ethercat slavetaiw .,ltd 41 in ethercat® network, the master sends an ethernet frame passing...

Taiwan Pulse Motion Co.,Ltd41

In EtherCAT® network, the master sends an Ethernet frame passing through all of the slave nodes. Each EtherCAT® datagram is a command that consists of a header, data and a working counter. EtherCAT® datagrams are sent by the EtherCAT® master to all connected EtherCAT® slaves. The data exchange is cyclically updated between master and slaves.

EtherCAT Data Transition

EtherCAT Tool: TwinCAT

EtherCAT Slave

TwinCAT

(EtherCAT Slave Information)

Master SlaveESI File

(EtherCAT Network Information)

ENI File

®

®

TwinCAT® is the EtherCAT® tool which is developed by Beckhoff . The TwinCAT ® (The Windows Control and Automation Technology) automation suite forms the core of the control system. The TwinCAT® software system turns almost any PC-based system into a real-time control with multiple PLC, NC, CNC and/or robotics runtime systems.

All TPM modules can be tested with TwinCAT® easily. With the RJ45 cable, EtherCAT® Master and EtherCAT® slaves can connect together t o a c h i e v e t h e c o n t r o l s y s t e m . E Z E - x x x model names will be displayed on TwinCAT®. Carrier specific model name will not be listed.


Plug-in Module

Plug-in Module / Add-on Terminal

Add-on Terminal

The plug-in EZE EtherCAT module follows the design concept of EZM Motionnet module. In addition to the compact size, the plug-in module also provides good flexibility. It is easy to support different wiring requirements with different carrier boards.

The advantages of EZE plug-in modules include: Compact Size Space Saving Simple Wiring Customization

PCB Carrier Board can have different terminal blocks Standard terminal blocks Customized I/O solutions E-CON Socket 10 Pin Box Header Customized Signal Board

The plug-in I/O modules can also be connected directly to the custom PCB. TPM provides design guides to help customers develop their signal boards. It is easy to combine the benefits of standard and tailored I/O solutions.

TPM CAN Coupler, EZC-N100, is the EtherCAT CAN Master that connects the EtherCAT real-time Ethernet system to extendable Add-on terminal blocks at fieldbus level. This flexible system can provide high-speed, high-accuracy and low-cost remote I/O for EtherCAT.

TPM EtherCAT Add-on Terminal = CAN Coupler + Add-on Module

Add-on modu le i s the CAN S lave . Wi th EZC-N100, the coupler can connect Max. 8 Add-on modules by CAN bus.

There are three kinds of Add-on modules: EZC-D111 - 8 Digital Input and 8 Digital Output EZC-D120 - 16 Digital Input EZC-D102 - 16 Digital Output

EtherCAT OUT

EtherCAT OUT

EtherCAT IN

EtherCAT IN

Ethernet

Ethernet

CAN


Digital I/O SlaveEZE-D1xx Series

32 Ch. DI/O Slave Module

Specification

10KVSurge protection

3.75KVrmsI/O isolation voltage

5.6KΩ/0.5WInput impedance

Input type

±5mA(Max)Input current

24VDCPower supply

1msDistributed Clock

3W typicalPower consumption

0 to 60℃Working temperature

Transmission speed 100 Mbps

Cable type CAT5 UTP/STP Ethernet cable

Serial interface Fast Ethernet, Full-Duplex

EtherCAT®

General

FeaturesCustomize PCB mounting (L-98 x W-26 x H-77 mm)Max. 100Mbps transfer rateLED diagnostic

NPN open collector Darlington transistorsOutput type

Each output Ch. is 350mA at 24VDCSwitch capacity

On to Off, about 50µs;Off to On, about 10µsResponse time

3A (max) for each port (8 Ch.)Over current protection

Ordering informationEZE-D140-NX32 Ch. Digital Input (DI) with NPN typeEZE-D104-XN32 Ch. Digital Output (DO) with NPN typeEZE-D122-NN16 Ch. DI /16 Ch. DO with NPN typeEZE-D140-PX (available soon)32 Ch. Digital Input (DI) with PNP typeEZE-D104-XP (available soon)32 Ch. Digital Output (DO) with PNP typeEZE-D122-PP (available soon)16 Ch. DI /16 Ch. DO with PNP type

Dimension Diagram

Unit: mm

NPN open collector Darlington transistors

EtherC

AT Digital S

lave Digital I/O Slave207-D140-NX

32 Ch. DI Slave Module with Pluggable Terminal

Specification






EtherCAT®

24VDCPower supply



General

FeaturesDIN rail mounting (L-122 x W-65 x H-104 mm)Max. 100Mbps transfer rateEasy installation with RJ45 phone jack and LED diagnosticPluggable terminal block with spring plug connectors

Dimension Diagram



Input type

Unit: mm

Ordering information207-D140-NX32 Ch. Digital Input (DI) with NPN type207-D140-PX (available soon)32 Ch. Digital Input (DI) with PNP typeSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M


207-D140-NX Terminal Definitions




I/O connector


Digital I/O Slave207-D104-XN

32 Ch. DO Slave Module with Pluggable Terminal

Specification






3A (Max) for each port (8 Ch.)Over current protection

24VDCPower supply






EtherCAT®

General


Dimension Diagram

Unit: mm

Ordering information207-D104-XN32 Ch Digital Output (DO) with NPN type207-D104-XP (available soon)32 Ch Digital Output (DO) with PNP typeSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M


I/O connector

207-D104-XN Terminal Definitions

EtherC

AT Digital S

lave Digital I/O Slave207-D122-NN

16 Ch. DI/O Slave Module with Pluggable Terminal

Specification








3A (Max) for each port (8 Ch.)Over current protection

24VDCPower supply






EtherCAT®

General


Dimension Diagram

Input type

Unit: mm

Ordering information207-D122-NN16 Ch. DI and 16 Ch. DO with NPN type207-D122-PP (available soon)16 Ch. DI and 16 Ch. DO with PNP typeSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M



Taiwan Pulse Motion Co.,Ltd 46


Analog I/O Slave207-A120FD Series

8 Ch. AI Slave Module with Pluggable Terminal

Specification

24VDCPower supply



EtherCAT®

General

FeaturesDIN rail mounting (L-122 x W-65 x H-104 mm)Max. 100Mbps transfer rateGeneral purpose isolated I/O: 8 DORotary switch for address settingEasy installation with RJ45 phone jack and LED diagnosticPluggable terminal block with spring plug connectors

Ordering information207-A120FD8 Ch. Analog Input (AI) w. ±10V207-A120FHD 8 Ch. Analog Input (AI) w. ±1V207-A120FID 8 Ch. Analog Input (AI) w. 4~ 20mASCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M

Dimension Diagram






Max. 1KHz (DC Mode)Fetch frequency

Input range Single End: ±10VDifferential: ±10V

Effective resolution

General purpose output

16 bits

OUT X 8 (4 Ch. High Speed)

AD Converter

Digital I/O

Unit: mm


EtherC

AT Analog S

lave Analog I/O Slave207-A102F

4 Ch. AO Slave Module with Pluggable Terminal

Specification

24VDCPower supply



EtherCAT®

General

FeaturesDIN rail mounting (L-122 x W-65 x H-104 mm)Max. 100Mbps transfer rateRotary switch for address settingEasy installation with RJ45 phone jack and LED diagnosticPluggable terminal block with spring plug connectors

Ordering information207-A102F4 Ch. Analog Output (AO)SCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M

Dimension Diagram






Effective resolution 16 bits

DA Converter

Output range ±10V

Operation mode

Unit: mm


Ramp and Noise, Single Value, Single Coupled Value,Pattern



Analog I/O Slave207-A121FC

8 Ch. AI and 2 Ch. AO Slave Module with Pluggable Terminal

Specification

24VDCPower supply



EtherCAT®

General

FeaturesDIN rail mounting (L-122 x W-65 x H-104 mm)Max. 100Mbps transfer rateRotary switch for address settingEasy installation with RJ45 phone jack and LED diagnosticPluggable terminal block with spring plug connectors

Ordering information207-A121FC8 Ch. AI and 2 Ch. AOSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M

Dimension Diagram




CAT5 UTP/STP Ethernet cable



Single End: ±10VDifferential: ±10V



16 bits

12 bits

AD Converter

DA Converter

Output range ±10V

Operation mode

Cable type

Input range

Unit: mm


Ramp and Noise, Single Value, Single Coupled Value,Pattern

EtherC

AT Driver S

lave


Microstep DriverSTP-K121

Ordering information

STP-K121EtherCAT® 2-axis, 2-phase microstep driver w. encoderSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M

FeaturesUltra compact, a 2-axis driver integrated controller2-phase bi-polar current driving systemMax. output current 2.0A1/256 micro stepEncoder feedbackMax. 100Mbps transfer rateEasy installation with RJ45 phone jack and LED diagnosticDimension: L-76 x W-140 x H-47mm

±EA x2 , ±EB x2Incremental encoder input

±EZ x2Encoder index signal input

PEL x2, MEL x2, ORG x2, SD x2 and EMG x2I/O input signal

CMP x 2, 1024 Points / Ch.Position compare output

Incremental mode / Absolute modeData range: 28 bitsPosition control

ORG, EZ, SD, Limit & totally 31 typesHoming mode

Specification

Driver

In use: 0~50℃In storage: -20~70℃Ambient temperature

Connect to current sense resistor for bridge A.B = 2AProtection functions

In use: 35~85% (Non-condensing)In storage: 10~90% (Non-condensing)Humidity

0.5GVib. resist

24VDCInput voltage

2-phase, bi-polar current driving systemDrive model

3.0W typical (120mA/24VDC) no loadCurrent consumption

EL+,EL-,ORG, EMG, SD, FAULT, PWRLED display

2-Axis Motion Controller

Motor Wiring Diagram

Dimension Diagram

( B )

( A )A+ A-

B+

B-4 wire (6 wire)Bipolar (Unipolar)

Current: Max. 2.0ASelected: Using a variable resistorSTOP: 0~FRUN: 0~F

Current setting

EtherCAT®



CAT5 UTP/STP Ethernet cable


Cable type

0.5 / 1 / 2 / 4 msDistributed Clock

Support mode CSP, PP, Home

Micro step 1,1/2,1/4,1/8,1/16,1/32,1/64,1/128,1/256 selected by rotary switch 0~8


EtherCAT SlaveStart-Kit207-ADIO-Kit

8 Ch. AI / 2 Ch. AO / 8 Ch. DI / 8 Ch. DO Slave Module

SpecificationFeaturesDIN rail mounting (L-122 x W-124 x H-104 mm)Max. 100Mbps transfer rateEasy installation with RJ45 phone jack and LED diagnostic207-ADIO-Kit supports TwinCAT with ESI File, and Object Dictionary of PDO and SDO

Ordering information207-ADIO-Kit8 Ch. AI / 2 Ch. AO / 8 Ch. DI / 8 Ch. DO slave module with Switch / LED / Meter on-board207-A121D8 Ch. AI and 2 Ch. AOSCB-1BB-06A/10A/20A/30A/50A/A0ACAT5 LAN cable, 0.6M/1M/2M/3M/5M/10M






EtherCAT®

24VDCPower supply



General


Input current

Input range

0~20mA

Single End: ±10 /±5 /±2.5 /±1.25VDifferential: ±10 /±5 /±2.5 /±1.25V



16 bits

12 bits

AD Converter

DA Converter

Output range ±10V

Ramp and Noise, Single Value, Single Coupled Value,PatternOperation mode



NPNInput types

DI/O Control




3A (Max.) for each port (8 Ch.)Over current protection



EtherC

AT Start-K

it

DI / DO / AI / AO

Illustration of Wiring

4 DI: DI4 ~ DI7*2

2 AO: AO0 ~ AO1*3

2 AI: AI0 ~ AI1*4

2 DO: DO6 ~ DO7*14 DI: DI0 ~ DI3** 6 DO: DO0 ~ DO5**

6 AI: AI2 ~ AI7** 2 AO: AO0 ~ AO1**

*1: DO connected with relay

*2: DI connected with switch

*3: AO connected with LED and Meter

*4: AI connected with variable resistor

**: Open interface for user applicaiton

Demo Program

Demo program under C#

Sample Program

Sample program under TwinCAT

ethercat slavetaiw .,ltd 41 in ethercat® network, the master sends an ethernet frame passing...

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