Hardware manual ETCio 100 EtherCAT I/O module
IXXAT Automation GmbH Leibnizstr. 15 88250 Weingarten Germany Tel.: +49 751 56146-0 Fax: +49 751 56146-29 Internet: www.ixxat.com E-Mail: info@ixxat.com Support In case of unsolvable problems with this product or other IXXAT products please contact IXXAT in written form by: Fax: +49 751 56146-29 E-Mail: support@ixxat.de Further international support contacts can be found on our webpage www.ixxat.
Contents 1. Introduction .................................................................................... 5 1.1 Features................................................................................... 5 1.2 Variants of the unit.................................................................. 7 1.3 EtherCAT ................................................................................. 7 2. Plug pinout ..................................................................................... 8 2.
Contents 5.10.4 5.10.5 5.10.6 5.10.7 5.10.8 5.10.9 5.10.10 5.10.11 5.10.12 5.10.13 5.10.14 5.10.15 5.10.16 5.10.17 5.10.18 5.10.19 5.10.20 5.10.21 5.10.22 5.10.23 5.10.24 5.10.25 5.10.26 5.10.27 5.10.28 6. 0x1018: Identity Object .................................................... 25 0x10F3: Diagnosis History ............................................... 25 0x10F8: Timestamp Object .............................................. 28 10x1600: 1st receive PDO Mapping ................................
Introduction 1. Introduction The "ETCio 100" EtherCAT IO module permits the simple, quick connection of analog and digital input and output signals to EtherCAT systems – whether in component test benches, mobile applications, or in the area of industrial automation as a universally applicable interface. In the ETCio 100, you have purchased a high-quality electronic component that has been developed and manufactured according to the latest technological state of the art.
Introduction CAN interface (optional, not installed in the standard version) ISO 11898-2 CAN bus coupling, galvanically decoupled CAN-2.
Introduction 1.2 Variants of the unit The ETCio 100 is available in the following variants: Order number Variants of the unit 1.01.0250.20001 ETCio 100 (in aluminum housing) 1.01.0250.21001 ETCio 100 (board-level product) Upon request ETCio 100 with CAN-Interface (board-level product) ETCio 100 with LIN-Interface (board-level product), upUpon request on request only ETCio 100 with CAN and LIN interface (board-level Upon request product), upon request only Accessories Order number 1.04.0086.00000 1.
Plug pinout 2. Plug pinout 2.1 Plug (PWR) power supply, 6-32 VDC The ETCio 100 is supplied with direct current of 6-32V. The plug used is of the following type: Phoenix Contact plug part 2-pin MC1,5/2-STF-3,5 - 1847055. Figure 1: 2.2 Front side with the position of connections and LEDs Inputs and outputs Figure 2: Pinout of the I/O plug Copyright IXXAT Automation GmbH 8 ETCio 100-Manual, version 1.
Plug pinout The plug is of the following type: Phoenix Contact plug part 16-pin MC1,5/16ST-3,81 - 1803714. Pin No.
Plug pinout 2.3 Schematic diagram of the digital outputs 2.4 Schematic diagram of the digital inputs Copyright IXXAT Automation GmbH 10 ETCio 100-Manual, version 1.
Displays 3. Displays The ETCio 100 has 4 LED displays PWR = Power supply voltage USER1 = Programmable with EtherCAT messages USER2 = Programmable with EtherCAT messages STAT = EtherCAT-status Depending on the mode of the ETCio 100, the LED displays act as follows: PWR-LED The power LED (PWR) lights in green when the ETCio 100 is connected to power. USER1- and USER2-LED These freely programmable LED displays can be switched using messages. You can find more information in Chapter 5.10.20.
Functional description off 200 ms 200/1000 ms Table 3-2: No working voltage or no error Incorrect configuration Local error Application error ºSTAT LED: Red 4. Functional description 4.1 Power supply The ETCio 100 is supplied with direct current from 6-32 V and is protected against polarity errors as well as low and high voltage. In case of a polarity error or low voltage, it turns off. For overvoltage, an internal fuse may blow.
Functional description Example: If the power supply voltage (PWR) is 12V, then the switching voltage is ½ * 12 V = 6 V. Input voltages on the digital input of less than 6 V are shown as "0". Input voltages on the digital input of more than 6 V are shown as "1". A hysteresis of about 50 mV ensures the error-free function of the switching threshold. The digital inputs have a low-pass filter to minimize interference.
Functional description To do this, the user must measure and record a number of different voltage values for each channel, and use them to calculate a correction curve or table. 4.5 Analog outputs The ETCio 100 has two channels with a resolution of 12 bits. The analog outputs can be set using EtherCAT messages. You can find more information about this in Section 5.1.4.1 The internal reference voltage source and the DAC itself have an accuracy of 0.2%. The output current is limited to 20 mA.
Software 5. Software It is assumed that the reader of this document is familiar with the EtherCAT standard. So the usual EtherCAT mechanisms will not be described or will be described only superficially. Abbreviations / definitions in this chapter: 0xnn Hexadecimal numbers AO Analog output EtherCAT object whose subindexes are of identical data types. ARRAY Subindex 0 is generally excepted from this rule.
Software 5.3 ESI EEPROM The ESI EEPROM contains the "Slave Information Interface Area (SII)". This defines, among other things, settings for the connection between the EtherCAT slave controller and the microcontroller. The content of this buffer can be configured from the EtherCAT master. An incorrect configuration in the parameters "PDI Control" and "PDI Configuration" can lead to the ETCio 100 no longer being addressable using EtherCAT mechanisms.
Software 5.4 Protocols supported The following mailbox protocols are supported: CoE (CAN application protocol over EtherCAT services) FoE (File access with EtherCAT services) FoE is only supported in Bootstrap status. See Section 5.9. 5.5 Synchronization The following synchronization protocols are supported: Free Run SM Synchronous 5.6 EtherCAT-status The following EtherCAT states are supported: Init Preop Safeop Op Bootstrap 5.7 Input /Output 5.7.
Software 5.7.2 Configuration The IOs can be configured. The objects listed in Table 5-2 are available for this purpose. A more detailed description of the objects can be found in Section 5.10. For each category of IO, the number of channels can be configured. In the following sections, additional special configuration options will be explained for each category. The last configuration saved will be accepted the next time the device starts.
Software Samples Pegel Sample-Zeit 1 0 t t t-1 t-2 0 0 0 1 0 0 1 1 0 0 1 1 0 0 1 0 0 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 1 1 1 1 0 1 1 0 0 1 0 0 0 DI 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 Figure 5-1: DI sample time 5.7.2.2 Digital outputs For each digital output, a default value can be configured. This remains valid until another value is defined via SDO or PDO. Thus the value is defined when the device starts. The default value equates the safe state. 5.7.2.
Software 5.7.3 Diagnostic message When the device starts, it checks whether the configuration is valid. It can for example be invalid if more than the maximum number of channels are configured. If the configuration is invalid, then a diagnostic message of type "Error" with the message content "Incorrect configuration" is output. With the ETCio 100, only this single diagnostic message can occur.
Software 5.10 CoE-Objects Table 5-5 lists the entire CoE object module of the ETCio 100. The following sections will describe the objects. Objects 0x1000 to 0x1FFFh are not completely described here. For a complete description, we refer to the EtherCAT standard.
Software 0x1C32 0x1C33 0x2000 0x2001 1 2 0 1 2 3 4 5 6 7 8 9 10 11 12 13 32 0 1 2 3 4 5 6 7 8 9 10 11 12 13 32 0 1 2 3 4 5 6 7 0 1 2 Sync Manager Synchronization Synchronization Type Cycle Time Shift Time Synchronization Types supported Minimum Cycle Time Calc and Copy Time Minimum Delay time Get Cycle Time Delay Time Sync0 Cycle Time SM-Event missed Cycle Time Too Small Shift Time Too Short Sync error Sync Manager Synchronization Synchronization Type Cycle Time Shift Time Synchronization Types suppor
Software 0x2002 0x2003 0x2004 0x2005 0x2006 0x2007 0x2008 0x6000 0x6200 0x6401 0x6411 3 4 5 0 1 0 1 2 3 4 5 0 1 0 1 0 1 2 0 1 0 1 0 1 0 1 0 1 2 0 1 2 Table 5-5: DO2 default value DO3 default value DO4 default value Config Analog Inputs Number of AI Config Analog Outputs Number of AO AO1 default value AO2 default value AO3 default value AO4 default value Store Parameters Restore Parameters USER LEDs USER LED 1 USER LED 2 Additional informations Bootloader version SW-Reset Execute Reset Read input 8 bit
Software 5.10.1 0x1000: Device Type This object specifies the device type and device profile.
Software 5.10.3 0x100A: Manufacturer Software Version This object contains the software version. Object type: VAR Value: Version of the software in format A.BB.CC (see Table 5-10). SI - Type STRING Access Name RO Manufacturer Device Name Table 5-9: 0x100A: Manufacturer Software Version Char 0 1 2-3 Value for example “1” “.” for example “00” 4 5-6 “.” for example “00” Table 5-10: Description A: Version number based on large changes.
Software SI 0 1 2 3 4 5 6 Type UINT8 UINT8 UINT8 UINT8 BOOL UINT16 STRING Table 5-12: Access RO RO RO RW RO RW RO Name Diagnosis History Maximum Messages Newest Message Newest Acknowledge Message New Messages Available Flags Diagnosis message 0x10F3: Diagnosis History 5.10.5.1 SI0: Diagnosis History Number of the highest subindex of this object. 5.10.5.2 SI1: Maximum Messages Maximum number of diagnostic messages.
Software Value 0 1 Description Latest message already read Latest message not read Table 5-15: 0x10F3: Newest Acknowledge Message: Value 5.10.5.6 SI5: Flags Settings for the diagnostic message object. Write access is possible for some bits. Table 5-18 describes this in more detail. Bit 0 Value 0 Access RO 1 0 RW 2 0 RW 3 0 RO 4 0 RO 5 0 RO 6-15 0 RO Table 5-16: Description 0: Device does not support the "Emergency sending" functionality.
Software 5.10.6 0x10F8: Timestamp Object This object contains the local time of the ETCio 100. Object type: VAR Value: Local time value of the ETCio 100 in ns. SI - Type UINT64 Table 5-17: Access Name RO Timestamp Object 0x10F8: Timestamp Object 5.10.7 10x1600: 1st receive PDO Mapping This object defines the mapping for the first receive PDO. This contains the values from the digital outputs. See also Section 5.8.
Software SI 0 1 2 Type UINT8 UINT32 UINT32 Access RO RO RO Name 2nd receive PDO Mapping PDO Object 1 PDO Object 2 Table 5-20: 0x1601: 2nd receive PDO Mapping 5.10.8.1 SI0: 2nd receive PDO Mapping Number of the highest subindex of this object. 5.10.8.2 SI1: PDO Object 1 This subindex describes the mapping of this PDO. Table 5-21 shows the content. Bit 0-7 8-15 16-31 Value 0x10 0x01 0x6411 Table 5-21: Description Length in the PDO in bits. Subindex of the mapped object.
Software 5.10.9.1 SI0: 1st transmit PDO Mapping Number of the highest subindex of this object. 5.10.9.2 SI1: PDO Object 1 This subindex describes the mapping of this PDO. Table 5-24 shows the content. Bit 0-7 8-15 16-31 Value 0x08 0x01 0x6000 Table 5-24: Description Length in the PDO in bits. Subindex of the mapped object. Index of the mapped object: Read input 8 bit 0x1A00: PDO Object 1: Value 5.10.10 0x1A01: 2nd transmit PDO Mapping This object defines the mapping for the second transmit PDO.
Software 5.10.10.3 SI2: PDO Object 2 This subindex describes the mapping of this PDO. Table 5-27 shows the content. Bit 0-7 8-15 16-31 Value 0x10 0x02 0x6401 Table 5-27: Description Length in the PDO in bits. Subindex of the mapped object. Index of the mapped object: Read analog input 16-bit 0x1A01: PDO Object 2: Value 5.10.11 0x1C00: Sync Manager Communication Type This object defines the number and type of communication channels.
Software SI 0 1 2 Type UINT8 UINT16 UINT16 Table 5-30: Access RO RO RO Value Number of the highest subindex of this object. 0x1A00: TxPDO 1 0x1A01: TxPDO 2 0x1C13: Sync Manager 3 PDO Assignment 5.10.14 0x1C32: Sync Manager Synchronization This object makes information available about the synchronization. The synchronization can also be configured using this object. The parameters are not described completely in Table 5-31. For a complete description, we refer to the EtherCAT standard.
Software SI 0 Type UINT8 1 UINT16 2 UINT32 3 UINT32 4 UINT16 5 UINT32 6 UINT32 7 UINT32 8 UINT16 Access Name Value Sync Manager Number of the highest subindex of RO this object. Synchronization SynchronizaRW 0x00: Free Run tion Type 0x01: Synchronous If Synchronization Type = 0x00: RW Cycle Time Time between two local timer events in ns. If Synchronization Type = 0x01: Minimum time between two SM2 events in ns. Time between event and asRO Shift Time signed action in ns.
Software 9 UINT32 10 UINT32 RO RW 11 UINT16 RO 12 UINT16 RO 13 UINT16 RO 32 BOOL RO Table 5-31: Delay Time Sync0 Cycle Time SM-Event missed Cycle Time Too Small Shift Time Too Short Sync error Not needed for the ETCio 100. Not needed for the ETCio 100. Not needed for the ETCio 100. Error counter for cycle times that are too small. Not needed for the ETCio 100. 0: No synchronization error or Sync error not supported. 1: Synchronization error 0x1C32: Sync Manager Synchronization 5.10.
Software 6 UINT32 RO 7 UINT32 RO 8 UINT16 RW 9 UINT32 10 UINT32 RO RW 11 UINT16 RO 12 UINT16 RO 13 UINT16 RO 32 BOOL RO Table 5-32: Calc and Copy Time Minimum Delay time Get Cycle Time Delay Time Sync0 Cycle Time SM-Event missed Cycle Time Too Small Shift Time Too Short Sync error Time for local processing of process data in ns. Reserved Same value as in object index 0x1C32, subindex 8. Not needed for the ETCio 100. Same value as in object index 0x1C32, subindex 10.
Software 5.10.16.1 SI0: Config Digital Inputs Number of the highest subindex of this object. 5.10.16.2 SI1: Number of DI Number of digital inputs. Unused digital inputs always show the value '0'. Value 0 1 2 3 4 5 6 Digital outputs used DIGIN1 DIGIN1, DIGIN2 DIGIN1, DIGIN2, DIGIN3 DIGIN1,DIGIN2,DIGIN3,DIGIN4 DIGIN1,DIGIN2,DIGIN3,DIGIN4,DIGIN5 DIGIN1,DIGIN2,DIGIN3,DIGIN4,DIGIN5,DIGIN6, Table 5-34: 0x2000: Number of DI: Value 5.10.16.3 SI2-7 Sample time for a digital input in units of 10 µs.
Software 5.10.17.1 SI0: Config Digital Outputs Number of the highest subindex of this object. 5.10.17.2 SI1: Number of DO Number of the digital outputs. Unused digital outputs are set to '0' and the value cannot be changed by PDO or SDO. Value 0 1 2 3 4 Digital outputs used DIGOUT1 DIGOUT1,DIGOUT2 DIGOUT1,DIGOUT2DIGOUT3 DIGOUT1,DIGOUT2,DIGOUT3, DIGOUT4 Table 5-36: 0x2001: Number of DO: Value 5.10.17.3 SI2-5: DO1 default value Default value of a digital output. 5.10.
Software 5.10.18.2 SI1: Number of AI Number of analog inputs. Unused analog inputs always show the value '0'. Value 0 1 2 Digital outputs used ANAIN1 ANAIN1, ANAIN2 Table 5-38: 0x2002: Number of AI: Value 5.10.19 0x2003: Config Analog Outputs This object is responsible for the configuration of the analog outputs. See also Section 5.7.2.
Software 5.10.19.3 SI2-5 Default value of an analog output. Bit Description 0-11 Value of the analog output 12-15 Value is not used Table 5-41: 0x2003: SI2-5: Value 5.10.20 0x2004: Store Parameters This object can be used to store backup objects. Each IO configuration object is a backup object. This object can thus be used to save the IO configuration. Object type: ARRAY SI 0 1 Type UINT8 UINT32 Table 5-42: Access RO RW 0x2004: Store Parameters 5.10.20.
Software SI 0 1 Type UINT8 UINT32 Table 5-44: Access RO RW 0x2005: Restore Parameters 5.10.21.1 SI0: Restore Parameters Number of the highest subindex of this object. 5.10.21.2 SI1: Restore Parameters If the value defined in Table 5-36 is entered, then the contents of all backup objects are set to the last value saved. See also Section 5.7.2. Value 0x64616F6C Every other Table 5-45: Description The value corresponds to the character string "load".
Software Value 1 2 Other value Table 5-47: LED red green of 0x2006: USER LED 1: Value 5.10.22.3 SI2: USER LED 2 Settings for the LED colors according to the following table. Value 1 2 Other value Table 5-48: LED red green of 0x2006: USER LED 2: Value 5.10.23 0x2007: Additional informations This object provides additional device information. SI 0 1 Type UINT8 STRING Table 5-49: Access RO RO Name Additional informations Bootloader version 0x2007: Additional informations 5.10.23.
Software 5-6 for ex- CC: Version number indicating small changes not visible ample externally. „00“ Table 5-50: 0x2007: Bootloader version: Value 5.10.24 0x2008: SW-Reset This object can be used to carry out a software reset. Object type: RECORD SI Type 0 1 UINT8 UINT32 Table 5-51: Access RO RW Name SW-Reset Execute Reset 0x2008: SW-Reset 5.10.24.1 SI0: SW-Reset Number of the highest subindex of this object. 5.10.24.
Software SI 0 1 Type UINT8 UINT32 Table 5-53: Access RO RO 0x6000: Read input 8 bit 5.10.25.1 SI0: Read input 8 bit Number of the highest subindex of this object. 5.10.25.2 SI1: Read input 8 bit Value of the digital inputs as defined in Table 5-54. Section 5.7.2.1 describes the mechanism by which values are read in. Bit 0 1 2 3 4 5 6-7 Description Value of the digital input DIGIN1. Value of the digital input DIGIN2. Value of the digital input DIGIN3. Value of the digital input DIGIN4.
Software 5.10.26.2 SI1: Write output 8-bit Value of the digital outputs as defined in Table 5-56. Bit 0 1 2 3 4-7 Description Value of the digital output DIGOUT1. Value of the digital output DIGOUT2. Value of the digital output DIGOUT3. Value of the digital output DIGOUT4. Not used. Table 5-56: Write output 8-bit: SI1: Value 5.10.27 0x6401: Read analog input 16-bit This object returns the values of the analog outputs.
Software 5.10.27.3 SI2: Read analog input 16-bit Value of the analog input as 12-bit value. See Table 5-59 Bit Description 0-11 Value of the analog input ANAIN2. 12-15 0 Table 5-59: Read analog input 16-bit: SI2: Value 5.10.28 0x6411: Write analog output 16-bit This object defines the values of the analog outputs. Object type: ARRAY SI 0 1 2 Type UINT8 UINT16 UINT16 Access RO WO WO Table 5-60: 0x6411: Write analog output 16-bit 5.10.28.
Software 5.10.28.3 SI2: Write analog output 16-bit Value of the analog output as 12-bit value. See Table 5-62 Conversion of the 12-bit value into a voltage is carried out according to Table 5-3. Bit Description 0-11 Value of the analog output ANAOUT2. 12-15 Value is not used. Table 5-62: Write analog output 16-bit: SI2: Value Copyright IXXAT Automation GmbH 46 ETCio 100-Manual, version 1.
General note 6. General note 6.1 Support Additional information about our products as well as FAQ lists and installation tips, can be found in the support area on our home page (http://www.ixxat.de). You can also obtain information there about current product version and available updates. 6.2 Returning hardware If it is necessary for you to send hardware back to us, please ask you to download the corresponding RMA form from our home page and proceed according to the instructions on that form. 6.
General note 6.5 FCC Compliance Declaration of conformity This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: This device may not cause harmful interference, and this device must accept any interference received, including interference that may cause undesired operation FCC Identifier of the built in Bluetooth module: PVH0939 Test remit: FCC Rules 47 CFR Part 15 / 2010-01-09 Subpart B - Class B / Section 15.107 and 15.
General note 6.6 EC declaration of conformity IXXAT Automation declares that the product: ETCio 100 with article number(s): 1.01.0250.10001 1.01.0250.20001 1.01.0250.20101 satisfies the requirements of EC Directive 2004/108/EC. Applicable harmonized standards: EN 55022:2010 EN 61000-6-2:2005 17.12.2012, Dipl.-Ing. Christian Schlegel, Managing director IXXAT Automation GmbH Leibnizstr. 15 88250 Weingarten Copyright IXXAT Automation GmbH 49 ETCio 100-Manual, version 1.
General note 6.7 EtherCAT Conformance Test Certificate Copyright IXXAT Automation GmbH 50 ETCio 100-Manual, version 1.
