EK1322 - Configuration by means of the TwinCAT System Manager
TwinCAT tree
Enter the EK1322 EtherCAT P extension as an EtherCAT device in the TwinCAT System Manager in Config mode under Devices. Any Terminals already connected to the network can also be read. This will cause all the Bus Couplers with Bus Terminals and their configurations to be loaded. You can then adapt these to meet your requirements.
Meaning of the PDO identifier
PDO identifier | Typ | State | Description |
|---|---|---|---|
Status UP (Undervoltage) | Bit | 0 | Peripheral voltage for Actors UP >= 19.4 V, no overload/ no case of shortcut |
1 | Peripheral voltage for Actors UP < 19.4 V or overload/ case of shortcut (output current > 3 A) | ||
Status US (Undervoltage) | Bit | 0 | System- and Sensor supply US >= 19.4 V, no overload/ no case of shortcut |
1 | System- and Sensor supply US < 19.4 V or overload/ case of shortcut (output current > 3 A) | ||
WcState | Bit | 0/1 | Each datagram of the device indicates its processing state here. This allows monitoring for correct process data communication. |
InputToggle | Bit | 0/1 | Toggles whenever new valid EtherCAT telegram was received |
State | UINT | - | Status display of the “EtherCAT state machine” (see State, Online tab) |
To add a EtherCAT P device to one of the two ports of the junction, right - click on the device in the Tree in the subsequently opened context menu "Add New Item...":
In the window that opens therefore, the component to be inserted and the respective port (X1 or X2) on the right side can be selected:
EtherCAT P tab
From TwinCAT 3 Build 4020 TwinCAT has the tab “EtherCAT P”. This tab contains a planning tool to calculate voltages, currents and cable lengths of EtherCAT P system. The figure below shows the tab EtherCAT P when no device is connected to the junction device (A).
Is a device connected to the junction device (A), the number/letter of the ports are displayed (see figure below, B).
Are three devices connected to the three ports of the junction device (A), the ports are displayed (B) as shown in the figure below.
How you can see the topology of your EtherCAT P system in TwinCAT, is described here.
Port | Identification of the ports with numbers / letters as described before |
Wire Gauge | Selection of the wire cross-sectional area of the cable which is to be used AWG 22 = 0.34 mm² AWG 24 = 0.22 mm² AWG 26 = 0.14 mm²
|
Length (m) | Indication of the cable length which is to be used |
Check EtherCAT P system | At least one device is connected to the controller, the connected EtherCAT P system can be checked. |
Type | Listing of two voltages: Box supply US, Auxiliary voltage UP |
Actual Voltage (V) | The respective voltage at which the system is powered, can be entered manually. The default setting is 24.00 V. |
Min. Voltage (V) | The minimum voltage is preset by the device and described in the ESI file. The EtherCAT P system is to be interpreted after this voltage. It is valid not to fall short this voltage. |
Internal Load (A) | The current which consume the device is read from the ESI file of the respective box. |
Load (A) | The total consumption of the connected sensors / actuators at the device can be specified here,e.g. 100 mA. |
Load Type | The characteristic of the load which is connected to the devices can be selected here. Which of the three options is right for the connected load (Sw regulator, LDO, Resistor), must be taken from the datasheet. In case of doubt please select the default value “Sw Regulator”. Sw Regulator: Switching regulators, consume more energy and therefore require an efficient power supply. LDO: Low drop voltage regulator, the energy demand is often small and the heat dissipation is not a problem, e.g. proximity sensor. Resistor: electronic, passive components e.g. relay, coil
|
If you click on the button “Check EtherCAT P System”, all devices that are attached to your TwinCAT tree are listed as shown in the following figure.
Check US, Check UP | Selecting which of the two voltages is to be checked. |
Name | Designation of the in TwinCAT tree attached devices. |
Supply Voltage (V) | Voltage at which the device is provided. For device 1, the voltage can be entered manually. |
Min Voltage (V) | See description above. |
Input Resistance (Ω) | Input resistance, which is calculated over the cable length and cable cross-section. |
Current (A) | Display for the current. |
Load (A) | See description above. |
Cable Length (m) | The used cable length must be entered manually. |
Wire Gauge | See description above. |
Example with problem case and troubleshooting
The following figure shows the planning of the EtherCAT P system without a problem. All voltages in the column “Supply Voltage (V)” are highlighted in green.
The following figure shows the planning of the EtherCAT P system with a problem. The “Supply Voltage (V)” of Box 5 drops below the “Min. voltage (V)”. The corresponding field is highlighted in red. The error occurs because longer cables (adjustable in Cable Length (m)) and also AWG 24 instead of AWG 22 cables (adjustable in Wire Gauge) be used.
This area offers the following three options to adjust the system so that there is no error:
Provide a higher voltage: There are max. 28.8 V possible.
Use an EtherCAT P cable with a larger wire cross sectional area (AWG 22 instead of AWG 24).
New voltage feed.
State, "Online" tab
Indicates the online status of the terminal.
Value | Description |
|---|---|
0x___1 | Slave in 'INIT' state |
0x___2 | Slave in 'PREOP' state |
0x___3 | Slave in 'BOOT' state |
0x___4 | Slave in 'SAFEOP' state |
0x___8 | Slave in 'OP' state |
0x001_ | Slave signals error |
0x002_ | Invalid vendorId, productCode... read |
0x004_ | Initialization error occurred |
0x010_ | Slave not present |
0x020_ | Slave signals link error |
0x040_ | Slave signals missing link |
0x080_ | Slave signals unexpected link |
0x100_ | Communication port A |
0x200_ | Communication port B |
0x400_ | Communication port C |
0x800_ | Communication port D |
Topology of the EtherCAT P system
You can view the topology of your EtherCAT P system, as described in the figure below:
A: Click in the TwinCAT tree on „Device1 (EtherCAT)“
B: Click on tab „EtherCAT“
C: Click on button „Topology“
D: The topology of your EtherCAT P system is displayed. Here as example: Three devices are connected to the three ports of the distributor device.
