Ethercat Communications; Ethercat Connections - Copley Controls XenusPlus EtherCAT Manual

RS-232 COMMUNICATIONS
Accelnet EtherCAT is configured via a three-wire, full-duplex DTE RS-232 port that
operates from 9600 to 115,200 Baud. CME 2™ provides a graphic user interface (GUI)
to set up all of Accelnet EtherCAT features via a computer serial port. Connections to the
Accelnet EtherCAT RS-232 port are through J6, an RJ-11 style connector. Signal format
is full-duplex, 3-wire, DTE using RxD, TxD, and Gnd. The Accelnet EtherCAT Serial Cable
Kit (SER-CK) contains a modular cable, and an adapter that connects to a 9-pin, Sub-D
serial port connector (COM1, COM2, etc.) on PC's and compatibles.

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 CANopen over EtherCAT (CoE) based on
DSP-402 for motion control devices.

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
oUT (B)
ACTIVITY
(yellow)
In (A)
LInk
(green)
PIn SIGNAL
1 TX+
2 TX-
3 RX+
6 RX-
EtherCAT ADDRESS (STATIon ALIAS)
In an EtherCAT network, slaves are automatically assigned addresses based on their
position in the bus. But when the device must have a positive identification that is
independent of cabling, a Station Alias is needed. In the XEL, this is provided by two
16-position rotary switches with hexadecimal encoding. These can set the address 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 address 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 address 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, Internet: http://www.copleycontrols.com
Xenus Plus
ETHERCAT LEDS (ON J7)
Green and yellow LEDs indicate the state of the EtherCAT interface:
Green is the "Link" indicator:
On = Good Link
Off = No Link Blinking
NET STATUS LED (ON J6)
A bi-color LED indicates the state of the EtherCAT bus.
Green and red colors alternate, and each color has a separate meaning:
Green is the "RUN" or EtherCAT State Machine:
Off = INIT state
Blinking = PRE-OPERATIONAL
Single Flash = SAFE-OPERATIONAL
On = OPERATIONAL
AMP STATUS LED
A bi-color LED gives the state of the Accelnet drive.
Colors do not alternate, and can be solid ON or blinking:
Green/Solid
Green/Slow-Blinking
Green/Fast-Blinking
Red/Solid
Red/Blinking
EtherCAT
J5: RS-232 PORT
RJ-11 receptacle,
6 position, 4 contact
Yellow is the "Activity" indicator:
On = Activity
Off = No Activity
Blinking
Single Flash
Double Flash =
= Drive OK and enabled. Will run in response to reference inputs
or EtherCAT commands.
= Drive OK but NOT-enabled. Will run when enabled.
= Positive or Negative limit switch active.
Drive will only move in direction not inhibited by limit switch.
= Transient fault condition. Drive will resume operation when fault is removed.
= Latching fault. Operation will not resume until drive is Reset.
S1 S2
Tel: 781-828-8090
PIn SIGNAL
2
3,4
5
Red is the "ERR" indicator:
= Invalid configuration
= Unsolicited state change
Application watchdog timeout
EtherCAT
Address Switch
Decimal values
S1 S2
HEX DEC
0 0 0
1 16 1
2 32 2
3 48 3
4 64 4
5 80 5
6 96 6
7 112 7
8 128 8
9 144 9
A 160 10
B 176 11
C 192 12
D 208 13
E 224 14
F 240 15
Fax: 781-828-6547
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RoHS
RxD
Gnd
Txd