Ethercat Communications; Ethercat Connections - Copley Controls Xenus Plus XEL Series Manual

ETHERCAT CoMMUniCATionS

EtherCAT is the open, real-time Ethernet network developed by Beckhoff based on the widely used 100BASE-TX cabling system. EtherCAT enables high-
speed control of multiple axes while maintaining tight synchronization of clocks in the nodes. Data protocol is CAN application layer over EtherCAT (CoE)
based on DSP-402 for motion control devices. More information on EtherCAT can be found on this web-site:

ETHERCAT ConnECTionS

Dual RJ-45 sockets accept standard Ethernet cables. The IN port connects to a master, or to the OUT port of a device that is 'upstream', between the
Xenus and the master. The OUT port connects to 'downstream' nodes. If Xenus is the last node on a network, only the IN port is used. No terminator is
required on the OUT port.
J7: EtherCAT PoRTS
RJ-45 receptacles,
8 position, 4 contact
Pin SIGNAL
6 RX-
3 RX+
2 TX-
1 TX+
J6: RS-232 PORT
RJ-12 receptacle,
6 position, 4 contact
STAT
AMP
STAT LED
A bi-color LED (nET) indicates the status of the EtherCAT state machine and occurrence of errors.
Green and red colors alternate: Green = RUN, Red = ERROR
RUn (green)
Off = INITIALIZATION
Blinking = PRE-OPERATIONAL
Single Flash = SAFE-oPERATionAL
on = oPERATionAL
notes:
1) A change of state commanded by the master is not possible or is illegal
2) This indicates that the slave has initiated a change of state by itself in response to an error
3) The EtherCAT watchdog timer has timed-out
EtherCAT DEVICE ID
In an EtherCAT network, slaves are automatically assigned fixed addresses based on
their position on the bus. But when the device must have a positive identification that
is independent of cabling, a Device iD is needed. in the XEL, this is provided by two
16-position rotary switches with hexadecimal encoding. These can set the Device iD of
the drive from 0x01~0xFF (1~255 decimal). The chart shows the decimal values of the
hex settings of each switch.
Example 1: Find the switch settings for decimal Device iD 107:
1) Find the highest number under S1 that is less than 107 and set S1 to the hex value in
the same row:
96 < 107 and 112 > 107, so S1 = 96 = Hex 6
2) Subtract 96 from the desired Device iD to get the decimal value of switch S2 and set
S2 to the Hex value in the same row:
S2 = (107 - 96) = 11 = Hex B
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Web:
Xenus
ACT
(yellow)
oUT (B)
Link
(green)
ACT
(yellow)
in (A)
Link
(green)
AMP LED
A bi-color LED gives the state of the drive. Colors do not alternate, and can be solid on or blinking. When mul-
tiple conditions occur, only the top-most condition will be displayed.
When that condition is cleared the next one below will shown.
1) Red/Blinking = Latching fault. operation will not resume until drive is Reset.
2) Red/Solid = Transient fault condition. Drive will resume operation when
3) Green/Double-Blinking = Torque Off circuit active, drive outputs are Torque Off
4) Green/Slow-Blinking = Drive Ok but NOT-enabled. Will run when enabled.
5) Green/Fast-Blinking = Positive or Negative limit switch active.
7) Green/Solid = Drive Ok and enabled. Will run in response to
Latching Faults
Default
• Short circuit (Internal or external)
• Drive over-temperature
• Motor over-temperature
• Feedback Error
• Following Error
ERRoR (red)
Off
Blinking
Single Flash
Double Flash
Plus
EtherCAT
ETHERCAT LINk & ACTIVITy LEDS (ON J7)
These LEDs show the state of the physical link and activity on the link
A green LED indicates the state of the EtherCAT network:
LED Link Activity
ON yes No
Flickering yes yes
off no (n/A)
the condition causing the fault is removed.
Drive will only move in direction not inhibited by limit switch.
reference inputs or EtherCAT commands.
optional (programmable)
• Over-voltage
• Under-voltage
• Motor Phasing Error
• Command Input Fault
= No error
= Invalid configuration (note 1)
= Local error (note 2)
= Watchdog timeout (note 3)
Device iD Switch
Decimal values
Tel: 781-828-8090
http://www.copleycontrols.com
XEL
http://ethercat.org/default.htm
Condition
Port Open
Port Open with activity
Port Closed
Hex
0
1
2
S2
S1
3
4
5
6
7
8
EtherCAT
9
A
---->
B
C
D
E
F
Fax: 781-828-6547
Page 5 of 28
RoHS
S1 S2
Dec
0 0
16 1
32 2
48 3
64 4
80 5
96 6
112 7
128 8
144 9
160 10
176 11
192 12
208 13
224 14
240 15