ICP DAS USA ECAT-2011H User Manual
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ICP DAS USA ECAT-2011H User Manual

Ethercat slave i/o modules
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ECAT-2011H EtherCAT Slave
Modules User Manual
English Ver. 1.1,Dec. 2018
WARRANTY
All products manufactured by ICP DAS are warranted against
defective materials for a period of one year from the date of
delivery to the original purchaser.
WARNING
ICP DAS assumes no liability for damages consequent to the
use of this product. ICP DAS reserves the right to change this
manual at any time without notice. The information furnished
by ICP DAS is believed to be accurate and reliable. However, no
responsibility is assumed by ICP DAS for its use, nor for any
infringements of patents or other rights of third parties
resulting from its use.
COPYRIGHT
Copyright © 2018 by ICP DAS. All rights are reserved.
TRADEMARK
Names are used for identification only and may be registered
trademarks of their respective companies.
CONTACT US
If you have any questions, please feel free to contact us via
email at:
service@icpdas.com, service.icpdas@gmail.com
I/O

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Summary of Contents for ICP DAS USA ECAT-2011H

  • Page 1 ECAT-2011H EtherCAT Slave Modules User Manual English Ver. 1.1,Dec. 2018 WARRANTY All products manufactured by ICP DAS are warranted against defective materials for a period of one year from the date of delivery to the original purchaser. WARNING ICP DAS assumes no liability for damages consequent to the use of this product.

  • Page 2: Table Of Contents

    ECAT-2011H EtherCAT Slave I/O module TABLE OF CONTENTS INTRODUCTION ..............................3 ................................. 4 ACKAGE HARDWARE INFORMATION ..........................5 ................................. 5 PPEARANCE ............................... 7 PECIFICATION 2.2.1 System Specification ............................7 2.2.2 I/O Specification ............................8 ..............................9 SSIGNMENTS EtherCAT Interface ............................... 9 Differentail Input .................................

  • Page 3: Introduction

    All the modules can be deployed in the network topologies such as star, line or ring. The ECAT-2011H is built in 8-ch differential inputs or 16-ch single-ended analog inputs by software selectable. It has passed and verified by the conformance test tool, therefore eligible EtherCAT Master or configurator can manipulate it simply and implement your various applications easily.

  • Page 4: Package List

    ECAT-2011H EtherCAT Slave I/O module 1.1 Package List The shipping package includes the following items: Quick Start ECAT-2011H If any of these items is missing or damaged, please contact your local distributor for more information. Keep the shipping materials and overall package in case you want to NOTE ship the module back in the future.

  • Page 5: Hardware Information

    2. EtherCAT Interface DC Power Input Connector The “+Vs” and “GND” pins are used for the power supply applies to all types of ECAT-2011H module. The valid power voltage range is from +10 to +30 V The definition of “F.G.” (Frame Ground): Electronic circuits are constantly vulnerable to Electrostatic Discharge (ESD), which becomes worse in a continental climate area.
  • Page 6 IN/OUT Link without activity PWR LED Indicator Once power is supplied to the ECAT-2011H module, the system LED indicator will illuminate. I/O Connector For more detailed information regarding the pin assignments for the I/O connector, refer to Section 2.3 “Pin Assignments”.

  • Page 7: Specification

    ECAT-2011H EtherCAT Slave I/O module 2.2 Specification 2.2.1 System Specification Item Specification Communication Ethernet Port 2 x RJ-45, 100 BASE-TX Protocol EtherCAT Distance between Station Max. 100 m (100 BASE-TX) Data Transfer Medium Ethernet/EtherCAT Cable (Min. CAT 5), Shielded LED Indicators...

  • Page 8: I/O Specification

    ECAT-2011H EtherCAT Slave I/O module 2.2.2 I/O Specification Model ECT-2011H Analog Input 8/16 Channels 8 Differential or 16 Single-ended (Software Selectable) Wire Connection Voltage, Current Type 0~10 V, ±10 V, ±5 V, ±2.5 V, 0~ 20 mA, ±20 mA, 4~20mA, ±4~20mA...

  • Page 9: Pin Assignments

    ECAT-2011H EtherCAT Slave I/O module 2.3 Pin Assignments EtherCAT Interface Terminal No. Pin Assignment F.G. + Vs Differentail Input Terminal No. Pin Assignment Pin Assignment Terminal No. AGND AGND AGND AGND Single-ended Input Terminal No. Pin Assignment Pin Assignment Terminal No.

  • Page 10: Wiring Connections

    ECAT-2011H EtherCAT Slave I/O module 2.4 Wiring Connections The factory default settings is differentail input. You can refer to Section “AD Input Type Selection” to change the input type. For more details regarding the voltage and current wirings, refer to the table below.

  • Page 11: Wiring To The Connector

    ECAT-2011H EtherCAT Slave I/O module 2.5 Wiring to the Connector A tip for connection the wire to the connector Use the blade of a flat-head screwdriver to push  the wire clamp, then hold until step 2 complete. Insulated Terminals Dimensions ...

  • Page 12: Dimensions

    ECAT-2011H EtherCAT Slave I/O module 2.6 Dimensions The following diagrams provide the dimensions of the ECAT-2011H module and can be used as a reference when defining the specifications for any custom enclosures. All dimensions are in millimeters. Left Side Front...

  • Page 13: Getting Started

     Connect the Host device to the IN Port on the ECAT-2011H module.  Connect the +Vs pin on the ECAT-2011H module to the positive terminal on a +10 ~ +30 V power supply, and connect the GND pin on the ECAT-2011H module to the negative terminal.
  • Page 14  Once the power is connected, the “PWR” LED should be illuminated in red.  Once the Ethernet link is detected, the “IN” LED should be flash in green.  Once the ECAT-2011H connected to EtherCAT Master, the “RUN” LED should be illuminated in red.

  • Page 15: Configuration And Operation

    C:\TwinCAT\Io\EtherCAT Step 2 Automatic Scanning The EtherCAT system must be in a safe, de-energized state before the ECAT-2011H module is connected to the EtherCAT network!  Switch on the operating power supply, launch the TwinCAT System Manager (Config mode), and scan in the devices, as illustrated in the Figure 3-2.1 below.
  • Page 16 ECAT-2011H EtherCAT Slave I/O module Scan the configuration by right-clicking the “I/O Devices” item and selecting the “Scan Devices…” option. Figure 3-2.1  Click the “OK” button for all dialogs when requested, ensuring that the configuration is set to “FreeRun” mode.
  • Page 17 Click “OK” to activate the free run mode Figure 3-2.5 In the left-hand window, ECAT-2011H is now shown in the TwinCAT System Manager. In the right-hand window, the ECAT-2011H is parameterized via “Process Data” and “CoE-Online” tabs in the TwinCAT System Manager.
  • Page 18 ECAT-2011H EtherCAT Slave I/O module The ECAT-2011 offer two different process data per analog channel for transmission: the analog value Value (16-bit) and status information Status (16-bit) Figure 3-2.7 In the left-hand window, clicking on the “Status” variable in the configuration tree (A), the structure can be opened for linking (B).
  • Page 19 ECAT-2011H EtherCAT Slave I/O module Table 3-2-1: Status Word (SW) are defined as: Name Description SW.15 TxPDO Toggle Toggles with each new analog process value, refer Index 0x60n0:10 for details. SW.14 TxPDO State TRUE in the case of an internal error, refer Index 0x60n0:0F for details.

  • Page 20: Self-Test

    This chapter can give you the detail steps about self-test. In this way, user can confirm that ECAT-2011H well or not. Before the self-test, you must prepare a stable signal source (e.g., dry battery) is available, and than follow the steps described below: ...

  • Page 21: Ad Input Type Selection

    ECAT-2011H EtherCAT Slave I/O module AD Input Type Selection The ECAT-2011H provides 8-channel of differential inputs or 16-channel single-ended inputs. The factory default settings is differentail input. Refer to the following instructions for details of how to change the Analog Input type.
  • Page 22 ECAT-2011H EtherCAT Slave I/O module  Select the “Single-ended” option from the “Enum” drop down options and then click the “OK” Note that all AI channels will be changed to single-ended input. button.  Figure 3-3.6  Double-click the “Index 80n0:05 (n = 8 to F, Enable Channel)” to enable AI channel. Here, the AI8 (Index 8080:05) is used as an example.

  • Page 23: Ad Range Selection

    10 V. Refer to the following instructions for details of how to change the AD range.  In the left-hand window, click the “Box 1 (ECAT-2011H 16S.E./8Diff Ch. Ana.)” itme. (See Figure 3-3.3)  In the right-hand window, click the “CoE – Online” tab. (See Figure 3-3.4) ...

  • Page 24: Object Description And Parameterization

    CoE objects from the XML device description (ICPDAS ECAT-2011.xml). Once the ECAT-2011H connected to EtherCAT Master, you can configure the parameters via “CoE – Online” tab (double-click on the respective object). In general, the changes to the online CoE directory are immediately effective.

  • Page 25: Standard Object

    ECAT-2011H EtherCAT Slave I/O module The following section first describes the standard objects required, followed by a complete overview of profile specific objects. 4.1 Standard Object(0x1000-0x1FFF) Index 1000 Device Type Index Name Meaning Data type Flags Default 1000:00 Device type...

  • Page 26: Index 1018 Identity

    ECAT-2011H EtherCAT Slave I/O module Index 1018 Identity Index Name Meaning Data type Flags Default 1018:00 Identity Information for identifying the slave INT8 0x04(4dec) 0x00494350 1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 (4801360dec) 1018:02 Product code Product code of the EtherCAT slave...

  • Page 27: Index 1C00 Sync Manager Type

    ECAT-2011H EtherCAT Slave I/O module Index 1C00 Sync Manager Type Index Name Meaning Data type Flags Default 1C00:00 Sync manager type Using the sync managers UINT8 0x04(4dec) 1C00:01 SubIndex 001 Sync-Manager Channel 1:Mailbox write UINT8 0x01(1dec) 1C00:02 SubIndex 002 Sync-Manager Channel 2:Mailbox read...

  • Page 28: Index 1C32 Txpdo Assignment

    ECAT-2011H EtherCAT Slave I/O module Index 1C32 TxPDO Assignment Index Name Meaning Data type Flags Default SM output 1C32:00 UINT8 0x20(32dec) Synchronization parameters for the outputs parameter Current synchronization type: Bit0 = 0: Free Run Synchronization 0x0000(0dec) 1C32:01 Bit1 = 1:Synchron with SM 2 Event...

  • Page 29: Index 1C33 Sm Input Parameter

    ECAT-2011H EtherCAT Slave I/O module Index 1C33 SM Input Parameter Index Name Meaning Data type Flags Default 1C33:00 SM input parameter Synchronization parameters for the inputs UINT8 0x20(32dec) Current synchronization type: Bit0 = 0: Free Run Synchronization 0x0000(0dec) 1C33:01 Bit1 = 1:Synchron with SM 2 Event...

  • Page 30: Profile Specific Objects

    ECAT-2011H EtherCAT Slave I/O module 4.2 Profile Specific Objects(0x6000-0xFFFF) Index 60n0 AI Inputs (for 0 ≤ n ≤ F) Index Name Meaning Data type Flags Default 60n0:00 AI Inputs Maximum subindex UINT16 RO P 0x11(17dec) 60n0:01 Underrange Value below measuring range...

  • Page 31: Index 80N0 Ai Settings (For 0 ≤ N ≤ F)

    ECAT-2011H EtherCAT Slave I/O module Index 80n0 AI Settings (for 0 ≤ n ≤ F) Index Name Meaning Data type Flags Default 80n0:00 AI Settings Maximum subindex UINT8 0x1A(26dec) 80n0:01 Enalbe user scale User scale is active BOOLEAN FALSE(0dec) Change the method of representation of the measured value.
  • Page 32 ECAT-2011H EtherCAT Slave I/O module Index Name Meaning Data type Flags Default 80n0:11 User scale offset User scaling offset INT16 0x00(0dec) 80n0:12 User scale gain User scaling gain. INT32 0x0x0001000 The value 1 corresponds to 65535 dec (65535dec) (0x00010000) and is limited to ±0x7FFFF.
  • Page 33 ECAT-2011H EtherCAT Slave I/O module Table 4-2-1: Signed Integer representation as follows:  The negative output value is represented in two’s complement (negated + 1). Maximum representation range for 16 bits = -32768 to +32767dec Input signal Value Decimal Hexadecimal ±10 V...

  • Page 34: Index 80Ne Ai Internal Data (For 0<=N<=F)

    ECAT-2011H EtherCAT Slave I/O module Index 80nE AI Internal Data (for 0<=n<=F) Index Name Meaning Data type Flags Default 80nE:00 AI Internal data Maximum subindex UINT8 0x1(1dec) 80nE:01 ADC raw value ADC raw value UINT16 0x0008(8dec) Index 80nF AI Vendor Data (for 0<=n<=F)

  • Page 35: Appendix: Revision History

    ECAT-2011H EtherCAT Slave I/O module Appendix: Revision History This chapter provides revision history information to this document. The table below shows the revision history. Revision Date Description Oct. 08 2018 Initial issue Dec. 2018 Add the unit conversion table about Signed Integer, Unsigned Integer and Most Significant Bit (MSB).

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