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ICP DAS USA ECAT-2610 User Manual

Ethercat to modbus rtu gateway
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ECAT-2610 EtherCAT to Modbus
RTU Gateway
User Manual
English Ver. 1.1, May 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

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Summary of Contents for ICP DAS USA ECAT-2610

  • Page 1 ECAT-2610 EtherCAT to Modbus RTU Gateway User Manual English Ver. 1.1, May 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.

  • Page 2: Table Of Contents

    EtherCAT to Modbus RTU Gateway TABLE OF CONTENTS PACKAGE LIST ................................5 MORE INFORMATION ..............................5 INTRODUCTION ..............................6 ................................7 EATURES ..............................7 LOCK IAGRAM HARDWARE INFORMATION ..........................8 ................................. 8 PPEARANCE ..............................11 PECIFICATION ..............................12 SSIGNMENTS EtherCAT Interface ..............................12 COM1 (Console Port) ..............................
  • Page 3 EtherCAT to Modbus RTU Gateway 05(0 05) F DO) .......................... 52 ORCE A INGLE RITE 06(0 06) P AO) ........................53 RESET A INGLE EGISTER RITE 15(0 0F) F ) ........................54 ORCE ULTIPLE OILS RITE 16(0 10) P ) ......................55 RESET ULTIPLE EGISTERS...
  • Page 4 EtherCAT to Modbus RTU Gateway DIO_DA_AD_1.txt ..................................98 05. Rising_Trigger..............................99 RisingTrigger _1.txt .................................. 99 RisingTrigger _2.txt ................................100 RisingTrigger _3.txt ................................101 06. Initial_Value ..............................102 Init_Value _1.txt ..................................102 07. Swap_Byte_Word .............................. 104 Both_Swap _1.txt .................................. 104 Byte_Swap _1.txt .................................. 105 Word_Swap _1.txt .................................

  • Page 5: Package List

    Package List The shipping package includes the following items: Quick Start x 1 ECAT-2610 x 1 CA-0915 Cable x 1 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 6: Introduction

    Just connect, configure and it’s finished. The ECAT-2610 Communicator is a proven and trusted protocol converter gateway that connects non-networked industrial devices and equipment to EtherCAT. The gateway performs an intelligent protocol conversion and presents the serial data to the Master PLC/Controller as easily processed I/O data.

  • Page 7: Features

    Supports maximum Baud Rate 115200 bps.  1.2 Block Diagram The block diagram of the ECAT-2610 module is given as follows: Figure 1-2 Block Diagram of ECAT-2610 Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 7 -...

  • Page 8: Hardware Information

    EtherCAT to Modbus RTU Gateway 2. Hardware Information 2.1 Appearance The front panel and top panel of the ECAT-2610 module contain the Modbus COM Port, PC COM port, LEDs, Ethernet Port and power connector. Top Panel 1. DC Power Input Connector Figure 2-1 2.
  • Page 9 Indicators 4. ECAT-2610 Status Indicators 5. COM1 (Console Port) 6. COM2/COM3 (Modbus RTU) Figure 2-2 Front panel of ECAT-2610 EtherCAT bus Status Indicators Notation Color States Description The device is in state INIT Blinking The device is in state PRE-OPERARIONAL...
  • Page 10 EtherCAT to Modbus RTU Gateway ECAT-2610 Status Indicators Notation Color States Description Normal Blinking Error Flashing for 0.3 sec DC enable Flashing for 1 sec Normal Mode Green No configuration file or configuration file Flashing for 2 sec error Flashing for 4 sec...

  • Page 11: Specification

    EtherCAT to Modbus RTU Gateway 2.2 Specification Model ECAT-2610 Protocol EtherCAT Communication RJ-45 x 1 Distance between Stations: Max. 100 m (100BASE-TX) RJ-45 Port Data Transfer Medium: Ethernet/EtherCAT Cable (Min.CAT 5e) The RS-232, RS-422 and RS-485 cannot be used simultaneously...

  • Page 12: Pin Assignments

    EtherCAT to Modbus RTU Gateway 2.3 Pin Assignments EtherCAT Interface Pin Assignment F.G. GND(-) PWR(+) COM1 (Console Port) Terminal Terminal Pin Assignment Pin Assignment COM2/COM3 (Modbus RTU) Pin Assignment Terminal No. TxD+/D+ TxD-/D- NOTE COM2 RxD+ The RS-232, RS-422 and RS-485 cannot be used RxD- simultaneously.

  • Page 13: Wiring Connections

    EtherCAT to Modbus RTU Gateway 2.4 Wiring Connections 3-wire RS-232 Wiring 4-wire RS-422 Wiring NOTE 1. Usually, you have to connect all signal grounds of RS-422/485 devices together to reduce common-mode voltage between devices. 2. Twisted-pair cable must be used for the DATA+/- wires.

  • Page 14: Init/Normal Operating Mode

    2. Short the TxD and RxD pins on the COM3 to Init mode. 3. Run the 7188ECAT.exe, and power on the ECAT-2610 module to verify that enter the Init mode. 4. Disconnect the TxD and RxD pins on the COM3 to normal mode.

  • Page 15: Dimensions

    EtherCAT to Modbus RTU Gateway 2.6 Dimensions The following diagrams provide the dimensions of the ECAT-2610 module and can be used as a reference when defining the specifications for any custom enclosures. All dimensions are in millimeters. Front Rear Left Side...

  • Page 16: Getting Started

    This chapter provides detailed information about the Self-test process, which is used to confirm that the ECAT-2610 is operating correctly. 3.1 Factory Default Settings The following is an overview of the factory default settings for ECAT-2610 module: Item Default Settings...

  • Page 17: Connecting The Power And The Host Pc

    3.2 Connecting the Power and the Host PC Step 1 Connect both the IN port of ECAT-2610 module and RJ-45 Ethernet port of Host PC. Ensure that the network settings on the Host PC have been correctly configured and are functioning normally.
  • Page 18 EtherCAT to Modbus RTU Gateway Step 3 Verify that LEDs indicator on the ECAT-2610 module is given as follows: RUN = Red IN = Green Flashing NOTE Mode = Green Flashing The Run indicator is ON when ECAT-2610 connected to EtherCAT Master.

  • Page 19: Configuration And Operation

    This can be downloaded from the ICP DAS website (http://ftp.icpdas.com/pub/cd/fieldbus_cd/ethercat/slave/ecat-2000/software/) and installed according to the installation instructions. Step 1 Install the ESI file Copy the “ICPDAS ECAT-2610.xml” file to the Master Tools installation folder, as indicated in the table below. Software Default Path Beckhoff EtherCAT Configuration C:\EtherCAT Configurator\EtherCAT Beckhoff TwinCAT 3.X...
  • Page 20 (I/O Devices-> right-click-> Scan Devices…) Figure 3-2.3 Step 3 Verify that status of the ECAT-2610 In the left-hand of the TwinCAT System Manager, click on the branch of the EtherCAT Box you wish to configure. Click TxPDO 0x00-0x7F to get and configure state.
  • Page 21 In the right-hand window, check the “2610SYS1” item is 0x8000 means the normal running of the ECAT-2610 module. Figure 3-2.5 NOTE For detailed information about the status of ECAT-2610, refer to Section 3.3.1 “Module Status and Error Mode”. Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved.

  • Page 22: Module Status And Error Mode

    3.3.1 Module Status and Error Mode The “FF 03 00 00 00 02” is a special command designed to read the system status of ECAT-2610 module in the default configuration file. Under this command, once power is supplied to the ECAT-2610 module, the ECAT-2610 module will read and check the configuration file from EEPROM.
  • Page 23 EtherCAT to Modbus RTU Gateway (Read) Table 3-3.2: InTxPDO[01] = 2610SYS1 = Sys_hi is defined as follows:  Description Exec Baud Rate 3 Valid Range: Refer to following table 3-3.3 Exec Baud Rate 2 Valid Range: Refer to following table 3-3.3 Exec Baud Rate 1 Valid Range: Refer to following table 3-3.3 Exec Baud Rate 0...
  • Page 24 EtherCAT to Modbus RTU Gateway The OutRxPDO[00] and OutRxPDO [01] provides system control (e.g., clear sys_low and sys_hi… etc.). The following table will list the control items. (Write) Table 3-3.4: OutRxPDO[00] = 2610CTL0 and OutRxPDO[01] = 2610CTL1 are defined as ...

  • Page 25: Modbus Rtu Device Setup

    EtherCAT to Modbus RTU Gateway 4. Modbus RTU Device Setup Before beginning the “Modbus RTU device Setup” process, ensure that your ECAT-2610 module is operating correctly, refer to Chpater 3 “Getting Started” for more NOTE detailed information. Here, the M-7050D module is used as an example. For other Modbus RTU device or third party Modbus RTU device, refer to the specific Quick Start Guide or User Manual for that Modbus RTU device.

  • Page 26: Configure The Modbus Rtu Device

    EtherCAT to Modbus RTU Gateway 4.1 Configure the Modbus RTU Device The following configure method for ICP DAS Modbus RTU device. If your device is a third party Modbus RTU device, please refer to the specific Quick Start Guide or User Manual for that Modbus RTU device to setting Modbus ID (Net ID), Baud Rate and Data Format…etc.,.
  • Page 27 EtherCAT to Modbus RTU Gateway Step 3 Search Module  Click “COM Port” button to select COM Port (e.g., COM1) depends on Host PC COM Port that connects to M-7050D and click “OK” button. Figure 4-1.2  Click “Start Search” button to search Modbus RTU device. Figure 4-1.3 ...
  • Page 28 EtherCAT to Modbus RTU Gateway Step 4 Configuring the Net ID , Baud Rate and Data Format  Click the module name to open the configuration dialog box.  Set the Address (Net ID), Baud Rate and Data Format for Modbus RTU device. ...

  • Page 29: Configuring Data Settings

    Configuration file. The ECAT-2610 will communicate with the Modbus RTU device through this file. Using COM1 of Host PC to download the configuration file to ECAT-2610. Using COM2 of Host PC to download the configuration file to ECAT-2610. Step 2 Double-click the“commands.txt”to open configuration file.
  • Page 30 EtherCAT to Modbus RTU Gateway Step 3 Set the Baud Rate and Data Format depend on Modbus RTU device (e.g., M-7050D). Figure 4-2.2 Command Description 115200 Baud Rate Valid Range: 1200 ~ 115200 Parity Valid Range: N, E, O Stop Bit Valid Range: 1, 2 Step 4 Set the Number of Modbus commands.
  • Page 31 EtherCAT to Modbus RTU Gateway Step 5 Modify the Modbus command, and save the new configuration. Figure 4-2.4 PDO[Addr] Update Special Modbus Command Description Mode Code For detailed information about the 01 0F 00 00 00 08 01 00 Modbus command, refer to Chapter 5 “Modbus Information”...

  • Page 32: Configuration Data Formats (Commands.txt)

    EtherCAT to Modbus RTU Gateway 4.2.1 Configuration Data Formats (Commands.txt) The commands.txt provides a simple command set to controlling Modbus RTU device. A syntax rule consists of a left to right, separated by a colon “,”. The data format of commands.txt, each of which will be described in more detail below.
  • Page 33 EtherCAT to Modbus RTU Gateway Set the timeout, delay time and address range of InTxPDO/OutRxPDO.  Command Description Set the timeout for Modbus command. Settings Range: 0 ~ 255. Unit = 0.01 second, 0.01 x 100 = 1 second, Max. = 2.55 second. Set the end_delay time.
  • Page 34 Set the Modbus commands depend on Modbus RTU device.  Modbus Command Description The factory default command is used to read the status of the ECAT-2610 module, refer to Section 3.3.1 “Module Status and Error Mode” for more FF 03 00 00 00 02 detail.

  • Page 35: Downloading The Configuration Data

    Step 1 Connect the Download Cable to the Host PC.  Power off the ECAT-2610 module.  Connect the COM1 of ECAT-2610 to COM Port of Host PC using the CA-0915 download cable. CA-0915 Cable Figure 4-3.1 Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved.
  • Page 36 Using COM2 of Host PC to download configuration data (commands.txt) to ECAT-2610. Step 3 Modify COM Port number in execCOM1.bat file, depend on your Host PC COM Port (e.g., COM4) that connect to ECAT-2610. NOTE If your Host PC has COM1 or COM2 can directly execute execCOM1.bat or execCOM2.bat file, you can skip this step.
  • Page 37 In the Search field, type “cmd” and the press Enter. Figure 4-3.3 Step 5 Downloading the Configuration file (commands.txt) to the ECAT-2610.  A Command Prompt windows will be displayed and type “E:” (7188ECAT folder location on your hard drive) and the press Enter.
  • Page 38  Type “erase” and the press Enter to erase the EEPROM. Key-in erase and press Enter Figure 4-3.6  Reboot (Power off and Power on) the ECAT-2610 module. Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 38 -...
  • Page 39 EtherCAT to Modbus RTU Gateway  Press keyboard [Ctrl] + [F4] at the same time to download commands.txt to ECAT-2610 module. Starting download Figure 4-3.7  Reboot (Power off and Power on) the ECAT-2610 module. The download is complete and new configuration file will be displayed here.
  • Page 40 EtherCAT to Modbus RTU Gateway NOTE If there is any error in the commands.txt, the ECAT-2610 module will stop and wait to power OFF and ON to continue as Figure 4-3.9, you can refer to Section 4.2.1 “Configuration Data Format (Commands.txt)”...

  • Page 41: Testing Modbus Rtu Device

    Section 3.2 “Connecting the Power and the Host PC” for more details.  Connect the ECAT-2610 module with Modbus RTU device (e.g., M-7050D, optional) using the RS-485 bus.  Supply power to the Modbus RTU device (e.g., M-7050D, +10 ~ +30 V power used).
  • Page 42 EtherCAT to Modbus RTU Gateway Step 2 Open the TwinCAT Master Software. Install the ESI file (ICPDAS ECAT-2610.xml) and run the EtherCAT Master software (e.g., Beckhoff TwinCAT 2.X), refer to Section 3.3 “Configuration and Operation” for more details. Step 3...
  • Page 43 Configuration via TwinCAT In the left-hand of the TwinCAT System Manager, click on the branch of the EtherCAT Box you wish to configure (ECAT-2610). Click Inxx and Outxx to get and configure state. Figure 4-4.3 Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved.
  • Page 44 EtherCAT to Modbus RTU Gateway Verify the test results of the DO functions for M-7050D module in the following manner.   In the left-hand of the window, click the “Out02”.  In the right-hand of the window, click the “Online”. ...

  • Page 45: Modbus Information

    EtherCAT to Modbus RTU Gateway 5. Modbus Information Modbus is a communication protocol developed by Modicon in 1979. You can also visit http://www.modbus.org to find more valuable information. The Different versions of Modbus used today include Modbus RTU (based on serial communication interfaces such as RS-485 and RS-232), Modbus ASCII and Modbus TCP, which is the Modbus RTU protocol embedded into TCP packets.
  • Page 46 EtherCAT to Modbus RTU Gateway Net ID (Station Number) The first byte in the message structure of Modbus is the receiver’s address. The valid addresses are in the range of 0 to 247. Addresses 0 is used for broadcast, while addresses 1 to 247 are given to individual Modbus devices.
  • Page 47 EtherCAT to Modbus RTU Gateway Data Field Data is transmitted in 8-, 16- and 32-bit format. The data for 16-bit registers is transmitted in high-byte first format. For example: 0x0A0B ==> 0x0A, 0x0B. The data for 32-bit registers is transmitted as two 16-bit registers, and is low-word first. For example: 0x0A0B0C0D ==> 0x0C, 0x0D, 0x0A, 0x0B.

  • Page 48: 01(0 X 01) Read The Status Of The Coils (Readback Do S )

    EtherCAT to Modbus RTU Gateway FC1(0x01) Read Multiple Coils (0xxxx) for DO This function code is used to read either the current status of the coils or the current digital output readback value. [Request] Byte Description Size Value Net ID (Station Number) 1 Byte 1 to 247 Function Code...

  • Page 49: 02(0 X 02) Read The Status Of The Input (Read Di S )

    EtherCAT to Modbus RTU Gateway FC2(0x02) Read Multiple Input Discrete (1xxxx) for DI This function code is used to read the current digital input value. [Request] Byte Description Size Value Net ID (Station Number) 1 Byte 1 to 247 Function Code 1 Byte 0x02 Refer to the Modbus address depends on your...

  • Page 50: 03(0 X 03) Read The Holding Registers (Readback Ao S )

    EtherCAT to Modbus RTU Gateway FC3(0x03) Read Multiple Registers (4xxxx) for AO This function code is used to readback either the current values in the holding registers or the analog output value. [Request] Byte Description Size Value Net ID (Station Number) 1 Byte 1 to 247 Function Code...

  • Page 51: 04) Read The Input Registers

    EtherCAT to Modbus RTU Gateway F4(0x04) Read Multiple Input Registers (3xxxx) for AI This function code is used to read either the input registers or the current analog input value. [Request] Byte Description Size Value Net ID (Station Number) 1 Byte 1 to 247 Function Code 1 Byte...

  • Page 52: Coil

    EtherCAT to Modbus RTU Gateway FC5(0x05) Write Single Coil (0xxxx) for DO This function code is used to set the status of a single coil or a single digital output value. [Request] Byte Description Size Value Net ID (Station Number) 1 Byte 1 to 247 Function Code...

  • Page 53: 06(0 (Wao)

    EtherCAT to Modbus RTU Gateway FC6(0x06) Write Single Register (4xxxx) for AO This function code is used to set a specific holding register to store the configuration values. [Request] Byte Description Size Value Net ID (Station Number) 1 Byte 1 to 247 Function Code 1 Byte 0x06...

  • Page 54: Force Ultiple Oils Rite Do )

    EtherCAT to Modbus RTU Gateway FC15(0x0F) Force Multiple Coils (0xxxx) for DO This function code is used to set multiple coils status or write multiple digital output values. [Request] Byte Description Size Value Net ID (Station Number) 1 Byte 1 to 247 Function Code 1 Byte 0x0F...

  • Page 55: 15(0 M (W 16(0 M (W )

    EtherCAT to Modbus RTU Gateway FC16(0x10) Write Multiple Registers (4xxxx) for AO This function code is used to set multiple holding registers that are used to store the configuration values. [Request] Byte Description Size Value Net ID (Station Number) 1 Byte 1 to 247 Function Code 1 Byte...
  • Page 56 EtherCAT to Modbus RTU Gateway FC255(0xFF) Special Commands This function code is special command that applies only to the ECAT-2610 module. In the factory default configuration file (commands.txt) includes the following three special commands. Commands Description Reference Refer to Section 3.3.1 “Module Status and Error Mode”...

  • Page 57: Diagnostic Operation

    6. Download Commands.txt Operation If the ECAT-2610 module is not function correctly (e.g., the module is no response, or if the LED is always displayed as either off or on), please short the TxD and RxD pins of the ECAT-2610 module (See Figure 6-1.1), the ECAT-2610 module will enter the “Init”...
  • Page 58 EtherCAT to Modbus RTU Gateway Step 2 Run the 7188ECAT.exe (Configuration/Diagnostic Utility) 1. In the Search field, type “cmd” and the press Enter to open the Command Prompt window. Figure 6-1.2 2. A Command Prompt window will be displayed and type “e:” (7188ECAT folder location on your hard drive) and the press Enter.
  • Page 59 EtherCAT to Modbus RTU Gateway Step 3 Power on the ECAT-2610 module to enter the Init Mode Init Mode Figure 6-1.4 There are 10 commands designed for download and diagnostic as follows:  CTRL+F4 ERASE Only the are designed to download configuration file (commands.txt) to EEPROM.
  • Page 60 1. Type “Erase” and the press Enter to erase the EEPROM. Key-in erase and press Enter Figure 6-1.6 2. Reboot (Power off and Power on) the ECAT-2610 module. 3. Pressing keyboard [Ctrl]+[F4] to download new configuration file (commands.txt) to the ECAT-2610 module.
  • Page 61 EtherCAT to Modbus RTU Gateway 4. Reboot (Power off and Power on) the ECAT-2610 module. 5. Then click the  icon on the right-top corner of the window to close it. The download is complete and new configuration file will be displayed here.

  • Page 62: Distributed Clocks (Dc)

    EtherCAT to Modbus RTU Gateway 7. Distributed Clocks (DC) “Distributed Clocks” (DC) refers to a logical network of synchronized, distributed local clocks in the EtherCAT fieldbus system. By using distributed clocks, EtherCAT, the real-time Ethernet protocol, is able to synchronize the time in all local bus devices within a very narrow tolerance rang. Further and more detailed information about EtherCAT in general and distributed clocks in particular can be found under http://www.ethercat.org/.
  • Page 63 Figure 7-1.2 The ECAT-2610 will send command 01 0F 00 00 00 08 01 00 FE 95 to the M-7050 first, then read response 01 0F 00 00 00 08 54 0D from the M-7050. The send_ then_read process will not stop and repeat one by one.
  • Page 64 NOTE: The are check sum bytes. Refer to Section 4.3 “Downloading the Configurtion Data” to download configuration data (see Figure 7-1.5) to the ECAT-2610 module. Figure 7-1.5 Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 64 -...
  • Page 65 EtherCAT to Modbus RTU Gateway The ECAT-2610 will send command 01 02 00 00 00 07 39 C8 to the M-7050 first, then read response 01 02 01 00 A1 88 from the M-7050. The send_ then_read process will not stop and repeat one by one.
  • Page 66 EtherCAT to Modbus RTU Gateway Write DO + Read DI Write DO Command_01 = (send) 01 0F 00 00 00 08 01 00 FE 95 + (read) 01 0F 00 00 00 08 54 0D Read DI Command_02 = (send) 01 02 00 00 00 07 39 C8 + (read) 01 02 01 00 A1 88 The M-7050 will send_read command_01 first, then send_read command_02.
  • Page 67 DC Cycle Time The ECAT-2610 module will auto detect and synchronized to DC signal at every first command. The cycle time of Write DO is about 7 ms and the cycle time of Write DO + Read DI is about 13.2 ms.

  • Page 68: Dc Configuration And Operation

    EtherCAT to Modbus RTU Gateway 7.2 DC Configuration and Operation The image below shows an example of the setup for Distributed Clocks (DC) test: DC is active  One DI = ECAT-2052  One DO1=M-7055 slave1, another DO2=M-7055 slave2  DO1=DI, DO2=DI ...
  • Page 69 Scan for devices I/O -> Devices-> Right click-> Scan   Figure 7-2.2 Step 2 DC mode settings for ECAT-2610 Click Box1 and Box2 [ECAT-2610] on left side. Click DC on Right side.  Select DC-Synchron.  Figure 7-2.3 Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved.
  • Page 70 EtherCAT to Modbus RTU Gateway Step 3 Activate PLC PCL -> Right click-> Add New Item… on left side. Figure 7-2.4 Enter the project name (e.g., Task1) Click Add   Figure 7-2.5  Task1 -> Right click-> Activate  Boot Project…...
  • Page 71 EtherCAT to Modbus RTU Gateway Step 4 Mapping M-7055 Output variables Double click MAIN.M7055_DO_SLAVE1_0 Select Out000 from Box1 [ECAT-2610] Click OK    Figure 7-2.7 Step 5 Cycle time settings  Click PlcTask Click Task   Set cycle time to 10 ms Figure 7-2.8...
  • Page 72 EtherCAT to Modbus RTU Gateway Step 6 Run PLC Click Activate Configuration symbol Figure 7-2.9 Click OK Figure 7-2.10 Click OK Figure 7-2.11 Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 72 -...
  • Page 73 EtherCAT to Modbus RTU Gateway Click Login symbol Figure 7-2.12 Click Start symbol Figure 7-2.13 Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 73 -...
  • Page 74 EtherCAT to Modbus RTU Gateway If the DC-Synchrony is disabling, the DO1 and DO2 is independent, the typical timing diagram is about some ms given as follows: DO1 to DO2 = 2 ms  Figure 7-2.14 DO1 to DO2 = 5 ms ...
  • Page 75 EtherCAT to Modbus RTU Gateway If the DC-Synchrony is active, the DO1 and DO2 will be sync to DC together, the typical timing diagram is about some us given as follows: DO1 to DO2 = 6 us  Figure 7-2.16 DO1 to DO2 = 100 us ...

  • Page 76: Object Description And Parameterization

    UINT16 Assigned to TxPDO 1A00h Assigned TxPDO UINT16 Assigned to TxPDO 1A01h Table 8-1: The PDO mapping of ECAT-2610 module is static and looks as follows: Corresponding Object Internal Memory TxPDO 1A00h Index 2000h, sub-index 1 to 128 Input Data, bytes 0 to 127...

  • Page 77: Specific Objects

    EtherCAT to Modbus RTU Gateway 8.2 Specific Objects Input Buffer Index Object Name Sub-Index Meaning Data type Flags 2000h Inputs No. of entries UINT16 Input byte 0000 UINT16 Input byte 0001 UINT16 Input byte 0127 UINT16 2010h Inputs No. of entries UINT16 Input byte 0128 UINT16...

  • Page 78: Applications

    EtherCAT to Modbus RTU Gateway Applications 9.1 ECAT Family of ICPDAS For more information, please visit the EtherCAT Selection Guide web site.  The system diagram of ECAT Motion Slave is given as follows: Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 78 -...
  • Page 79 EtherCAT to Modbus RTU Gateway  The system diagram of ECAT Motion Master is given as follows:  The system diagram of ECAT Gateway is given as follows: Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 79 -...
  • Page 80 EtherCAT to Modbus RTU Gateway  The system diagram of ECAT family is given as follows: Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 80 -...

  • Page 81: Odm Is Welcome

    EtherCAT to Modbus RTU Gateway 9.2 ODM is Welcome  ICPDAS has rich platform for ECAT master solution as follows:  ICPDAS has slave simple_IO solution as follows: Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 81 -...
  • Page 82 EtherCAT to Modbus RTU Gateway  ICPDAS has slave complex_IO (ESC+uC: ARM or MIPS, 32-bit) solution as follows:  ICPDAS has rich software package as follows: Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 82 -...
  • Page 83 EtherCAT to Modbus RTU Gateway  ICPDAS has rich software environment as follows:  ICPDAS has rich software utility as follows: Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 83 -...

  • Page 84: Appendix

    EtherCAT to Modbus RTU Gateway Appendix A1. How do I get the Modbus Command via DCON Utility? The following configure method for ICP DAS Modbus RTU device. Please connect the Modbus RTU device (e.g., M-7050) to Host PC and supply power to the Modbus RTU device, refer to Section 4.1 “Configure the Modbus RTU Device”...

  • Page 85: A2. Configuration Files Reference

    EtherCAT to Modbus RTU Gateway A2. Configuration Files Reference In the 7188ECAT folder, the more commands folder provides many examples of configuration file (commands.txt) for the DI, DO, AD and DA … etc., each of which will be described in more detail below.

  • Page 86: Baudrate

    (00) Modbus Command, PDO[Addr], Update Mode, Special Code FF 03 00 00 00 02, This command will read the system status of ECAT-2610 module, refer to Section 3.3.1 “Module Status and Error Mode” for more details. (01) Modbus Command, PDO[Addr],...

  • Page 87: 9600_N81.Txt

    EtherCAT to Modbus RTU Gateway 9600_N81.txt The 9600_N81.txt is very similar to 115200_N81_init.txt except the Baud Rate (e.g., 9600): Figure A2-3 19200_N82.txt The 19200_N82.txt is very similar to 115200_N81_init.txt except the Baud Rate (e.g., 19200) and Stop Bit (e.g., 2): Figure A2-4 Copyright ©...

  • Page 88: 38400_E81.Txt

    EtherCAT to Modbus RTU Gateway 38400_E81.txt The 38400_E81.txt is very similar to 115200_N81_init.txt except the Baud Rate (e.g., 38400) and Parity (e.g., EVEN): Figure A2-5 57600_O81.txt The 57600_O81.txt is very similar to 115200_N81_init.txt except the Baud Rate (e.g., 57600) and Parity (e.g., ODD): Figure A2-6 Copyright ©...

  • Page 89: Dio

    EtherCAT to Modbus RTU Gateway 01. DIO The 01_DIO folder provides configure sample for set the Digital Input (DI) and Digital Output (DO), each of which will be described in more detail below. DIO_Addr01_1.txt The DIO_Addr01_1.txt supports a typical Modbus command that write DO, as follows: Figure A2-7 For Example, The M-7050 module is used as an example.

  • Page 90: Dio_Addr01_2.Txt

    EtherCAT to Modbus RTU Gateway DIO_Addr01_2.txt The DIO_Addr01_2.txt supports 2 typical Modbus commands that write DO and read DI, as follows: Figure A2-8 For Example, The M-7050 module is used as an example. Number of command = 2, Modbus Command, PDO[Addr], Update Mode, Special Code...

  • Page 91: Dio_Addr01_3.Txt

    EtherCAT to Modbus RTU Gateway DIO_Addr01_3.txt The DIO_Addr01_3.txt is very similar to DIO_Addr01_2.txt except the read DI latch as follows: Figure A2-9 DIO_Addr01_4.txt The DIO_Addr01_4.txt is very similar to DIO_Addr01_3.txt except the DO readback as follows: Figure A2-10 Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 91 -...

  • Page 92: Addr02_1.Txt

    EtherCAT to Modbus RTU Gateway 02. DA The 02_DA folder provides configure sample for set the Analog Output (DA), each of which will be described in more detail below. DA_Addr02_1.txt The DA_Addr02_1.txt supports 4 typical Modbus commands that write AO0 to AO3, as follows: Figure A2-11 For Example, Number of command = 4,...

  • Page 93: Addr02_2.Txt

    EtherCAT to Modbus RTU Gateway DA_Addr02_2.txt The DA_Addr02_2.txt supports a typical Modbus command that write all AO, as follows: Figure A2-12 For Example, Number of command = 1, Modbus Command, PDO[Addr], Update Mode, Special Code (00) 02 10 00 00 00 04 08 12 34 12 34 12 34 12 34, ...

  • Page 94: Addr02_3.Txt

    EtherCAT to Modbus RTU Gateway DA_Addr02_3.txt The DA_Addr02_3.txt is very similar to DA_Addr02_1.txt except the AO0 to AO3 Readback as follows: Figure A2-13 DA_Addr02_4.txt The DA_Addr02_4.txt is very similar to DA_Addr02_2.txt except the all AO Readback as follows: Figure A2-14 Copyright ©...

  • Page 95: Addr02_5.Txt

    EtherCAT to Modbus RTU Gateway DA_Addr02_5.txt The DA_Addr02_5.txt supports 5 typical Modbus commands that write AO0 to AO3 and AO0 to AO3 Readback, as follows: Figure A2-15 Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 95 -...

  • Page 96: Ad_Addr03_1.Txt

    EtherCAT to Modbus RTU Gateway 03. AD The 03_AD folder provides configure sample for set the Analog Input (AD), each of which will be described in more detail below. AD_Addr03_1.txt The AD_Addr03_1.txt supports 8 typical Modbus commands that read AI0 to AI7, as follows: For Example, Figure A2-16 Number of command = 8,...

  • Page 97: Ad_Addr03_2.Txt

    EtherCAT to Modbus RTU Gateway The M-7017 module is used as an example, its support 7 channels of 16-bit AD. The address mapping is given as follows: AD channel PDO[Addr] InTxPDO[02] InTxPDO[03] InTxPDO[04] InTxPDO[05] InTxPDO[06] InTxPDO[07] InTxPDO[08] InTxPDO[09] AD_Addr03_2.txt The AD_Addr03_2.txt supports a typical Modbus command that read all AI, as follows: (The M-7017 module is used as an example.) Figure A2-17 Copyright ©...

  • Page 98: Dio_Da_Ad

    EtherCAT to Modbus RTU Gateway 04. DIO_DA_AD The 04_DIO_DA_AD folder provides configure sample for set the Digital Input (DI), Digital Output (DO), Analog Input (AD), Analog Output (DA) and delay the Modbus command, each of which will be described in more detail below. DIO_DA_AD_1.txt The DIO_DA_AD_1.txt supports 5 typical Modbus commands that set the DO, DI, DA, AD and delay 2 ms, as follows:...

  • Page 99: Rising_Trigger

    EtherCAT to Modbus RTU Gateway 05. Rising_Trigger The 05_Rising_Trigger folder provides configure sample for set the read/clear Counter and high/low_Latch of Digital Input, each of which will be described in more detail below. RisingTrigger _1.txt The RisingTrigger_1.txt is very similar to DIO_Addr01_2.txt except the read/clear DI0 Counter as follows:...

  • Page 100: Risingtrigger

    EtherCAT to Modbus RTU Gateway RisingTrigger _2.txt The RisingTrigger_2.txt is very similar to RisingTrigger_1.txt except the read/clear DI0 to DI6 Counters as follows: Figure A2-20 For Example, The M-7050 module is used as an example, it support seven event counters. The commands (02) to (15) that read these seven event counters cyclically.

  • Page 101: Risingtrigger _3.Txt

    EtherCAT to Modbus RTU Gateway RisingTrigger _3.txt The RisingTrigger_3.txt is very similar to RisingTrigger_2.txt except the read/clear DI latch as follows: Figure A2-21 For Example, The M-7050 module is used as an example, its DI can latch the High_pulse or Low_pulse. These latches can be clear to 0.

  • Page 102: Initial_Value

    EtherCAT to Modbus RTU Gateway 06. Initial_Value The 06_Initial_Value folder provides configure sample for set the Power-on value function, each of which will be described in more detail below. Init_Value _1.txt The Init_Value_1.txt supports 8 typical Modbus commands that use special code “01”...
  • Page 103 EtherCAT to Modbus RTU Gateway When the ECAT-2610 is power-on, the OutRxPDO[00]=2610CTRL0.bit0 is reset to 0. So the output of DA0/1/2/3 is set to the initial value as follows: DA0 = 0x0123 DA1 = 0x0234 DA2 = 0x0345 DA3 = 0x0456 The OutRxPDO[02/03/04/05] is set to new value.

  • Page 104: Swap_Byte_Word

    EtherCAT to Modbus RTU Gateway 07. Swap_Byte_Word The 07_Swap_Byte_Word folder provides configure sample for set the swap function, each of which will be described in more detail below. Both_Swap _1.txt The Both_Swap_1.txt supports 2 typical Modbus commands that use special code “06”...

  • Page 105: Byte_Swap _1.Txt

    EtherCAT to Modbus RTU Gateway Byte_Swap _1.txt The Byte_Swap_1.txt supports 8 typical Modbus commands that use special code “02” to set the byte-swap function, as follows: Figure A2-24 For Example, Number of command = 8, Modbus Command, PDO[Addr], Update Mode, Special Code (00) 02 06 00 00 00 00,...

  • Page 106: Word_Swap _1.Txt

    EtherCAT to Modbus RTU Gateway Word_Swap _1.txt The Word_Swap_1.txt supports 2 typical Modbus commands that use special code “04” to set the word-swap function, as follows: For Example, Figure A2-25 Number of command = 2, Modbus Command, PDO[Addr], Update Mode, Special Code (00) 02 10 00 00 00 04 08 12 34 12 34 12 34 12 34,...

  • Page 107: State_Change_Trigger

    EtherCAT to Modbus RTU Gateway 08. State_Change_Trigger The 08_State_Change_Trigger folder provides configure sample for set the state change trigger function, each of which will be described in more detail below. State_Change _1.txt The State_Change_1.txt supports 4 typical Modbus commands that use special code “08”...

  • Page 108: State_Change

    EtherCAT to Modbus RTU Gateway State_Change _2.txt The State_Change_2.txt support a typical Modbus command that use special code “08” to set the state change trigger function for all AO, as follows: Figure A2-27 For Example, The address mapping is given as follows: DA channel PDO[Addr] OutRxPDO[02]...

  • Page 109: Constant_Output

    EtherCAT to Modbus RTU Gateway 09. Constant_Output The 09_Constant_Output folder provides configure sample for set the constant output function, each of which will be described in more detail below. Constant _1.txt The Constant_1.txt supports 4 typical Modbus commands that use special code “10”...

  • Page 110: Bit_Command

    EtherCAT to Modbus RTU Gateway 10. Bit_Command The 10_Bit_Command folder provides configure sample for set the Bit command, each of which will be described in more detail below. Bit _Cmd_1.txt The Bit_Cmd_1.txt supports 8 typical Modbus commands that write the DO Bit0 to Bit7, as follows: For Example, Figure A2-29 The M-7050 module is used as an example, its support 8 channels Digital Output.

  • Page 111: Delay_Command

    EtherCAT to Modbus RTU Gateway 11. Delay_Command The 11_Dealy_Command folder provides configure sample for set the delay time, each of which will be described in more detail below. Delay_Cmd_1.txt The Delay_Cmd_1.txt is very similar to DIO_DA_AD_1.txt except the delay time as follows: For Example, Figure A2-30 Modbus Command,...

  • Page 112: Txpdo_Rxpdo_0X80_0Xff

    EtherCAT to Modbus RTU Gateway 12. TxPdo_RxPdo_0x80_0xFF The 12_TxPdo_RxPdo_0x80_0xFF folder provides configure sample for set the address is 0x80 to 0xFF for the InTxPDO and OutRxPDO, each of which will be described in more detail below. TxPdo_RxPdo_0x80.txt The TxPdo_RxPdo_0x80.txt supports 2 typical Modbus commands that set the InTxPDO[Addr] and OutRxPDO[addr] is 0x80 for the DI and DO, as follows: Figure A2-31 TxPdo_RxPdo_0xFF.txt...

  • Page 113: Txpdo_Rxpdo_Ad_0X80.Txt

    EtherCAT to Modbus RTU Gateway TxPdo_RxPdo_AD_0x80.txt The TxPdo_RxPdo_AD_0x80.txt supports 8 typical Modbus commands that set the InTxPDO[Addr] is 0x80 to 0x87 for the AI0 to AI7, as follows: Figure A2-33 TxPdo_RxPdo_AD_0xFF.txt The TxPdo_RxPdo_AD_0xFF.txt supports a typical Modbus command that set the InTxPDO[Addr] is 0x8F to 0xFF for the AI0 to AI7, as follows: Figure A2-34 Copyright ©...

  • Page 114: Txpdo_Rxpdo_Da_0X80_0Xff.txt

    EtherCAT to Modbus RTU Gateway TxPdo_RxPdo_DA_0x80_0xFF.txt The TxPdo_RxPdo_AD_0xFF.txt supports 5 typical Modbus command that set the InTxPDO[Addr] and OutTxPDO[Addr] is 0x80 to 0xFF for the AO0 to AO3, as follows: Figure A2-35 13. Commands_128_202 The Commands_128_202 folder provides configure sample (commands_128.txt and commands_202.txt) for set the 128 and 202 commands line.

  • Page 115: End_Of_Cmd_Dealy

    Set the end_delay to 200, unit = 0.01 sec, so 200 x 0.01 sec = 2 sec for slow speed debug. ECAT-2610 will delay extra 2 seconds in the end of every command. This will make the scan speed is down to slow for debug.

  • Page 116: Txpdo_Rxpdo_Max

    EtherCAT to Modbus RTU Gateway 15. TxPdo_RxPdo_Max The 15_TxPdo_RxPdo_Max folder provides configure sample for set the InTxPdoMax/2 and OutRxPdoMax/2, each of which will be described in more detail below. NOTE The InTxPdoMax/2 and OutRxPdoMax/2 can be set to special value for debug. It is recommended to set these 2 values to 0 (Automatic settings).

  • Page 117: Txrxpdo_Max_2.Txt

    EtherCAT to Modbus RTU Gateway TxRxPdo_Max_2.txt The TxRxPdo_Max_2.txt supports set the IntxPdoMax/2 and OutRxPdoMax/2 to 64, as follows: Figure A2-38 For Example, Set the InTxPdoMax/2 to 64, so InTxPdoMax = 64 x 2 =128 that means InTxPDO[00] to InTxPDO[7F]. Set the OutRxPdoMax/2 to 64, so OutRxPdoMax = 64 x 2 =128 that means OutRxPDO[00] to OutRxPDO[7F]. TxRxPdo_Max_3.txt The TxRxPdo_Max_3.txt supports set the IntxPdoMax/2 and OutRxPdoMax/2 to 128, as follows: Figure A2-39...

  • Page 118: A3. Support In Icp Das Modbus Rtu Products

    EtherCAT to Modbus RTU Gateway A3. Support in ICP DAS Modbus RTU Products The following is a summary of Modbus RTU slave device produced by ICP DAS that support the ECAT-2610 module. Model Description RS-485 Remote I/O Modules M-7000 Series WebSite:http://www.icpdas.com/root/product/solutions/remote_io/rs-485/i-7000_m-7000/i-7000_...

  • Page 119: A4. Revision History

    EtherCAT to Modbus RTU Gateway A4. Revision History This chapter provides revision history information to this document. The table below shows the revision history. Revision Date Description B1.0 Oct. 2017 First Version: 8-bit version Second version: 16-bit version B1.0 Mar. 2018 May 2018 Initial issue Copyright ©...

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