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Beijer Electronics GL-9086 User Manual

Ethercat network adapter light version
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EtherCAT network adapter light version
GL-9086
User manual
Page 1 of (32)
G-series GL-9086 EtherCAT light version Rev. 1.01.docx

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Summary of Contents for Beijer Electronics GL-9086

  • Page 1 EtherCAT network adapter light version GL-9086 User manual Page 1 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 2 GL-9086 User Manual DOCUMENT CHANGE SUMMARY REV. PAGES REMARKS DATE Editor 1.00 New Document 2020/08/31 YE JEON 1.01 First release 2020/11/30 Page 2 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 3: Table Of Contents

    5.2. CoE Interface ..........................23 5.2.1. Parameter management in the EtherCAT system ............. 23 5.2.2. Communication Objects ..................... 25 7. Trouble Shooting ........................27 7.1. How to diagnose by LED indicator .................... 27 Page 3 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 4 GL-9086 User Manual APPENDIX A ........................... 29 A.1 Product List ..........................29 A.2. Glossary ............................. 31 Page 4 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 5: Important Notes

    In no event will Beijer Electronics be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

  • Page 6: Safety Instruction

    The modules are equipped with electronic components that may be destroyed by electrostatic discharge. When handling the modules, ensure that the environment (persons, workplace and packing) is well grounded. Avoid touching conductive components, G-BUS Pin. Page 6 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 7: Environment Specification

    DNVGL-CG-0039 : Vibration Class B, 4g Industrial Emissions EN 61000-6-4/A11 : 2011 Industrial Immunity EN 61000-6-2 : 2005 Installation Position Vertical and horizontal installation is available. Product Certifications CE, UL, FCC Page 7 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 8: General Description

    DC 8A Max Contact Wiring I/O Cable Max. 2.0mm2 (AWG 14) Torque 0.8Nm (7 lb-in) Weight Module Size 22mm x 109mm x 70mm Refer to ‘2. Environment Specification’ Environment Condition Page 8 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 9: Gl-9086 Wiring Diagram

    GL-9086 User Manual 3.2. GL-9086 Wiring Diagram Pin No. Signal Description System Power, 24V System Power, Ground Frame Ground Field Power, Ground Field Power, 24V Page 9 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 10: Gl-9086 Led Indicator

    (Update of the coupler firmware) Operational State of the EtherCAT State Machine: Operational. 3.3.4. ERR (Error Status LED) Status To indicate No Error No Error. Invalid Blinking Invalid Configuration. Configuration Page 10 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 11: Ios Led(Extension I/O Module Status Led)

    - Overflowed In/Output Size Expansion - Too many expansion module Configuration - Initialization failure Failed - Communication failure. - Changed expansion module configuration. - Mismatch vendor code between adapter and expansion module. Page 11 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 12: Gl-9086 Electrical Interface

    Shield RJ-45 Case Shield Socket 3.4.2. DIP Switch Description Pole# DIP bit#0 DIP bit#1 DIP bit#2 DIP bit#3 DIP bit#4 DIP bit#5 DIP bit#6 DIP bit#7 Not Used Not Used Page 12 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 13: Ethercat Id Type Setup

    Set the identification value same as dip-switch. 3. Reload I/O device(F4). 4. Now you can use the Hot connection feature. Node is not overlapped between products. If there are same nodes, It should be changed. Page 13 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 14: I/O Process Image Map

    The data exchange between network adapter and expansion modules is done via an I/O process image data by G-Series protocol. The following figure shows the data flow of process image between network adapter and expansion modules. Page 14 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 15: Mapping Data Into Image Table

    3.6.1. Mapping Data into Image Table <Discrete Input Module> • 4 Point Input Module • 8 Point Input Module • 16 Point Input Module • 32 Point Input Module Page 15 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 16 GL-9086 User Manual <Discrete Output Module> • 4 Point Output Module • 8 Point Output Module • 16 Point Output Module • 32 Point Output Module Page 16 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 17 GL-9086 User Manual <Analog Input Module> • 4 Channel Analog Input Module • 8 Channel Analog Input Module Page 17 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 18 GL-9086 User Manual <Analog Output Module> • 4 Channel Analog Output Module • 8 Channel Analog Output Module Page 18 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 19: Example Of Input Process Image (Input Register) Map

    Discrete Input 8 pts (Slot#6) Discrete Input 8 pts (Slot#5) 0x0008 Discrete Input 8 pts (Slot#8) Discrete Input 8 pts (Slot#7) 0x0009 Discrete Input 8 pts (Slot#9) Discrete Input 8 pts (Slot#8) Page 19 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 20: Example Of Output Process Image (Output Register) Map

    Analog Output Ch3 low byte (Slot#8) 0x080B Discrete Output low 8 pts (Slot#10) Empty, Don't Care Discrete Out 4 pts (Slot#9) 0x080C Empty, Don't Care Discrete Output high 8 pts (Slot#10) Page 20 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 21: Dimension

    GL-9086 User Manual 4. Dimension 4.1. GL-9086 (mm) Page 21 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 22: Ethercat Basics

    During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly. In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT master Page 22 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 23: Coe Interface

    Specification of changeability, e.g. whether it can only be read or can also be written • A value – depending upon the parameter the value can be a text, a number or another paramet er index. Page 23 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 24 (as an alternative to the x8000 range). x6000 : Input PDOs ("input" from the perspective of the EtherCAT master) x7000 : Output PDOs ("output" from the perspective of the EtherCAT master) Page 24 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 25: Communication Objects

    SubIndex 002 0x02 SubIndex 003 0x03 SubIndex 004 0x04 1C12 RxPDO assign 0x01 SubIndex 001 0x1601 1C13 TxPDO assign 0x02 SubIndex 001 0x1A01 SubIndex 002 0x1A02 7010* GT-xxxx 0xnn Page 25 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 26 - Communication Fault : 0x02 - Configuration Failed : 0x03 - No Expansion Module : 0x04 - Vendor Error : 0x07 - Not expected slot : 0x08 - CRC Error : 0x09 Page 26 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

  • Page 27: Trouble Shooting

    Check status of cable connection for each node. Check that all color matches between connector and cable. Check wire omission. Terminating resistor Always install a terminating resistor. Check location of terminator resistor Page 27 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 28 - I/O size - Configuration of each node Ground and environment - Check ground is contacted - Check environment factor (temperature, humidity, etc.) is in less than regular limit Page 28 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 29 16 Channels, 0~10, 0~5, 1~5Vdc, 16bits, 20P connector 346F GT-347F 16 Channels, 0~10, 0~5, 1~5Vdc, 12bits, 18RTB 347F GT-349F 16 Channels, 0~10, 0~5, 1~5Vdc, 16bits, 18RTB 349F GT-3704 4 Channels, RTD, 10RTB 3704 Page 29 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 30 PWM Output, 4CHs, 0.5A/24Vdc, Source, 18RTB 5444 GT-5642 Pulse Output, 2CHs, 0.5A/24Vdc, Source, 18RTB 5642 GT-5652 Pulse Output, 2CHs, RS422 (Differential), 18RTB 5652 1CH, Stepper Module (TBD) 5521 GT-5521 Power Module Page 30 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 31 - Sink : The method of in/output power supply if a device has no power source. - Source : The method of in/output power supply if a device has the power source. Page 31 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...
  • Page 32 GL-9086 User Manual Head office Beijer Electronics AB Box 426 20124 Malmö, Sweden Phone +46 40 358600 www.beijerelectronics.com Page 32 of (32) G-series GL-9086 EtherCAT light version Rev. 1.01.docx...

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