Owner manual

EtherCAT 5/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
Tables
TABLE 1 ECAT CONNECTOR PIN OUT DESCRIPTION.....................................................................................................8
TABLE 2 POWER SUPPLY CONNECTOR PINNING ...........................................................................................................8
TABLE 3 OPERATING/STORAGE TEMPERATURE RANGE.............................................................................................10
TABLE 4 RUN STATE STATUS ....................................................................................................................................11
TABLE 5 SYNC MANAGER CONFIGURATION ................................................................................................................12
TABLE 6 EEPROM SIZE ON SII.................................................................................................................................12
TABLE 7 NOT SUPPORTED COE OBJECT DICTIONARY ENTRIES. ................................................................................12
TABLE 8 OBJECT DICTIONARY ...................................................................................................................................13
TABLE 9 IDENTITY......................................................................................................................................................14
TABLE 10 PRODUCT CODE CODIFICATION..................................................................................................................14
TABLE 11 SYNC MANAGER COMMUNICATION TYPE ...................................................................................................14
TABLE 12 SYNC MANAGER RXPDO ASSIGN .............................................................................................................14
TABLE 13 SYNC MANAGER TXPDO ASSIGN ..............................................................................................................14
TABLE 14 SYNC MANAGER 3 PARAMETER LIST .........................................................................................................15
TABLE 15 OPERATING PARAMETERS..........................................................................................................................15
TABLE 16 PRODUCT SPECIFIC MAXIMA UNITS PER REVOLUTION VALUE .....................................................................16
TABLE 17 POSITION VALUE DATA ALIGNMENT EXAMPLE (15/16 BIT)..........................................................................17
TABLE 18 SUPPORTED ALARMS.................................................................................................................................17
TABLE 19 SUPPORTED WARNINGS ............................................................................................................................17
TABLE 20 MANUFACTURER SPECIFIC WARNINGS .......................................................................................................18
TABLE 21 ENCODER HARDWARE EMERGENCY ...........................................................................................................21
TABLE 22 HARDWARE EMERGENCY CODE DESCRIPTION ............................................................................................21
TABLE 23 SYNC MANAGER WATCHDOG INIT..............................................................................................................22
TABLE 24 CODIFICATION OF SM SYNCHRONIZATION ERRORS....................................................................................22
TABLE 25 SUPPORTED AL STATUS CODES ................................................................................................................22
TABLE 26 ERROR STATE STATUS..............................................................................................................................23
TABLE 27 ATD4 ENCODER FAMILY OVERVIEW ...........................................................................................................24
TABLE 28 ATD2 ENCODER FAMILY OVERVIEW ...........................................................................................................24
TABLE 29 FREE RUN TIMING SPECIFICATION FOR ST AND MT DEVICES .....................................................................25
TABLE 30 SYNC TO SM EVENT TIMING SPECIFICATION...............................................................................................27
TABLE 31 CALC AND COPY TIME ...............................................................................................................................28
TABLE 32 DC CYCLE TIME SPECIFICATION .................................................................................................................29
Pictures
PICTURE 1 LINE BUS TOPOLOGY EXAMPLE...................................................................................................................8
PICTURE 2 I/O CONNECTORS.......................................................................................................................................8
PICTURE 3 ENCODER SW LAYER DIAGRAM..................................................................................................................9
PICTURE 4 TYPICAL ELECTRICAL POWER DISSIPATION AS FUNCTION OF INPUT VOLTAGE..............................................9
PICTURE 5 LED ARRANGEMENT (ATD4 EXEMPLARY)................................................................................................11
PICTURE 6 ENCODER SPECIFIC ERROR HANDLING .....................................................................................................20
PICTURE 7 ENCODER SPECIFIC ERROR CLASSIFICATION ............................................................................................20
PICTURE 8 ATD FAMILIES COMPARISON ....................................................................................................................24
PICTURE 9 NON SYNC (FREE RUN) TIMING DIAGRAM FOR A MULTI TURN ENCODER ....................................................25
PICTURE 10 SYNC TO SM EVENT SAMPLING DIAGRAM ...............................................................................................26
PICTURE 11 SAMPLE JITTER FOR A SYNC TO SM EVENT OPERATING MULTI TURN ENCODER......................................26
PICTURE 12 TIMING DIAGRAM FOR DC OR SYNC COMMUNICATION TYPE ..................................................................29
PICTURE 13 SAMPLE POINT (N) TO CONSECUTIVE SAMPLE (N+1) POINT JITTER ( CH1: SYNC, CH2: SAMPLE) FOR A
MULTI TURN DEVICE............................................................................................................................................30
PICTURE 14 ETHERCAT CONFORMANCE TEST (BETA RELEASE) RESULT. ................................................................42