Module overview

The EtherCAT Module is schematically equivalent to:

../../../_images/ecs_module.png

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