Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Related Manuals for IFM Electronic Ecomat 300 AL1030
Summary of Contents for IFM Electronic Ecomat 300 AL1030
- Page 1 Device manual IO-Link master EtherCat AL1030...
-
Page 2: Table Of Contents
IO-Link Master EtherCat Contents 1 Preliminary note 5 2 Safety instructions 6 3 Documentation 7 4 Functions and features 7... - Page 3 IO-Link Master EtherCat 121 EtherCat and power supply connection 23 122 Connecting IO Link ports and digital inputs 23 123 Pin connection EtherCat 23 124 Pin connection voltage supply U A ...
- Page 4 IO-Link Master EtherCat 28 CoE: IO-Link device diagnostic (events) 54 281 Structure of a diagnostic message 57 282 Confirm diagnostic messages 59 283 Delete diagnostic messages 59 284 Event Codes 60...
-
Page 5: Preliminary Note
IO-Link Master EtherCat 1 Preliminary note This document applies to devices of the type "IO-Link master EtherCat" (art no AL1030) These instructions are part of the device This document is intended for specialists These specialists are people who are qualified by their appropriate training and their experience to see risks and to avoid possible hazards that may be caused during operation or maintenance of the device The document contains information about the correct handling of the device... -
Page 6: Safety Instructions
IO-Link Master EtherCat 2 Safety instructions These instructions contain texts and figures concerning the correct handling of the device and must be read before installation or use Observe the operating instructions Non-observance of the instructions, operation which is not in accordance with use as prescribed below, wrong installation or incorrect handling can seriously affect the safety of operators and machinery ►... -
Page 7: Documentation
IO-Link Master EtherCat ► Devices that are designed for mounting in housings or control cabinets must only be operated and controlled after they have been installed with the housing closed Desktop or portable units must only be operated and controlled in enclosed housings ►... -
Page 8: 52 Iol (Io-Link Port)
IO-Link Master EtherCat 5.2 IOL (IO-Link port) These devices have IO-Link ports for communication-capable sensors so that the automation device can make dynamic changes to the sensor parameters directly The IO-Link ports can be operated in the following operating modes: –... -
Page 9: Scale Drawings
IO-Link Master EtherCat 6 Scale drawings 6.1 Dimensions of the screw holes in the fixing clips 198,5 Scale drawing AL1030 The fixing clips are firmly mounted... -
Page 10: Structure Of The Device
IO-Link Master EtherCat 7 Structure of the device 1 Fixing clips ( FE connection) 2 Network or bus connection (IN, OUT) 3 Connections for the supply voltages 4 Connections for inputs/outputs or IO-Link ports 5 Markers for labelling 6 Status indicators of the inputs/outputs or the IO-Link ports 7 Diagnostics and status indication for the supply voltages... -
Page 11: 81 Supply Voltages U
IO-Link Master EtherCat Damage to the electronics ► Connect both supply voltages completely (to +24 V and GND) Do not connect several supply voltages via one GND, as this will exceed the current rating of the contacts 8.1 Supply voltages U and U The voltages U and U... -
Page 12: 84 Diagnostic And Status Indicators
IO-Link Master EtherCat 8.4 Diagnostic and status indicators 8.4.1 Diagnostics The diagnostic indicators (green/yellow/red) indicate whether an error is present or not In case of an error, they indicate the error type and location The device is operating correctly if all green indicators are on 8.4.2 Status The status indicators (yellow) indicate the signal state of the corresponding input/ output or of the IO-Link port If the yellow status indicators are on, this indicates... -
Page 13: Installation
IO-Link Master EtherCat 9 Installation When preparing for cable installation, the local conditions and the corresponding mounting regulations are very important Cables can be installed, for example, in cable ducts or on cable bridges Data corruption and loss A minimum distance between the cabling and possible sources of interference (eg, machines, welding equipment, power lines) is defined in the applicable regulations and standards During system planning and installation, these regulations and standards must be taken into account and observed... -
Page 14: 94 Cable Routing In Buildings
IO-Link Master EtherCat ► Install network/bus cables at least 10 cm away from power lines 9.4 Cable routing in buildings ► Where possible, use metal cable hangers ► Do not install network/bus cables together with or parallel to power supply lines ►... -
Page 15: 963 Surge Protective Devices
IO-Link Master EtherCat 9.6.3 Surge protective devices ifm recommends wiring all the wires of the cable to surge protective devices in order to protect the devices against surge voltages Observe all national and international regulations when installing surge protective devices 1 Surge protective devices 2 Cable shielding 3 Equipotential bonding line... -
Page 16: 98 Grounding Concept
IO-Link Master EtherCat 9.8 Grounding concept The devices operate in the low-level signal voltage range In the case of low-level signal devices, interference is discharged via functional earth (FE) Functional earth (FE) is only used to discharge interference It does not provide shock protection for people Functional grounding The devices are designed to be screwed onto a flat mounting surface... -
Page 17: 11 Mounting Dimensions
IO-Link Master EtherCat 9.11 Mounting dimensions ► Screw the device directly onto the flat mounting surface using the drill holes (1) of the fixing clips ► Use standard M5 screws with toothed lock washer and self-locking nuts ► Observe the maximum torque of the screws Functional grounding ►... -
Page 18: 102 Io-Link Features
IO-Link Master EtherCat ● Identification – Encoding switch for creation of the ID for the "Explicit Device ID" mechanism – Configured Second Station Alias ● Hot Connect ● Acyclic data communication (mailbox protocols CoE, FoE, EoE and AoE) ● Device description through ESI ●... -
Page 19: Technical Data
IO-Link Master EtherCat 11 Technical data General data Housing material Pocan Weight [kg] 048 Ambient temperature (operation) [°C] -25 60 Ambient temperature (storage/transport) [°C] -2585 Permissible humidity (operation) [%] 595 Air pressure (operation) [kPa] 70106 (up to 3000 m above sea level) Air pressure (storage/transport) [kPa] 70106 (up to 3000 m above sea... - Page 20 IO-Link Master EtherCat Max current consumption [A] Supply of the actuators Connection type M12 connector (T-coded) Number of positions Designation Supply voltage [V] 24 DC Nominal supply voltage range [V] 18312 DC (including all tolerances, including ripple) Typical current consumption [mA] 28 ±15 % (at 24 V DC) Max current consumption [A] Supply of the IO-Link ports...
- Page 21 IO-Link Master EtherCat Output current for each channel [mA] Output current for each device [A] Nominal load, ohmic [W] 12 (48 Ω; with nominal voltage) inductive nominal load [VA] (1.2 H; 12 Ω; with nominal voltage) Signal delay [µs] Max 150 (at power on) Signal delay [µs] Max 200 (at power off) Switching frequency...
- Page 22 IO-Link Master EtherCat 24 V-supply (actuator supply) / 500 AC, 50 Hz, 1 min 24 V supply (communications power and sensor supply, IO-Link ports) [V] 24 V supply (actuator supply)/bus connection (Ethernet 1) [V] 500 AC, 50 Hz, 1 min 24 V supply (actuator supply)/bus connection (Ethernet 2) [V] 500 AC, 50 Hz, 1 min 24 V supply (actuator supply)/FE [V]...
-
Page 23: Connections
IO-Link Master EtherCat 12 Connections 12.1 EtherCat and power supply connection EC IN (X21): EtherCat IN EC OUT (X22): EtherCat OUT IN (X31): Power supply IN (logic and sensors) EC IN EC OUT IN (X31): Power supply IN (IO-Link actuators) U OUT U IN OUT (X32): Power supply OUT (logic and... -
Page 24: 124 Pin Connection Voltage Supply U /U
IO-Link Master EtherCat 12.4 Pin connection voltage supply U IN X31 OUT X32 1: + 24 V DC (US) brown 1: + 24 V DC (US) brown 2: GND (UA) white 2: GND (UA) white 3: GND (US) blue 3: GND (US) blue 4: + 24 V DC (UA) black 4: + 24 V DC (UA) black Pin assignment of the power supply, T-coded... -
Page 25: Identification
IO-Link Master EtherCat Fix the device to a level surface or to a profile Do not use this device to bridge gaps in order to prevent forces being transmitted via the device Use standard M5 screws with toothed lock washer and self-locking nuts Observe the maximum torque of the screws 13 Identification With EtherCat devices, there is a differentiation between address assignment and... -
Page 26: 141 Reserved/Invalid Switch Position
IO-Link Master EtherCat With this switch position, the EtherCAT® Explicit Device Identification is set manually After power-on, the device is ready for operation as soon as the LED RDY lights green A connection to the device can, however, not be established in this switch position As soon as the RDY LED lights green, a new switch position can be selected on the rotary encoding switch and the device can be restarted 14.1 Reserved/invalid switch position... - Page 27 IO-Link Master EtherCat Description Colour Descrip- Status Description tion Green/ Ready Green ON Unit is ready for operation yellow/ red Yellow flashes Firmware update is being performed Green/ yellow Overvoltage or undervoltage at U flashes Temperature of the device is in the critical area Failure of the actuator supply U and U...
-
Page 28: 152 Displaying The Io-Link Ports And Inputs
IO-Link Master EtherCat 15.2 Displaying the IO-Link ports and inputs DI 1...4 IOL1...8 Description Colour Description Status Description IO-Link LED Green / Status of Green ON IO-Link communication is active yellow / red the IO-Link Green IO-Link communication is not available ports flashes (X01 ... -
Page 29: Ethercat
IO-Link Master EtherCat The numbering of the LEDs is as follows: the first number specifies the byte, the second number specifies the bit 16 EtherCAT The mailbox protocol CAN application layer over EtherCat (CoE) constitutes the foundation of the "Device Profile" and permits parameter setting of EtherCat devices via the object directory Access to the object directory via CoE takes place through Service Data Object (SDO) Services For a description of the object implemented on the device, please refer to the... -
Page 30: Ethercat State Machine
IO-Link Master EtherCat In this context, the structural context of the device is as follows: 18 EtherCat State Machine The device is provided with a state machine, the EtherCat State Machine (ESM) The EtherCat master sends requests about status changes to the AL Control Register of the slave The slave shows the current state in the AL Status Register and provides continuing error codes in the AL Status Code Register... -
Page 31: 181 Al Control And Al Status Register
IO-Link Master EtherCat 18.1 AL Control and AL Status Register If the master writes on the AL Control Register, the corresponding state transition is triggered by the slave in the device state machine In this context, the AL Status Register mirrors the current status of the slave Index (hex) Object name Data type... -
Page 32: 182 Al Status Code Register
IO-Link Master EtherCat 18.2 AL Status Code Register If the state transition required by the master is not possible, an error flag is set by the slave in the AL Status Register (bit 4) and an error code is written to the AL Status Code Register AL status Description... -
Page 33: Ethercat Synchronisation
IO-Link Master EtherCat 20 EtherCAT synchronisation To synchronise the application, there are two modes you can select in the engineering system – FreeRun (process data update by means of a device-internal application cycle) – SM Synchronous (process data update in case of an SM event) 20.1 FreeRun In this mode, the EtherCat communication system and the I/Os work asynchronously The I/Os are in the auto run state and are running with the... - Page 34 IO-Link Master EtherCat The addressing of the objects is done via a combination of index and sub-index Sub-index 0 indicates the number of sub-indexes or the number of the highest sub-index The following applies to the following tables: Length = length of the elements in bytes RO = read only Rights = access rights R/W = read and write...
- Page 35 IO-Link Master EtherCat Index (hex) Object name Data type Rights Device Identity Objects (2) 2001 Component Name STRING 2002 Vendor Name STRING 2003 Vendor URL STRING 2004 Order Number STRING 2005 Manufacturing Date STRING 2006 QS Date STRING 2007 Installation Location STRING 2008 Operational Hours...
-
Page 36: Coe: Type Label
IO-Link Master EtherCat 22 CoE: type label The device has objects to be identified They contain information about the manufacturer and the device and constitute the type label In the following, the objects constituting the type label will be described Index (hex) Subindex Object name... -
Page 37: Coe: Io-Link Port Configuration
IO-Link Master EtherCat 23 CoE: IO-Link port configuration The device design is based on the "Modular Device Profiles" (ETG5001) There is a differentiation between modules and slots A module corresponds with the configuration of an IO-Link device with fixed process data lengths The word "module" is a synonym for an IO-Link device A slot is an IO-Link port of the IO-Link master;... -
Page 38: 232 Configuration Of Port Parameters
IO-Link Master EtherCat Depending on the slot configuration, they are entered as start-up command in the object 0x80n0:28 (Master Control) A possible port configuration in the engineering tool TwinCAT could look as follows: For further information about the structure of the 80n0 objects, please consult the chapter "IO-Link device configuration (configured)" 23.2 Configuration of port parameters... - Page 39 IO-Link Master EtherCat Index Sub-in- Object Data Rights Description/value (hex) dex (hex) name type 2800 IO-Link parameter port 1 Number of UINT8 Number of sub-indexes of the object entries Data storage UINT8 The data storage mechanism allows the exchange of parameters between the master and device To use this function, connected devices must at least support the IO-Link specification v11...
-
Page 40: 233 Port Status
IO-Link Master EtherCat Index Sub-in- Object Data Rights Description/value (hex) dex (hex) name type 2800 Device para- ARRAY Direct Parameter Page 2 (DPP2) meters [0…15] The device parameter page 2 describes the area between the IO-Link objects 10 1F BYTE This relates to an optional manufacturer- specific area of the IO-Link device data Element... -
Page 41: Coe: Io-Link Module Identification
IO-Link Master EtherCat Index (hex) Sub index Object Data Rights Description/value (hex) name type 03 IO-Link status 0 = port inactive 1 = port functions as Digital_In 2 = port functions as Digital_Out 3 = communication in OP mode 4 = communication in STOP mode 47 ErrorCode... -
Page 42: 241 Io-Link Device Setting (Configured)
IO-Link Master EtherCat The IO-Link master is identified as MDP Profile Implementation "5001" For this reason, the objects F030 (Configured Module Ident List) and F050 (Detected Module Ident List) which are used for module identification in case of an MDP device must be available Since the IO-Link functions according to the IO-Link Master Profile Implementation "6220", these objects are not evaluated by the device since identification via Vendor ID and Device ID is sufficient No adjustment of the module numbers is made... - Page 43 IO-Link Master EtherCat Index Sub index Object Data Rights Description/value (hex) (hex) name type 8000 IO-Link Configuration Data Port 1 Number of UINT8 Number of sub-indexes of the object entries Device ID UINT32 Device ID of the IO-Link device Verification will only be carried out if the value is != 0 Vendor ID UINT32...
-
Page 44: 242 Io-Link Device Information (Detected)
IO-Link Master EtherCat Index Sub index Object Data Rights Description/value (hex) (hex) name type IO-Link DI with IO-Link (non cyclic IOL communication, also called SIO mode) 8010 IO-Link Configuration Data Port 2 Number of UINT8 Number of sub-indexes of the object entries Device ID UINT32... - Page 45 IO-Link Master EtherCat Index Sub index Object Data Rights Description/value (hex) (hex) name type 9000 IO-Link Configuration Data Port 1 Number of UINT8 Number of sub-indexes of the object entries Fixed Station UINT16 First IO-Link port Address Vendor ID UINT32 Vendor ID structure signalled by the device corresponds with 0x8000:05 Product...
-
Page 46: Coe: Io-Link Process Data
IO-Link Master EtherCat Index Sub index Object Data Rights Description/value (hex) (hex) name type Number of UINT8 Number of sub-indexes of the object entries Fixed Station UINT16 Second IO-Link port Address 9070 IO-Link Information Data Port 8 25 CoE: IO-Link process data 25.1 PDO mapping objects One RxPDO and one TxPDO are assigned to each port of the IO-Link master The indexes are composed as follows:... - Page 47 IO-Link Master EtherCat Index Sub index Object name Data type Rights Description/value (hex) (hex) 1600 RxPDO Mapping IO-L Outputs Ports 1 Number of UINT8 Number of sub-indexes of the object entries Subindex 01 UINT32 7000ppsshex – pp: Sub-index of the RxPDO –...
- Page 48 IO-Link Master EtherCat Index Sub index Object name Data type Rights Description/value (hex) (hex) Subindex 02 UINT32 6000ppsshex – pp: Sub-index of the TxPDO – ss: Size of the sub-index of the TxPDO in bits Subindex 32 UINT32 6000ppsshex – pp: Sub-index of the TxPDO –...
-
Page 49: 252 Control And Status Objects
IO-Link Master EtherCat Index Sub index Object name Data type Rights Description/value (hex) (hex) Subindex 03 UINT32 0x3003:03, 8 (Digital inputs C/Q) Subindex 04 UINT32 0x3004:04, 8 (Digital inputs (Pin 2)) 1B02 TxPDO Alignment Number of UINT8 Number of sub-indexes of the object entries Subindex 01 UINT32... - Page 50 IO-Link Master EtherCat Index Sub index Object Data Rights Description/value (hex) (hex) name type 3001 IOLM_Status Number of UINT8 Number of sub-indexes of the object entries COM States UINT8 Informs if the corresponding port(s) have established a communication to the IO-Link device Description Port 1 IO-Link...
-
Page 51: Process Data Objects
IO-Link Master EtherCat 26 Process data objects Objects 6000 to 6FFF contain the input data, objects 7000 to 7FFF contain the output data of the connected IO-Link devices For each module (IO- Link device), exactly one object is created which can contain several sub-objects This results in the following object index –... -
Page 52: Coe: Io-Link Substitute Value Behaviour
IO-Link Master EtherCat Index Sub index Object Data Rights Description/value (hex) (hex) name type 7000 IO-Link Output Port 1 Number of UINT8 Depends on the executed slot configuration entries (max 32) IOL port OCTEC Represents RxPDO 1 of the first IO-Link (1 bytes in) STRING device (IO-Link node address is defined in... - Page 53 IO-Link Master EtherCat Index Sub index Object Data Rights Description/value (hex) (hex) name type 2100 Safe State UINT8 = set data to "0" Mode IOL- = set data to "1" Port 1 = hold last value = IO-Link master command (default) The "IO-Link master command"...
-
Page 54: Coe: Io-Link Device Diagnostic (Events)
IO-Link Master EtherCat 28 CoE: IO-Link device diagnostic (events) For the diagnostic function, the object 10F3 is available Up to 64 diagnostic messages can be stored in it in a ring buffer All events are recorded that have triggered an emergency message in the device They are: –... - Page 55 IO-Link Master EtherCat Index Sub index Object name Data type Rights Description/value (hex) (hex) 10F3 Diagnostic History Record Diagnostic statistics Number of UINT8 Number of sub-indexes of the object entries Maximum UINT8 Maximum number of messages (64) messages Newest UINT8 Subindex of the most recent diagnostic message message (0, 6 69)
- Page 56 IO-Link Master EtherCat Index Sub index Object name Data type Rights Description/value (hex) (hex) No unacknowledged messages Messages for acknowledgement available Flags UINT16 Settings for sending and storing diagnostic messages Description Send emergency mes- sages 0 = deactivated 1 = activated (default) Info messages store / send 0 = activated (default)
-
Page 57: 281 Structure Of A Diagnostic Message
IO-Link Master EtherCat Index Sub index Object name Data type Rights Description/value (hex) (hex) 6255 Diagnostic OCTECT The first message is stored in subindex 6, message STRING the next one in 7, etc A soon as the buffer is full, overwriting starts again at Subindex 6 For the exact structure of the diagnostic messages, please refer to chapter "Struc-... - Page 58 IO-Link Master EtherCat Parameters Data type Description Parameters UINT16 Parameter 2 Flags: Flags 2 0007 Data type parameter 2: UINT32 Parameter 2 UINT32 Event Code; see chapter "Event Codes" Parameters UINT16 Parameter 3 Flags: Flags 3 0005 Data type parameter 3: UINT8 Parameter 3 UINT8 Event Qualifier...
-
Page 59: 282 Confirm Diagnostic Messages
IO-Link Master EtherCat 28.2 Confirm diagnostic messages In overwrite mode (SI5, Bit 4 = 0) When the subindex of the most recent acknowledged message is written into the field [Newest Acknowledged Message] (0x10F3:SI3), all older diagnostic messages are acknowledged as well Here, it is not verified if they have already been read (indication takes place via 0x10F3:SI5:Bit 5 = 0) If a subindex is written that does not contain a diagnostic message, the SDO- Abort-Code 06090030... -
Page 60: 284 Event Codes
IO-Link Master EtherCat If a zero is written into the field [Newest Acknowledged Message] (0x10F3:SI3), all messages that are already acknowledged are deleted All messages that were not yet acknowledged are transferred upward in the buffer as can be seen in the example in the following figure History Status History... - Page 61 IO-Link Master EtherCat EventCodes (hex) Definition Device TYPE Status Value 42214FFF Reserved 5000 Device hardware fault – Device exchange Error 5001500F Reserved 5010 Component malfunction – Repair or exchange Error 5011 Non volatile memory loss – Check batteries Error 5012 Batteries low –...
-
Page 62: Aoe: Io-Link Device Parameter Setting
IO-Link Master EtherCat EventCodes (hex) Definition Device TYPE Status Value 8C10 Process variable range over-run – Process Warning Data uncertain 8C118C1F Reserved 8C20 Measurement range over-run – Check appli- Error cation 8C218C2F Reserved 8C30 Process variable range under-run – Process Warning Data uncertain 8C318C3F... -
Page 63: 291 Ams Netid
IO-Link Master EtherCat The engineering tool TwinCAT provides already predefined ADS services in the form of function blocks or function libraries For further information, please refer to the corresponding documentation 29.1 AMS NetID The AMS NetID ensures clear identification of the EtherCat slave and is provided by the engineering tool 29.2 Port number The port number ensures clear identification of the IO_Link master and its ports The following definition applies... - Page 64 IO-Link Master EtherCat The following emergency messages are supported by the device Error code Error register Diagnostic data Localisation Description (hex) (hex) 10011008 Bit D1 is set 00, 09, 0x, 00, 00, Channel level General error x = 1 8 10111018 Bit D1 is set 00, 0A, 0x, 00, 00,...
-
Page 65: Ethercat Sdo Abort Codes
IO-Link Master EtherCat The device sends emergency messages in case of an ingoing or outgoing error When the problem is solved, the slave sends an emergency message with the error code 0000 (reset error) The value of the corresponding bit in the error register is 0 if for this bit no error is imminent The diagnostic data value does not change 31 EtherCat SDO Abort Codes The following table informs about possible error messages during an SDO access... -
Page 66: Set-Up
IO-Link Master EtherCat Abort Code Description (hex) 0800 0023 Object dictionary dynamic generation fails or no object dictionary is present 32 Set-up 32.1 Factory setting The device has the following remanent objects – 2007 : Installation location – 200A : Equipment identification On delivery, these objects are empty 32.2 Restore factory settings In order to reset the objects to the factory setting, write the value "1"... -
Page 67: 331 Io-Link Masters
IO-Link Master EtherCat 33.1 IO-Link Masters IO-Link is an internationally standardised I/O technology (IEC 61131-9) for communicating with sensors and actuators An IO-Link master is integrated in the EtherCat device The IO-Link master establishes the connection between the IO- Link devices and the automation system The device supports IO-Link specification v11 34 Web-based management (WBM) The device has a web server which generates the required pages for web-based... -
Page 68: Firmware Update With The Software Codesys V35
IO-Link Master EtherCat 37 Firmware update with the software CODESYS V3.5 This document describes how to carry out a firmware update for AL1030 with the software CODESYS V35 38 Preparation 38.1 Set up network ► Connect the device to the network card used by CODESYS by means of an Ethernet cable 38.2 Open project When opening CODESYS for the first time, install the device description files... -
Page 69: 383 Set Up Ethercat Connection
IO-Link Master EtherCat 38.3 Set up EtherCat connection ► Start SoftPLC in CODESYS ► Select SoftPLC in CODESYS ► Select MAC address of the EtherCat master... - Page 70 IO-Link Master EtherCat ► Enable the expert settings [Enable Expert Settings] for the EtherCat slave...
-
Page 71: Firmware Update (Step By Step)
IO-Link Master EtherCat ► Connect to the SoftPLC and go online 39 Firmware update (step by step) The protocol [File Access Over EtherCat (FoE)] is always used for firmware updates The necessary steps for a firmware update are described below ►... - Page 72 IO-Link Master EtherCat ► Click on the tab [Online] and in the File Access over EtherCat area on [Download] A dialogue window appears to select the firmware which is to be transferred to the device Firmware files for these devices have the file extension [efw] ►...
-
Page 73: Check Firmware Version
IO-Link Master EtherCat ► Start the firmware download with [OK] In the lower part of the screen CODESYS shows the progress of the firmware download [Downloading…] ► After the file has been transferred to the device restart the device via a power reset As soon as the device restarts it automatically installs the new firmware During installation the [RDY Led] flashes orange This can take up to 7 minutes After... - Page 74 IO-Link Master EtherCat...
- Page 75 IO-Link Master EtherCat...