EtherCAT Slave Controller (EH-IOCA
Contents
1. Index Object name Sub index Data type Access PDO mapping Initial value Description 0x1000 Device Type 0x00 UNSIGNED32 RO Not possible 0x00001389 Indicates the device type of each slave 0x1001 Error Register 0x00 UNSIGNED8 RO Not possible 0x00 Indicates the error register of CoE communication 0x1008 Manufacturer 0x00 VISIBLE_STRING RO Not possible EH IOCA Indicates the model name of each slave Device Name 0x1009 Manufacturer 0x00 VISIBLE_STRING RO Not possible 1 00 Indicates the hardware version of each slave Hardware version 0x100A Manufacturer 0x00 VISIBLE STRING RO Not possible 5 10 Indicates the software version of each slave Software version 0 1018 Identify Object 0x00 UNSIGNED8 RO Not possible 4 Indicates the information of EtherCAT coupler type Vendor ID 0x01 UNSIGNED32 RO Not possible 0x0000051D Indicates the vender ID Product code 0x02 UNSIGNED32 RO Not possible 0x02010010 Indicates the product code Revision 0x03 UNSIGNED32 RO Not possible 0x00000001 Indicates the revision No Serial number 0x04 UNSIGNED32 RO Not possible 0x00000000 Indicates the serial No Ox10F1 Error Settings 0x00 UNSIGNED8 RO Not possible 0x02 Indicates the slave error reaction Local Error 0x01 UNSIGNED32 RW Not possible 0x00000001 Set the slave error reaction Reaction Sync Error Counter 0x02 UNSIGNED8 RW Not possible 0x00000004 Set the limit value of event miss counter Limit A1 1 Appendi2. name Model name Table 3 2 1 1 supported modules 1 2 Specifications Supported UO Assignment symbol Specifications of EH IOCA Power module Base unit Input and output controller Digital input module Digital output module TTL I O module EH PSA Input 100 to 240 V AC Output 5V DC 3 8A 24V DC 0 4A EH PSD Input 21 6 to 26 4 V DC Output 5 V DC 3 8A EH PSR EH BS3A Redundant power supply Input 100 to 240 V AC Output 5 V DC 5 6 A up to 45 deg ambient temp 3 I O modules installed EH BS5A 5 I O modules installed EH BS6A 6 I O modules installed EH BS8A 8 I O modules installed EH BSI1A 11 I O modules installed EH BS8R Redundant power supply 8 I O modules installed EH BS3 3 I O modules installed EH BS5 5 T O modules installed EH BS8 EH IOC 8 I O modules installed Input and output control module 1 unit lexpansion EH IOCH Input and output control module 1 unit lexpansion EH IOCH2 Input and output control module 1 unit lexpansion EH XD8 8 points 24 V DC input X16 EH XD16 16 points 24 V DC input X16 EH XDL16 16 points 24 V DC input Intensified filter X16 EH XD32 32 points 24 V DC input X32 EH XDL32 32 points 24 V DC input Intensified filter X32 EH XD32E 32 points 24 V DC input Spring type terminal block X32 EH XDL32E 32 points 24 V
3. 0x6040 01 0x6060 01 0x6080 01 2 If you use expansion unit 12 3 4 5 Caution Ch EH IOCA can expand a one unit Rotary switch of EH IOCH2 must be set 1 Module number of expansion unit is starting from 12 regardless of basic unit base type 12 13 14 15 16 17 18 19 20 21 22 m Power supply module Base unit EH BS8A I O assignment symbol Item Module 14 Module 15 apter 5 EtherCAT communications Model name I O assignment symbol EH POS EH AXG5M Module 1 EH XD32 Module 16 Empty Module 2 EH YT64 Module 17 Empty Module 3 EH YT32 Module 18 EH XD64 Module 4 EH PT4 Module 19 EH YT16 Module 5 EH XD16 Module 20 Empty Module 12 Module 13 EH MTT32 EH AYG4M Module 21 Module 22 EH YT32 EH PT4 Chapter 5 EtherCAT communications Table 5 3 2 2 Case 2 PDO mapping basic unit Modules number 4 ARRAY Input type 0 3 OF UINT Output type ULINT UDINT RxPDOs 0x1601 0x 1602 Output Entries 0x7010 01 0x7020 01 TxPDOs 0x1A00 0x1A03 Ox1A04 Input Entries 0x6000 01 0x6030 01 0x6040 01 Table 5 3 2 3 Case 2 PDO mapping expansion unit Modules number 14
4. Module 22 no error Indicate module 22 watchdog error state 21 WDT22 1 Module 22 watchdog error 22 31 Undefined 5 12 4 Module FAIL Meaning Chapter 5 EtherCAT communications Description Module 1 no error Module 1 failure Indicate module 1 failure state Module 2 no error Module 2 failure Indicate module 2 failure state Module 3 no error Module 3 failure Indicate module 3 failure state FAIL21 Module 21 no error Module 21 failure Indicate module 21 failure state FAIL22 Module 22 no error Module 22 failure Indicate module 22 failure state Undefined 5 Module IDER Bit No Item Meaning Description 0 Module 1 no error Indicate module 1 ID mismatch state 0 IDERI 1 Module 1 ID mismatch 0 Module 2 no error Indicate module 2 ID mismatch state 1 IDER2 1 Module 2 ID mismatch 0 Module 3 no error Indicate module 3 ID mismatch state 2 IDER3 1 Module 3 ID mismatch 0 Module 21 no error Indicate module 21 ID mismatch state 20 IDER21 1 Module 21 ID mismatch 0 Module 22 no error Indicate module 22 ID mismatch state 21 IDER22 1 Module 22 ID mismatch 22 31 Undefined 6 FPGA Version Meaning Description Indicate FPGA version of EH IOCA 7 CPU Version Meaning Description Indicate CPU version of EH IOCA Chapter 5 EtherCAT communications 5 3
5. ARRAY Input type 0 7 OF 0 7 OF UINT UINT Output type UDINT UDINT RxPDOs 0x1604 0x 1605 a Output Entries 0x7040 01 0x7050 01 TxPDOs Ox1A00 Ox1A02 0x1A06 Ox1A07 Input Entries 0x6000 01 0x6020 01 0x6060 01 0x6070 01 0x60A0 01 Table 5 3 2 5 Case 3 PDO mapping expansion unit Modules number 12 18 16 17 ARRAY ARRAY Input type 0 4 OF 0 4 OF UINT UINT RxPDOs 0x160B 0x160C 0x160D 0 160 Output Entries 0x70B0 01 0 70 0 01 0x70D0 01 0 70 0 01 TxPDOs 0x1A0C 0 1 11 Ox1A12 Input Entries 0x60B0 01 0x60C0 01 0x6110 01 0x6120 01 0x6150 01 ARRAY ARRAY ARRAY ARRAY Output type 0 2 OF 0 2 OF 0 7 OF 0 7 OF UINT UINT UINT UINT 5 10 Chapter 5 EtherCAT communications 5 3 3 Device status EtherCAT has Device status function which can send the internal status of each node device to the master unit Index of device status is OxF100 Device status of EH IOCA is shown below Table 5 3 3 1 Device status 0xF100 Sub index Item Status Module RES Module WDT Module FAIL Module IDER FPGA Version CPU Version Information of each item is shown below 1 Status Meaning Description Watchdog error This bit is always ON No error Normal Some I O modules are reset state Modules reset For informatio
6. Slot position and module number 1 Table 5 3 1 2 Slot position and module number 2 Slot position Module No Slot position Module No Basic unit slot 0 Module 1 Expansion unit slot 0 Module 12 Basic unit slot 1 Module 2 Expansion unit slot 1 Module 13 Basic unit slot 2 Module 3 Expansion unit slot 2 Module 14 Basic unit slot 3 Module 4 Expansion unit slot 3 Module 15 Basic unit slot 4 Module 5 Expansion unit slot 4 Module 16 Basic unit slot 5 Module 6 Expansion unit slot 5 Module 17 Basic unit slot 6 Module 7 Expansion unit slot 6 Module 18 Basic unit slot 7 Module 8 Expansion unit slot 7 Module 19 Basic unit slot 8 Module 9 Expansion unit slot 8 Module 20 Basic unit slot 9 Module 10 Expansion unit slot 9 Module 21 Basic unit slot 10 Module 11 Expansion unit slot 10 Module 22 The relations between each module number and index are shown Table 5 3 1 3 5 3 1 4 5 3 1 5 5 3 1 6 Chapter 5 EtherCAT communications Table 5 3 1 3 Each module number object address 1 EtherCAT object dictionary Module number 1 2 3 4 5 6 RxPDOs 0x1600 0x1601 0x1602 0x1603 0x1604 0x1605 TxPDOs 0x1A00 0x1A01 0x1A02 Ox1A03 0x1A04 UX T AUS Input Entries 0x6000 0x6010 0x6020 0x6030 0x6040 0x6050 Output Entries 0x7000 0x7010 0x7020 0x7030 0x7040 0x7050 Configuration Parameter 0x8000 0x8010 0x8020 0
7. This is a switch to set the node address Reset switch The module can be reset by pressing this switch when error such as the module abnormal occurred Communication connector This is a connector to connect a cable for communication IN Communication connector This is a connector to connect a cable for communication OUT Chapter 3 Specifications of EH IOCA E Description of LED display Indication Details Power supply On indicates that the DC5V power is supplied Green Off indicates that the DC5V power is not supplied or reset switch is on Display an EtherCAT communication status State Details Status Off Init Green Blinking PRE OPERATIONAL Single flash SAFE OPERATIONAL EHIOCA On OPERATIONAL POW RUN ERR Display EtherCAT error status or EH IOCA hardware status State Details Off No error Blinking Configuration error Single flash EtherCAT synchronism failure Communication data failure Double flash Application watchdog timeout Flickering Boot error On PDI watchdog timeout The state of LED is indicated below eh 200 200 Blinking D m OFF 4 ON 200ms 1000ms 200ms Single flash Kla OFF ON EX 200ms 200 1000 200 ms ms ms ms ms Double flash p 4 d d ri 1 OFF i 50ms ON Flickering OFF Chapter 3 Specifications of EH IOCA E De
8. of modules OxF030 Configured Module List UNSIGNEDS8 Not possible Sub Index 001 254 0x01 OxFE UNSIGNED32 Not possible 0x00000000 Indicates module ID OxF050 Detected Module List Sub Index 001 254 0x00 UNSIGNEDS8 Not possible 0x00 0x01 OxFE UNSIGNED32 A1 6 Not possible 0x00000000 Indicates module ID Object name Sub index Data type Access PDO mapping Initial value EtherCAT object dictionary Appendix 1 Description Device Status 0x00 UNSIGNEDS8 RO Not possible 0x07 Status 0x01 UNSIGNED16 RO Possible 0x0001 Indicates device status Module RES 0x02 UNSIGNED32 RO Possible 0x00000000 Indicates reset status of each module Module WDT 0x03 UNSIGNED32 RO Possible 0x00000000 Indicates watchdog status of each module Module FAIL 0x04 UNSIGNED32 RO Possible 0x00000000 Indicates fail status of each module Module IDER 0x05 UNSIGNED32 RO Possible 0x00000000 Indicates ID mismatch status of each module FPGA Version 0x06 UNSIGNED16 RO Possible Indicates FPGA version Initial value is different each model CPU Version UNSIGNED16 Possible Indicates CPU version Initial value is different each model OxF200 Device Control UNSIGNED8 Not
9. series can be used Several I O modules are not supported Refer to following pages for further information 3 High speed response high reliability The minimum communication cycle is 200 us In addition it is possible to hold the output data at the communication error occurs 4 Easy connectivity with EHV series It gives greatly reduced man hour for the work such as wiring and configuration by using with EHV series CPU module that supports the EtherCAT master function 2 1 Chapter 3 Specifications of EH IOCA 3 1 General Specifications General specifications are shown in Table 3 1 1 There specifications are common in EH 150 series Item Table 3 1 1 General specifications Specifications Operating ambient temperature 0 to 55 Storage ambient temperature 10 to 75 C Operating ambient humidity 5 to 95 RH no condensation Storage ambient humidity Vibration resistance 5 to 95 RH no condensation Conforms to IEC 60068 2 6 Noise resistance Noise voltage 1 500 Vpp Noise pulse width 100 ns 1 Noise created by the noise simulator is applied across the power supply modules s input terminals This is determined by this company s measuring method Based on IEC61131 2 Static noise 3 000V at metal exposed area Insulation resistance 20 MQ or more between the AC external and case ground FE terminal based on 500 V DC Dielectric withstand
10. the communication cable Flickering Boot error EH IOCA fail boot when EH IOCA is power on Replace EH IOCA ON Watchdog timeout EH IOCA is broken Replace EH IOCA ON Link established in physical layer Link not established in physical layer The state of LED is indicated below ON 200ms 1 200m Blinking Single flash Double flash Flickering T OFF 1000ms Link in physical layer has not been established Check the connection of the communication cable Check there are no sources of noise near the communication cable Check communication speed of host is Auto ON 200ms 200m 1000ms OFF em nm 50ms gt He ON OFF x Chapter 6 2 AL status code AL status codes are shown below Troubleshooting Table 6 2 1 AL status code lists Description Actions 0x0000 No error Operation is normal 0x0001 Unspecified error Unspecified error detected Recheck the EH IOCA and restart the power supply If the same error occurs it is a hardware error in the EH IOCA Replace the EH IOCA with a spare 0 0002 No memory Memory is none Recheck the EH IOCA and restart the power supply If the same error occurs it is a hardware error in the EH IOCA Replace the EH IOCA with a spare 0x0011 Illegal state transition request An Ille
11. voltage 1 500 V AC for 1 minute between the AC external terminal and case ground FE terminal Grounding Class D grounding ground with power supply module Usage environment No corrosive gases no excessive dust Structure Open wall mount type Cooling Natural air cooling Chapter 3 Specifications of EH IOCA 3 2 Functional Specifications Functional specifications are shown in Table 3 2 1 Table 3 2 1 Functional Specifications ce Node address range 1 to 99 Setting by rotary switch Number of I O points 1 408 points Digital I O Error indication LED Current consumption 350mA The communication cycle is dependent on the specification of the EtherCAT Master o c g s 9 o o c s c 2 E Functional specifications N CAUTION Digital I O module Analog I O module Resistance temperature detective input module Thermocouple input module counter module and positioning module are supported on the base unit using EH IOCA Note that the others are not supported Do not mount these modules on the slave base unit For information on the ESI files for EH IOCA contact your local supplier 3 2 1 EH IOCA supported modules Chapter 3 EH IOCA supported modules and units are shown in Table 3 2 1 1 2 Shaded modules and units had ceased in production I O Assignment symbol are mean to I O type on the EtherCAT network Product
12. 00 Indicates cycle time ns Synchronization 0x04 UNSIGNED16 RO Not possible 16414 Indicates synchronization types supported Types supported Minimum Cycle 0x05 UNSIGNED32 RO Not possible 31200 Indicates minimum cycle time Time Calc and Copy 0x06 UNSIGNED32 RO Not possible 0 Indicates calc and copy time Time Get Cycle Time 0x08 UNSIGNED 16 RW Not possible 0 Indicates get cycle time Delay Time 0x09 UNSIGNED32 RO Not possible 0 Indicates hardware delay time SyncO Cycle Time 0x0A UNSIGNED32 RW Not possible 0 Indicates sync cycle time SM Event Missed OxOB UNSIGNED32 RO Not possible 0 Indicates cycle time error count Cycle Time Too 0x0C UNSIGNED32 RO Not possible 2 Indicates cycle time to small error count Small Sync Error 0x20 BOOL RO Not possible False Indicates sync error 0x6000 6150 Input Entry 0x00 UNSIGNED32 RO Not possible Indicates input data object 0x7000 7150 Output Entry 0x00 UNSIGNED32 RO Not possible Indicates output data object A1 5 Appendix 1 EtherCAT object dictionary Object name Sub index Data type Access PDO mapping Initial value Description Modular device profile 0x00 UNSIGNEDS8 RO Not possible 2 Indicates modular device profile information of EH IOCA Number of object UNSIGNED16 Not possible 0x0010 Indicates number of object Maximum number of modules UNSIGNED16 Not possible 0x0016 Indicates maximum number
13. 000 Ox700F Ox7010 Ox701F Input Entries 0x6010 0x601F Ox7nn0 Ox7nnF Output Entries Configuration Parameter 0x8000 Ox800F 0 8010 0 801 Ox8nn0 Ox8nnF IT Information 0x9000 Ox900F 0 9010 0 901 m Ox9nn0 Ox9nnF Communication Area 0x1000 0x1F FF Device Parameter OxF000 OxFFFF Device with EtherCAT interface Module 0 Module 1 m Module nn EtherCAT Figure 5 3 1 Modular Device Profile RxPDO and TxPDO are handled in case of cyclic data transfer Input Entries Output Entries Configuration Parameter Information Communication Area Device Parameter are handled by SDO communication Chapter 5 EtherCAT communications 5 3 1 PDO mapping of each I O module EH IOCA assigns each I O module position and module information to mapping table when EH IOCA is power on Mapped index can t be changed Mounted modules are defined RxPDO and TxPDO and resisted SM Assignment Lists SM Assignment Lists can t be changed by user RxPDOS Output Output Entries TxPDOs Input 0x1A00 Input Entries 0x6000 SI0 1 UO modules list B Slot 0 EH XD16 a Slot 1 Empty Slot 2 EH YT16 secat Figure 5 3 1 1 EH IOCA mapping The relations between each module mounted position and module number on the EtherCAT network are shown below Table 5 3 1 1
14. 016 ARRAY 0 2 OF UINT 6 bytes 10 bytes ARRAY 0 4 OF UINT X2Y6W 0x00000017 ARRAY 0 1 OF UINT 4 bytes 12 bytes ARRAY 0 5 OF UINT X1Y7W 0x00000018 ARRAY 0 0 OF UINT 2 bytes 14 bytes ARRAY 0 6 OF UINT Y8W 0x00000019 ARRAY 0 7 OF UIN 16 bytes T Y4W 0x0000001A ARRAY 0 3 OF UINT 8 bytes For information on relation between model name of I O modules and I O assignment symbol please refer to 3 2 Functional Specifications Chapter 5 EtherCAT communications 5 3 2 Mount example 1 If you use only basic unit 12 3 4 5 6 7 8 9 1011 Model name I O assignment Model name I O assignment symbol symbol Power supply module EH PSA Module 6 Empty Base unit EH BS8A Module 7 EH CU Module 1 EH XD16 Module 8 EH AY8H Module 2 EH YT16 Module 9 EH POS Module 3 EH YT32 Module 10 Empty Module 4 EH AX8V Module 11 Empty Module 5 EH XD64 Table 5 3 2 1 Case 1 PDO mapping Module number 4 5 6 ARRAY Input type 0 7 OF UINT ARRAY ARRAY ARRAY Output type 0 2 OF 0 7 OF 0 3 OF UINT UINT UINT RxPDOs 0 1601 0 1602 0 1606 0 1607 0 1608 Output Entries 0x7010 01 0x7020 01 0x7060 01 0x7070 01 0x7080 01 TxPDOs 0x1A00 Ox1A03 Ox1A04 0x1A06 Ox1A08 Input Entries 0x6000 01 0x6030 01
15. 15 16 17 18 22 ARRAY ARRAY ARRAY Input type 0 3 OF 0 7 OF 0 3 OF UINT UINT UINT ARRAY ARRAY Output type 0 7 OF 0 3 OF UINT UINT RxPDOs 0x160C 0x160D 0x1612 0x1614 Output Entries 0x70C0 01 0x70D0 01 0x7120 01 0x7140 01 TxPDOs 0x1 A0B Ox1A0D Ox1AOE 0x1A11 0x1A15 Input Entries 0x60B0 01 0x60D0 01 0 60 0 01 0x6110 01 0x6150 01 Chapter 5 EtherCAT communications 3 If you use redundant power supply 12345678 11 or Caution Power operation monitors of redundant power supply are shown below wa OLS MA 22 Basic unit Module 11 Expansion unit Module 22 Model I O assignment Model name I O assignment name symbol symbol Power supply module EH PSR Module 11 EH PSR 1 X16 Base unit EH BS8R Module 12 EH CU Module 1 EH XD32 Module 13 EH CUE Module 2 Empty Module 14 EH AYH8M Module 3 EH XD32 Module 15 EH AYH8M Module 4 Empty Module 16 Empty Module 5 EH YT32 Module 17 Empty Module 6 EH YT32 Module 18 EH YTP16 Module 7 EH AXH8M Module 19 EH YTP16 Module 8 EH AXH8M Module 22 EH PSR 1 Power operation monitor Chapter 5 EtherCAT communications Table 5 3 2 4 Case 3 PDO mapping basic unit Modules number 6 7 8 ARRAY
16. 4 Device control EtherCAT has device control function which can send the unit information of each node device to the master unit Index of device control is OXF200 Device control of EH IOCA is shown below Table 5 3 4 1 Device control OxF200 Meaning Description 0 Output reset 1 Output hold When the communication state changed from Op mode to other mode it is selected whether the output data from the master is held or not Undefined 5 14 Chapter 5 EtherCAT communications 5 4 Communication state transitions The communication state of EtherCAT salve units is indicated by the EtherCAT state machine ESM that is controlled by the master unit According to the communication state the communication method is decided Initialization Init Pre Operational Pre Op Safe Operational Safe Op Operational Op Figure 5 4 1 Communication state transitions Table 5 4 1 Each communication state SDO State Description communication PDO communication Initialization This state is initializing communications Not possible Init Communications are not possible Not possible This state is after the completion of initial setting Pre Operational Communications are possible to use SDO Possible Pre Op communication only Not possible This state is after failure detection in OP state Safe operational Communications are possible to use Possibl
17. DC input Spring type terminal block Intensified filter X32 EH XD32H 32 points 24 V DC input Connector compatible with EM H 200 series X32 EX XD64 64 points 24 V DC input X64 EH XA16 16 points 100 to 120 V AC input X16 EH XAH16 16 points 200 to 240 V AC input X16 EH YR8B 8 points relay output isolated contact point 100 240 V AC 24 V DC EH YR12 12 points relay output 100 240 V AC 24 V DC EH YR16 16 points relay output 100 240 V AC 24 V DC 16 points 1 common EH YR16D 16 points relay output 100 240 V AC 24 V DC 8 points 1 common EH YT8 8 points transistor output 12 24 V DC sink type EH YTP8 8 points transistor output 12 24 V DC source type EH YT16 16 points transistor output 12 24 V DC sink type EH YTP16 16 points transistor output 12 24 V DC source type EH YTP16S 16 points transistor output 12 24 V DC source type EH YT32 32 points transistor output 12 24 V DC sink type EH YTP32 32 points transistor output 12 24 V DC source type EH YT32E 32 points transistor output 12 24 V DC sink type Spring terminal block EH YTP32E 32 points transistor output 12 24 V DC source type Spring terminal block EH YT32H 32 points transistor output 5 12 24 V DC sink type Connector compatible with EM H 200 series EH YT64 64 points transistor output 12 24 V DC sink type EH YTP64 64 points tr
18. HITACHI PROGRAMMABLE CONTROLLER HV EtherCAT Slave Controller EH IOCA APPLICATION MANUAL SERVICE MANUAL NJI 599 X Warranty period and coverage The warranty period is the shorter period either 18 months from the data of manufacture or 12 months from the date of installation However within the warranty period the warranty will be void if the fault is due to 1 Incorrect use as directed in this manual and the application manual 2 Malfunction or failure of external other devices than this unit 3 Attempted repair by unauthorized personnel 4 Natural disasters The warranty is for the PLC only any damage caused to third party equipment by malfunction of the PLC is not covered by the warranty Repair Any examination or repair after the warranty period is not covered And within the warranty period ant repair and examination which results in information showing the fault was caused by ant of the items mentioned above the repair and examination cost are not covered If you have ant questions regarding the warranty please contact with your supplier or the local Hitachi Distributor Depending on failure part examination might be impossible Ordering parts or asking questions When contacting us for repair ordering parts or inquiring about other items please have the following details ready before contacting the place of purchase 1 Model 2 Manufacturing number MFG No 3 Details of the mal
19. UR de dte ien 4 4 5T GoE Interaces ido do a A eee ien rM erbe ket ka Ga ARN REM RR IRR 5 1 5 2 HE SIMMS S turu mu Ince ae a ett cota Eco Lue sd amu t he ett d oda 5 2 5 3 Modular Device proie sss sss 5 2 5 3 1 PDO mapping of each I O module I 5 3 5 3 2 Mount example ciet et tel n emu eer re o dee renti 5 6 5 93 93 DevICBiSIaluS cecinit Aunt ar M tentus a a c e 5 11 5 3 4 Device control te Ue dela Jo o 5 14 5 4 Communication state transitions sese eee eee eee ee 5 15 Chapter6 Troubleshooting 6 1 to 6 2 6 1 Error andicates Ale ttt i d ceret a ele red aede Cae Dade 6 1 6 2 AL ree le e PPP 6 2 Appendix 1 EtherCAT object dictionary A 1 to A 7 Chapter 1 Introduction 1 Before use Thank you very much for choosing Hitachi Programmable Controller hereinafter referred to as PLC EHV series This manual explains how to use the EtherCAT slave controller with the Hitachi EHV Programmable Controller Read this manual thoroughly and keep for installation operations maintenance checks and other procedures The following documentation related to PLC is also available and should be used together with this manual Table 1 1 1 List of Description materials Items Title of document Manual number EHV series EHV APPLICATION MANUAL NJI 564 X EtherCAT EH IOCA APPLICATION MANUAL This manual NJI 599 X Slave con
20. analog output 4ch Voltage 10 to 10 V EH AY4I 12 bits analog output 4 ch Current 4 to 20 mA EH AYH8M 14 bits analog output 0 to 22mA 4 to 22mA 0 to 10V 8 ch EH AYG4M Isolated analog output 0 to 22mA 4 to 22mA 10 to 10V 0 to 10V 4 ch 4 channels resistance bulb input Signed 15 bits Platinum Pt 1000 Pt 10000 Signed 15 bits Thermocouple input K E J T B R S N 8 points 2 channels high speed counter input Maximum frequency of 100 kHz 1 2 phases switchover 4 point opened collector output O JOO O O O O O JO O O EH POS 1 channel high speed counter input Maximum frequency of 100 kHz 1 2 phases switchover 2 point opened collector output 1 axis pulse positioning module EH POS4 EH SIO 4 axes pulse positioning module Serial communication module RS 232C RS 422 RS 485 general purpose Modbus protocol Hi Protocol Simple data link x x O O O EH ETH Ethernet module IEEE802 3 standard 10BASE T x EH ETH2 Ethernet module IEEE802 3 standard 0 100BASE TX Auto negotiation x EH LNK CPU link module coaxial EH OLNK CPU link module optical fiber EH OLNKG CPU link module support optical fiber GI50 125um cable EH OLNKE CPU link module support optical fiber 162 5 125 cable EH TRMME Compact remote master module Twisted pair cable EH TRMLE Compact remote slave mo
21. ansistor output 12 24 V DC source type EH YS4 4 points triac output 100 240 V AC EH YS16 EH MTT32 16 points triac output 100 240 V AC 16 points TTL output 16 points TTL input 4 to 27V DC OJOJOJO O O OO OO OO O JOO O JOO JOO O O IO O O Chapter 3 Product name Model name Specifications of EH IOCA Table 3 2 1 2 supported modules 2 2 Specifications Supported UO Assignment symbol Analog input module Analog output module RTD input module Thermocouple input module Counter module Communication and network module Dummy module EH AX44 12 bits analog input 4 to 20mA 0 to 10 V each 4 ch X8W EH AX8V 12 bits analog input 8 ch Voltage 0 to 10 V X8W EH AX8H 12 bits analog input 8 ch Voltage 10 to 10 V X8W EH AXSI 12 bits analog input 8 ch Current 4 to 20 mA X8W 8 12 bits analog input 8 ch Current 0 to 22 mA X8W EH AXH8M 14 bits analog input 0 to 22mA 4 to 22mA 10 to 10V 0 to 10V 8 ch X8W EH AXG5M EH AY22 Isolated analog input 0 to 22mA 4 to 22mA 10 to 10V 0 to 10V 5 ch 12 bits analog output 4 to 20mA 0 to 10 V each 2 ch X8W EH AY2H 12 bits analog output 2 ch Voltage 10 to 10 V EH AY4V 12 bits analog output 4 ch Voltage 0 to 10 V EH AY4H 12 bits
22. arking EMC direction follow the instructions below T CAUTION pua Md cable must be routed in metal duct separated from power or I O cables as much as 2 Use included ferrite core for communication cable with one turn as the picture below Communication connector m Communication cable Ferrite core 19 0 x 19 0 x 30 0mm Figure 4 3 2 2 Use ferrite core Chapter 4 Installation 4 4 Mount redundant power supply modules EH PSR EH BS8R If you use EH PSR and EH BS8R it must use breaker to each power supply modules EH IOCA Figure 4 4 1 Use redundant power supply If you use power operation monitor of redundant power supply please refer to the section 5 3 2 Mount example 45 Mount expansion unit EH IOCA can use one expansion unit use by EH IOCH2 Then rotary switch of EH IOCH2 must be set 1 Expansion unit can use redundant power supply Basic unit Expansion cable EH CB A EH IOCH2 Expansion unit Figure 4 5 1 Use expansion unit Chapter 5 EtherCAT communications 5 1 CoE interface EH IOCA use CAN application protocol over EtherCAT CoE a communication interface to be applied for EtherCAT devices as the device profile of the open network standard CAN application protocol Application
23. dule Twisted pair cable EH TRME2 Compact remote 2 master module Twisted pair cable EH TRLE2 Compact remote 2 slave module Twisted pair cable EH TLNKE Compact LINK module Twisted pair cable EH TRLLE Compact I O LINK module Twisted pair cable EH RMD Device Net master module EH IOCD Device Net slave controller 256 words input 256 words output EH RMP PROFIBUS DP master module EH IOCP EH DUM PROFIBUS DP slave controller 208 words input output Module for an opened slot If unsupported modules are mounted on the base of EH IOCA EH IOCA may malfunction 2 f dummy modules are mounted on the base of EH IOCA I O assignment symbol is not displayed X X X XX DX X X Chapter 3 Specifications of EH IOCA 3 8 Name and function of each part Name and function of each part Model name EH IOCA 1 Lock button Weight 0 14 kg 0 31 Ib Current consumption 5VDC 0 35 A Dimensions mm in 2 LED display 3 Node address switch 45 1 95 3 74 1 77 3 74 4 Reset switch 5 Communication connector IN 100 3 94 6 Communication connector OUT Function Remarks Lock button Press this button to dismount Module can be fixed firmly by a screw of MA x 10mm 0 39in LED display The status of module is displayed on this LED Node address switch
24. e Safe Op SDO communication and the input data in PDO communication Possible Input data only This state is being normal communications Operational Op Communications are possible to use SDO and PDO Possible communication 5 15 Possible Chapter 6 Troubleshooting 6 1 Error indicates When EH IOCA occur error each LEDs are ON Blink or OFF Error descriptions are shown below Indicate pattern Table 6 1 1 Indicates EH IOCA errors Description Actions ON No error EtherCAT POW EHHOCA RUN ERR OFF Hardware error Power supply error No error The power is not properly supplied to the EH IOCA EH IOCA is broken Check power of power supply module Replace EH IOCA Blinking Configuration error It is mismatch between master side configuration data and EH IOCA mounted modules Check system and node address and push reset switch of EH IOCA Single flash SUSY EH OCA RUN EtherCAT synchronism failure Communication data failure Error data appear on EtherCAT network Check the connection of the communication cable Check there are no sources of noise near the communication cable ERR Double flash Application watchdog timeout Communications error occurred Check the connection of the communication cable Check there are no sources of noise near
25. er side of the module until it clicks Note 1 Make sure the module is mounted securely Note 2 Slot position of power supply module is fixed as 1st slot of base unit Note 3 Slot position of CPU module is fixed as 2nd slot of base unit Modules can be fixed firmly by M4 X 10mm screws Figure 4 1 1 Mounting Module 2 Removing 1 Press the lock button 2 With the lock button pressed pull the top of the module 3 Pull the unit away from the base unit Note Press the lock button for a power supply module Figure 4 1 2 Removing Module Chapter 4 Installation 4 2 Mountable slots for EH IOCA EH IOCA is mountable on only slot for CPU right side of power supply module Slot No 0 12345 67 f aaco M 4 ti Figure 4 2 1 Mountable slots for EH IOCA 4 3 Wiring EtherCAT network La Recommended cable Recommended cable of EH IOCA is shown below But if EH IOCA is used in noisy environment we recommend cables with double aluminum tape and braided shielding Table 4 3 1 1 Recommended cable of EH IOCA Item Details Twisted pair cable 100BASE TX CAT 5 or higher STP cable RJ45 connector CAT 5 or higher Shielded The maximum cable length between connected nodes is 100m Note that some cables do not guarantee 100m In general if the conductors are strand wire the transmission per
26. formance will be lower than solid wire and the operation at 100m distance cannot be guaranteed Confirm details with the cable manufacturer Chapter 4 Installation 4 3 2 Connect communication cable Connect the communication cable from EtherCAT master unit to the IN connector of EH IOCA Connect another communication cable from OUT connector of the first slave unit to the IN connector of next slave unit Note that nothing should be connected to the OUT connector of the slave unit at the terminal end of the network EtherCAT master unit gt j S gol m e B e Slave unit b Slave unit Terminal slave unit S Figure 4 3 2 1 Connect communication cable Connect the connector of the communications cable surely Do not put the communications cable in a duct same as other power lines and a wiring duct of I O Separate approximately 300mm from other ducts It may be improved when put a ferrite core in a cable as measures to the induction noise for the communications cables When EH IOCA gets into communication with EtherCAT master unit the communication may not establish depending on the master unit In that case follow the operations below 1 Reconnect the connector of the communication cable 2 Reboot EH IOCA If EH IOCA is applied for CE m
27. function O Reader of this manual This manual is described for the following person Person considering the introduction of PLC e PLC system engineer Person handling PLC Manager after installing PLC Warning 1 Reproduction of the contents of this manual in whole or in part without written permission of Hitachi IES is prohibited 2 The content of this document may be changed without notice 3 While efforts have been made to be accurate if any wrong or missing information is found please contact us MS DOS Windows and Windows NT are registered trademarks of America and other registered countries of Microsoft Corp of the United States EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation Gmbh Germany Safety Precautions Read this manual and related documents thoroughly before installing operating performing preventive maintenance or performing inspection and be sure to use the unit correctly Use this product after acquiring adequate knowledge of the unit all safety information and all cautionary information Also make sure this manual enters the possession of the chief person in charge of safety maintenance Safety caution items are classifies as Danger and Caution in this document Identifies information about practice or circumstances which may lead to personal injury or b DANGER duis d death property damage or economic loss Ident
28. gal state transition request Check the transition setting in the received Received master unit 0x0012 Error state transition received A transition request to an unknown state Check the transition setting in the was received master unit 0x0015 Illegal mailbox received A mailbox to an unknown state was Check the mailbox setting in the received master unit 0x0016 Mailbox setting error A mailbox setting to an unknown state Check the mailbox setting in the was received master unit 0x001B Process data watchdog timeout A timeout was detected for an I O data Check the WDT settings in the transmission frame master unit 0 001 Invalid watchdog configuration An illegal watchdog setting was Check the WDT settings in the Invalid input mapping received by master An illegal TxPDO was received by master master unit Check the TxPDO settings in the master unit 0x0025 Invalid output mapping An illegal RxPDO was received by master Check the RxPDO settings in the master unit 0x002C Fatal sync error During operation sync0 not interrupted After checking the following items restart the slave units Check the communications cable whether or not it is wired correctly Check the communications cable whether or not it is taking noise resistance Appendix 1 EtherCAT object dictionary Object dictionaries of EH IOCA are shown below
29. ifies information about practice or circumstances which may lead to personal injury N CAUTION p l P is property damage or economic loss However depending on the circumstances items marked with UN CAUTION may result in major accidents The both marks show important information Be sure to follow the instructions Icons for prohibited items and required items are shown below Identifies prohibition For example when open flames are prohibited is indicated Q Identifies requirement For example when grounding must be performed is indicated 1 Installation N CAUTION e Use this product in an environment as described in the catalog or this document If this product is used in an environment subject to high temperature high humidity excessive dust corrosive gases vibration or shock it may result in electric shock fire or malfunction e Be sure to install the PLC according to this manual Failure to do so could result in damage by falling off failure or malfunction e Do not allow foreign objects such as wire chips to enter the unit They may become the cause of fire malfunction or failure 2 Wiring e The PLC must be grounded FE terminal Failure to do so could result in injury to personnel or causing it to malfunction N CAUTION e Always use the power supply voltage listed in specifications Using other voltage may damage the equipment or present a risk of fire e The wiring operation sh
30. ing the module Electric shock malfunction or failure may result Revision History Description of revision Date of Manual number 1 Thefirstedition Mar 2014 NJT S99 X Table of Contents Chapter 1 Introduction 1 1 to 1 2 Before a ics op ne E nt er eR d Toda e ce ODE e vue 1 1 1 2 ltem packaged WP Ihe 1 1 1 3 Combination with the EtherGAT masters I trt tt rire ttd 1 2 Bef dreature el Blei CAT s Q aqhataqa 2 1 2 2 Foame Nel M 2 1 3 1 General Specifications caeco i tc i awaqa rie e a 3 1 3 2 Specifications asau aaneen ataoa aii ua yaar q 3 2 3 2 1 EH IOCA supported modules sees 3 3 3 3 Name and function of each part sese sees eee eee 3 5 Chapter 4 Installation 4 1 to 4 4 4 1 Mounting modules 4 1 4 2 Mountable slots for EH IOCA a eene ennemis nennen nnne nns 4 2 4 3 Wiring EtherCAT9 network nte af sua entia med kt bs E d asit tei na 4 2 4 3 1 Recommended cable L n 4 2 4 3 2 Connect communication cable sese ee ee e ee ee 4 3 4 4 Mount redundant power supply modules EH PSR EH BS8R 4 4 4 5 Mount expanslon Unito o coenae eti ehe pe e hae M
31. n please refer to Module RES Normal Some I O modules are watchdog error Modules watchdog error For information please refer to Module WDT Normal Some I O modules are failure Modules failure For information please refer to Module FAIL Normal Some I O modules are mismatch between mount Modules ID mismatch modules and recent modules For information please refer to Module IDER Undefined 5 11 Chapter 5 2 Module RES EtherCAT communications Meaning Description Module 1 no error Module 1 reset state Indicate module 1 reset state Module 2 no error Module 2 reset state Indicate module 2 reset state Module 3 no error Module 3 reset state Indicate module 3 reset state Module 21 no error Module 21 reset state Indicate module 21 reset state RES22 Module 22 no error Module 22 reset state Indicate module 22 reset state Undefined 3 Module WDT Bit No Name Meaning Description 0 Module 1 no error Indicate module 1 watchdog error state 0 WDTI 1 Module 1 watchdog error 0 Module 2 no error Indicate module 2 watchdog error state 1 WDT2 1 Module 2 watchdog error 0 Module 3 no error Indicate module 3 watchdog error state 2 WDT3 1 Module 3 watchdog error 0 Module 21 no error Indicate module 21 watchdog error state 20 WDT21 1 Module 21 watchdog error 0
32. nication Type 0x00 UNSIGNEDS8 RO Not possible 0x04 Indicates sync manager type 0x01 UNSIGNEDS8 RO Not possible 0x01 Indicates receive mailbox setting 0x02 UNSIGNED8 RO Not possible 0x02 Indicates send mailbox setting 0x03 UNSIGNEDS8 RO Not possible 0x03 Indicates process data output setting 0x04 UNSIGNEDS8 RO Not possible 0x04 Indicates process data input setting Ox1C12 RxPDO Assign 0x00 UNSIGNEDS8 RO Not possible 0x01 Indicates number of sync manager RDO assign is a index number Sub Index 001 023 0x01 0x17 UNSIGNED16 Not possible 0x16 Indicates status of sync manager RDO assign is a index number Ox1C13 TxPDO Assign UNSIGNEDS8 Not possible Indicates number of sync manager TDO assign is a index number Sub Index 001 023 0 01 0 17 UNSIGNED16 Ai 3 Not possible OxlA Indicates status of sync manager TDO assign is a index number Appendix 1 EtherCAT object dictionary Object name Sub index Data type Access PDO mapping Initial value Description Sync Manager Output Parameter 0x00 UNSIGNEDS8 RO Not possible 32 Indicates EtherCAT communication mode of sync manager 2 Synchronization Type UNSIGNED16 Not possible Indicates synchronization t
33. of EH IOCA Figure 5 1 1 Application of EH IOCA CoE has two types of object dictionaries PDO process data object and SDO service data object PDO is composed of object dictionaries that can be mapped The process data is defined by PDO mapping PDO is used in PDO communications for regularly exchanging process data SDO is able to read and write all object dictionaries and is used in non fixed cycle type SDO event type messages communications EH IOCA handles the data refreshing of each module and status information by PDO communication and EH IOCA handles the information of EH IOCA Device type Vender ID etc by SDO communication Chapter 5 EtherCAT communications 5 2 ESI files Parameters of EtherCAT slaves are defined by ESI files Each ESI file defines Vender ID Device group PDO mapping and sync manager ENI file that includes the network configuration information is produced by installing ESI files in the configuration tool EtherCAT master unit can operate by writing downloading ENI file EE Configurator EtherCAT master Figure 5 2 1 ESI files For information on the ESI files for EH IOCA contact your local supplier 5 3 Modular Device Profile Device profile model of EH IOCA conforms EtherCAT Modular Device Profile I O modules are fixed mapping in PDO mapping table by the module MDP Device RxPDOs Ox1Ann Ox6nn0 Ox6nnF 0x6000 0x600F 0x7
34. ould be performed by a qualified personnel Failure to do so could result in fire damage or electric shock 3 Precautions when using the unit lt gt DANGER e Do not touch the terminals while the power is on There is a risk of electric shock e Appropriate emergency stop circuit interlock circuitry and similar safety measures should be added to the PLC system to ensure safety in the event of incorrect missing or abnormal signals caused by broken signal lines momentary power interruptions or other causes Do not share the power supply of relay output module and interlock circuitry because relay output might not work properly due to switching noise from interlock circuitry N CAUTION e When performing program change forced output RUN STOP etc while the unit is running be sure to check system safety carefully Failure to do so could lead to damage to equipment e Supply power according to the power up order Failure to do so could lead to damage to equipment or malfunction N CAUTION 4 Preventive maintenance lt gt DANGER e Do not connect the _ of the battery in reverse polarity Do not recharge disassemble heat place in fire or short circuit the battery There is a risk of explosion or fire PROHIBITED e Do not attempt to disassemble repair or modify any part of the PLC Electric shock malfunction or failure may result N CAUTION e Turn off power to the PLC before mounting or dismount
35. possible 0x01 UNSIGNED16 A1 7 Possible 0x0000 Indicates device control
36. rofile So the EtherCAT master must be able to operate modular device profile If the EtherCAT master can t operate modular device profile the EtherCAT master can t use EH IOCA Chapter 2 EtherCAT network 2 1 Feature of EtherCAT EtherCAT Ethernet Control Automation Technology is a high performance industrial network system that enables faster and more efficient communications based on Ethernet It can communicate in short cycle time since Ethernet frame transmit for each node at high speed 2 2 Feature of EH IOCA EH IOCA is slave controller on EtherCAT protocol of industrial network EH IOCA is helpful as I O controller of EtherCAT system AT master HV EtherC EHV series CPU module etc EtherCAT master CAT5 or higher LAN cable Maximum segment length 100m EH IOCA n EH IOCA R a dC Redundancy power supply Slave I O controller EH IOCH2 Figure 2 2 1 Example of EH IOCA system 1 Maximum I O 1 408 points Since it is coupler type any I O modules can be freely and flexibly used up to 1 408 points of digital I O or 176 channels of analog I O 2 Compatibility of EH 150 series Existing power supply units base units and I O modules of the EH 150
37. scription of Rotary switch Rotary switch Symbol Meaning Details of setting U Station No The station No of EtherCAT network is set from 1 to 99 upper 1 to 99 The tens place set by upper rotary switch The ones place set by lower rotary switch Default setting U 0 L 0 Node address of EH IOCA is set by node address method of EtherCAT master unit If EtherCAT master use fixed node address method rotary switch of EH IOCA is valid If EtherCAT master use logic node address method or auto increment address method rotary switch of EH IOCA is invalid If EtherCAT master use logic nodes address method or auto increment address method please set the rotary switch to 00 E Description of Connector Connector Indication Details Communication RJ45 8 pin connector connector Terminal layouts are shown below LINK TS Details Send data TD IN Send data TD Receive data RD D LINK OUT _ Receive data RD NC NC COLIN ITN I LINK LED LINK LED light up if the communication device are connected Green with a cable ACT ACT LED ACT LED is flashing during operation Orange Please refer to 4 3 Wiring EtherCAT network for the wiring of connector Chapter 4 Installation 4 1 Mounting modules 1 Mounting 1 Hook the lower part of the module to the hole in the base 2 Press in the upp
38. troller The alphabet between the number and X means version A B and the space means the first edition 2 ltem packaged with the module Great care has been taken in the manufacture of this product but we advise that the following points are checked immediately after purchase 1 Is the model the same one that you ordered 2 Has the product been damaged in any way 3 Areany of the accessories listed in Table 1 2 1 missing Table 1 2 1 List of accessories supplied with the EH IOCA Product name Model name Appearance Quantity Remarks EtherCAT EH IOCA Slave controller Instruction manual NJI 578 X For applying CE marking EMC direction Ferrite Core Please refer to 4 3 2 Connect communication cable Chapter 1 Introduction 1 3 Combination with the EtherCAT masters EH IOCA has some cautions when using the EtherCAT master is EHV CPU module or others Please care in accordance with the following points If using the EtherCAT master is EHV CPU module The combination of EH IOCA can be operated by EHV CPU module is shown below Table 1 3 1 support EHV CPU module Product name Model name Supported CPU software Supported EtherCAT master version library version EHV series EHV CPU1102 Ver 3 4 4 5 Ver 3 5 3 60 CPU module EHV CPU1025 If using the EtherCAT master is others The EtherCAT device profile model of EH IOCA is modular device p
39. x 1 EtherCAT object dictionary Index Object name Sub index Data type Access PDO mapping Initial value Description 0x1600 1615 RxPDO Mapping 0x00 UNSIGNED8 RO Not possible 0x01 Indicates PDO mappings information from Module 1 to Module 22 Sub Index 1 0x01 UNSIGNED32 RO Not possible 0x7 0 01 1 is a index number Ox16FF RxPDO Mapping 0x00 UNSIGNED8 RO Not possible 0x01 Indicates PDO mapping of device control information Sub Index 1 0x01 UNSIGNED32 RO Not possible 0 200 01 16 0 1 00 1 15 TxPDO Mapping 0x00 UNSIGNED8 RO Not possible 0x01 Indicates PDO mappings information from Module 1 to Module 22 Sub Index 1 0x01 UNSIGNED32 RO Not possible 0x6 0 01 1 is a index number Ox1AFF TxPDO Mapping 0x00 UNSIGNED8 RO Not possible 0x01 Indicates PDO mapping of device status information Sub Index 1 0x01 UNSIGNED32 RO Not possible OxF100 01 16 Sub Index 2 0x02 UNSIGNED32 RO Not possible OxF100 02 32 Sub Index 3 0x03 UNSIGNED32 RO Not possible OxF100 03 32 Sub Index 4 0x04 UNSIGNED32 RO Not possible OxF100 04 32 Sub Index 5 0x05 UNSIGNED32 RO Not possible 0 100 05 32 Sub Index 6 0x06 UNSIGNED32 RO Not possible OxF100 06 16 Sub Index 7 0x07 UNSIGNED32 RO Not possible OxF100 07 16 A1 2 Object name Sub index Data type Access PDO mapping Initial value EtherCAT object dictionary Appendix 1 Description Sync Manager Commu
40. x8030 0x8040 0x8050 Information 0x9000 0x9010 0x9020 0x9030 0x9040 Table 5 3 1 4 Each module number object address 2 EtherCAT object dictionary Module number 0x9050 7 8 9 10 11 RxPDOs 0x1606 0x1607 0x1608 0x1609 0 160 TxPDOs 06 0 1 07 Ox1A08 0 1 09 Ox1A0A Input Entries 0x6060 0x6070 0x6080 0x6090 Ox60A0 Output Entries 0x7060 0x7070 0x7080 0x7090 Ox70A0 Configuration Parameter 0x8060 0x8070 0x8080 0x8090 Ox80A0 Information 0x9060 0x9070 0x9080 0x9090 0x90A0 Table 5 3 1 5 Each module number object address 3 EtherCAT object dictionary Module number 12 13 14 15 16 17 RxPDOs 0x160B 0x160C 0x160D Ox160E Ox160F 0x1610 TxPDOs Ox1AOB UX T AUC Ox1AOD Ox1AOE 0x1A0F Ox1A10 Input Entries 0x60BO 0x60CO 0x60D0 Ox60EO 0x60F0 0x6100 Output Entries 0x70BO 0x70CO Ox70DO 0x70E0 0x70F0 0x7100 Configuration Parameter Ox80B0 0x80CO Ox80D0 Ox80EO0 Ox80FO0 0x8100 Information 0x90BO 0x90CO Ox90D0 0x90E0 Ox90FO0 Table 5 3 1 6 Each module number object address 4 EtherCAT object dictionary Module number 0x9100 18 19 20 21 22 RxPDOs 0 1611 0 1612 0 1613 0 1614 0 1615 T
41. xPDOs 0x1A11 0x1A12 0x1A13 0x1A14 0x1A15 Input Entries 0x6110 0x6120 0x6130 0x6140 0x6150 Output Entries 0x7110 0x7120 0x7130 0x7140 0x7150 Configuration Parameter 0x8110 0x8120 0x8130 0x8140 0x8150 Information 0x9110 0x9120 0x9130 0x9140 0x9150 Chapter 5 EtherCAT communications Data sizes of each I O assignment symbol are shown below Input modules are assigned Ox60nn sub index 1 Output modules are assigned 0x70nn sub index 1 nn is slot position Table 5 3 1 7 Data sizes of each I O assignment symbol I O assignment Input sizes Output sizes Device ID Data type symbol Rx Tx X16 0x00000001 UINT 2 bytes X32 0x00000002 UDINT 4 bytes X64 0x00000003 ULINT 8 bytes X4Y4W 0x00000004 ARRAY 0 3 OF UINT 8 bytes ARRAY 0 3 OF UINT 0x00000005 UINT 0x00000006 UDINT 0x00000007 ULINT 0x00000008 UINT UINT 0x00000009 UDINT UINT B1_2 0x0000000A UINT UDINT 2 bytes 4 bytes B2 2 0x0000000B UDINT UDINT 4 bytes 4 bytes X4W 0x00000011 ARRAY 0 3 OF UINT 8 bytes E X8W 0x00000012 ARRAY 0 7 OF UINT 16 bytes X7Y1W 0x00000013 ARRAY 0 6 OF UINT 14 bytes 2 bytes ARRAY 0 0 OF UINT X6Y2W 0x00000014 ARRAY 0 5 OF UINT 12 bytes 4 bytes ARRAY 0 1 OF UINT X5Y3W 0x00000015 ARRAY 0 4 OF UINT 10 bytes 6 bytes ARRAY 0 2 OF UINT X3Y5W 0x00000
42. ype EH IOCA is fixed free run mode 0x0001 Cycle Time UNSIGNED32 Not possible 2000000 Indicates cycle time ns Synchronization Types supported UNSIGNED 16 Not possible 16414 Indicates synchronization types supported Minimum Cycle Time UNSIGNED32 Not possible Indicates minimum cycle time Calc and Copy Time UNSIGNED32 Not possible Indicates calc and copy time Get Cycle Time UNSIGNED 16 Not possible Indicates get cycle time Delay Time UNSIGNED32 Not possible Indicates hardware delay time Sync0 Cycle Time UNSIGNED32 Not possible Indicates sync cycle time SM Event Missed UNSIGNED32 Not possible Indicates cycle time error count Cycle Time Too Small UNSIGNED32 Not possible Indicates cycle time to small error count Sync Error Ai 4 Not possible Indicates sync error EtherCAT object dictionary Appendix 1 Index Object name Sub index Data type Access PDO mapping Initial value Description 0x1C33 Sync Manager 0x00 UNSIGNED8 RO Not possible 32 Indicates EtherCAT communication mode of Input Parameter sync manager 2 Synchronization 0x01 UNSIGNED16 RW Not possible 1 Indicates synchronization type EH IOCA is fixed Type free run mode 0x0001 Cycle Time 0x02 UNSIGNED32 RW Not possible 20000
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