CompactCom 40 EtherCAT
Contents
1. Green blinking PRE OPERATIONAL EtherCAT device in PRE OPERATIONAL state Green single flash SAFE OPERATIONAL EtherCAT device in SAFE OPERATIONAL state Flickering BOOT The EtherCAT device is in BOOT state Red Fatal Event a If RUN and ERR turn red this indicates a fatal event forcing the bus interface to a physically passive state Con tact HMS technical support ERR LED This LED indicates EtherCAT communication errors etc LED State Indication Description Off No error No error or no power Red blinking Invalid configuration State change received from master is not possible due to invalid register or object settings Red single flash Unsolicited state change Slave device application has changed the EtherCAT state autonomously Red double flash Application watchdog timeout Sync manager watchdog timeout Red Application controller failure Anybus module in EXCEPTION Flickering Booting error detected E g due to firmware download failure a If RUN and ERR turn red this indicates a fatal event forcing the bus interface to a physically passive state Con tact HMS technical support Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Technical Specification 49 Link Activity These LEDs indicate the EtherCAT link status and activity LED State Indication Description Off No link Link not sensed or2. Minimum required time in nanoseconds between RDPDI interrupt and valid output Specifies the value of object entry 1C32h subindex 6 SM Output Parameter Output Calc and Copy Time Input processing Get UINT32 Maximum required time in nanoseconds from Input capture until write process data has been completely written to the Anybus CompactCom module Specifies the value of object entry 1C33h subindex 6 SM Input Parameter Input Calc and Copy Time Min cycle time Get UINT32 Minimum cycle time supported by the appli cation Specifies the values of object entries 1C32h and 1C33h subindex 5 SM Output and SM Input Parameters Minimum cycle time Sync mode Get Set UINT16 Selection of synchronization mode The attri bute enumerates the bits in attribute 8 0 Free Run no sync 1 Synced with DC Specifies the values of object entries 1C32h and 1C33h subindex 1 SM Output and SM Input Parameters Synchronization type Supported sync modes Get UINT16 A list of the synchronization modes the appli cation supports Each bit corresponds to a mode in attribute 7 Bit 0 1 Free run supported Bit 1 1 DC supported Specifies the values of object entries 1C32h and 1C33h subindex 4 SM Output and Input Parameters Synchronization types supported a The Anybus latency is added to this value before it is presented on EtherCAT Anybus CompactCom 40 Eth
3. 1 30 Doc HMSI 27 220 Basic Operation 12 2 2 5 Addressing Modes There are a number of different addressing modes which can be applied when communicating with Eth erCAT slaves As a full EtherCAT slave device the module supports position addressing node address ing and logical addressing Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Basic Operation 13 2 2 6 Watchdog Functionality Apatt from the standard watchdog functionality the following additional watchdogs are implemented Output I O Sync Manager Watchdog If enabled this watchdog monitors the PDO communication towards the Anybus module If the master doesn t update the Read Process Data within the specified time period this will trigger a timeout condition in the module causing it to shift from OPERATIONAL to SAFE OPERA TIONAL The supervision bit SUP is also affected by this The sync manager watchdog is enabled by default in the ESI file with a default time period of 100 ms The sync manager watchdog can always be disabled enabled manually in the configuration tool for the master See also e SUP Bit Definition on page 47 Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Basic Operation 14 2 3 CANopen over EtherCAT Implementation Details 2 3 1 General Information As mentioned previously the module implements CANopen over EtherCAT The object implementa tion is based on the DS301 communication profile
4. CANopen over EtherCAT Implementation Details on page 14 2 2 2 EtherCAT Synchronization EtherCAT synchronization and jitter accuracy may depend on different things How often the master sends out sync frames Temperature variations in the environment large impact e The implementation of the EtherCAT slave device Which Ethernet physical layer is used in the slave devices RJ45 E Bus etc The Anybus CompactCom 40 EtherCA T modules all demonstrate less than 1 us synchronization accu racy For RJ45 products the accuracy may be around 50 ns under good conditions and for E Bus prod ucts around 30 ns 2 2 3 Sync Managers The module features four Sync Managers e Sync Manager 0 Used for mailbox write transfers Master to Slave The module has a configurable write mailbox size with default size of 276 bytes corresponding to 255 bytes plus relevant protocol headers and padding Sync Manager 1 Used for mailbox read transfers Slave to Master The module has a configurable read mailbox size with default size of 276 bytes corresponding to 255 bytes plus relevant protocol headers and padding Sync Manager 2 Contains the RxPDOs in practice Sync Manager 2 holds the Read Process Data Sync Manager 3 Contains the TxPDOs in practice Sync Manager 3 holds the Write Process Data 2 2 4 FMMUs There are four FMMUs The EtherCAT master can use the FMMUs freely for any purpose Anybus CompactCom 40 EtherCAT Doc Rev
5. See also Data Exchange on page 15 e Object Dictionary CANopen over EtherCAT on page 18 2 3 2 Implemented Services The module implements the following CANopen services Service Description SDO Download Expedited Writes up to four octets to the slave SDO Download Normal Writes up to a negotiated number of octets to the slave Download SDO Segment Writes additional data if the object size exceeds the negotiated no of octets SDO Upload Expedited Reads up to four octets from the slave SDO Upload Normal Reads up to a negotiated number of octets from the slave Upload SDO Segment Reads additional data if the object size exceeds the negotiated no of octets Abort SDO Transfer Server abort of service in case of an erroneous condition Get OD List Reads a list of available indices Get Object Description Reads details of an index Get Entry Description Reads details of a subindex Emergency Reports unexpected conditions and diagnostic events Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Basic Operation 15 2 4 Data Exchange 2 4 1 Application Data ADI Application Data Instances ADIs can be accessed from the network via dedicated object entries in the Manufacturer Specific range and the Profile range 2001h FFFFh The SDO information protocol al lows nodes to retrieve the name and data type of the ADI See also Manufacturer and Profile Speci
6. some masters as a node address The Anybus CompactCom 40 EtherCAT slave module does not suppott local configuration of the Con figured Station Alias For most applications it is recommended to leave the Configured Station Alias un changed but it is possible to assign each slave an address from the network 2 7 Device ID The Device ID is used by the master to explicitly identify a slave This is e g useful when changing a faulty device during runtime A preconfigured device can be entered into the network and its Device ID can be set to the same Device ID as the faulty device was appointed It is also useful to prevent cable swapping when there are two or more identical devices on the network The Device ID range is 1 65535 Address 0 indicates that the device has yet to be configured The value can be set using the Network Configuration Object instance 1 2 See also Network Configuration Object 04h on page 34 1 Aso called HotConnect application 2 Please note that in the Anybus CompactCom M30 EtherCAT the Network Configuration Object instance 3 was used for the Device ID Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Basic Operation 17 2 8 Modular Device Profile The Anybus CompactCom 40 EtherCAT supports the Modular Device Profile that is enabled if the Modular Device Object is implemented in the application Running this profile the module supports a maximum of 63 slots including the cou
7. 02 CAN in Automation P 2 Document History Summary of Recent Changes 1 21 1 30 Change Page s Corrected lengths in EtherCAT Host Object F5h attributes 6 7 and 8 added attribute 16 42 43 Updated APPStatus table ALStatusCode for Synchronization loss changed to 002Ch 40 Updated information on creating and deleting diagnostic instances 31 Corrected data types for object attributes 3 and 4 in EtherCAT Host Object F5h 41 Extended and advanced joined to one category extended Revision List Revision Date Author s Chapter s Description 1 00 2014 03 21 KeL All First official revision 1 01 2014 04 04 KeL Added EtherCAT logo to trademark acknowledgements 1 10 2014 07 15 KeL 2 3 4 C Updates and additions DE 1 20 2015 01 19 KeL 2 3 4 5 Misc Updates and corrections B C D 1 21 2015 02 24 KaD 3 4 5 Minor updates 1 30 2015 10 23 KeL 4 5 Minor updates and corrections Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 About This Document 6 P 3 Conventions amp Terminology The following conventions are used throughout this manual Numbered lists provide sequential steps Bulleted lists provide information not procedural steps The terms Anybus or module refers to the Anybus CompactCom module The terms host or host application refers to the device that hosts the Anybus module Hexa
8. from the network If the module is in state PROCESS ACTIVE it will go to ERROR 0007h Output error DCSYNCIOERROR 0033h A problem in the application prevents it from acting on outputs If the module is in state PROCESS ACTIVE it will go to ERROR Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Host Application Objects 41 5 4 EtherCAT Object F5h Category Basic extended Object Description This object implements EtherCAT specific settings in the host application The implementation of this object is optional the host application can support none some or all of the attributes specified below The module will attempt to retrieve the values of these attributes during start up if an attribute is not implemented in the host application simply respond with an error message 06h Invalid CmdExt 0 In such case the module will use its default value If the module attempts to retrieve a value of an attribute not listed below respond with an error message 06h Invalid CmdExt 0 Note 1 Support for this object is optional If implemented it is highly recommended to support all at tributes in the range 1 6 Note 2 To pass conformance tests the end product has to have a Vendor ID valid for the end product vendor See also e Anybus CompactCom 40 Software Design Guide Error Codes Supported Commands Object Get Attribute Instance Get Attribute Object Attr
9. instance a k a ADI within the Application Data Object FEh i e network accesses to these objects result in object requests towards the host application In case of an error the error code returned in the response from the host application will be translated into the corresponding CANopen abort code Important Since any access to these object entries will result in an object access towards the host ap plication the time spent communicating on the host interface must be taken into account when calcu lating the SDO timeout value 3 2 2 Network Data Format Data is translated between the native network format and the Anybus data format as follows Anybus Data Type Network Data Type BOOL UNSIGNED8 SINT8 INTEGER8 SINT16 INTEGER16 SINT32 INTEGER32 UINT8 UNSIGNED8 UINT16 UNSIGNED16 UINT32 UNSIGNED32 CHAR VISIBLE STRING ENUM UNSIGNED8 or ENUM BITS8 BITARR8 BITS16 BITARR16 BITS32 BITARR32 OCTET OCTET STRING SINT64 INTEGER64 UINT64 UNSIGNED64 FLOAT REAL32 PADO 16 NULL BIT1 BIT7 BIT1 BIT7 Note 1 ADIs with multiple elements are represented either as arrays all elements share the same data type or as records the elements may have different data types Exceptions to this are CHAR which will always be represented as VISIBLE STRING and OCTET which will always be represented as OCTET STRING Note 2 Single element ADIs are represented as a simple
10. is thor oughly described in the general Anybus CompactCom 40 Software Design Guide An EMCY Object Emergency Object is sent on the network each time a diagnostic instance is created ot deleted Supported Commands Object Get Attribute Create Delete Instance Get Attribute Object Attributes Instance 0 D Name Access Data Type Value 1 4 Consult the general Anybus CompactCom 40 Software Design Guide for further information 11 Max no of instances Get UINT16 5 1 one instance is reserved for a major unrecoverable event 12 Supported functionality Get BITS32 Bit 0 0 The module does not support latching events Bits 1 31 0 Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Instance Attributes Anybus Module Objects 31 Basic D Name Access Type Value 1 Severity Get UINT8 See Anybus CompactCom 40 Software Design Guide 2 Event Code Get UINT8 3 NW specific extension Get Array of UINT8 CANopen specific EMCY code 2 bytes 4 7 not used When an instance is created i e a diagnostic event is entered the following actions are performed 1 A new entry will be created in object entry 1003h Pre defined error field as follows High byte UINT32 Low byte Not used Event Code 00h 2 The Error Register object entry 1001h is set with the corresponding bit information Bit no Description Cond
11. not binding We HMS Industrial Networks AB reserve the right to modify our products in line with our policy of continuous product development The information in this document is subject to change without notice and should not be considered as a commitment by HMS Industrial Networks AB HMS Industrial Net wotks AB assumes no responsibility for any errors that may appear in this document There are many applications of this product Those responsible for the use of this device must ensure that all the necessary steps have been taken to verify that the applications meet all performance and safety requirements including any applicable laws regu lations codes and standards HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that may arise as a result from the use of undocumented features timing or functional side effects found outside the documented scope of this prod uct The effects caused by any direct or indirect use of such aspects of the product are undefined and may include e g compatibility issues and stability issues The examples and illustrations in this document are included solely for illustrative purposes Because of the many variables and requirements associated with any particular implementation HMS Industrial Networks AB cannot assume responsibility for actual use based on these examples and illustrations Intellectual Property Rights HMS Industrial Networks AB has in
12. 0h Error register U8 RO This information managed through 1003h Pre defined 00h Number of errors U8 RW the Diagnostic Object see Diag error field Ofh 05h Error field U32 RO nostic Object 02h on page 30 1008h Manufacturer 00h Manufacturer device Visible RO These entries are managed through device name name string the EtherCAT Object which can 1009h Manufacturer 00h Manufacturer hardware Visible RO optionally be implemented in the hardware ver version string host application See EtherCAT sion Object F5h on page 41 100An Manufacturer 00h Manufacturer Software Visible RO software ver version string sion 1011h Restore param 00h Largest sub index sup U8 RO 01h eters ported 01h Restore all default U32 RW parameters 1018h Identity object 00h Number of entries U8 RO Number of entries 01h Vendor ID U32 RO These entries are managed through 02h Product Code U32 IRO the EtherCAT Object which can 03h Revision Number U32 RO optionally be implemented in the host application See EtherCAT 04h Serial Number U32 RO Object FSH Seal 10F1h Error Settings 00h Number of entries U8 RO object 02h Sync error counter limit U32 RW 1600h Receive PDO 00h No of mapped applica U8 RO RW2 No of mapped objects 0 254 1xxxh mapping tion objects in PDO see Mapping ADIs on PDOs on page 21 for more information 01h Mapped object 1 U32 RO RW 02h Mapped object 2 U32 RO RW NNh Mapped object NN U32 RoI
13. 9 4 2 Anybus Object 01h Category Basic Object Description This object assembles all common Anybus data and is described thoroughly in the general Anybus CompactCom 40 Software Design Guide Supported Commands Object Get Attribute Instance Get Attribute Set Attribute Get Enum String Object Attributes Instance 0 Consult the general Anybus CompactCom 40 Software Design Guide for further information Instance Attributes Instance 1 Basic D Name Access Type Value 1 Module type Get UINT16 0403h Anybus CompactCom 40 2 11 Consult the general Anybus CompactCom 40 Software Design Guide for further information 12 LED colors Get struct of Value Color UINT8 LED1A 01h Green UINT8 LED1B 02h Red UINT8 LED2A 01h Green UINT8 LED2B 02h Red 13 16 Consult the general Anybus CompactCom 40 17 Virtual attributes Get Set Software Design Guide for further information 18 Black list White list Get Set 19 Network time Get UINT64 64 bit value expressed in nanoseconds Base 12 00 AM January 1 2000 The Network time attribute contains the value of the DC system time register of the EtherCAT slave controller Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 4 3 Diagnostic Object 02h Category Basic Object Description Anybus Module Objects 30 This object provides a standardised way of handling host application events amp diagnostics and
14. Application Doc ld HMSI 27 220 Appendix E E Copyright Notices Format lightweight string formatting library Copyright C 2010 2013 Neil Johnson All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution Neither the name of nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGE
15. Code 0000 0036h Anybus CompactCom 40 EtherCAT Device Name Anybus CompactCom 40 EtherCAT Serial Number Assigned during manufacturing By implementing support for the EtherCAT Object F5h the module can be customized to appear as a vendor specific implementation rather than a generic Anybus device For the end product to pass the ETG conformance tests and be certified a separate Vendor ID has to be requested from ETG See also e EtherCAT Object F5h on page 41 Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Basic Operation 10 2 1 4 File Access over EtherCAT FoE The module supports File Access over EtherCAT FoE for downloading a firmware file from a Client machine to the Server All FoE requests not concerning files with the extension hiff HMS firmware files or the extension nfo will be forwarded to the Application File System Interface object see the Anybus CompactCom 40 Software Design Guide for more information If a firmware file downloaded throught FoE is pending for update the file with the extension hiff will be possible to upload via FoE Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Basic Operation 11 2 2 EtherCAT Implementation Details 2 2 1 General Information The module implements a full EtherCAT slave with the following basic properties Application Layer CANopen over EtherCAT e FMMUs 4 Sync Managers 4 RAM Size 16 kByte See also e
16. DE RE IUNII 7 Basic Operation General InfotmatiOna ove tice m ane Noto D EE REDE RERO NEED Teens Software Requirements EtherCAT Slave Interface ESI File Debico EE 9 File Access EE RE 10 EtherCAT Implementation Details dee te eee teet 11 General Information o s EE 11 DUE rp 11 VIVAL Sioa eI LL RE nt EL A idis 11 zdddrossingMOod s 5 xus ster rtr EEN 12 eher 13 CANopen over EtherCAT Implementation Details ee 14 General Information E E EER 14 E 14 Data dr T andes 15 Zabphaton Data ADI Lu ie e ee shedianddebsanstdussaracones 15 Piress Dallas ees ETO E a ROTER T coun SERIE E nebat 15 Network Reset Handling ntt tq dete geste pete ret dept pne 16 Reset iN C CQ 16 Restore Manufacturer Parameters to Default een 16 Configured Station Alias Node Address sse 16 RR E 16 Modular Device Profle aj cscs idc eee ete etr NEES dE 17 Object Dictionary CANopen over EtherCAT Standard OBjECtS P General Object Entries Manufacturer and Profile Specific Objects nennen 22 E Network Data Format us Se s EE Object ENTE T Modular Device Profile Object Entries Chapter 4 Anybus Module Objects General Information geseet EENG 28 Anybus Object Th ete esaet iecit nere eee e reete etg ee eee tee eon ni eb ead 29 Diaenostie Object 02D nne e e ea es
17. I values are ADIs with multiple elements determined by the ADI itself i e arrays are represented 5 as multiple subindexes NNh 2002h ADI 0002h 00h ADI value Attribute 5 2003h ADI 0003h 00h Number of entries NNh U8 RO 01h ADI value s Attribute 5 02h ADIs with multiple elements i e arrays are represented SS as multiple subindexes NNh 2004h ADI 0004h 00h ADI value Attribute 5 2005h ADI 0005h 00h Number of entries NNh U8 RO 01h ADI value s Attribute 5 02h ADIs with multiple elements i e arrays are represented n as multiple subindexes NNh 5FFFh ADI 3FFFh 00h Number of entries NNh U8 RO 01h ADI value s Attribute 5 02h ADIs with multiple elements i e arrays are represented e as multiple subindexes NNh Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 3 2 5 Modular Device Profile Object Entries Object Dictionary CANopen over EtherCAT 25 The objects listed in the table below shall be implemented if the Modular Device Profile mode is en abled Index Object Name Subindex Description Type Access Notes 6000h Input data Any ADIs for all modules Any R RW For more information see ADI to 6FFFh except the coupler that SDO Translation on page 26 are write process data mappable will be repre sented in this range 7000h Output data Any ADIs for all modules Any W RW For more informat
18. NCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc Id HMSI 27 220
19. Network Guide Anybus CompactCom 40 EtherCAT Doc ld HMSI 27 220 Rev 1 30 LL HIIS Al Connecting Devices HALMSTAD CHICAGO KARLSRUHE TOKYO BEIJING MILANO MULHOUSE COVENTRY PUNE COPENHAGEN HMS Industrial Networks Mailing address Box 4126 300 04 Halmstad Sweden E mail info hms networks com Visiting address Stationsgatan 37 Halmstad Sweden www anybus com Important User Information This document is intended to provide a good understanding of the functionality offered by EtherCAT The document only de scribes the features that are specific to the Anybus CompactCom 40 EtherCAT For general information regarding the Anybus CompactCom 40 consult the Anybus CompactCom 40 design guides The reader of this document is expected to be familiar with high level software design and communication systems in general The use of advanced EtherCAT specific functionality may require in depth knowledge in EtherCAT networking internals and or information from the official EtherCAT specifications In such cases the people responsible for the implementation of this prod uct should either obtain the EtherCAT specification to gain sufficient knowledge or limit their implementation in such a way that this is not necessary Liability Every care has been taken in the preparation of this manual Please inform HMS Industrial Networks AB of any inaccuracies or omissions The data and illustrations found in this document are
20. PDOs The Receive PDO mapping objects 1600h 1xxxh and the Transmit PDO mapping objects 1A00h 1xxxh ate configured depending on how the host application is set up Mode Access Number of objects in each direction Number of sub indices per object Generic static map RO 1 62 1 254 ping Generic dynamic RW 1 62 254 except the 6th object that has 216 mapping sub indices as the maximum number of entries is 1486 Assembly Mapping gojgw Number of assembly mapping instances 1486 number of objects max 254 Object implemented in host in that direction max 63 Modular device static RO Same as the number of modules that Same as the number of ADIs mapped in mapping have objects mappable in that direction max 63 Same as the number of modules that have objects mappable in that direction max 63 that direction during setup Modular device RW 1486 number of objects max 254 dynamic mapping a Depends on how many ADI mapping items that are mapped by the application during setup Each PDO can hold 254 ADI mapping items b Depends on how many ADI mapping items that are mapped by the application during setup One PDO mapping object at the time will be filled with mapped items c See Assembly Mapping Object EBh on page 37 for more information d RO if the corresponding assembly instance is static RW if it is dynamic Please note that in Generic mode and
21. RW 1A00h Transmit PDO 00h No of mapped applica U8 RO RW2 No of mapped objects 0 254 1xxxh mapping tion objects in PDO see Mapping ADIs on PDOs on page 21 for more information Oth Mapped object 1 U32 ROIRW 02h Mapped object 2 U32 ROIRW NNh Mapped object NN U32 RO RW 1C00h Sync Manager 00h Number of entries U8 RO 4 Communica oth Mailbox wr Up RO 1 tion Type 02h Mailbox rd UB RO 2 03h Process Data out U8 RO 3 04h Process Data in U8 RO 4 Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Object Dictionary CANopen over EtherCAT 20 Index Object Name Subindex Description Type Access Notes 1C12h Sync Manager 00h No of assigned PDOs U8 RO RW Rx PDO Assign ot vu Assigned PDO Ui lRoRwe 1C13h Sync Manager 00h No of assigned PDOs U8 ROIRW Tx PDO Assign op vu Assigned PDO U16 oons 1C32h SM output 00h Max subindex supported U8 RO 12 OBh parameter Oth Sync mode U16 Ro gw 00h Free Run 02h DC Sync Also see Sync Object EEh on page 38 02h Cycle time U32 Ru Cycle time in nanoseconds 03h Shift time U32 RW Shift time in nanoseconds 04h Synchronization Types U16 RO Bit 0 set FREE RUN supported supported Bit 2 set DC Sync0 supported Bit 5 set Output shift with local timer All other bits are set to 0 Also see Sync Object EEh on page 38 05h Minimum cy
22. ata 0Ah 10 U32 R Module Identity Module identity for the module according to the host application OBh 11 U16 r Slot Module number PDO Mapping The Receive PDO mapping objects and the Transmit PDO mapping objects are configured depending on how the host application is set up One object in the 16xxh series is created for each module that holds at least one read mappable ADI The object numbers will be 1600h slot number 1 One object in the 1Axxh series is created for each module that holds at least one write mappable ADI The object numbers will be 1A00h slot number 1 If the coupler holds any write or read mappable ADIs objects will be created for these Any objects for the coupler are created after all other mapping objects have been created For more information see Mapping ADIs on PDOs on page 21 Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Chapter 4 4 Anybus Module Objects 4 1 General Information This chapter specifies the Anybus Module Object implementation in the module Standard Objects Anybus Object 01h on page 29 Diagnostic Object 02h on page 30 Netwotk Object 03h on page 32 Network Configuration Object 04h on page 34 File System Interface Object Ah see Anybus CompactCom 40 Software Design Guide Network Specific Objects none Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc Id HMSI 27 220 Anybus Module Objects 2
23. ber of ADIs mapped per slot is defined in the Modular Device Object where the same number of objects is assigned to each slot Depending on whether the ADIs are write or read mappable they will be mapped to dif ferent object ranges An ADI that is both read and write mappable will be mapped to both ranges Please note that the SDOs are assigned in number order but occupy different ranges depending on type The ADIs that are neither read nor write mappable will not be mapped to an SDO resulting in empty SDOS as shown in the table below Module ADI Type SDO 0 Coupler 1 Write mappable F600h 2 Read mappable F701h 3 Write mappable F602h 4 Read mappable F703h 5 Not mappable 1 6 Read mappable 7000h 7 Write mappable 6001h 8 Writable 9 Read only 10 Read mappable 7004h 2 11 Writeable 12 Read only 14 Write mappable 6008h 15 Write and Read 6009h and 7009h mappable Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Object Dictionary CANopen over EtherCAT 27 Module Identification Objects The first SDO in the 9nnnh range for each module shall be predefined according to the table below Subindex Type Access Name and Description 00h 0 U8 R Highest sub index supported Value 11 0Bh 09h 9 U16 R Module PDO group Value 1 The PDO group is set to 1 for all modules except the coupler to allw coupler data to be put before module d
24. can compare the module configured on expected module configuration to position 1 slot 1 the actual configuration Onh Module identity ofthe U32 RW module configured on position n slot n Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Object Dictionary CANopen over EtherCAT 26 Index Object Name Subindex Description Type Access Notes F050h Detected Mod 00h Number of Entries U8 R This object contains information ule Ident List Number of slots 1 about the modules in the occupied 01h Module identity of the U32 RW slots scanned from the application module configured on position 1 slot 1 Onh Module identity of the U32 RW module configured on position n slot n F600h Input data area Any ADIs for the coupler that An R RW F6FFh for the coupler are write process map pable will be repre sented in this range F700h Output data Any ADIs for the coupler that Am W RW F7FFh area for the are read process map coupler pable will be repre sented in this range a If the Configured Module Ident List FO30h does not match the Detected Module Ident List F050h the module will indicate a mismatch configuration by setting the ALStatusCode register to 0070h The module will not enter SAFE OPERATIONAL state ADI to SDO Translation In the Modular Device Profile all ADIs have to be mapped in numbering order The num
25. cle time U32 RO Minimum cycle time in nanosec onds 06h Output Calc and Copy U32 RO Output Calc and Copy Time in Time nanoseconds 09h Delay time U32 RO Delay time in nanonseconds Always set to 0 OCh Cycle Time Too Small U16 RO Cycle time to small 1C33h SM input 00h Max subindex supported U8 RO 12 OBh parameter 01h Sync mode U16 Ro gw 00h Free Run 02h DC Sync Also see Sync Object EEh on page 38 02h Cycle time U32 RW Cycle time in nanoseconds same value as 1C32h subindex 2 03h Shift time U32 RW Shift time in nanoseconds 04h Synchronization Types U16 RO Bit 0 set FREE RUN supported supported Bit 2 set DC Sync0 supported Bit 5 set Input shift with local timer All other bits are set to 0 Also see Sync Object EEh on page 38 05h Minimum cycle time U32 RO Minimum cycle time in nanosec onds same value as 1C32h subin dex 5 06h Input Calc and Copy U32 RO Input Calc and Copy Time in nano Time seconds OCh Cycle Time Too Small U16 RO Cycle time to small same value as 1C32h subindex 12 0Bh a Writable when dynamic process data is supported by the application remap commands b When using static PDO mapping this subindex is read only When using dynamic PDO mapping it is writable c If more than one sync mode is supported this entry is writable Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Object Dictionary CANopen over EtherCAT 21 Mapping ADIs on
26. d state 0800 0022h Data cannot be transferred or stored to the application because of the present device state Out of resources 0504 0005h Out of memory Value too high 0609 0031h Value of parameter higher than upper limit only for write access Value too low 0609 0032h Value of parameter lower than lower limit only for write access Write access to a read pro 0601 0006h Object mapped to RxPDO SDO download blocked cess data mapped ADI Object Specific Error 0800 0000h General error Note If no corresponding error code can be defined on CANopen the default error code will be Gen eral error 0800 000h Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Object Dictionary CANopen over EtherCAT 24 3 2 4 Object Entries The exact representation of an ADI depends on its number of elements In the following example ADIs no 0002h and 0004h only contain one element each causing them to be represented as simple variables rather than arrays The other ADIs have more than 1 element of the same data type causing them to be represented as arrays If an ADI has more than 1 element of different data types it will be represent ed as a record Index Object Name Subindex Description Type Access Notes 2001h ADI 0001h 00h Number of entries NNh U8 RO 01h ADI value s Attribute 5 The data type and access 02h rights of the AD
27. decimal values ate written in the format NNNNh or 0xNNNN where NNNN is the hexa decimal value A byte always consists of 8 bits P 4 Support For general contact information and support please refer to the contact and support pages at www anybus com Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Chapter 1 1 About the Anybus CompactCom 40 EtherCAT 1 1 General The Anybus CompactCom 40 EtherCAT communication module provides instant EtherCAT confor mance tested connectivity via the patented Anybus CompactCom host interface Any device that sup ports this standard can take advantage of the features provided by the module allowing seamless network integration regardless of network type This product conforms to all aspects of the host interface for Active modules defined in the Anybus CompactCom Hardware and Software Design Guides making it fully interchangeable with any other device following that specification Generally no additional network related software support is needed however in order to take advantage of advanced network specific functionality a certain degree of ded icated software support may be necessary 1 2 Features CANopen over EtherCAT CoE Support for Modular Device Profile Rj45 connectors e DS301 compliant e Galvanically isolated bus electronics Network Identity customization EMCY support Up to 57343 ADIs can be accessed from the network as Manufacturer Specific Objec
28. e 22 e Assembly Mapping Object EBh on page 37 Application Data Object see Anybus CompactCom 40 Software Design Guide Modular Device Object see Anybus CompactCom 40 Software Design Guide Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Basic Operation 16 2 5 Network Reset Handling 2 5 1 Reset Node If a valid firmware has been downloaded via FoE File access over EtherCAT the Anybus Compact Com 40 EtherCAT will send a reset type 00h Power on reset to the application at the transition from BOOT to INIT Prior to the reset command a Reset_Request command has to be sent to the host application to make sure that a reset can be performed 2 5 2 Restore Manufacturer Parameters to Default Upon receiving a Restore Manufacturer Parameters to Default request from the network the module will issue a reset command to the Application Object FFh with CmdExt 1 set to 01h Factory default reset A factory default reset can only be performed in the EtherCAT state PREOPERATIONAL Perform ing a reset in another state will generate SDO abort code 08000020h invalid state See also e Standard Objects on page 18 entry 1011h Restore Parameters 2 6 Configured Station Alias Node Address The Configured Station Alias node address range is 1 65535 Address 0 indicates that the device has yet to be configured The Configured Station Alias is stored in the slave EEPROM and may be used by
29. e attribute is implemented as an array of packed Structs of two UINT16 and one UINT8 The first UINT16 contains the ADI instance number the second contains the object index that the ADI shall correspond to The UINT8 contains the subindex of the latter object that the ADI shall correspond to An object dictionary index subindex entry may only be translated to an ADI of type VAR Translating the entry to an ADI of type ARRAY or RECORD is not supported See Object Subindex Translation Exam ple 16 Enable FoE Get BOOL TRUE 21 This attribute enables disables functionality related to File access over EtherCAT If FoE is disabled it is not possible to upgrade firm ware via EtherCAT or access the Application File System Interface Object EAh via Eth erCAT ADI Translation Example The host application wants to implement the diagnostic object 10F3h and the timestamp object 10F8h To do this it needs to create two ADIs that match the CoE implementation of these objects e g ADI FOF3h for the diagnostic object and FOF8 for the timestamp object It then needs to implement the following data for the ADI translation attribute Anybus CompactCom 40 EtherCAT FOF3h 10F3h FOF8h Doc Rev 1 30 Doc ld HMSI 27 220 Host Application Objects 44 10F8h SDO requests towards these CoE objects will then be forwarded to the corresponding ADI If a CoE object present in this attribute is
30. erCAT Doc Rev 1 30 Doc ld HMSI 27 220 Application Status Register Host Application Objects 40 If the application sets an error status to the application status register H_APPSTATUS the module sets the EtherCAT state to SafeOp The H APPSTATUS is translated to the ALStatusCode register as shown in the table below ALStatusCode H APPSTATUS Error ALSTATUSCODE XXX f Comment 0000h No error Application can operate in state PRO CESS ACTIVE 0001h Not yet synchro NOSYNCERROR 002Dh Application is not synchronized to the SYNC nized signal and not ready to go to PROCESS AC TIVE 0002h Sync config error INVALIDSYNCCFG 0030h A problem with the configuration of the Sync host object prevents the application from going to PROCESS ACTIVE 0003h Read process INVALIDOUTPUTMAPPING A problem with the current read process data data configura 0025h mapping is prevents the application from tion error going to PROCESS_ACTIVE 0004h Write process INVALIDINPUTMAPPING 0024h A problem with the current write process data data configura mapping is prevents the application from tion error going to PROCESS ACTIVE 0005h Synchronization hFATALSYNCERROR 002Ch Application has lost the lock to the synchroni loss zation If the module is in state PRO CESS ACTIVE it will go to ERROR 0006h Excessive data NOVALIDINPUTSANDOUTPUTS The application has detected a significant loss 002Bh loss of process data frames
31. fic Objects on page 22 2 4 2 Process Data ADIs mapped as Process Data will be exchanged cyclically as Process Data Objects PDOs on the bus The actual PDO map is based on the Process Data map specified during startup or how the application is implemented It can be changed from the network during runtime if the application has implemented the remap commands in the Application Data Object The module supports up to 6 TPDOs and up to 6 RPDOs each supporting up to 254 SDO mappings Each SDO equals one Process Data mapped ADI element i e mapping multiple element ADIs will re sult in multiple SDO mappings The number of TPDOs and RPDOs can be extended if the Assembly Mapping Object is implemented To gain in configurability the Assembly Mapping Object can be used to remap and replace the Process Data map specified at startup Each PDO will be represented by an instance in the Assembly Mapping Object The PDOs will then be remapped when the module enters the Safe Operational state If the Modular Device Object is implemented i e the Modular Device Profile is enabled the Assembly Mapping Object will be ignored Note Preferably the EtherCAT Slave Information file should be altered to match the actual Process Data implementation This is not a general requirement but it has a positive impact on compatibility with 3rd party masters See also Standard Objects on page 18 Manufacturer and Profile Specific Objects on pag
32. from the point where RESET is released to the point where the specified event occurs Parameter Description Max Unit T1 The Anybus CompactCom 40 EtherCAT module generates the first application inter 11 ms rupt parallel mode T2 The Anybus CompactCom 40 EtherCAT module is able to receive and handle the first 11 ms application telegram serial mode D 2 2 NW INIT Handling This test measures the time required by the Anybus CompactCom 40 EtherCAT module to perform the necessary actions in the NW_INIT state Parameter Conditions No of network specific commands Max No of ADIs single UINT8 mapped to Process Data in each direction 328 Event based application message response time gt 1ms Ping pong application response time gt 10 ms No of simultaneously outstanding Anybus commands that the application can handle 1 a Or maximum amount in case the network specific maximum is less Parameter Description Communication Max Unit T100 NW_INIT handling Event based modes 3 6 ms Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 D 2 3 Event Based WrMsg Busy Time The Event based WrMsg busy time is defined as the time it takes for the module to return the H WRMSG area to the application after the application has posted a message Timing amp Performance 52 Parameter Description Min Max Unit T103 H WRMSG area busy
33. hey will be enough for starting up the Anybus CompactCom and sending receiving data with the chosen network protocol The basic functions of the industrial network are used Additional objects etc that will make it possible to certify the product also belong to this category A 2 Extended Use of the objects in this category extends the functionality of the application Access is given to the more specific characteristics of the industrial network not only the basic moving of data to and from the network Extra value is given to the application Some of the functionality offered may be specialized and or seldom used As most of the available net work functionality is enabled and accessible access to the specification of the industrial network may be required Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc Id HMSI 27 220 Appendix B B Implementation Details B 1 SUP Bit Definition The supervised bit SUP indicates that the network participation is supervised by another network de vice In the case of EtherCAT this functionality is mapped to the SyncManager watchdog which can be used to detect loss of communication with the master The SyncManager watchdog is enabled by the master EtherCAT specific interpretation SUP bit Interpretation 0 SyncManager Watchdog is disabled or not running 1 SyncManager Watchdog is enabled and running Note The watchdog and supervised bit SUP will not be available if
34. ibutes Instance 0 Name Access Data Type Value 1 Name Get Array of CHAR EtherCAT 2 Revision Get UINT8 Oth 3 Number of instances Get UINT16 01h 4 Highest instance no Get UINT16 01h Instance Attributes Instance 1 Basic Name Access Type Default Value Comment 1 Vendor ID Get UINT32 0000 001Bh These values replace the settings in object entry 1018h Identity Object Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Host Application Objects 42 Extended Name Access Type Default Value Comment 2 Product Code Get UINT32 0000 0034h These values replace the settings in object 3 Major revision Get UINT16 Major revision entry 1018h Identity Object 4 Minor revision Get UINT16 Minor revision 5 Serial Number Get UINT32 Unique num ber assigned at production 6 Manufacturer Get Array of CHAR Product specific Replaces object entry 1008h Device Name Max 64 bytes Manufacturer Device Name 7 Manufacturer Get Array of CHAR X YY major Specifies the value of object entry 1009h Hardware Version Max 64 bytes version minor Manufacturer Hardware Version version 8 Manufacturer Get Array of CHAR X YY ZZ major Specifies the value of object entry 100Ah Software Version Max 64 bytes version minor Manufacturer Software Version version build 9 ENUM ADIs Get Array of By default ENUMs wil
35. implemented by the module the module will handle all requests to that object by itself and nothing is forwarded to the host application Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Host Application Objects 45 Object Subindex Translation Example The host application wants to implement the Sync Error subindex subindex 32 of the 0x1C32 and 0x1C33 objects To do this it needs to create two ADIs that match the CoE implementation of these entries Let s say it creates ADI OxFOFD for entry 0x1C32 32 and ADI OxFOFE for entry 0x1C33 32 It then needs to implement the following data for the Object subindex translation attribute 1 OxFOFD 0x1C32 32 J 1 OxFOFE 0x1C33 32 j SDO requests towards these CoE object subindex entries will then be forwarded to the corresponding ADI Ifa CoE entry present in this attribute is implemented by the module the module will handle all requests to that entry by itself as it will if the object does not support being extended with more subindices and nothing is forwarded to the host application Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Appendix A A Categorization of Functionality A 1 The objects including attributes and services of the Anybus CompactCom and the application are di vided into two categories basic and extended Basic This category includes objects attributes and services that are mandatory to implement or to use T
36. in Modular Device Profile mode the ADI to PDO mapping is performed by the application at startup Also note that if both the Assembly Mapping Object and the Modular Device Object are implemented in the host the Modular Device Profile mode will be enabled overriding the settings of the Assembly Mapping Object The PDO assignment objects 1C12h and 1C13h are configured depending on how the host application is set up Mode Access Number of sub indices per object Content Generic static map RO Same as the number of PDO mapping All PDO mapping objects in that direction ping objects in that direction Generic dynamic RW Same as the number of PDO mapping All PDO mapping objects in that direction mapping objects in that direction Assembly Mapping RW Same as the number of PDO mapping The first PDO in that direction Object implemented in objects in that direction host Modular device static RO Same as the number of PDO mapping All PDO mapping objects in that direction mapping objects in that direction Modular device RW Same as the number of PDO mapping All PDO mapping objects in that direction dynamic mapping objects in that direction Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Object Dictionary CANopen over EtherCAT 22 3 2 Manufacturer and Profile Specific Objects 3 2 1 General Each object entry in the manufacturer specific range 2001h FFFFh corresponds to an
37. ion see ADI to 7FFFh except the coupler that SDO Translation on page 26 are read process data mappable will be repre sented in this range 9nnnh Information Any Information objects one Any RW For more information see Module data for each module occu Identification Objects on page 27 pying a slot except the coupler F000h Modular Device 00h Number of entries NNh U8 R Value 5 Profile 01h Index distance U16 IR This value decides how many objects are assigned to each slot The value is the same for all mod ules and thus gives the index dis tance between two slots Value Number of ADIs per slot attribute 12 in the Modular Device Object See Anybus CompactCom 40 Software Design Guide for more information 02h Maximum number of U16 IR Value Number of slots Attribute modules 11 in the Modular Device Object See Anybus CompactCom 40 Soft ware Design Guide for more infor mation 04h General Information U32 IR Value 0000 0700h Subindices 9 10 and 11 are supported in the 9nnnh module identification objects 05h Module PDO group of U16 IR Set to 0 to force the coupler pro the device cess data to be positioned ahead of the process data This allows for better integration towards the mod ular device host object F030h Configured 00h Number of Entries U8 R The master writes the configured Module Ident Number of slots 1 module list to these objects so that List Oth Module identity of the U32 BW the slave
38. ition for setting bit 0 Generic error Always set when another error bit in this object is set 1 Current Event code is 20h 23h OR Event code is FFh AND the high byte in NW specific information is 20h 23h 2 Voltage Event code is 30h 33h OR Event code is FFh AND the high byte in NW specific information is 30h 33h 3 Temperature Event code is 40h 42h OR Event code is FFh AND the high byte in NW specific information is 40h 42h 4 Communication error Event code is 80h 82h OR Event code is FFh AND the high byte in NW specific information is 80h 82h OR Anybus state equals ERROR 5 Device profile specific Always 0 6 Reserved Always 0 7 Manufacturer specific Event code is FFh AND the high byte in NW specific information is FFh 3 Ifthe diagnostic instance is created in the state WAIT_PROCESS or higher an EMCY object is sent to the network with the following information Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 ui ter 1001h Event Code Error Regis Manufacturer Specific Field Not used No EMCY object is sent if the instance is created in either of the states SETUP or NW_INIT Note 1 When creating a Major unrecoverable event this will not end up as an EMCY message on the bus since this effectively forces the Anybus module to enter the EXCEPTION state Note 2 Bytes 0 and 1 00h Event Code will be replaced by the value of attribute 3 if imple mented An EMCY objec
39. l Reset When a factory default reset command is issued to this object the configured Device ID will be set to O default value Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Chapter 5 5 Host Application Objects 5 1 General Information This chapter specifies the host application object implementation in the module The objects listed here may optionally be implemented within the host application firmware to expand the EtherCAT imple mentation Standard Objects Application Object see Anybus CompactCom 40 Software Design Guide Application Data Object see Anybus CompactCom 40 Software Design Guide Application File System Interface Object see Anybus CompactCom 40 Software Design Guide e Assembly Mapping Object EBh on page 37 Sync Object EEh on page 38 Modular Device Object see Anybus CompactCom 40 Software Design Guide Network Specific Objects e EtherCAT Object F5h on page 41 Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc Id HMSI 27 220 Host Application Objects 37 5 2 Assembly Mapping Object EBh Category Extended Object Description If the application has implemented this object the object will replace the PDO mapping created when the application is started The original mapping will be replaced during the transition from PRE OPER ATIONAL state to SAFE OPERATIONAL state The application must support the Remap ADI commands if this object is
40. l be translated to UINT16 UNSIGNED8 on EtherCAT By implementing this attribute ENUMs will be translated to ENUMS on the bus as well The attributes shall contain a sorted list of ADI instance numbers which are of type ENUM If this attribute is implemented also imple ment the optional Application Data Instance attribute 6 Max Value of all ENUM ADIs since this improves performance and func tionality of ENUMs on the bus significantly 10 Device Type Get UINT32 Product specific If implemented this value replaces the default value for object entry 1000h Device type 11 Write PD assembly Get Array of Empty This attribute can be used by the application instance translation UINT16 to change the default TXPDO mapping object of Write PD instances in the Assem bly Mapping Object It corresponds to attri bute 11 in the Assembly Mapping Object Write PD Instance List Each index in the array contains the TxPDO mapping object number that is used for the instance on the same index in the Write PD Instance List attribute Valid values 1A00h 1BFFh 12 Read PD assembly Get Array of Empty This attribute can be used by the application instance translation UINT16 to change the default RxPDO mapping object of Read PD instances in the Assem bly Mapping Object It corresponds to attri bute 12 in the Assembly Mapping Object Read PD Instance List Each index in the array contains the RxPDO mapping object number tha
41. no power Green Link sensed no activity Link sensed no traffic detected Green flickering Link sensed activity Link sensed traffic detected Ethernet Connector RJ45 Pin Signal Notes 1 Txt 2 Tx 3 But 4 Normally left unused to ensure signal integrity these pins are tied together JN 5 and terminated to PE via a filter circuit in the module 6 Rx 1 8 7 Normally left unused to ensure signal integrity these pins are tied together 8 and terminated to PE via a filter circuit in the module Protective Earth PE Requirements In order to ensure proper EMC behavior the module must be properly connected to protective earth via the PE pad PE mechanism described in the general Anybus CompactCom 40 Hardware Design Guide HMS Industrial Networks does not guarantee proper EMC behaviour unless these PE requirements are fulfilled Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc Id HMSI 27 220 Technical Specification 50 C 3 Power Supply Supply Voltage The module requires a regulated 3 3V power source as specified in the general Anybus CompactCom 40 Hardware Design Guide Power Consumption The Anybus CompactCom EtherCAT is designed to fulfil the requirements of a Class B module For more information about the power consumption classification used on the Anybus CompactCom plat form consult the general Anybus CompactCom Hardware Design Guide The current hardwa
42. of the sync functionality as a whole the application must indicate this in the application status register The module will then change EtherCAT states to SafeOp and indicate the problem in the ALStatusCode register see Application Status Register on page 40 See also Anybus CompactCom 40 Software Design Guide Sync e Anybus CompactCom 40 Software Design Guide Sync Object Supported Commands Object Get Attribute Instance Get Attribute Set Attribute Object Attributes Instance 0 Consult the general Anybus CompactCom 40 Software Design Guide for further information Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Instance Attributes Instance 1 Extended The attributes are represented on EtherCAT as follows Host Application Objects 39 Name Access Type Default Value Comment 1 Cycle time Get Set UINT32 Application cycle time in nanoseconds Replaces the setting in object entry 1C32h subindex 2 SM Output Parameter Cycle time Output valid Get Set UINT32 Output valid point relative to SYNC events in nanoseconds Replaces the setting in object entry 1C32h subindex 3 SM Output Parameter Shift time Input capture Get Set UINT32 Input capture point relative to SYNC events in nanoseconds Replaces the setting in object entry 1C33 subindex 3 SM Input Parameter Shift time Output processing Get UINT32
43. pler in slot 0 The maximum number of ADIs that can be ac cessed from the network is 16383 The value of the Device Type Object 1000h is changed to 00005001h Enabling the Modular Device Profile will override the settings of the Assembly Mapping Object if this object is implemented See also Modular Device Object Anybus Compact om 40 Software Design Guide Modular Device Profile Object Entries on page 25 Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Chapter 3 3 Object Dictionary CANopen over EtherCAT 3 1 Standard Objects 3 1 1 General The standatd object dictionary is implemented according to the DS301 communication profile Note that certain object entries correspond to settings in the EtherCAT Object F5h and the Diagnostic Ob ject 02h Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc Id HMSI 27 220 3 1 2 Object Entries Object Dictionary CANopen over EtherCAT 19 Index Object Name Subindex Description Type Access Notes 1000h Device Type 00h Device Type U32 RO Default 0000 0000h No profile Can be managed through the Eth erCAT Object which can optionally be implemented in the host applica tion See EtherCAT Object F5h on page 41 Note If the host application Modu lar Device Object is implemented the default value is 0000 5001h 1001h Errorregister 0
44. re design consumes up to 430 mA Note It is strongly advised to design the power supply in the host application based on the power con sumption classifications described in the general Anybus CompactCom Hardware Design Guide and not on the exact power requirements of a single product C 4 Environmental Specification Consult the Anybus CompactCom Hardware 40 Design Guide for further information C 5 EMC Compliance Consult the Anybus CompactCom Hardware 40 Design Guide for further information 1 Note that in line with HMS policy of continuous product development we reserve the right to change the exact power requirements of this product without prior notification Note however that in any case the Anybus CompactCom 40 EtherCAT will remain as a Class B module Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 D Timing amp Performance D 1 General Information Appendix D This chapter specifies timing and performance parameters that are verified and documented for the Anybus CompactCom 40 EtherCAT The following timing aspects are measured Category Parameters Page Startup Delay T1 T2 51 NW INIT Handling T100 51 Event Based WrMsg Busy Time T103 52 Event Based Process Data Delay T101 T102 52 For further information please consult the Anybus CompactCom 40 Software Design Guide D 2 Internal Timing D 2 1 Startup Delay The following parameters are defined as the time measured
45. se problems can be rectified by the end user by manually changing I O parameters etc To ensure interoperability and to reduce the complexity for the end uset it is strongly recommended to create a custom ESI file to match the final implementation of the product The EtherCAT Technology Group E TG requires that the Vendor ID is changed to reflect the vendor of the end product The following scenarios among others may require additional changes to the Eth erCAT Slave Interface file The use of a custom Product Code The use of an own Vendor ID Change of the product revision The host application supports the Remap ADI commands Slow application response times Explicit requests should be handled within 1 ms in order to comply with the generic ESI file supplied by HMS This may not be sufficient for a slow serial link with a substantial amount of I O in such case the mailbox timeout value in the file needs to be increased accordingly Note that deviations from the generic ESI file requires the use of custom Product Codes apart from the required custom Vendor ID 2 1 3 Device Identity In a generic implementation i e no network specific support is implemented the module will appear as a generic HMS device with the following identity information Object Entry Value Vendor ID E000 001Bh HMS Industrial Networks Secondary Vendor ID has to be replaced by Vendor ID of end product vendor Product
46. t is used for the instance on the same index in the Read PD Instance List attribute Valid values 1600h 17FFh Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Host Application Objects 43 Name Access Type Default Value Comment 13 ADI translation Get Array of Struct UINT16 UINT16 Empty This attribute can be used by the application to implement objects in the communication profile specific CoE object area 1000h 1FFFh Objects already implemented in the module cannot be replaced by ADIs The attribute is implemented as an array of packed structs of two UINT16 The first UINT16 contains the ADI instance number the second contains the object index that the ADI shall correspond to See example ADI Translation Example 14 Reserved Reserved for future use 15 Object subindex translation Get Array of Struct UINT16 UINT16 UINT8 Empty This attribute can be used by the application to implement subindices of objects in the profile specific CoE object area 0x1000 Ox1FFF Subindices already implemented in the module cannot be replaced by ADIs and this attribute can only be used to add subindices to objects explicitly defined in the module to be extendable This attribute is currently only supported to add subindices to objects 0x1C32 Output Sync Manager Parameter and 0x1C33 Input Sync Manager Parameter Th
47. t to their default values Supported Commands Object Get Attribute Reset Instance Get Attribute Set Attribute Object Attributes Instance 0 Name Access Data Type Value 1 Name Get Array of CHAR _ Network configuration 2 Revision Get UINT8 01h 3 Number of instances Get UINT16 0001h 4 Highestinstance no Get UINT16 0001h Instance Attributes Instance 1 Device ID See also Device ID on page 16 Extended Changes have immediate effect Name Access Type Description 1 Name Get Array of CHAR _ Device ID 2 Data type Get UINT8 05h UINT16 3 Number of elements Get UINT8 01h one element 4 Descriptor Get UINT8 03h read write access 5 Value Get Set UINT16 1 65535 Valid network address 0 Device not configured Default 6 Configured Value Get UINT16 Configured value for Device ID The value always equals the value of attribute 5 a Multilingual see Multilingual Strings on page 35 Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Multilingual Strings Anybus Module Objects 35 The instance names and enumeration strings in this object are multi lingual and are translated based on the current language settings as follows Instance English German Spanish Italian French 1 Device ID Gerateadresse ID Dispos ID Dispos ID apparei
48. t with error code 0000h error reset is sent when a diagnostic instance is deleted Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Anybus Module Objects 32 4 4 Network Object 03h Category Basic Object Description For more information regarding this object consult the general Anybus CompactCom 40 Software De sign Guide Supported Commands Object Get Attribute Instance Get Attribute Set Attribute Get Enum String Map ADI Write Area Map ADI Read Area Map ADI Write Ext Area Map ADI Read Ext Area Object Attributes Instance 0 Consult the general Anybus CompactCom 40 Software Design Guide for further information Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Instance Attributes Instance 1 Anybus Module Objects 33 Basic D Name Access Type Value 1 Network type Get UINT16 0087h 2 Network type string Get Array of CHAR EtherCAT 3 Data format Get ENUM 00h LSB first 4 Parameter data support Get BOOL True 5 Write process data size Get UINT16 Current write process data size in bytes Updated on every successful Map ADI Write Area Map ADI Write Ext Area and Remap ADI Write Area 6 Read process data size Get UINT16 Current read process data size in bytes Updated on every successful Map ADI Read Area Map ADI Read Ext Area and Remap ADI Read Area 7 Exception Information Get UINT8 Addi
49. te p te e ten e Dates 30 Network Object Sheet rb gege Ee ere 32 Network Configuration Object AB Jac rtt er tette ere ee eene 34 Chapter 5 Host Application Objects General IOMA NON A oe EE ATE m 36 Assembly Mapping Object DD ee n a A tete enne 37 SAE Object E EH ee E E G E E HE EtherCAT Object F5h Appendix A Categorization of Functionality Appendix B Implementation Details SUP Bit D ftf lliOm eseu 47 Anybus State Machine is attese eee pte ete enel to pr EE 47 Application Watchdog Timeout Handling ENEE 47 Appendix C Technical Specification Frnt EE 48 Protective Earth PE Requirements eee epe nde idet deti eter tret S 49 Power EE 50 Environmental Specifica of ees ees 50 EMG e 50 Appendix D Timing amp Performance General Information ee a deiade ente eti deti es 51 Internal Mim tines es ees 51 SLATTED ADE EE 51 DU SUNSET DE RE 51 Event Based RE 52 Event Based Process Data Delaya iecit toe tie tno eeepc eee eR Deua RES 52 Appendix E Copyright Notices Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 P About This Document Preface For more information documentation etc please visit the HMS website www anybus com P 1 Related Documents Document Author Anybus CompactCom 40 Software Design Guide HMS Anybus CompactCom 40 Hardware Design Guide HMS Anybus CompactCom 40 Driver User Manual HMS IEC 61158 6 IEC CiA Draft Standard 301 v4
50. tellectual property rights relating to technology embodied in the product described in this document These intellectual property rights may include patents and pending patent applications in the US and other countries Trademark Acknowledgements Anybus is a registered trademark of HMS Industrial Networks AB All other trademarks are the property of their respective holders EtherCAT Conformance tested EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Warning This is a class A product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures ESD Note This product contains ESD Electrostatic Discharge sensitive parts that may be damaged if ESD control proce dures are not followed Static control precautions are required when handling the product Failure to observe this may cause damage to the product Anybus CompactCom 40 EtherCAT Network Guide Rev 1 30 Copyright HMS Industrial Networks AB Oct 2015 Doc Id HMSI 27 220 Table of Contents Table of Contents Preface Chapter 1 Chapter 2 Chapter 3 About This Document Related Documents iere RI qd nde tenet Ee e Da Ee 5 RE 5 Conventions Fermino lo y nei pes uae pete tertie iei e itid 6 EDD 6 About the Anybus CompactCom 40 EtherCAT esl 7 eat ete RIA B D
51. the Read Process Data size is zero B 2 Anybus State Machine The table below describes how the Anybus State Machine relates to the EtherCAT network status Anybus State Corresponding EtherCAT State WAIT_PROCESS INIT BOOTSTRAP or PRE OPERATIONAL ERROR Error Ind bit in AL Status is set PROCESS_ACTIVE OPERATIONAL IDLE SAFE OPERATIONAL EXCEPTION EtherCAT interface is forced to INIT state and the master is informed that a power cycle is required to resume communication B 3 Application Watchdog Timeout Handling The Anybus CompactCom 40 EtherCAT module will enter the EXCEPTION state if the application watchdog times out Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 C Technical Specification C 1 Front View Ethernet Connector Appendix C Item RUNLED ERROR LED EtherCAT IN port EtherCAT OUT port Link Activity IN port oO om ow P gt Zb Link Activity OUT port a The flash sequences for these LEDs are defined in ETG1300_S_R_V1i1i0_IndicatorLabelingSpecification pdf ETG RUN LED This LED reflects the status of the EtherCAT communication LED State Indication Description Off INIT EtherCAT device in INIT state or no power Green OPERATIONAL EtherCAT device in OPERATIONAL state
52. time 28 7 2 US D 2 4 Event Based Process Data Delay Read process data delay is defined as the time from when the last bit of the network frame has been received by the network interface to when the RDPDI interrupt is asserted to the application Write process data delay is defined as the time from when the application exchanges write process data buffers to when the first bit of the new process data frame is sent out on the network The tests were run in 16 bit parallel event mode with interrupts triggered only for new process data events Eight different IO sizes 2 16 32 64 128 256 512 and 1024 bytes were used in the tests all giving the same test results The delay added by the PHY circuit has not been included as this delay is insignificant compared to the total process data delay Parameter Description Delay min Delay typ Delay max Unit T101 Read process data delay 228 ns T102 Write process data delay 170 ns Ethernet Anybus Ethernet Ethernet Network Ethernet Network connector Trafo Ethernet PHY Host connector Read process data delay Anybus Ethernet connector lt Ethernet Trafo lt Ethernet PHY Host connector Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Write process data dela Host Application Host
53. tional information may be provided here when the module has entered the EXCEPTION state see Exception information on page 33 8 10 reserved Consult the general Anybus CompactCom 40 Software Design Guide for further information a Consult the general Anybus CompactCom 40 Software Design Guide for further information Exception information Value Description 00h No additional information available Oth reserved 02h 03h 04h 05h 06h The implementation of the Assembly Mapping Host Object is incorrect e g the attribute 11 or 12 is not sup ported 07h The application supports the Remap ADI commands but returned an error response when requesting object attributes 11 or 12 of the Application Data Object No of read process data mappable instances or No of write process data mappable instances or when issuing the Get Instance Numbers command towards the Application Data Object 08h The implementation of the Modular Device Object in the host application is not correct e g an error response is received on the Get List command Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc ld HMSI 27 220 Anybus Module Objects A4 4 5 Network Configuration Object 04h Category Extended Object Description This object holds network specific configuration parameters that may be set by the end user A reset command factory default issued towards this object will result in all instances being se
54. to be implemented Each instance in the Assembly Mapping Object corresponds to one PDO The first read assembly is mapped to object 1600h in the object dictionary the second to 1601h and so on Similarly the first write assembly is mapped to object 1A00h the second to 1A01h and so on Up to 64 each of read and write assembly instances are supported The table below illustrates an example on how PDO mapping object numbers are assigned for different assembly mapping object instances Instance no Direction PDO mapping object number 1 Write 1A00h 2 Read 1600h 3 Write 1A01h 4 Read 1601h 5 Read 1602h Each assembly mapping instances supports up to 254 ADI elements corresponding to one full PDO on EtherCAT Note If the Modular Device Object is implemented in the host application i e modular device profile is enabled the settings of this objects will be ignored See also Anybus CompactCom 40 Software Design Guide Assembly Mapping Object Standard Objects on page 18 for assembly to PDO mapping Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 Host Application Objects 28 5 3 Sync Object EEh Category Extended Object Description This object implements the host application SYNC settings The implementation of this object is optional if it is not implemented the module only supports the EtherCAT Free Run mode If there is any problem with the configuration
55. ts and De vice Profile Specific Objects generic mode Up to 16383 ADIs can be accessed form the network as Manufacturer Specific Objects and De vice Profile Specific Objects modular device profile enabled Up to 1486 bytes of fast cyclic I O in each direction EtherCAT Slave Interface file provided by HMS Support for SyncO functionality using distributed clocks File access over EtherCAT FoE Support for process data remap from the network e Network cycle time down to 100 us Possible to implement DS402 drive profile Semi device profiles and other device profiles Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc Id HMSI 27 220 Chapter 2 2 Basic Operation 2 1 General Information 2 1 1 Software Requirements No additional network support code needs to be written in order to support the Anybus CompactCom 40 EtherCAT however due to the nature of the EtherCAT networking system certain restrictions must be taken into account e ADIs with instance numbers up to 57343 DFFFh can be accessed from the network If the Modular Device Profile is implemented and running instance numbers are limited to 16383 3FFFh e When mapping ADIs to process data there is a limit of 1486 elements or 1486 bytes whichever comes first that can be mapped in either direction The flexible nature of the Anybus concept allows the application to modify the behavior on Eth erCAT in ways which contradict the generic EtherCAT Sla
56. variable with the exception of CHAR which will always be represented as VISIBLE STRING and OCTET which will always be represented as OCTET STRING Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc HMSI 27 220 3 2 3 Error Codes Object Dictionary CANopen over EtherCAT 23 If an error occurs when an object in the application is requested from the module the error code re turned is translated to an CANopen abort code as follows iso paetvom CANopen Abort Code Description CANopen Reserved NIA Fragmentation error serial N A mode Invalid message format N A Unsupported object 0602 0000h Object does not exist in the object dictionary Unsupported instance 0602 0000h Object does not exist in the object dictionary Unsupported command 0604 0043h General parameter incompatibility reason Invalid CmdExt 0 0602 0000h Object does not exist in the object dictionary ADI access Invalid CmdExt 1 0609 0011h Subindex does not exist ADI access Attribute not settable 0601 0002h Attempt to write a read only object Attribute not gettable 0601 0001h Attempt to read a write only object Too much data 0607 0012h Data type does not match length of service parameter too long Not enough data 0607 0013h Data type does not match length of service parameter too short Out of range 0609 0030h Value range of parameter exceeded only for write access Invali
57. ve Information file or in other ways voids network certification Those responsible for the implementation of the final product should ensure that their level of implementation matches their own requirements and policies regarding network certification and interoperability The use of advanced EtherCAT specific functionality may require in depth knowledge in Ether CAT networking internals and or information from the official EtherCAT specifications In such cases those responsible for the implementation of the product should either obtain the EtherCAT specification to gain sufficient knowledge or limit their implementation is such a way that this is not necessary For further information about the Anybus CompactCom 40 software interface consult the general Any bus CompactCom 40 Software Design Guide Anybus CompactCom 40 EtherCAT Doc Rev 1 30 Doc Id HMSI 27 220 Basic Operation 9 2 1 2 EtherCAT Slave Interface ESI File Each device on EtherCAT is associated with a EtherCAT Slave Interface ESI file in XML format which holds a description of the device and its functions HMS supplies a generic ESI file which can serve as a basis for new implementations However due to the flexible nature of the Anybus CompactCom concept it is possible to alter the functionality of the module in ways which contradicts the information in this file This may cause trouble if the master ex pects the configuration stated in the file In some cases the
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