ESD CAN-EtherCAT/2 Manuals

Manuals and User Guides for ESD CAN-EtherCAT/2. We have 1 ESD CAN-EtherCAT/2 manual available for free PDF download: Hardware Manual

ESD CAN-EtherCAT/2 Hardware Manual (96 pages)

EtherCAT CAN FD or CAN CC Gateway

Brand: ESD | Category: Gateway | Size: 3 MB

Document Information
3
Safety Instructions
5
Qualified Personnel
5
Table of Contents
7
Overview
11
About this Manual
11
Description of CAN-Ethercat/2
11
Figure 1: Block Circuit Diagram of CAN-Ethercat/2(-FD)
11
Glossary
12
Abbreviations
12
Inclusive Language
12
References
12
Hardware Installation
13
Connection Diagram
13
Figure 2: Connecting Diagram of CAN-Ethercat/2
13
Leds
14
Position of the Leds
14
LED Indication
14
Table 1: Ethernet-LED Functionality
14
Table 2: Ethercat LED Functionality (Integrated in RJ45)
14
Figure 3: Connectors and Leds
14
Table 3: LED States (According to ETG.1300 Documents)
15
Table 4: Ethercat LED Functionality
15
Side Views with Labels
16
Table 5: Description of the Labels
16
Figure 4: CAN-Ethercat/2 Product Label (Example CAN CC Variant)
16
Figure 5: CAN-Ethercat/2 Connector Label (Example both Variants)
16
Installing and Uninstalling Hardware
17
Installing the Hardware
17
Uninstalling the Hardware
18
Configuration with an Ethercat Configurator
19
CAN-Ethercat Gateway Application Example
19
Figure 6: Basic Function
19
Configuration Sequence, Esd Ethercat Workbench
20
Figure 7: Installing ESI File with the Workbench
20
Figure 8: Tree View of Subdevices (Detail)
20
Figure 9: Recreating the Coe Dictionary (Detail)
21
Figure 10: Recreating the List of Available Pdos
21
Figure 11: PDO Selection (Outputs / Inputs)
21
Setting the Bit Rate During Subdevice Initialization
22
Figure 12: Appending Coe Init Command
22
Figure 13: Coe Init. Command for Bit Rate Object
22
Export ENI
23
Figure 14: Other Init Commands (Example)
23
Figure 15: Exporting the ENI
23
Configuration Sequence, Beckhoff Configurator
24
Figure 16: CAN-Ethercat/2 in Device Tree View
24
Figure 17: Object Dictionary
25
Figure 18: Loading Process Data
25
Figure 19: Process Data Display
26
Figure 20: Process Data (Output Pdos Chosen)
26
Figure 21: Process Data (Input Pdos Chosen)
27
Figure 22: Bit Rate Setting During Startup Sequence
27
Figure 23: Startup - Sequence Example
28
Figure 24: Reload Devices
28
Figure 25:CAN Port Process Image
29
Exporting Ethercat Network Information (ENI)
30
Figure 26:Exporting Configuration File
30
Ethercat Communication
31
CAN Port
31
Object Dictionary Structure
31
Output Data
31
Input Data
31
Table 6: Object Dictionary Structure
31
Object Dictionary
32
Table 7: Implemented Objects
32
Standard Objects (0X1000
33
Object 0X1000 Device Type
33
Object 0X1008 Device Name
33
Object 0X1009 Hardware Version
33
Object 0X100A Software Version
33
Object 0X1018 Identity
34
Object 0X1600 RPDO-Map CAN-Interface
35
Object 0X1A00 TPDO-Map CAN-Interface
36
Object 0X1A85 CAN Status PDO
37
Object 0X1C00 Sync Manager Type
38
Object 0X1C12 RPDO-Assign
38
Object 0X1C13 TPDO-Assign
38
Parameter Description
39
Object 0X1C32 Output Sync Manager Parameter (Free Run Mode)
39
Object 0X1C33 Input Sync Manager Parameter (Free Run Mode)
39
Manufacturer Specific Objects (0X2000 - 0X5Fff)
40
Object 0X2000 Other Settings
40
Object 0X2010 Statistics
41
Profile Specific Objects (0X6000 - 0Xffff)
43
Object 0X6000 CAN Rx Message Queue
43
Figure 27: Subdevice Relationship of the CAN Rx Message Queues
43
Figure 28: Formatting of the CAN Data in the Ethercat Process Image
44
Figure 29: Chronological Sequence of the Rx-Counters
45
Object 0X6001 Extended CAN Rx Message Queue
46
Object 0X6002 CAN FD Rx Message Queue (CAN-Ethercat/2-FD Only)
47
Object 0X7000 CAN Tx Message Queue
48
Figure 30: Relationship of the CAN Tx Message Queues
48
Figure 31: Chronological Sequence Tx-Counter
50
Object 0X7001 Extended CAN Tx Message Queue
51
Object 0X7002 CAN FD Tx Message Queue
52
Object 0X8000 CAN-Interface-Configuration
53
Object 0X8001 CAN-Rx-Filter-Table
55
Object 0Xf000 Modular Device Profile
56
Object 0Xf100 Link Status
56
Object 0Xf108 CAN Status
57
Object 0Xf800: CAN Bus Parameter Set
58
Table 8: Parameters CAN CC Bit Rate
58
Table 9: Bustiming Register CAN CC
58
Table 10: Parameters CAN FD Bit Rates
59
Table 11: Bustiming Register CAN FD
59
Table 12: Structure of Parameter Bit Rate
60
Table 13: Bits of Parameter API-Bit Rate
60
Table 14: Pre-Defined Bit Rate Table
61
Table 15: Constant
61
Object 0Xfa01 Rx/Tx Ethernet Telegrams
62
Eoe
63
Switch Port Mode
63
IP Port Mode
63
Disabling Eoe
63
Figure 32: Esd Ethercat Workbench: Where to En/Disable Eoe
63
Foe
64
Firmware Update with the Esd Workbench
64
Figure 33: Firmware Update Via Foe
64
Figure 34: Foe File Transfer Dialog
64
Figure 35: CAN-Ethercat Coe Dictionary
65
Firmware Update with Beckhoff Ethercat Configurator
66
Figure 36: Firmware Update by Foe
66
Figure 37: Foe File Transfer Dialog
66
Figure 38: CAN-Ethercat Coe Dict., Software/Firmware Version Selected
67
Software Licenses
68
Rd Party Software License Terms
68
Open-Source Software Copy
68
Table 16: License and Identifier
68
Technical Data
69
General Technical Data
69
Connectors Accessible from Outside
69
Table 17: General Data of the Module
69
Table 18: Connectors, Accessible from Outside
69
CAN Port
70
Ethernet Port
70
Table 19: Specification of the CAN Port
70
Table 20: Specification of the Ethernet Port
70
Ethercat Port
71
Table 21: Specification of the Ethercat Ports
71
Connector Assignments
72
Power Supply Voltage
72
Can
73
CAN Port
74
And CAN Via Inrailbus
74
Figure 39: CAN Port
74
Ethernet 100BASE-TX (ETH)
75
Signal Description
75
Pin Assignment
75
Ethercat 100BASE-TX (IN, OUT)
76
Conductor Connection / Conductor Cross Section
77
Correct Wiring of Galvanically Isolated CAN Networks
78
CAN Wiring Standards
78
Light Industrial Environment (Single Twisted Pair Cable)
79
General Rules
79
Figure 40: CAN Wiring for Light Industrial Environment
79
Cabling
80
Branching
80
Termination Resistor
80
Figure 41: Example for Proper Wiring with Single Shielded Single Twisted Pair Wires
80
Heavy Industrial Environment (Double Twisted Pair Cable)
81
General Rules
81
Figure 42: CAN Wiring for Heavy Industrial Environment
81
Device Cabling
82
Branching
82
Termination Resistor
82
Figure 43: Example of Proper Wiring with Single Shielded Double Twisted Pair Cables
82
Electrical Grounding
83
Bus Length
83
Table 22: Recommended Cable Lengths at Typical Bit Rates (with Esd-CAN Interfaces)
83
Examples for CAN Cables
84
Cable for Light Industrial Environment Applications (Two-Wire)
84
Cable for Heavy Industrial Environment Applications (Four-Wire)
84
CAN Troubleshooting Guide
85
Figure 44: Simplified Diagram of a CAN Network
85
Electrical Grounding
86
Short Circuit in CAN Wiring
86
Correct Voltage Levels on CAN_H and CAN_L
86
Figure 45: Simplified Schematic Diagram of Ground Test Measurement
86
CAN Transceiver Resistance Test
87
Support by Esd
87
Figure 46: Measuring the Internal Resistance of CAN Transceivers
87
Optional Inrailbus
88
Order Information Inrailbus Accessories
88
Conductor Connection/Conductor Cross Section
88
Connector Assignment 24V and CAN Via Inrailbus (Option)
89
Using Inrailbus (Option)
90
Installation of the Module When Using the Inrailbus Connector
90
Figure 47: Mounting Rail with Bus Connector
90
Figure 48: Mounting CAN-CBX Modules
90
Connecting Via the Inrailbus
91
Figure 49: Mounted CAN-CBX Module
91
Figure 50: Mounting Rail with Inrailbus and Terminal Plug
91
Connection of the Supply Voltage
92
Connection of the Power Supply Voltage Via Inrailbus
92
Figure 51: Connection Via Terminal Plug
92
Connection of the Power Supply Voltage Via 24 V Connector
93
Earthing of the Mounting Rail
93
Figure 52: Connection Via 24V Connector
93
Connection of CAN
94
Remove the CAN-CBX Module from Inrailbus
94
Figure 53: Connecting the CAN Signals to the CAN-CBX Station
94
Declaration of Conformity
95
Order Information
96
Hardware
96
Manuals
96
Table 23: Order Information Hardware
96
Table 24: Available Manuals
96

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ESD CAN-EtherCAT/2 Hardware Manual (96 pages)

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