TwinCAT EC Diag Eng 21 PDF

New Automation Technology
EtherCAT Training
19.02.2009 1
EtherCAT Training
Agenda
TwinCAT & EtherCAT
EtherCAT Theory
EtherCAT Features
Sync Units
Hot Connect
Distributed Clocks
TwinCAT Integration
EtherCAT Setup
EtherCAT Diagnosis
Dr. Josef Papenfort
TwinCAT Product Management
j.papenfort@beckhoff.com
19.02.2009 2
EtherCAT Training
EtherCAT Theory: Addresses
Adresses in EtherCAT
Auto Inc Addr: The Auto Increment Address of the EtherCAT slave device.
Auto-increment addressing can be used to address each slave device via its
physical position in the communication ring. Auto-increment addressing is used
during the start-up phase, during which the master assigns the EtherCAT
Address to the slaves. The first slave in the ring has an address of 0 and for
each following the addresses is decremented (0xFFFF(-1),0xFFFE(-2) etc.).
EtherCAT Addr: The fixed Address of the EtherCAT slave device. This address
is set by the master during the start-up phase. To change the default value you
have to check the box left to the address.
(EtherCAT specification)
19.02.2009 5
EtherCAT Training
EtherCAT Theory
EtherCAT Diagnosis
separation from process data and bus diagnosis (helpful to make modular
control architectures)
Process data:
Working Counter shows if process data exchange is valid or not
Working Counter for one datagram (subframe, command)
Bus diagnosis: CRC shows if frame is correct or not

CRC for one frame (with one or more datagrams)
19.02.2009 6
EtherCAT Training
EtherCAT Theory: Working Counter
EtherCAT Diagnosis
In every cycle, synchronous with the cycle

- Working Counter
checks the reading and/or writing of process data
reaction must be done in the application
Asynchronous, not in every cycle, event triggered

- Master State
State Machine of the master
Device state
- Slave State
State Machine
Link state
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EtherCAT Training
WcState
Variable of Type BOOL
Shows Working Counter State from one EtherCAT Slave

0 (FALSE) = valid Working Counter
1 (TRUE) = invalid Working Counter
An invalid Working Counter State means that one EtherCAT Command for
updating the Inputs and Outputs has an incorrect Working Counter
With this EtherCAT Command more than one Slave can be addressed
(every Slave in this command has the same Working Counter 1).
Check the Slave State to see which Slave is responsible for the Working Counter
error.
19.02.2009 8
EtherCAT Training
WorkingCounter
EtherCAT datagram EtherCAT datagram

= Sub Frame = Sub Frame
SyncUnit = one datagram = one WKC =

one special cyclic diagnosis information
19.02.2009 9
EtherCAT Training
EtherCAT Theory: Frames
Frames
Task with I/O = one Ethernet frame = one to 15 datagrams

(one Ethernet frames transports up to 1480 bytes)
- If more than 15 datagrams necessary new frame with same timing

- If more than 1480 bytes new frame with same timing
Default: up to 4 tasks with own I/O
- If more than 4 frames necessary all low prio I/Os in one (or more)
frames with the timing of the low prio task
19.02.2009 10
EtherCAT Training
EtherCAT Theory: CRC
Frames
Every Ethernet frame has a Frame Check Sequence (FCS)

FCS has a 16bit CRC
frames can be destroyed or damaged while running through the network
EtherCAT Master sums CRC errors in master and in every slave
CRC errors result from
- cabling errors
- contact problems
- loose contacts
- not fixed connectors
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EtherCAT Training
EtherCAT Theory: CRC
Frames
frequency of occurrence
on Port A of
Slave

Possible Error detected!
19.02.2009 12
EtherCAT Training
EtherCAT Features
EtherCAT Theory
EtherCAT Features Sync Units
EtherCAT Features
- Redundancy for independent modules: a module defines a set of process data
- Sync Units
- Hot Connect
which is consistent and synchronized
- Distributed Clocks
EtherCAT Setup
combination of data from different slaves: validity of data is
- Master Setup important
- Slave Setup
EtherCAT Diagnosis cyclic process data diagnosis for each sync unit
- System Manager
- Ec Topology View
- ADS Interface if process data in one sync unit is invalid: separate reaction of
- PLC Library
- Network Monitor
control application can be defined
Step-by-Step Diagnosis
for Multi-Task-Operation: each Task has own Sync-Unit/Frame
Summary (read/write process data in different task cycles) reduces bus
load!
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EtherCAT Training
EtherCAT Sync Units
Bus Diagnostic
Modular Control
Structure
Data Exchange
Process data-
Datagram 0 Datagrams diagnostic (1 Bit) Datagram 0
Per datagram
t
Frame
Physical Bus stations
Sync Unit 1
Task 0 Sync Unit 2

Sync Unit 3
Task 1
M
M M
EtherCAT I/O EtherCAT Drives
19.02.2009 19
EtherCAT Training
EtherCAT Sync Units
Useful for applications with machine parts which can be out of order (planned or
unplanned) and the rest of the machine should work. Sync Units help to structure
these applications
granularity depends on EtherCAT Slaves
Each EtherCAT Slave defines one or more process data areas which can be
exchanged synchron and consistent
The number of independent process data areas depends on the implementation

and resources of the EtherCAT Slave Controller (Sync Manager and FMMU
channels)
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EtherCAT Training
TwinCAT&EtherCAT: Overview
Sync Units
Automatically assigned Sync Units

EL67xx
Automatically assigned Sync Units

Hot Connect groups
User defined Sync Units

collection of EtherCAT slave
i.e. for one part of the machine or for a hot
connected part of the network
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EtherCAT Training
EtherCAT Sync Units in TwinCAT System Manager
PLC Task
Standard
NC Task
PLC Task
Fast
User defined
Sync Unit
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EtherCAT Training
EtherCAT Sync Units in TwinCAT System Manager
Datagrams for user defined SyncUnit

19.02.2009 23
EtherCAT Training
TwinCAT&EtherCAT: Setup
EtherCAT Theory
Master Settings
EtherCAT Features
- Redundancy
Master Configuration
- Sync Units Online: Scan Devices
- Hot Connect
Select EtherCAT Device
Offline: Insert EtherCAT Master Device
EtherCAT Setup
- Master Setup
Select and configure network adapter
- Slave Setup
EtherCAT Diagnosis
- System Manager
- Ec Topology View
- ADS Interface
- PLC Library
- Network Monitor
Summary
19.02.2009 38
EtherCAT Training
Master Settings - Adapter
XP: GUID
Experts only:
Use Device Name Search for

Instead of GUID Not Intel-based
Network Adapter
CE: fixed name
19.02.2009 39
EtherCAT Training
Master Settings
List of adapters
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EtherCAT Training
EtherCAT, driver installation
EtherCAT driver installation

im System Manager Compatible device but not installed
Compatible device and installed
19.02.2009 41
EtherCAT Training
Master Settings - EtherCAT
Frames and
Tasks
Datagrams
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EtherCAT Training
Master Settings - EtherCAT
Utilization
Length of frame and

Commands Tasks Topology
Working counter
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EtherCAT Training
For
Advanced users only!
19.02.2009 44
EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis InfoData Configuration
Configuration
of Info Data
Master Startup
Behavior
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EtherCAT Training
Master Diagnosis InfoData Configuration
Slave State
Machine
Slave Configurations for all slaves in network!
Configuration
of SlaveInfo Data Slave Checks
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EtherCAT Training
Sync Task
Configuration
(max. 4 Tasks)
Repeated
Frames
(only with
some Slaves!)
Actual Tasks
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EtherCAT Training
Supplement
Setting for Ethernet
Later on
over EtherCAT (EoE)
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EtherCAT Training
States
Masterstate
Slaves Frame Statistic
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EtherCAT Training
EtherCAT Theory
Slave Settings
EtherCAT Features
- Redundancy
Slave Configuration
- Sync Units Slaves Configuration
- Hot Connect
Startup Data
CANopen over EtherCAT
EtherCAT Setup
- Master Setup
File over EtherCAT
- Slave Setup Firmware Update (Bootstrap)
EtherCAT Diagnosis
- System Manager
- Ec Topology View
- ADS Interface
- PLC Library
- Network Monitor
Summary
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EtherCAT Training
Slave Settings EL3102
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EtherCAT Training
Slave Settings EL3102 - EtherCAT

Autoincrement
address
Slave address
To fix the address
Link to web
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EtherCAT Training
Slave Settings EL3102 EtherCAT Advanced Settings
Rev Number compared

to configured slave
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EtherCAT Training
Slave Settings EL3102 Startup List
Add new Startup Parameter
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EtherCAT Training
Slave Settings EL3102 CoE Online
Accessrights
Readable
Parameters
Index/Subindex
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EtherCAT Training
Updated list
Select parameter
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EtherCAT Training
CoE: CanOverEtherCAT (System Manager)

exemple baudrate EL6001, 9600 Bauds
In the start-up tab you can configure the object. The terminal will be
reconfigured automatically when a replacement occurs, more reliable for the
machine (like Register Communication and KLs terminal).
0x0006 = 9600 Bauds
19.02.2009 57
EtherCAT Training
Slave Settings EL3102 Online
Slave state
Link state
19.02.2009 58
EtherCAT Training
EtherCAT Diagnosis
EtherCAT Theory
EtherCAT Features
- Redundancy
General Overview
- Sync Units Diagnosis with TwinCAT System Manager
- Hot Connect
Diagnosis with TwinCAT Topology View
Diagnosis with ADS
EtherCAT Setup
- Master Setup
Diagnosis with PLC Library
- Slave Setup Advanced Diagnosis with Network Monitor
EtherCAT Diagnosis
- System Manager
- Ec Topology View
- ADS Interface
- PLC Library
- Network Monitor
Summary
19.02.2009 59
EtherCAT Training
EtherCAT Diagnosis inside TwinCAT
TwinCAT System Manager EtherCAT Topology View TwinCAT TcEtherCAT.lib
ADS = Automation Device Specification
EtherCAT EtherCAT Slave EtherCAT Slave EtherCAT Slave

Master Port=EC Port=EC Port=EC
Port 0xFFFF Address Address Address
19.02.2009 60
EtherCAT Training
TwinCAT&EtherCAT: Overview
EtherCAT Theory
System Manager: online overview Slavestatus
EtherCAT Features
- Redundancy
- Sync Units
- Hot Connect Slave-CRC
EtherCAT Setup Port A, B, C, (D)

- Master Setup
- Slave Setup
EtherCAT Diagnosis
- System Manager
- Ec Topology View
- ADS Interface
- PLC Library
- Network Monitor
Masterstatus
Summary Framestatistic
19.02.2009 61
EtherCAT Training
EtherCAT Master/Slave States in TwinCAT System Manager
Experts only:
Additional Debug Info
19.02.2009 62
EtherCAT Training
E-Bus Current Consumption
19.02.2009 63
EtherCAT Training
Master Diagnosis Process Images
Info
process image
Diagnosis Info
Process images
(Number depends on
number of tasks/frames)
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EtherCAT Training
Master Diagnosis Inputs
Frame State
Frame
Working Counter
State
Slave Count
For each Frame: Device State

FrmXState Master
FrmXWcState
X=Frame Number
19.02.2009 65
EtherCAT Training
Master Diagnosis States
One Frame with EtherCAT

Framestate/Frame Datagrams Working Counter
19.02.2009 66
EtherCAT Training
EtherCAT Commands
Meaning
APRD Auto Increment Physical Read
NPRD Node-Addressed Physical Read
LRD Logical Read
BRD Broadcast Read
APWR Auto Increment Physical Write
NPWR Node-Addressed Physical Write
LWR Logical Write
BWR Broadcast Write
LRW Logical Read Write
ARMW Auto Increment Physical Read Multiple Write
19.02.2009 67
EtherCAT Training
Master Diagnosis Inputs - FrmXState
Bit Meaning
0 (0x0001) 1. EtherCAT command not sent
..
15 (0x8000) complete frame not sent
19.02.2009 68
EtherCAT Training
Master Diagnosis Inputs - FrmXWcState
Bit Meaning
0 (0x0001) wrong working counter of 1. EtherCAT command received
15 (0x8000) complete frame missing
19.02.2009 69
EtherCAT Training
Master Diagnosis Inputs - WcState
19.02.2009 70
EtherCAT Training
Master Diagnosis Inputs - WcState
No difference in information!
Use global information in FrmXWcState or
Use local information direct on the slave!
19.02.2009 71
EtherCAT Training
Master Diagnosis Inputs - DevState
Device State
Master
19.02.2009 72
EtherCAT Training
Master Diagnosis Inputs DevState (1/4)
Bit Meaning
0 (0x0001) Link error detected.
1 (0x0002) I/O locked after link error (I/O reset required)
2 (0x0004) Link error (redundancy adapter)
3 (0x0008) Missing one frame (redundancy mode)
19.02.2009 73
EtherCAT Training
Bit Meaning
4 (0x0010) Out of send resources (I/O reset required)
5 (0x0020) Watchdog triggered
6 (0x0040) Ethernet driver (miniport) not found
7 (0x0080) I/O reset active
19.02.2009 74
EtherCAT Training
Bit Meaning
8 (0x0100) At least one device in 'INIT' state
9 (0x0200) At least one device in 'PRE-OP' state
10 (0x0400) At least one device in 'SAFE-OP' state
11 (0x0800) At least one device indicates an error state
19.02.2009 75
EtherCAT Training
Bit Meaning
12 (0x1000) DC not in sync (DC = distributed clocks)
19.02.2009 76
EtherCAT Training
Master Diagnosis InfoData
EtherCAT
Master AmsNetId
InfoData process images are not updated in every cycle

Update on event/change
Mappable variables
i.e. map NetIds instead of using them directly!
19.02.2009 77
EtherCAT Training
Cyclic frames Acyclic frames

(depends on (Mailbox)
cycletime)
Total
Flow in 1/s
Lost frames
Rx / Tx, layer 0 CRC Intel

Chipset
Clear Clear
CRC Counter Frame Statistic
19.02.2009 78
EtherCAT Training
Master Object
Directory:
Master Identity
Identity
List of conf. Slaves
List of Slave States
Access via CoE

ADS Configured Slaves
Slave States
19.02.2009 79
EtherCAT Training
Master Settings Emergency Scan
Only in Emergency Cases:
Only in Config Mode available!

Checks Network and looks for
Slaves
Scans the network slave by slave!

Flat List of found Slave (no
topology)
frame statistic (tests with 10,1000
and more frames)
Includes Link Information
19.02.2009 80
EtherCAT Training
Master Settings Emergency Scan
Slave with error

Close Ports Detected!
Slave 1
Slave 2
Slave n
Slave 3
Slave 4
1. Close Ports of Slave x

2. Send Frame
3. Get slave Identity for Slave x
4. x=x+1
5. Goto 1
19.02.2009 81
EtherCAT Training
Slave Diagnosis EL3102

EtherCAT Theory Slave Info Data
EtherCAT Features
- Redundancy
- Sync Units
- Hot Connect
EtherCAT Setup
- Master Setup
- Slave Setup
EtherCAT Diagnosis
- System Manager
- Ec Topology View Slave State
- ADS Interface
- PLC Library
- Network Monitor
Summary
Slave AMS Net Id
19.02.2009 82
EtherCAT Training
Slave Diagnosis EL3102 + Firmware Update
Firmware Update
Only in Bootstrap State!
WcState (1 bit)
19.02.2009 83
EtherCAT Training
Slave Diagnosis EL3102
State Machine
Slave State
19.02.2009 84
EtherCAT Training
Slave Diagnosis - State
Bit Meaning
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
19.02.2009 85
EtherCAT Training
Bit Meaning
0x0010 Slave signals error
0x0020 Invalid vendorId, productCode... read
19.02.2009 86
EtherCAT Training
Bit Meaning
0x0100 Slave not present
0x0200 Slave signals link error
0x0400 Slave signals missing link
0x0800 Slave signals unexpected link
19.02.2009 87
EtherCAT Training

Bit Meaning
0x1000 Communication port A
0x2000 Communication port B
0x4000 Communication port C
0x8000 Communication port D
Port A Port B Port A Port B

1
1 4
1 2 2
3
Port C 3
19.02.2009 88
EtherCAT Training
Slave State: 0x A B C D
Link Link Error State

port A not present Slave Error INIT
port B Link error Wrong IDs PREOP
port C Missing link BOOT
port D unexpected link SAFEOP
OP
19.02.2009 89
EtherCAT Training
EtherCAT Theory
EtherCAT Topology View
EtherCAT Features
- Redundancy
graphically view to all slaves in right topology
- Sync Units all diagnosistic information directy in one view
- Hot Connect
uses ADS Interface
detailled information on click
EtherCAT Setup
- Master Setup
ActiveX control: can also be used in your application
- Slave Setup
EtherCAT Diagnosis
- System Manager
- Ec Topology View
- ADS Interface
- PLC Library
- Network Monitor
Summary
19.02.2009 90
EtherCAT Training
Configuration of EtherCAT
TwinCAT System Manager
for offline and online configuration of EtherCAT
19.02.2009 91
EtherCAT Training
Graphical EtherCAT Diagnosis
Online Slave State
Online CRC Count
19.02.2009 92
EtherCAT Training
System Manager: Online Slave Ansicht
19.02.2009 93
EtherCAT Training
EtherCAT Topology View: Found versus Configured Slaves
Missing Slaves
Slave Details
19.02.2009 94
EtherCAT Training
EtherCAT Topology View ActiveX Control

- Integrated in TwinCAT System Manager
19.02.2009 95
EtherCAT Training
EtherCAT Topology View ActiveX Control

- Integrated in your HMI as ActiveX Control
19.02.2009 96
EtherCAT Training
ADS Interface to EtherCAT Master/Slave

EtherCAT Theory
EtherCAT Features
- Redundancy
Communication Interface for EtherCAT Devices
- Sync Units
- Hot Connect
EtherCAT Master Net Id +
EtherCAT Setup
- Master Setup
Port (0xFFFF for Master, Slave Address for Slave) +
- Slave Setup Index Group +
EtherCAT Diagnosis
Index Offset =
- System Manager
- Ec Topology View
- ADS Interface
Complete Access
- PLC Library
- Network Monitor
Summary
19.02.2009 97
EtherCAT Training
Master Net Id
19.02.2009 98
EtherCAT Training
Master Interface
ADS Port Meaning
65535 (0xFFFF) General Ads services handled by the master directly.
0x1 - 0xFFFE This is an ADS service directed at an individual slave

(fixed address device. The port number is the same as the EtherCAT
of a slave address of the slave device.
device)
19.02.2009 99
EtherCAT Training
Master Interface - Example
Index Index Meaning

Group Offset
0x00000003 0x00000100 Returns current state of
master.
0x00000006 0x00000000 Returns the number of
projected slaves.
Documentation of all ADS IndexGroup/IndexOffset:

See Beckhoff InformationSystem
19.02.2009 100
EtherCAT Training
Slave Interface CANopen over EtherCAT
Index Index Meaning

Group Offset
0x0000F302 Index and Subindex SDO Upload/Download Request. The
of an SDO (coded object is selected with the index
see InfoSystem!) offset.
Example:
0x1c120001:
index = 0x1c12
subindex = 1
19.02.2009 101
EtherCAT Training
Slave Interface Servo Drive over EtherCAT
Index Index Meaning

Group Offset
0x0000F420 IDN = Upload/Download IDN
LOWORD(0x0000yy
yy)
HIWORD for special
attributes!
(coded see
InfoSystem!)
19.02.2009 102
EtherCAT Training
PLC Functionblocks for EtherCAT Master/Slave

EtherCAT Theory
EtherCAT Features
- Redundancy
Uses ADS Interfaces
- Sync Units Same Look-and-Feel for all Functionblocks
- Hot Connect
EtherCAT Setup
- Master Setup
- Slave Setup
EtherCAT Diagnosis
- System Manager
- Ec Topology View
- ADS Interface
- PLC Library
- Network Monitor
Summary
19.02.2009 103
EtherCAT Training
PLC Functionblocks Overview
Name Meaning
FB_EcCoeSdoRead SDO(Service Data Object)-Access

Read data from an EtherCAT Slave object directory
(Mailbox communication necessary!)
FB_EcCoeSdoWrite SDO-Download
Write to EtherCAT Slave object directory
19.02.2009 104
EtherCAT Training
Name Meaning
FB_EcSoeRead Read Parameter via "Servo Drive Profile over

EtherCAT (SoE)
(Mailbox communication necessary!)
FB_EcSoeWrite Write Parameter via "Servo Drive Profile over
EtherCAT (SoE)
19.02.2009 105
EtherCAT Training
Name Meaning
FB_EcGetAllCrcErrors Read CRC-Error Counter from all Slaves
FB_EcGetAllSlaveAddr Read EtherCAT Addresses from all Slaves
FB_EcGetAllSlaveStates Read State and Link State from all Slaves
19.02.2009 106
EtherCAT Training
Name Meaning
FB_EcGetMasterState Get State from Master
FB_EcGetSlaveCount Get Number of Slaves from Master
FB_EcGetSlaveCrcError Get CRC-Error Counter from one single Slave (for all
single Ports A, B, C)
FB_EcGetSlaveIdentity Get CANopen Identity from one single Slave
19.02.2009 107
EtherCAT Training
Name Meaning
FB_EcGetSlaveState Get EtherCAT State and Link State from one single
Slave
FB_EcReqSlaveState Request a new EtherCAT State for one single Slave
19.02.2009 108
EtherCAT Training
Name Meaning
FB_EcGetConfSlave Get list of all configured EtherCAT Slaves
FB_EcGetScannedSlaves Get list of all scanned (real existing) EtherCAT

Slaves
19.02.2009 109
EtherCAT Training
Name Meaning
FB_EcFoeOpen Opens a FileOverEtherCAT (FoE) connection
FB_EcFoeAccess Gives access to FoE connection
FB_EcFoeClose Closes a FoE connection
FB_EcFoeLoad Loads a file over a FoE connection
19.02.2009 110
EtherCAT Training
Drive as EtherCAT Slave Drive as NC PTP axis
TcDrive.lib TcNcDrive.lib
In: EtherCAT Master Net Id In: CPU Net Id

EtherCAT Slave Addr NC Axis Struct
Drive Number/Type
TcEtherCAT.lib
EtherCAT Master Net Id
EtherCAT Slave Address
Drive Number/Type
19.02.2009 111
EtherCAT Training
PLC Functionblocks Example
19.02.2009 112
EtherCAT Training
19.02.2009 113
EtherCAT Training

Topology View TcEtherCAT.Lib
Same functionality
Get List of Configured Slaves and

get List of Scanned (real existing) Slaves
Possible with PLC code!
19.02.2009 114
EtherCAT Training
19.02.2009 115
EtherCAT Training
EtherCAT Theory
Diagnosis Step by Step
EtherCAT Features
- Redundancy
Check FrmXWcState for all Frames (X = 1..n)
- Sync Units Check Master State
- Hot Connect
If FrmXWcState for Frame X <> 0 then
EtherCAT Setup
- Master Setup
detailed examination necessary
- Slave Setup Check Slave State for all Slave
EtherCAT Diagnosis
reason:
- System Manager Slave Error
- Ec Topology View
- ADS Interface
check Slave
- PLC Library Link Error
- Network Monitor
check cables
Step by Step Diagnosis
Summary
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EtherCAT Training
Diagnosis Step-by-Step with System Manager
19.02.2009 131
EtherCAT Training
19.02.2009 132
EtherCAT Training
Slave in INIT State

With Error
Check Slave States and

CRC Counter
Slave in INIT State
With wrong
VendorID/ProductID/
RevisionNo/SerialNo
Slave in INIT State
With Comm Error
19.02.2009 133
EtherCAT Training
Check State of one

single Slave
Slave Error?
Link Error?
19.02.2009 134
EtherCAT Training
Diagnosis Step-by-Step with PLC Program
Link with PLC Variables!
Link with PLC Variable!
19.02.2009 135
EtherCAT Training
Master Problem?
wrong State?
Link Error?
min. one Slave with wrong State?
19.02.2009 136
EtherCAT Training
Working Counter Problem?

What was the reason for this
problem?
Check States of all Slaves!
One Struct for each single

Slave with
Device State and
Link State
19.02.2009 137
EtherCAT Training
Number of Slaves
Iteration over all Slaves

Example: to get the Identity of every
Slave
19.02.2009 138
EtherCAT Training

Get Identity from a Slave
EL3142-0000-0000
19.02.2009 139
EtherCAT Training
Summary
EtherCAT Theory
TwinCAT EtherCAT Master means
EtherCAT Features
Easy configuration
- Redundancy
- Sync Units
Powerful diagnosis
- Hot Connect
- Distributed Clocks ADS interface (= TcEtherCAT.lib)
EtherCAT Setup
- Master Setup
- Slave Setup
EtherCAT Diagnosis
- System Manager TwinCAT + EtherCAT = eXtreme Fast Control!
- Ec Topology View
- ADS Interface
- PLC Library
- Network Monitor
Summary
19.02.2009 140

TwinCAT EC Diag Eng 21 PDF

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New Automation Technology

TwinCAT & EtherCAT

Bus diagnosis: CRC shows if frame is correct or not

In every cycle, synchronous with the cycle

Asynchronous, not in every cycle, event triggered

Variable of Type BOOL

Shows Working Counter State from one EtherCAT Slave

EtherCAT datagram EtherCAT datagram

SyncUnit = one datagram = one WKC =

Task with I/O = one Ethernet frame = one to 15 datagrams

- If more than 15 datagrams necessary new frame with same timing

Default: up to 4 tasks with own I/O

Every Ethernet frame has a Frame Check Sequence (FCS)

Task 0 Sync Unit 2

granularity depends on EtherCAT Slaves

The number of independent process data areas depends on the implementation

Automatically assigned Sync Units

Automatically assigned Sync Units

User defined Sync Units

Datagrams for user defined SyncUnit

Master Settings - Adapter

Use Device Name Search for

CE: fixed name

EtherCAT driver installation

Compatible device and installed

Master Settings - EtherCAT

Master Settings - EtherCAT

Length of frame and

Master Diagnosis InfoData Configuration

Master Diagnosis InfoData Configuration

Slave Configurations for all slaves in network!

Slaves Frame Statistic

Slave Settings EL3102

Slave Settings EL3102 - EtherCAT

To fix the address

Slave Settings EL3102 EtherCAT Advanced Settings

Rev Number compared

Slave Settings EL3102 Startup List

Add new Startup Parameter

Slave Settings EL3102 CoE Online

CoE: CanOverEtherCAT (System Manager)

0x0006 = 9600 Bauds

Slave Settings EL3102 Online

TwinCAT System Manager EtherCAT Topology View TwinCAT TcEtherCAT.lib

ADS = Automation Device Specification

EtherCAT EtherCAT Slave EtherCAT Slave EtherCAT Slave

EtherCAT Setup Port A, B, C, (D)

Master Diagnosis Process Images

Master Diagnosis Inputs

For each Frame: Device State

Master Diagnosis States

One Frame with EtherCAT

Master Diagnosis Inputs - FrmXState

0 (0x0001) 1. EtherCAT command not sent

1 (0x0002) 2. EtherCAT command not sent

2 (0x0004) 3. EtherCAT command not sent

14 (0x4000) 15. EtherCAT command not sent

15 (0x8000) complete frame not sent

Master Diagnosis Inputs - FrmXWcState

0 (0x0001) wrong working counter of 1. EtherCAT command received

1 (0x0002) wrong working counter of 2. EtherCAT command received

2 (0x0004) wrong working counter of 3. EtherCAT command received

14 (0x4000) wrong working counter of 15. EtherCAT command received