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ICP DAS USA ECAT-2092T User Manual

Ethercat two-channel incremental encoder counter with latch and compare function
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ECAT-2092T
EtherCAT
Two-Channel Incremental Encoder
Counter
with Latch and Compare Function
User Manual
(Version 1.0)

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Summary of Contents for ICP DAS USA ECAT-2092T

  • Page 1 ECAT-2092T EtherCAT Two-Channel Incremental Encoder Counter with Latch and Compare Function User Manual (Version 1.0)
  • Page 2 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.
  • Page 3 Revision Revision Date Description Author 18.02.2019 Initial version M. K.

  • Page 4: Table Of Contents

    7.1.4 Low Pass Filter Setting................40 7.1.5 Compare Trigger Pulse Width..............41 Process Data Paramater................41 7.2.1 Counter.....................41 7.2.2 Position Compare Trigger.................44 7.2.3 Index and Extern Latch................46 CoE Interface........................51 General Description...................51 Save Configuration Data to Memory............52 ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 5 Object Description and Parameterization..............56 Standard Objects..................56 RxPDO Mapping Objects................57 TxPDO Mapping Objects................58 Sync Manager Objects................59 Input Data....................63 Output Data....................65 Configuration Data..................67 Configuration Parameters Storage.............68 ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 6: Product Overview

    1 Product Overview 1.1 Introduction The EtherCAT slave ECAT-2092T is an incremental encoder counter which provides two independent high-speed counter channels. It reads the pulse train generated by an incremental encoder and can be used in positioning feedback applications. Each channel has two counter (A, B) and one index inputs (C).

  • Page 7: Specification

    Load voltage 5 ~ 48 V Max load current 100 mA LED Indicators Diagnostic LED Power, EtherCAT status, signal status of each encoder input Communication Interface Connector 2 x RJ-45 Protocol EtherCAT ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 8 110mm x 90mm x 33mm (without connectors) Case material UL 94V-0 housing Environment Operating temperature -25℃ ~ 70℃ Storage temperature -30℃ ~ 80℃ Relative humidity 10 ~ 90%, No condensation Table 1: Technical data ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 9: Dimensions

    1.4 Dimensions Figure 1: Dimensions of the ECAT-2092T ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 10: Scope Of Delivery

     1 x 20-pin plug-in connector  1 x 3-pin plug in connector (for power supply)  1 x Quick Start manual Figure 2: ECAT-2092T module and Quick Start manual Note: If any of these items are missing or damaged, please contact your local distributor.

  • Page 11: Led Definition

    3 LED Definition The ECAT-2092T provides on the front side several diagnostic LEDs which indicates the signal status of each encoder channel. Furthermore there are three LEDs to show the EtherCAT network status. The exact meaning of each LED is described in the following tables:...
  • Page 12 - LED 4: A1 Channel status - LED 5: B1 Channel status - LED 6: C1 Channel status - LED 7: I1 Channel status (external latch input HR) Table 3: Diagnostic LEDs ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 13: Wiring

    4 Wiring 4.1 Connection Interfaces Figure 4: ECAT-2092T side view with power supply and EtherCAT connection Name Signal Description Frame ground Power supply: Ground 0V (from Feeding for ECAT-2092T negative power contact) Power supply: +24 V (from positive power contact)
  • Page 14 Figure 5: ECAT-2092T front view with encoder inputs Name Signal Signal Description Input Encoder input A0+ Input Encoder input A0- Input Encoder input B0+ Input Encoder input B0- Input Encoder input C0+ Encoder Channel 0 Input Encoder input C0- Input...

  • Page 15: Internal I/O Structure

    For open collector type encoder the internal resistor needs to be enabled. The ECAT-2092T does not provide an internal power supply for the encoder therefore the encoder has to be connected to an external power supply.
  • Page 16 Figure 7: Encoder channel circuit For single-ended encoder connection the ECAT-2092T provides an internal 1k Ohm resistor for each signal input. The internal resistor can be selected by setting the jumper of the corresponding encoder channel to the position 1-2. The housing needs to be opened in order to set the jumper.

  • Page 17: Digital Input Wiring

    - Logic High: 5 V ~ 12 V - Logic Low: 0 V ~ 2 V  Input 24V: - Logic High: 5 V ~ 24 V - Logic Low: 0 V ~ 2 V 4.4 Digital Input Wiring ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 18: Compare Trigger Output Wiring

    Figure 10: Encoder counter (A/B), index (C) and external latch (HR) input wiring 4.5 Compare Trigger Output Wiring ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 19: Basics Communication

    5 (CAT5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires for signal transfer. The pin assignment is compatible with the Ethernet standard (ISO/IEC 8802-3). ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 20: Ethercat State Machine

    EtherCAT slave. State changes are typically initiated by requests of the master and acknowledged by the slave after the successful initialization. In case of an internal error, the slave automatically changes to a lower state. The ECAT-2092T supports four states:  Init (state after Reset)  Pre-Operational ...

  • Page 21: Synchronization Modes

    In Pre-Op state acyclic mailbox communication is possible, but not process data communication. In this state the EtherCAT master does the following configurations:  Sets the sync manager 2 and 3 of the ECAT-2092T for process data communication (from sync manager channel 2) ...
  • Page 22 In the next step the encoder input status are being read from the FPGA chip. In the final step the read status are being written to the DPRAM, so that the master can retrieve the data ESC DPRAM in the next cycle time. ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 23: Sm-Synchron

    0x1C33.1 = 0 The setting of the Free Run synchronization parameter can be done in TwinCAT by clicking on the "CoE online" tab of the ECAT-2092T slave. Make sure the slave is set into PreOP mode before modifying the synchronization parameters Figure 15: SyncManager setting for Free-Run mode 5.3.2 SM-Synchron...

  • Page 24: Distributed Clocks (Dc Mode)

    The master cycle time and the ESC hardware interrupt time interval are fully synchronized to the first slave in the network that is used as a reference clock with the SYNC0 signal. ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 25 Safe OP mode (Sync Error 0x1C32:20 TRUE). The maximum count value can be set by changing the default value of the "Sync Error Counter Limit" (0x10F1:02). Figure 19: Sync error counter limit object ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 26 DC synchronization the value is read from register 0x9A0:0x9A3.  0x1C32.5 / 0x1C33.5 (Min Cycle Time): Minimum cycle time for the application. It is the total execution time of all slave application related operations. ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 27: Project Integration

    6.1 ESI File A ESI file describes the properties and functions supported by the ECAT-2092T. By using the ESI file an easy and abstract integration of an EtherCAT device in a project tool is realized. With the help of the ESI file a detailed knowledge of EtherCAT is not required to configure the device.

  • Page 28: Scanning Of The Ethercat Device

     The ECAT-2092T devices has to be connected to a power supply and ready for communication  Set the TwinCAT in CONFIG mode. 6.2.1 Scanning of the EtherCAT Device After the TwinCAT has been set into CONFIG mode the online device search can be started.

  • Page 29: Encoder Counter Configuration

    Figure 22: Default parameter selection for the ECAT-2092T 6.2.2 Encoder Counter Configuration The configuration of the ECAT-2092T device such as the encoder mode, filter setting etc. only needs to be done once before the actual encoder counting starts. These parameters have to be accessed via the CANopen over EtherCAT (CoE) protocol and are listed in the "CoE online"...
  • Page 30 Example of setting the encoder counting mode for each channel: Step 1: Go to "ENC Setting Ch.0" of a channel. Extend the index tree and double click "Counting mode" with the index 8000:09 for channel 0. ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 31 CoE online parameter list. In the figure below "CW/CCW counting mode" has been selected for channel 0. This value needs only to be set once and therefore does not have to be sent in every cycle time. ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 32: Ethercat Slave Process Data Assignment

    If required, the configuration can be permanently save to an internal non-volatile memory of the ECAT-2092T. After powering on the device it will immediately be initialized according configuration setting. The procedure for saving the configuration data is being described in chapter 7.4.
  • Page 33 Figure 23: Predefined PDO assignment selection The limitation of using the predefined PDO assignments is that for both encoder channel the same process data is being selected. Therefore if the projects requires that different ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 34 The following section describes the procedure for selecting the PDO manually. PDO selection procedure: Click the "Process Data" tab of the ECAT-2092T slave For RxPDO selection: click in the "Sync Manager" window the "Outputs" line and in the "PDO Assignment (0x1C12)" window select for each encoder channel the required RxPDO (see Figure 24).

  • Page 35: Parameter Description

    The device is now ready to be set into Free-Run or DC mode. 7 Parameter Description 7.1 Configuration Parameters 7.1.1 Counting Mode The ECAT-2092T encoder counter supports three modes: - Pulse/Direction counting mode - Clockwise/Counterclockwise mode - Quadrant counting mode The encoder counter mode has to be set via CoE (0x80n0:09, n= 0;1), see Figure 26:...
  • Page 36 On every active input signal "A" the position counter is incremented by one when the direction input "B" signal is high and decremented by one when the direction input "B" is low. ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 37 "A" is off and "B" is on then the direction is counterclockwise and the counter decrements by one. ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 38: Signal Polarity Setting

    By changing the polarity of signal "A" for the quadrant counting mode (Figure 30) results in a change of counting direction. Changing the signal polarity for the clockwise/counterclockwise mode will not change the counting direction ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 39: Extern Latch Mode

    7.1.3 Extern Latch Mode Two latch modes are being supported (Table 8):  Latch current encoder position  Reset encoder counter to zero Latch Mode Description ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 40: Low Pass Filter Setting

    – and only if – two consecutive samples have the same value, the input is considered stable and the value is output from the filter. Table 9 list the filter clocks frequencies available for the ECAT-2092T. Low pass...

  • Page 41: Compare Trigger Pulse Width

    7.2 Process Data Paramater 7.2.1 Counter If the ECAT-2092T is being used for reading the encoder counter only then the following PDOs have to be selected: 0x16n0 and 0x1An0 (n= 0;1). By using TwinCAT the required PDO can be selected with one click by selecting the "Counter" from the predefined PDO assignment drop box.
  • Page 42 0x70n0:04 If "Set counter" changes its value from FALSE to TRUE then the encoder counter of the ECAT-2092T will be set to the value of "Set counter value" (0x70n0:09) . The "Set counter done" (0x60n0:01) will change from FALSE to TRUE to indicate that the counter has successfully been set to the new value.
  • Page 43 0x60n0:12 Requires the 0x1An3 object to be added to the process value data 0x1An0 - Process data received from the ECAT-2092T Table 13: The following flow diagram (Figure 31) shows the procedure for setting the encoder counter value. Figure 31: Encoder counter setting...

  • Page 44: Position Compare Trigger

    (0x60n0:08) value changes to TRUE. If the encoder counter (0x60n0:11) has been reset or assigned a new value then the compare function needs to be reset by assigning FALSE/TRUE to the "Enable compare" variable. ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 45 "Set auto increment compare direction" Disable auto-increment compare function by setting this variable to zero. Table 14: 0x16n0 - Process data sent to the ECAT-2092T 0x1An0 (n= 0;1) Parameter Object Description...

  • Page 46: Index And Extern Latch

    Table 17: Procedure for activating the compare function 7.2.3 Index and Extern Latch The ECAT-2092T has got two latch inputs for each encoder channel: Index "C" and extern "HR" latch.  Index latch: The index latch is always enabled and can not be disabled. A index signal triggers a hardware latch of the current encoder counter.
  • Page 47 (set to zero). The status variable "Reset index latch value done" (0x60n0:02) will become TRUE once the action has been finished. 0x16n0 - Process data sent to the ECAT-2092T Table 18: 0x16n1 (n= 0;1)
  • Page 48 Indicates whether the extern latch register has been reset counter done to zero. This parameter shows the response of the slave to the "Reset extern latch value" (0x70n1:02) input. 0x1An0 - Process data received from the ECAT-2092T Table 20: 0x1An1 (n= 0;1) Parameter...
  • Page 49 Figure 32: Activating external HR latch The following table (Table 23) shows the procedure for resetting the index and extern latch value to zero. Index Latch Resetting Extern Latch Resetting ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 50 Table 23: Resetting latch register procedure ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 51: Coe Interface

     0x7000: Output PDOs ("output" from the perspective of the EtherCAT master) The Figure 33 shows part of the CoE objects available for the ECAT-2092T device, ranging from 0x1000 to 0xF008. The parameters of the objects can be accessed by expanding the tree in the "CoE-Online"...

  • Page 52: Save Configuration Data To Memory

    Manager (Figure 33) or from a TwinCAT PLC via ADS (TcEtherCAT.lib library). If the CoE parameters of the ECAT-2092T are set online, then the device does not automatically store the data to its non-volatile memory, and therefore the data will be lost once the device is switched off.
  • Page 53 Procedure for storing configuration data to the local ECAT-2092T memory: Step 1: Make sure the TwinCAT System Manager is connected to the ECAT-2092T and the "CoE-Online" tab is showing that the slave is online. Step 2: Do all the necessary configuration by entering the correct parameter values for the configuration objects (0x8000, 0x8010).
  • Page 54 10000 cycles it can no longer be guaranteed that data are reliably saved or are still readable. Therefore the "Save configuration data" (F008:04) and the "Load factory default" (F008:03) should not be continuously set from the controlling application program. ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 55 Step 5: Set the ECAT-2092T back into OP mode. ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 56: Object Description And Parameterization

    Sync error For DC mode only: UINT16 0x0004 counter limit The Sync Error Counter is incremented with every missing Sync Management Event by three and decremented by one if an event is ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 57: Rxpdo Mapping Objects

    Control__Reset extern latch value Set extern latch UINT32 0x70n10201 position to zero (1 Bit) 16n1:03 Control__Gap3 Empty (6 Bit) UINT32 0x00000006 16n1:04 Control__Gap4 Empty (8 Bit) UINT32 0x00000008 Index 0x16n2 Compare Control Ch.n (RxPDO-Map) ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 58: Txpdo Mapping Objects

    UINT32 0x60n00601 done enabled (1 Bit) 1An0:07 Status__Reset extern latch Extern latch counter UINT32 0x60n00701 counter done has been set to zero (1 Bit) 1An0:08 Status__Enable compare Position compare has UINT32 0x60n00801 ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 59: Sync Manager Objects

    1An3:0 Index Latch Status Ch.n Index latch status UINT8 0x01 1An3:01 Status__Index latched Index Latched encoder UINT32 0x60n01220 counter value counter (32 Bit) 8.4 Sync Manager Objects Index 0x1C00 Sync manager type ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 60 (hex) type 1C32:0 SM output parameter Synchronization parameters UINT8 0x20 for the outputs 1C32:01 Synchronization Type Current synchronization UINT8 0x0001 mode:  0: Free Run  1: Synchronous without SM 2 event ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 61 Cycle was not completed in 0x0000 time or the next cycle began too early 1C32:20 Sync Error The synchronization was not FALSE correct in the last cycle (outputs were output too late; DC mode only) ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 62 Set parameter to 1 in order to update the Cycle Time (1C32:02, 1C33:02) parameter with the maximum measured value 1C33:09 Delay Time Time between SYNC1 event 0x00000000 and reading of the inputs (in ns, only DC mode) ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 63: Input Data

    60n0:08 Enable compare done Indicates whether the BOOLEAN position compare function has been enabled 60n0:0F Sync error The Sync error bit is BOOLEAN only required for DC ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 64 Flags Default (hex) 60n2:0 Compare Trigger Input Ch.n Compare trigger status UINT8 0x01 inputs 60n2:01 Get next compare position Indicates the next INT32 compare position at which an output will be triggered ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 65: Output Data

    HR input level is being triggered  By setting this variable to FALSE the extern latch function will be disabled and the latched counter value register (60n1:01) reset to ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 66 Set auto increment compare Set the auto- BOOLEAN FALSE direction incremental direction for the compare value  0 - positive direction  1- negative direction 70n2:07 Set first compare position The first compare INT32 ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 67: Configuration Data

    Extern latch mode Extern latch setting: DT0804EN01 0x01  Latch encoder counter ("Latch encoder  Reset encoder counter counter ") 80n0:09 Counting mode Counter mode selection: DT0801EN08 0x03  CW/CCW, ("Quadrant  Pulse/Direction, counting ICP DAS Page ECAT-2092T User Manual Version 1.0...

  • Page 68: Configuration Parameters Storage

    Save configuration data Save all configuration BOOLEAN FALSE setting to local non- volatile memory.  Set to TRUE in order to save the configuration data (0x8000 to 0x8020) to the memory of ICP DAS Page ECAT-2092T User Manual Version 1.0...
  • Page 69 Index Name Description Data type Flags Default (hex) the ECAT-2092T F008:05 Save error encountered Indicates whether BOOLEAN FALSE data has been successfully written to memory ICP DAS Page ECAT-2092T User Manual Version 1.0...

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