EtherCAT_Interface_e_1.0_2

EtherCAT®
Fieldbus Interface
XtrapulsGem
XtrapulsPac
Xtrapuls – EtherCAT® Fieldbus Interface
CAUTION
!
This is a specific manual describing the EtherCat® fieldbus interface.
It must be used in conjunction with the Installation, User and Programming manuals of the Xtrapuls drives.
Instructions for storage, use after storage, commissioning as well as all technical details require the
MANDATORY reading of the manual before getting the amplifiers operational.
Maintenance procedures should be attempted only by highly skilled technicians having good knowledge
of electronics and servo systems with variable speed (EN 60204-1 standard) and using proper test
equipment.
The conformity with the standards and the "CE" approval is only valid if the items are installed according to the
recommendations of the amplifier manuals. Connections are the user's responsibility if recommendations and
drawings requirements are not met.
Any contact with electrical parts, even after power down, may involve physical damage.
Wait for at least 5 minutes after power down before handling the amplifiers (a residual voltage of several
hundreds of volts may remain during a few minutes).
ESD INFORMATION (ElectroStatic Discharge)
INFRANOR amplifiers are conceived to be best protected against electrostatic discharges. However,
some components are particularly sensitive and may be damaged if the amplifiers are not properly
stored and handled.
STORAGE
The amplifiers must be stored in their original package.
When taken out of their package, they must be stored positioned on one of their flat metal
surfaces and on a dissipating or electrostatically neutral support.
Avoid any contact between the amplifier connectors and material with electrostatic potential
(plastic film, polyester, carpet…).
HANDLING
If no protection equipment is available (dissipating shoes or bracelets), the amplifiers must
be handled via their metal housing.
Never get in contact with the connectors.
ELIMINATION
In order to comply with the 2002/96/EC directive of the European Parliament and of the Council of
27 January 2003 on waste electrical and electronic equipment (WEEE), all INFRANOR devices
have got a sticker symbolizing a crossed-out wheel dustbin as shown in Appendix IV of the
2002/96/EC Directive.
This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not
with standard waste.
INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or
wrong descriptions of the ordered items.
Any intervention on the items, which is not specified in the manual, will immediately cancel the warranty.
Infranor reserves the right to change any information contained in this manual without notice.
© INFRANOR, January 2010. All rights reserved.
Issue: 1.0
2
Xtrapuls – EtherCAT® Fieldbus Interface
Contents
CONTENTS............................................................................................................................................. 3
CHAPTER 1 - INTRODUCTION ............................................................................................................. 4
CHAPTER 2 - BASIC INFORMATION ABOUT ETHERCAT® .............................................................. 5
2.1 - MAIN ETHERCAT® SLAVE FUNCTIONS ............................................................................................ 5
2.2 - ETHERCAT® STATE MACHINE ....................................................................................................... 6
2.3 - ETHERCAT® FIELDBUS TOPOLOGY ................................................................................................ 7
CHAPTER 3 - ELECTRICAL INSTALLATION....................................................................................... 8
3.1 - CONNECTORS ................................................................................................................................ 8
3.1.1 "IN" connector: E3 (XtrapulsGem EtherCAT® extension board), X6 (XtrapulsPac) .............. 8
3.1.2 "OUT" connectors: E4 (XtrapulsGem EtherCAT® extension board), X7 (XtrapulsPac) ........ 8
3.2 - INDICATORS ................................................................................................................................... 8
3.2.1 - Link/Activity Indicators ........................................................................................................... 8
3.2.2 - Run indicator.......................................................................................................................... 9
3.2.3 - Error indicator ........................................................................................................................ 9
3.3 SLAVE ADDRESSING MODES .............................................................................................................. 9
CHAPTER 4 - SPECIFICATIONS OF THE SDOS AND PDOS FOR THE ETHERCAT® EXTENSION
BOARD.................................................................................................................................................. 10
4.1 - SDO ........................................................................................................................................... 10
4.1.1 – Sync manager communication type.................................................................................... 10
4.1.2 – Sync manager channel 0 PDO assignment........................................................................ 11
4.1.3 – Sync manager channel 1 PDO assignment........................................................................ 11
4.1.4 – Sync manager channel 2 PDO assignment........................................................................ 12
4.1.5 – Sync manager channel 3 PDO assignment........................................................................ 12
4.1.6 – Synchronisation clock object .............................................................................................. 13
4.1.7 – Read access to the Fieldbus controller registers................................................................ 13
4.1.8 – RPDO watchdog time ......................................................................................................... 13
4.1.9 – Fieldbus Specific Error bits in the Error Code 1 object (0x3022)........................................ 14
4.1.10 – Fieldbus Specific warning bits in the warning code object (0x3024) ................................ 14
4.2 - PDO PARTICULARITIES ................................................................................................................. 15
CHAPTER 5 - SYNCHRONISATION OF XTRAPULS ETHERCAT® SLAVES .................................. 16
SYNC TYPE 0: SYNCHRONISATION AND PROCESS DATA EXCHANGE DISABLED .......................................... 16
SYNC TYPE 1: SYNCHRONISATION DISABLED AND PROCESS DATA EXCHANGE ENABLED ............................ 16
SYNC TYPE 2: SOFT SYNCHRONISATION ................................................................................................ 16
SYNC TYPE 4 : HARD SYNCHRONISATION (STIFF).................................................................................... 16
Contents
3
Xtrapuls – EtherCAT® Fieldbus Interface
Chapter 1 - Introduction
The purpose of this manual is to provide the user with a support when designing an application and configuring
1
the EtherCAT® communication.
The EtherCAT® fieldbus interface allows the Xtrapuls drives to be used in an EtherCAT® communication network
using the CANopen over EtherCAT® protocol. These drives do not support the Ethernet over EtherCAT®
protocol.
In this manual, the EtherCAT® slave is supposed to be:
•
•
the XtrapulsGem drive equipped with an EtherCAT® extension board,
the XtrapulsPac-et drive.
1
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
4
Chapter 1 - Introduction
Xtrapuls – EtherCAT® Fieldbus Interface
Chapter 2 - BASIC INFORMATION ABOUT
EtherCAT®
EtherCAT® (“Ethernet for Controller and Automation Technology”) is a real-time Ethernet-based fieldbus.
2.1 - MAIN ETHERCAT® SLAVE FUNCTIONS
The following EtherCAT® slave node reference model makes it easy to locate the impact of the EtherCAT®
specific functions on the communication architecture.
CANopen Profile
Object Dictionary
Application Layer
SDO
PDO
Mailbox
SM0 : out
SM1 : in
Process Data
SM2 : out
SM3 : in
Data Link Layer
EtherCAT
State
Machine
Distributed
Clock
AL Control/
AL Status
SM
Settings
FMMUs
DL Info
DL Control/
DL Status
EtherCAT® Data Link Layer
Physical Layer
Ethernet Physical Layer (100Base-TX or 100Base-FX) or LVDS
The green box contains the modules belonging to the CANopen communication profile. This profile is
implemented in the Xtrapuls drives (please see “Xtrapuls User Guide” for more details about this communication
profile).
The red box contains the modules that belong to the EtherCAT® Slave Controller (ESC) on the EtherCAT®
Extension Board.
The EtherCAT® frame is initiated by the EtherCAT® master which sends this frame to the first EtherCAT®
slave. An EtherCAT® frame can contain several telegrams. If one of the telegrams is assigned the first slave, it
will process this telegram by inserting or extracting data respectively in or from the frame. The frame is then
transmitted to the next EtherCAT® slave which makes the same. The last EtherCAT® slave receiving the frame,
will also process it, and then returns the frame to the master via all slaves. To perform such a processing, two fullduplex communication ports are controlled.
Chapter 2 – Basic information about EtherCAT®
5
Xtrapuls – EtherCAT® Fieldbus Interface
2.2 - ETHERCAT® STATE MACHINE
The EtherCAT® master controls the following state machine in every slave:
Init
(IP)
(PI)
(SI)
Pre-Op
(PS)
(OI)
(OP)
(SP)
Safe-Op
(SO)
(OS)
Operational
Description of the states and the transitions:
State
Description
Init
Initial state at the power on. Amplifier configuration is perform ed. No communication.
Pre-Op
SM0 and SM1 are active : SDO exchange is pos sible.
SM0, SM1, SM3 are active : SDO and TPDO exchange is possible. DC generates event.
Safe-Op
Operational SM0, SM1, SM2 and SM3 are active : SDO, TPDO and RPDO exchange is possible. DC generates
event.
Transition
IP
PI
PS
SP
SO
OS
OP
SI
OI
Actions
Start SDO
Stop SDO
Start TPDO
Stop TPDO
Start RPDO
Stop RPDO
Stop RPDO and TPDO
Stop TPDO and SDO
Stop RPDO, TPDO and SDO
The internal register called “AL Status Code” (Address 0x134:0x135) indicates the eventual error cause of an
unsuccessful transition. This code can be read by using the object called “Extension Board Access“with index
0x2320, sub-index 0. The following table lists the supported AL status error codes:
Code
0x0000
0x0011
0x0012
0x0013
0x0016
0x001D
0x001E
0x0026
0x0029
0x0030
0x0036
0x8000
6
Description
no error
invalid request change
unknown request change
bootstrap not supported
invalid mailbox configuration
invalid output configuration
invalid input configuration
inconsistent settings
free run needs 3-buffer mode
invalid DC SYNCH configuration
invalid DC SYNC0 cycle time
mother board watchdog expired
Transition
Resulting state
any
current state
I->S, I->O, P->O current state
current state
I->B
I
I->P
I
0, S, P->S
S
0, S, P->S
P
P->S
P
P->S
P
0, S
S
0, S
S
I->P
I
Chapter 2 – Basic information about EtherCAT®
Xtrapuls – EtherCAT® Fieldbus Interface
2.3 - ETHERCAT® FIELDBUS TOPOLOGY
In motion control applications, EtherCAT® slaves are connected together in one line. The physical layer
technology employed by the EtherCAT® fieldbus is the 100BASE-TX. The EtherCAT® master is connected at
one end of the line.
EtherCAT®
Master
OUT
IN
OUT
IN
OUT
IN
EtherCAT®
Slave
1
EtherCAT®
Slave
2
EtherCAT®
Slave
n
RJ-45 sockets on EtherCAT® slaves are labelled “IN” and “OUT”.
The EtherCAT® master should be connected to the first EtherCAT® slave using the “IN” RJ-45 socket of the
EtherCAT® slave.
The cables used for an EtherCAT® network need to be of category 5e quality. Maximum cable length should be
100 m. The following table indicates the pin function and the wire colors (see T 568-B standard for more
information).
1
8
Pin
1
2
3
4
5
6
7
8
Chapter 2 – Basic information about EtherCAT®
T568B Color
white/orange stripe
orange solid
white/green stripe
blue solid
white/blue stripe
green solid
white/brown stripe
brown solid
Function
TxData +
TxData RecvData +
Not used
Not used
RecvData Not used
Not used
7
Xtrapuls – EtherCAT® Fieldbus Interface
Chapter 3 - Electrical installation
3.1 - CONNECTORS
On the XtrapulsGem EtherCAT® extension board, the EtherCAT® fieldbus connectors E3 and E4 are located on
the front panel.
On the XtrapulsPac drive, the EtherCAT® fieldbus connectors X6 and X7 are located on the top of the drive.
3.1.1 "IN" CONNECTOR: E3 (XTRAPULSGEM ETHERCAT® EXTENSION BOARD), X6 (XTRAPULSPAC)
PIN
1
2
3
6
Others
SIGNAL
Tx Data+
Tx DataRx Data+
Rx Data-
DESCRIPTION
Differential signals
Differential signals
Reserved
3.1.2 "OUT" CONNECTORS: E4 (XTRAPULSGEM ETHERCAT® EXTENSION BOARD), X7 (XTRAPULSPAC)
PIN
1
2
3
6
Others
SIGNAL
Tx Data+
Tx DataRx Data+
Rx Data-
DESCRIPTION
Differential signals
Differential signals
Reserved
On each EtherCAT slave, the incoming cable should always be connected to the “IN” RJ-45
socket and the outcoming should also be connected to the "OUT" RJ-45 socket.
3.2 - INDICATORS
Four LEDs are available for quick diagnosis purposes. On the XtrapulsGem EtherCAT® extension board, the four
LEDs are located according to following figure:
Link/Activity indicators
3.2.1 - LINK/ACTIVITY INDICATORS
These two LEDs are integrated in RJ-45 sockets.
Label name
L/A IN
L/A OUT
8
Color
Green
Green
Function
Link and activity on the IN port
Link and activity on the OUT port
Link
Yes
Yes
No
Activity
No
Yes
(Not Applicable)
LED coding
On
Flickering
Off
Chapter 3 – Electrical installation
Xtrapuls – EtherCAT® Fieldbus Interface
3.2.2 - RUN INDICATOR
Label
RUN
Color
Green
Function
State of the EtherCAT state m achine
State
Init
Pre-Op
Safe-Op
Operational
LED coding
Off
Blinking
Single Flash
On
3.2.3 - ERROR INDICATOR
Label
ERR
Color
Red
Function
Errors
State
No error
Booting error
Invalid Configuration
Unsollicited state change
Application watchdog timeout
LED coding
Off
Flickering
Blinking
Single Flash
Double Flash
3.3 SLAVE ADDRESSING MODES
The EtherCAT® master has the possibility to use 3 addressing modes:
Logical addressing: this addressing mode is only and mandatory used for the process data exchange (PDOs).
Position addressing: this addressing mode is used for example during the start up of the EtherCAT® system to
scan the fieldbus and during the distributed clocks compensation.
Node addressing: This addressing mode is used for the setup of the communication parameters of the ESC and
also during the SDO exchanges. Two addresses are available in this mode:
- The configured station address is assigned by the master during start up and cannot be modified by the slave;
- The configured station alias is assigned by the slave but needs to be enabled by the EtherCAT® master.
The 6 switches labelled “node ID” on the amplifier front panel are decoded at power-on of the drive and stored in
the object Device ID (index 200Ah sub-index 1) and in the configured station alias.
Chapter 3 – Electrical installation
9
Xtrapuls – EtherCAT® Fieldbus Interface
Chapter 4 - Specifications of the SDOs and PDOs for
the EtherCAT® Extension Board
All four Sync Manager channels need to be setup by the EtherCAT® master during the communication
initialisation phases according to the device description file “Infranor_Xtrapuls_Vx_x.xml”.
4.1 - SDO
All of the Xtrapuls parameters can be accessed through the SDO communication channel which is carried in the
EtherCAT® telegrams. Please see “Xtrapuls User Guide” for more details about the available objects. SDO
services encapsulated into the EtherCAT® telegrams are only 8 byte long.
SPECIFIC OBJECTS OF THE ETHERCAT®
Index
0x1C00
0x1C10
0x1C11
0x1C12
0x1C13
Object code
ARRAY
VAR
VAR
ARRAY
ARRAY
Name
Sync Manager Communication type
Sync Manager channel 0 PDO Assignment
Sync Manager channel 1 PDO Assignment
Sync Manager channel 2 PDO Assignment
Sync Manager channel 3 PDO Assignment
Type
Integer8
Integer8
Integer8
Unsigned16
Unsigned16
Attr.
ro
ro
ro
rw
rw
Type
Unsigned16
Unsigned16
Unsigned32
Unsigned16
Unsigned32
Attr.
rw
rw
rw
ro
ro
Manufacturer Specific Objects:
Index
0x2012
0x2320
0x2321
0x3022
0x3024
Object code
VAR
VAR
VAR
ARRAY
VAR
Name
Synchronisation clock object
Read access to the ESC registers
RPDO Watchdog time
Error word
Warning code
4.1.1 – SYNC MANAGER COMMUNICATION TYPE
Index
Name
Object Code
Number of elements
0x1C00
Sync Manager Communication type
ARRAY
0…4
Value description
Sub Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
0
Number of Sync Manager
VAR
Integer8
all
ro
No
4
Sub Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
1
Communication type Sync Manager channel 1
VAR
Integer8
all
ro
No
1 : mailbox receive (master to slave)
10
Chapter 4 – Specifications of the SDOs and PD0s for the EtherCAT®
Xtrapuls – EtherCAT® Fieldbus Interface
Sub Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
2
Communication type Sync Manager channel 2
VAR
Integer8
all
ro
No
2 : mailbox send (slave to master)
Sub Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
3
Communication type Sync Manager channel 3
VAR
Integer8
all
ro
No
3 : process data output (master to slave)
Sub Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
4
Communication type Sync Manager channel 4
VAR
Integer8
all
ro
No
4 : process data input (slave to master)
4.1.2 – SYNC MANAGER CHANNEL 0 PDO ASSIGNMENT
Value description
Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
0x1C10
Sync Manager channel 0 PDO assignment
VAR
Integer8
all
ro
No
0 : no PDO assigned
4.1.3 – SYNC MANAGER CHANNEL 1 PDO ASSIGNMENT
Value description
Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
0x1C11
Sync Manager channel 1 PDO assignment
VAR
Integer8
all
ro
No
0 : no PDO assigned
Chapter 4 – Specifications of the SDOs and PD0s for the EtherCAT®
11
Xtrapuls – EtherCAT® Fieldbus Interface
4.1.4 – SYNC MANAGER CHANNEL 2 PDO ASSIGNMENT
Index
Name
Object Code
Number of elements
0x1C12
Sync Manager channel 2 PDO assignment
ARRAY
0…4
Value description
Sub Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
0
Number of assigned RxPDOs
VAR
Integer8
all
rw
No
4
Sub Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
1
PDO mapping object index of assigned RxPDO
VAR
Unsigned16
all
rw
No
0x1600 : RxPDO1
4.1.5 – SYNC MANAGER CHANNEL 3 PDO ASSIGNMENT
Index
Name
Object Code
Number of elements
0x1C13
Sync Manager channel 3 PDO assignment
ARRAY
0…4
Value description
Sub Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
0
Number of assigned TxPDOs
VAR
Integer8
all
rw
No
4
Sub Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
1
PDO mapping object index of assigned TxPDO
VAR
Unsigned16
all
rw
No
0x1A00 : TxPDO1
12
Chapter 4 – Specifications of the SDOs and PD0s for the EtherCAT®
Xtrapuls – EtherCAT® Fieldbus Interface
4.1.6 – SYNCHRONISATION CLOCK OBJECT
Index
Name
Object Code
Number of elements
0x2012
Synchronisation Type
ARRAY
1
Value description
Sub Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
1
Synchronisation clock
VAR
Unsigned16
all
rw
No
4
Synchronisation clock
0
1
2
4
Description
No synchronisation of the servo loop; no PDO mapping
No synchronisation of the servo loop; PDO mapping performed
Soft synchronisation of the servo loop; PDO mapping performed
Hard synchronisation of the servo loop; PDO mapping performed
4.1.7 – READ ACCESS TO THE FIELDBUS CONTROLLER REGISTERS
Value description
Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
0x2320
Read access to the Fieldbus controller (ESC) registers
VAR
Unsigned16
all
rw
No
0
ESC register read sequence has to be performed as follows:
1- write into the object (index 0x2320 sub-index 0) the address of the ESC register to be read
2- read from the object the data stored at the previously written address
4.1.8 – RPDO WATCHDOG TIME
Value description
Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
Unit
0x2321
RPDO watchdog time
VAR
Unsigned16
all
rw
No
0 (0: not used)
milliseconds
Starting at the reception of the first RPDO, if no RPDO is received after the RPDO watchdog time, bit 13 of the
error monitoring object value (index 3022h sub-index 2) is set to one. The EtherCAT® slave autonomously
changes to the Safe-Op state.
Chapter 4 – Specifications of the SDOs and PD0s for the EtherCAT®
13
Xtrapuls – EtherCAT® Fieldbus Interface
4.1.9 – FIELDBUS SPECIFIC ERROR BITS IN THE ERROR CODE 1 OBJECT (0X3022)
Index
Name
Object Code
Number of Elements
0x3022
Error word
ARRAY
3
Value Description
This object contains two 32-bit words in which one bit is assigned to different errors.
The Error code is the value which will be sent as an emergency message (EMCY). Only bit 13 of the value of sub
index 2 is detailed in this manual:
Sub Index
Description
Data Type
Object Class
Access
PDO Mapping
Value
Default value
Bit
13
Value
0x00002000
2
Error monitoring
Unsigned32
all
ro
No
See below
No
Error Code
46
Function
RPDO watchdog overflow
4.1.10 – FIELDBUS SPECIFIC WARNING BITS IN THE WARNING CODE OBJECT (0X3024)
Value description
Index
Name
Object Code
Data Type
Object Class
Access
PDO Mapping
Default Value
0x3024
Warning Code
VAR
Unsigned32
all
ro
Possible
0
Only bits 13 and 14 of the value of the object are detailed in this manual:
Bit
13
14
14
Mask
0x00002000
0x00004000
Function
EtherCAT® firmware not compatible
Fieldbus Controler (ESC) not accessible
Chapter 4 – Specifications of the SDOs and PD0s for the EtherCAT®
Xtrapuls – EtherCAT® Fieldbus Interface
4.2 - PDO PARTICULARITIES
The Sync Manager PDO Assign objects need to be setup in addition to the usual xPDO mapping objects.
Principle of PDO mapping:
CANopen usual PDO mapping setup
0
1
2
0
1
1rst Receive PDO mapping (object 1600h)
2 (nb of entries)
yyyyh (index) yyh (sub-index)
20h (size)
xxxxh
xxh
10h
2nd Receive PDO mapping (object 1601h)
1 (nb of entries)
zzzzh (index) zzh (sub-index)
20h (size)
EtherCAT® specific Sync Manager PDO assignment
RPDO2
Application object 3
xxxxh
Object Dictionary
xxh
Application object 1
yyyyh
yyh
Application object 2
zzzzh
zzh
Application object 3
Sync Manager Channel 2 PDO
Assignment (object 1C12h)
0
2 (nb of entries)
1
1601h (index)
2
1600h
RDPO1
Application object 2 Application object 1
These setups can be performed by using the SDO communication channels either with the Gem Drive Studio
software or with an EtherCAT® master.
Sync Manager Channel 2 should be setup to process at least one RPDO.
Chapter 4 – Specifications of the SDOs and PD0s for the EtherCAT®
15
Xtrapuls – EtherCAT® Fieldbus Interface
Chapter 5 - Synchronisation of Xtrapuls EtherCAT®
slaves
The EtherCAT® fieldbus is well-suitable for multiaxis applications with time-critical constraints.
An internal software PLL is used in the Xtrapuls drive to synchronize the servo loops with a fieldbus-based clock
source.
Before entering the Safe-Op and Op states, the communication cycle period object (1006h) and the
synchronisation clock object (2012h) need to be carefully setup according to the slave’s setup performed by the
EtherCAT® master. These objects are detailed in the “Xtrapuls User Guide".
SYNC TYPE 0: SYNCHRONISATION AND PROCESS DATA EXCHANGE DISABLED
This is the default value of the synchronisation type at power-on of the drive. The servo loop is not synchronized
with the fieldbus. No PDO mapping is possible.
SYNC TYPE 1: SYNCHRONISATION DISABLED AND PROCESS DATA EXCHANGE ENABLED
No synchronisation of the servo loops takes place whereas the PDO mapping is performed.
SYNC TYPE 2: SOFT SYNCHRONISATION
A clock event is generated every time an EtherCAT® telegram which carries RPDO is received by the Xtrapuls
drive. This clock event is the source of the internal software PLL to synchronize the servo loops. This clock event
is physically generated by the ESC Sync Manager channel 2 interruption.
The PDO mapping is performed in the following way:
Communication cycle period
Reception
of RPDOs
Transmission
of TPDOs
SM2 Event
(RPDO)
Sampling of
TPDOs
SM2 Event
(RPDO)
Execution
of RPDOs
In this synchronisation type, the EtherCAT® master is supposed to embed TPDO and RPDO in the same
EtherCAT® telegram.
The minimum communication cycle period with the soft synchronisation type using the EtherCAT® fieldbus is
2 ms.
With this type of synchronisation, distributed clocks should not be enabled by the master, otherwise
Sync the
Type
4 : Preop
hardto Safe-Op
synchronisation
(stiff)
transition
will not be performed
and the AL Status Code will be set to 26h,
meaning an inconsistent setting.
16
Chapter 5 – Synchronization of Xtrapuls EtherCAT® slaves
Xtrapuls – EtherCAT® Fieldbus Interface
The distributed clock is the source of the internal software PLL to synchronize the servo loops. This clock event is
physically the SYNC0 signal generated by the distributed clock of the ESC.
The PDO mapping is performed in the following way:
Communication cycle period
Reception
of RPDOs
Transmition
of TPDOs
SM2
Event
(RPDO)
SYNC0
Event
SM2 Event
(RPDO)
SM2
Event
(RPDO)
SYNC0
Event
Execution
of RPDOs
Sampling of
TPDOs
In this synchronisation type, the EtherCAT® master is also supposed to embed TPDO and RPDO in the same
EtherCAT® telegram.
The EtherCAT® master is responsible for the setup of the SYNC0 cycle time parameter during the communication
start-up phase (PS transition).
With this type of synchronisation care must be taken during the setup of the master :
Distributed clocks should be enabled by the master.
The SYNC0 cycle time and the cycle task communication period needs to be equal to the
communication cycle period object 1006h.
If one of these conditions is not fulfilled, the transition Preop to Safe-Op will not be performed and the
AL Status Code will be set to 26h, meaning an inconsistent setting.
Chapter 5 – Synchronization of Xtrapuls EtherCAT® slaves
17