Function extension:
Besides the CAN bus option the communication via EtherCAT by means of the EMF2192IB EtherCAT communication module is now available for the communication between higher-level control and ECS Motion axis. The EtherCAT communication module is to be attached to the ECS axis module. Contact is established via the automation interface (AIF), plug X1.
If EtherCAT communication is used control, setpoint selection and return of status information are executed via the process data channel 1 (PDO1) of the AIF. The required synchronisation of the control cycles is carried out via a Sync signal at the digital input DI1 (analogous to the Sync telegrams at the CAN bus).
Settings required for the EtherCAT communication:
- C4010 = 2: Selection of the communication interface 'Automation Interface' (AIF X1, PDO1)
- C4011 = 1: Assignment for the digital inputs. Input X6/DI1 as Sync signal source.
- C1120 = 2: Synchronisation via terminal 6/DI1.
- C1121 (synchronisation cycle [in ms]): The synchronisation cycle set under C1121 must correspond to the sending cycle of the Sync telegrams from the master (1 to 4 ms).
Further options to set parameters are provided thanks to codes C1122 (synchronisation phase), C1123 (synchronisation window) and C0363 (Sync correction increment).
In case of the EtherCAT communication the synchronisation can only be executed via the digital input terminal X6/DI1.
Like it is the case with Posi&Shaft, the signals the digital inputs are assigned via code C4011:
Input terminal DI1 DI2 DI3 DI4
C4011 = 0: QSP REF Lp Ln
C4011 = 1: SYNC REF Lp Ln
If C4011 is set to 1 the input X6/DI1 is only configured for being used as Sync signal source. The assignment with QSP is not required. The signal assignment for the other digital inputs remains unchanged with both settings of C4011.
Included in which products/versions?
ECS Motion from V3.0 onwards
Applications:
Control and setpoint profile generation for ECS Motion in a higher-level control with communication via EtherCAT by means of the EMF2192IB EtherCAT communication module.
Published in Service Message No. 2010/xx
