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Fastech Ezi-IO EtherCAT DA User Manual

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Summary of Contents for Fastech Ezi-IO EtherCAT DA

  • Page 1 User Manual...

  • Page 2: Table Of Contents

    Installation Precautions ..........................6 1.2.3 Safety Precautions ............................7 Configuration ........................9 Chapter 2. 2.1 Ezi-IO EtherCAT DA Part Numbering .................... 9 2.2 Ezi-IO EtherCAT DA Part Number ....................9 2.3 System Configuration ........................10 Specifications ........................11 Chapter 3.
  • Page 3 Setting Output Range ....................21 Chapter 6. 6.1 Setting Voltage Output Range ..................... 21 6.1.1 Setting Voltage Output Range through SDO Communication ..........21 6.1.2 Setting Voltage Output Range with DIP Switches ..............21 6.2 Setting Current Output Range ..................... 22 6.2.1 Setting Current Output Range through SDO Communication ..........
  • Page 4 9.4 User Calibration for Output Deviation ..................36 9.4.1 Terms Used ..............................36 9.4.2 Example of Using User Calibration ..................... 36 9.4.3 User Calibration Method ......................... 37 EtherCAT Object Dictionary ..................39 Chapter 10. 10.1 Object Description Format ......................39 10.1.1 Index and Sub-Index ..........................
  • Page 5 10.6.1 Object 2300h: Analogue Output Available Channel Choice ..........49 10.6.2 Object 2301h: Analogue Output Range ..................49 10.6.3 Object 2302h: Analogue Output Calibration Low Value ............50 10.6.4 Object 2303h: Analogue Output Calibration High Value ............50 10.6.5 Object 2304h: Analogue Output Fault Action ................51 10.6.6 Object 2305h: Analogue Output Fault Value ................

  • Page 6: Chapter 1. Safety And Installation Precautions

    This manual describes the handling, safety precautions, and specifications of Ezi-IO EtherCAT DA. • Before starting the operation of Ezi-IO EtherCAT, thoroughly read this manual. • After reading this manual, keep the manual near Ezi-IO EtherCAT DA, so that any user can read this manual whenever needed. 1.2 Precautions 1.2.1 General Precautions •...

  • Page 7: Safety Precautions

    1.2.3 Safety Precautions • Before installation, operation, or repairing of the products, thoroughly read the manual and fully understand the contents. Before operating the products, please understand the mechanical characteristics of the products and related safety information and precautions. • Safety precautions are indicated by If a user does not properly handle the products, the user may be seriously or lightly injured, and damages may occur to the machine.
  • Page 8  Safety Precautions When Connecting Cables Keep the rated range of input voltage for the drive. Otherwise, a fire or other kinds of accidents may occur. Connect cables according to the wiring diagram in this manual. Otherwise, a fire or malfunction of the machine may occur. Before connecting cables, make sure the input power is off.

  • Page 9: Chapter 2. Configuration

    Configuration Chapter 2. 2.1 Ezi-IO EtherCAT DA Part Numbering 2.2 Ezi-IO EtherCAT DA Part Number...

  • Page 10: System Configuration

    2.3 System Configuration -10-...

  • Page 11: Chapter 3. Specifications

    Specifications Chapter 3. 3.1 EtherCAT Specifications Communication EtherCAT Physical Layer Ethernet – 100BASE-TX RJ45 Connector Type IN: EtherCAT input OUT: EtherCAT output Configured Station Alias Setting by Rotary Switch : 0 ~ 99 ECAT Device ID Physical Address Setting in Master Unit : 1 ~ 65535 Line (Configured by I/O modules only) Topology Tree, Star, Ring (When using a switching hub)

  • Page 12: Module Specifications

    3.2 Module Specifications Part Number Ezi-IO-EC-DA04-T Output Mode Voltage Output Current Output Input Voltage 24 [VDC] ±10% Current Consumption Max. 120 [mA] · In Use: 0~50℃ Ambient Temperature · In Storage: -20~70℃ · In Use: 35~85% RH (Non-Condensing) Humidity · In Storage: 10~90% RH (Non-Condensing) Vib.

  • Page 13: Module Dimensions

    Module Dimensions [Unit: mm] * Can be installed on 35mm DIN Rail. * Can be installed on 35mm DIN Rail. -13-...

  • Page 14: Chapter 4. Connection Panel View

    Connection Panel View Chapter 4. 4.1 Names and Functions (Ezi-IO-EC-DA04-T) -14-...

  • Page 15: Ethercat Id Setting Switches (Sw1, Sw2)

    4.1.1 EtherCAT ID (SW1, SW2) Setting Switches Use two rotary switches to set EtherCAT ID (ECAT Device ID). Set ones digit (x1) of EtherCAT ID on the right rotary switch (SW1), and set tens digit (x10) of EtherCAT ID on the left rotary switch (SW2). Setting Range is 0 ~ 99.

  • Page 16: Led Indications

    4.1.3 LED Indications Color Status Description Power OFF Power ON Color Status Description INIT State or Power OFF Blinking PRE-OPERATIONAL State Green Single Flash SAFE-OPERATIONAL State OPERATIONAL State Flickering BOOTSTRAP State Color Status Description No Error or Power OFF Blinking Invalid Configuration Single Flash Local Error...

  • Page 17: Output Connector (Cn2)

    4.1.5 Output Connector (CN2) Label Function ─ Voltage Out 1 Output Current Out 1 Output ─ Voltage Out 2 Output Current Out 2 Output ─ Voltage Out 3 Output Current Out 3 Output ─ Voltage Out 4 Output Current Out 4 Output 4.1.6 EtherCAT Connectors (CN3, CN4)

  • Page 18: Parts Included

    Item Part Number Manufacturer Power Connector (CN1) Terminal Block MC421-38102 DECA * The connector above is the most suitable model for Ezi-IO EtherCAT DA. Another equivalent connector can be used. 4.1.8 Accessories (Sold Separately) EtherCAT Cable  Function Part Number...

  • Page 19: Chapter 5. Io Connector Wiring

    IO Connector Wiring Chapter 5. Ezi-IO EtherCAT DA is supplied with push-in spring type terminal blocks which are connected with wires in simple and easy way using ferrule connectors. Connections of Ezi-IO EtherCAT DA to analogue devices are also simplified.

  • Page 20: Internal Circuit Diagram

    5.2 Internal Circuit Diagram Figure 5-4. Internal Circuit Diagram -20-...
  • Page 21 Setting Output Range Chapter 6. To set voltage range, use either SDO communication or DIP switch setting method. The setting methods are following. 6.1 Setting Voltage Output Range 6.1.1 Setting Voltage Output Range through SDO Communication (Example) Setting Channel 2 ①...
  • Page 22 6.2 Setting Current Output Range 6.2.1 Setting Current Output Range through SDO Communication (Example) Setting Channel 2 ① Set LSET switch (SW3.1) of Output Range Setting Switch (SW3) to OFF before supplying power to the module. ② On the Output Connector (CN2), wire GND pin (G) and current output pin (I2) of Channel 2 to the analogue device.
  • Page 23 Chapter 7. 7.1 CAN Application Protocol Over EtherCAT Ezi-IO EtherCAT DA is an analogue output module that supports CAN application protocol over EtherCAT (CoE). Ezi-IO EtherCAT DA has the following network structure. Figure 7-1. Communication Structure of Ezi-IO EtherCAT DA 7.1.1...
  • Page 24 The data to be exchanged is pre-determined by PDO Mapping in the communication initialization state. The PDO communication of Ezi-IO EtherCAT DA is classified into a Receive PDO (RxPDO) which receives data from the master and is used when the Ezi-IO EtherCAT DA is in Operational state.
  • Page 25 7.2.2 PDO Assign By the PDO Assign, sets the PDO Mapping Object which is assigned to the SyncManager. Object 1C12h assigns RxPDO, and it also assigns an object for the RxPDO Object, 1600h. SyncManager PDO Assign Object PDO Mapping Object Index Object Object...
  • Page 26 7.3.2 EtherCAT Communication State Indication The RUN LED indicates EtherCAT network state of the product. Color Status Description INIT State or Power OFF Blinking PRE-OPERATIONAL State Green Single Flash SAFE-OPERATIONAL State OPERATIONAL State Flickering BOOTSTRAP State Table 7-2. EtherCAT Communication State LED The ERR LED indicates operational errors of the product.
  • Page 27 7.4 Synchronization Ezi-IO EtherCAT DA provides the following synchronization modes. Frame Jitter for EtherCAT Masters Figure 7-7. Types of EtherCAT Synchronization 7.4.1 Free Run The I/O module operates without being synchronized with the master. In Free Run mode, the master and I/O module operate in their own cycles independently.
  • Page 28 The Slave device can set up the PDO and SDO simply as it writes the ESI file to the EtherCAT master through the EtherCAT setting device. Information Download ESI files from the DOWNLOADS page on the FASTECH website. 7.6 EtherCAT Device ID To use the EtherCAT communication, you must configure a master and all slaves. The master must assign the EtherCAT Device IDs to the slaves to identify them and to send messages to each node.
  • Page 29 Setting and Operation Chapter 8. Operate the product according to the following procedure. 1. Install the product according to installation conditions with no power connected. Refer to Chapter 1. Safety and Installation Precautions. 2. Make sure to connect the power cable, I/O connector, EtherCAT communication cable, etc. to the module correctly.
  • Page 30 7. After creating a project, ① Go to ‘Solution Explorer’→ ‘I/O’. Right-click on the ‘Device’, and open the menu. ② Select ‘Scan’ on the menu. ③ When a ‘Hint’ pops up, click ‘OK’. ④ On the ‘new I/O devices founds’ window, check correct devices and click ‘OK’. (If no device is found on the ‘new I/O devices founds’...
  • Page 31 9.2 Output Ranges Ezi-IO EtherCAT DA supports 4 different ranges of voltage output (0~5 [V], 1~5 [V], 0~10 [V], and -10~10 [V]) and two different ranges of current output (0~20 [mA] and 4~20 [mA]). For each output range, you can use max.
  • Page 32 9.2.1.2. 1~5 [V] Voltage Output In the voltage output range, the digital data 0~25,000 is convereted to 1~5 [V] output. Actually, the digital data - 1,250~26,250 is converted to 0.8~5.2 [V]. If the digital data is greater than 26,250, it outputs 5.2 [V]. Or if the digital data is less than -1,250, it outputs 0.8 [V].
  • Page 33 9.2.1.4. -10~10 [V] Voltage Output In the voltage output range, the digital data -25,000~25,000 is converted to -10~10 [V] output. Actually, the digital data -26,250~26,250 is converted to -10.5~10.5 [V]. If the digital data is greater than 26,250, it outputs 10.5 [V]. Or if the digital data is less than -26,250, it outputs - 10.5 [V].
  • Page 34 9.2.1.6. 4~20 [mA] Current Output In the voltage output range, the digital data 0~25,000 is converted to 4~20 [mA] output. Actually, the digital data -1,250~26,250 is converted to 3.2~20.8 [mA]. If the digital data is greater than 26,250, it outputs 20.8 [mA]. Or if the digital data is less than -1,250, it outputs 3.2 [mA].
  • Page 35 9.3 Analogue Output Fault Action 9.3.1 Output Patterns When Error Occurs When an EtherCAT network error occurs, the output value changes according to the following output patterns listed on the Table 9-1. Output Pattern Description when Error Occurs Holds the values of the output voltage or current just before the Hold Last State error occurred.
  • Page 36 9.4 User Calibration for Output Deviation Deviation in output signals can be occurred due to the various conditions such as connected devices, cables and connection methods. Users can calibrate the deviation values of output signals. 9.4.1 Terms Used Low End and High End: Minimum and maximum values of the selected output range. ...
  • Page 37 Voltage Before Calibration 5.2 V After Calibration -0.2 -1000 24000 25000 Digital Data Figure 9-8. Example of User Calibration When Output Range is 0~5 [V] Low and High Values for each output range are listed in the Table 9-3. Output Range Low Value High Value 0~5 [V]...
  • Page 38 3. Adjust the Write Analogue Output 16bit (6411h) value to output the High End value. Record the digital data when it reaches the High End output. 4. Enter the digital data recorded at Low End output and High End output into the following objects. Analogue Output Calibration Low Value (2302h): Enter the digital data recorded at Low End output.
  • Page 39 1000h ~ 1FFFh CoE Communication Area used by all servers 2000h ~ 5FFFh Manufacturer Specified Area Definitions of variables dedicated for FASTECH modules 6000h ~ 9FFFh Device Profile Area Definitions of variables for CiA 401 module profile A000h ~ FFFFh...
  • Page 40 10.1.3 Data Types Data types for Objects. Data Type Length of Data Range 1 byte 0 ~ 255 2 bytes 0 ~ 65,535 4 bytes 0 ~ 4,294,967,295 1 byte -128 ~ 127 2 bytes -32,768 ~ 32,767 4 bytes -2,147,483,648 ~ 2,147,483,647 BOOL 1 bit...
  • Page 41 10.1.8 Value Range Value Range indicates the range of input signal stored in the Object. The range can have a random range or a range of Data Type. 10.1.9 Default Value Default value of the Object. Default values can be restored using the Restore Default Parameters (1011h). -41-...
  • Page 42 10.2 Communication Object 10.2.1 Object 1000h: Device Type Index Sub Index Name Type Access Constant Value 1000h Device Type 0088 0191h This Object includes the data about device type. Name Value Description 0 ~ 15 Device Profile Number 0191h CiA 401 Profile 16 ~ 22 I/O Function Analogue Output...
  • Page 43 10.2.4 Object 1009h: Hardware Version Index Sub Index Name Type Access Constant Value 1009h Hardware Version STR(5) 01.00 This Object indicates the hardware version of the product. The data varies depending on the product version. 10.2.5 Object 100Ah: Software Version Index Sub Index Name...
  • Page 44 10.2.8 Object 10F1h: Error Setting Index Name Type Access SAVE Value Range Default Value Index Mapping Number of Entries ― Local Error Reaction ― 0000 0000h 10F1h Sync Error Counter ― 0000 000Ch Limit -44-...
  • Page 45 10.3 PDO Mapping Object 10.3.1 Object 1600h: RxPDO-Map Index Name Type Access SAVE Value Range Default Value Index Mapping Number of Entries 0 ~ 10 1st PDO Object ― 6411 0110h 2nd PDO Object ― 6411 0210h 3rd PDO Object ―...
  • Page 46 10.4 Sync Manager Object 10.4.1 Object 1C00h: Sync Manager Type Index Name Type Access SAVE Value Range Default Value Index Mapping Number of Entries ― ― 1C00h ― ― ― Sync Manager Type Description Mailbox Out Mailbox In PDO Output PDO Input Table 10-8.
  • Page 47 10.4.3 Object 1C33h: SM Input Parameter Index Name Type Access SAVE Value Range Default Value Index Mapping Number of Entries ― Synchronization Type ― 0002h Cycle Time ― 0000 0000h Synchronization Type ― 401Fh Supported Minimum Cycle Time ― 0003 D090h Calc And Copy Time ―...
  • Page 48 10.5 IO Module Profile Object 10.5.1 Object 6411h: Write Analogue Output 16 bit Index Name Type Access SAVE Value Range Default Value Index Mapping Number of Entries ― Analogue Output CH1 Rx PDO -32,768~32,767 6411h Analogue Output CH2 Rx PDO -32,768~32,767 Analogue Output CH3 Rx PDO...
  • Page 49 10.6 Manufacturer Specific Object 10.6.1 Object 2300h: Analogue Output Available Channel Choice Index Name Type Access SAVE Value Range Default Value Index Mapping Analogue Output 2300h Available Channel ― Choice This Object can activate the DA channels. Each bit of the object has the following functions. Description 1: Activate CH1 / 0: Deactivate CH1 1: Activate CH2 / 0: Deactivate CH2...
  • Page 50 10.6.3 Object 2302h: Analogue Output Calibration Low Value Index Name Type Access SAVE Value Range Default Value Index Mapping Number of Entries CH1 Calibration Low Value CH2 Calibration Low 2302h Value CH3 Calibration Low Value CH4 Calibration Low Value When the user calibration function is used, this Object re-defines the digital data for the Low End output in the selected output range.
  • Page 51 10.6.5 Object 2304h: Analogue Output Fault Action Index Name Type Access SAVE Value Range Default Value Index Mapping Number of Entries CH1 Fault Action Mode 2304h CH2 Fault Action Mode CH3 Fault Action Mode CH4 Fault Action Mode This Object sets the output for when a communication error occurs. Value Output Range Hold Last Value...
  • Page 52 Republic of Korea (Postal Code: 14502) Ezi-IO EtherCAT DA is a trademark of FASTECH  TEL : +82-32-234-6300 FAX : +82-32-234-6302 Co., Ltd. registered in Korea. E-mail : sales@fastech-motions.com Homepage : www.fastech-motions.com © Copyright 2021 FASTECH Co., Ltd. Jun 10, 2021 Rev.1 -52-...

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