Warning

You are reading an old version of this documentation. If you want up-to-date information, please have a look at 5.1 .

Module overview

The EtherCAT Module is schematically equivalent to:

Fig. 256 EtherCAT Module

1. System LED (SYS)

2. Run LED (RUN)

3. Error LED (ERR)

4. Interface X1 (EtherCAT IN), standard RJ45

5. Interface X2 (EtherCAT OUT), standard RJ45

LEDs Behavior

The subsequent table describes the meaning of the various LEDs found on the device.

LED	Color	State	Description
RUN	Off	Off	Module in state INIT
	Green	Blinking	Module in state PRE-OPERATIONAL
	Green	Single Flash	Module in state SAFE-OPERATIONAL
	Green	Solid	Module in state OPERATIONAL
ERR	Off	Off	No error
	Red	Blinking	Internal Error
	Red	Single	Internal Error
	Red	Solid	Internal Error
Ethernet LED	Off	Off	No link established
	Green	Blinking	Module is transmitting
	Green	Solid	A link is established

Network topology

When multiple EtherCAT devices are to be connected, two topologies can be implemented:

• Daisy chain and/or star topology:

  Modules are connected like a daisy chain where Module 1 EtherCAT Output is connected to Module 2 EtherCAT Input, and so on. The last module does not require to be connected back to the master.

• Ring topology:

  Modules are connected such that they form a ring, Module 1 EtherCAT Output is connected to Module 2 EtherCAT Input, and so on. The last module is connected back to the EtherCAT Master, thus forming a ring.

Please, review your requirements to choose which topology best fits your needs.

Process Data Objects

EtherCAT allows exchanging cyclic real-time data using Process Data Objects (PDOs). There are two types of PDOs corresponding to the two directions: RxPDOs and TxPDOs.

All the necessary commands, parameters and output data are implemented in PDOs so that you can easily and fully integrate your EYE+ into your application. PDOs are mostly mirroring the TCP Protocol interface while providing a specific and convenient interface to use. We highly recommend you read the TCP programming guide before integrating EYE+ using the EtherCAT Module.

The ESI file can be directly downloaded from EtherCAT Downloads.

RxPDO

Name	Data Type
Stop States	UDINT
Clear Error Trigger	BOOL
Start Production Trigger	BOOL
Recipe ID	UDINT
Get Part Trigger	BOOL
Prepare Part Trigger	BOOL
Force Take Image Trigger	BOOL
Clear Poses	BOOL
Save Parameters Trigger	BOOL
Can Take Image	BOOL
Image After Send	BOOL
Command Timeout	REAL
Part Quantity	USINT
Multi Part Quantity A	USINT
Multi Part Quantity B	USINT
Multi Part Quantity C	USINT
Multi Part Quantity D	USINT
Start Purge Trigger	BOOL
Purge Plate Trigger	BOOL
Purge Full Trigger	BOOL
Purge Duration	UDINT
Start Hand-eye Calibration Trigger	BOOL
Set Calibration Point Trigger	BOOL
Get Calibration Point Trigger	BOOL
Take Calibration Image Trigger	BOOL
Calibrate Trigger	BOOL
Test Calibration Trigger	BOOL
Save Calibration Trigger	BOOL
Calibration Point Index	USINT
X Coordinate	REAL
Y Coordinate	REAL
Model 1 Quantity	USINT
Model 2 Quantity	USINT
Model 3 Quantity	USINT
Model 4 Quantity	USINT
Model 5 Quantity	USINT
Model 6 Quantity	USINT

TxPDO

Name	Data Type
System State	UDINT
Clear Error Trigger	BOOL
Is Error	BOOL
Error ID	UDINT
Stop State Done	BOOL
Start Production Done	BOOL
Active Recipe	UDINT
Get Part Done	BOOL
Prepare Part Done	BOOL
Is Prepared	BOOL
Is Analysis Running	BOOL
Force Take Image Done	BOOL
Parts Prepared	USINT
Multi Parts Prepared A	USINT
Multi Parts Prepared B	USINT
Multi Parts Prepared C	USINT
Multi Parts Prepared D	USINT
Number of Valid Entries	USINT
Repetition of 10 poses (N = 1 to 10)
Pose N - X	REAL
Pose N - Y	REAL
Pose N - RZ	REAL
Pose N - Part Type	USINT
Save Parameters Done	BOOL
Can Take Image	BOOL
Image After Send	BOOL
Command Timeout	REAL
Part Quantity	USINT
Multi Part Quantity A	USINT
Multi Part Quantity B	USINT
Multi Part Quantity C	USINT
Multi Part Quantity D	USINT
Start Purge Done	BOOL
Purge Plate Done	BOOL
Purge Full Done	BOOL
Start Hand-eye Calibration Done	BOOL
Set Calibration Point Done	BOOL
Get Calibration Point Done	BOOL
Take Calibration Image Done	BOOL
Calibrate Done	BOOL
Test Calibration Done	BOOL
Save Calibration Done	BOOL
Calibration Accuracy	REAL
Repetition of 6 model prepared (N = 1 to 6)
Model N Prepared	USINT
Repetition of 6 model quantity read-back (N = 1 to 6)
Model N Quantity Read-back	USINT
Repetition of 10 poses model (N = 1 to 10)
Pose N Model	USINT