Bronkhorst EtherCAT - Manual (Page 3)

BRONKHORST ®
Table of contents
1 GENERAL PRODUCT INFORMATION ................................................................................................. 4
1.1 I NTRODUCTION ................................................................................................................................................ 4
1.2 M ULTIBUS TYPES .............................................................................................................................................. 4
1.2.1 References to other applicable documents ................................................................................................. 5
1.2.2 Manuals and user guides: ........................................................................................................................... 5
1.2.3 Technical Drawings: .................................................................................................................................... 5
1.2.4 Software tooling: ........................................................................................................................................ 5
1.3 S HORT FORM START - UP ..................................................................................................................................... 6
2 FUNDAMENTALS OF ETHERCAT ........................................................................................................ 7
2.1 E THER CAT S TATE M ACHINE ............................................................................................................................... 8
3 INSTALLATION ................................................................................................................................. 9
3.1 I NSTRUMENT OVERVIEW .................................................................................................................................... 9
3.2 P IN ASSIGNMENT ............................................................................................................................................. 9
3.3 C ONNECTION CABLES .......................................................................................................................................10
3.4 E THER CAT CONNECTION ...................................................................................................................................10
3.5 R OUTING AND SHIELDING THE BUS CABLE ..............................................................................................................11
3.6 B US TERMINATION ..........................................................................................................................................11
3.7 S ECOND A DDRESS SETUP ...................................................................................................................................11
4 PROTOCOLS .................................................................................................................................. 12
4.1 CAN APPLICATION LAYER OVER E THER CAT (C O E) ..................................................................................................12
4.1.1 Object Dictionary ...................................................................................................................................... 12
4.1.1.1 Object Dictionary in device description file (ESI) ....................................................................................................12
4.1.1.2 Generated Object Dictionary ..................................................................................................................................13
4.2 P ROCESS D ATA (PDO) .....................................................................................................................................13
5 DEVICE PROFILE DS-404 SUPPORT .................................................................................................. 14
6 DIAGNOSTICS ................................................................................................................................ 15
6.1 E THER CAT STATUS INDICATOR ...........................................................................................................................15
6.1.1 Run indicator ............................................................................................................................................. 15
6.1.2 Error indicator ........................................................................................................................................... 15
7 SERVICE ........................................................................................................................................ 16
APPENDIX A: OBJECT DICTIONARY ........................................................................................................ 17
APPENDIX B: SI UNIT AND PREFIX SPECIFICATION ................................................................................. 23
APPENDIX C: NON-SI UNIT SPECIFICATION ............................................................................................ 24
Page 3 EtherCAT interface 9.17.063