 ~ DO7*14 DI: DI0 ~ DI3** 6 DO: DO0 ~ DO5**
6 AI: AI2 ~ AI7** 2 AO: AO0 ~ AO1**
*1: DO connected with relay
*2: DI connected with switch
*3: AO connected with LED and Meter
*4: AI connected with variable resistor
**: Open interface for user applicaiton
Demo Program
Demo program under C#
Sample Program
Sample program under TwinCAT