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User Manual ADAM-5000/ECAT

1. 110 0 0O00000000000000 POCO000000000000 Figure 1 13 ADAM 5000 ECAT system and I O module dimensions There are six LEDs on the ADAM 5000 ECAT front panel The LEDs indicate ADAM 5000 ECAT s system status as explained below PNP 2 5000 ECAT GUISE EtherCAT 90 o CD go 3 a Vs f GND b 3 3 IN Q o INIT gt 8 A COM DATA OUT DATA Figure 1 14 LED indicators in ADAM 5000 ECAT system 1 4 2 LED Indicator The LED indicator status follows EtherCAT specification 1 4 2 1 LED States Power LED Green on front panel Indicator states System State Description Off Power off The system is not on power on Off System in Reset The system is in reset stage or the reset button is pushed On Power on The system is on power on EtherCAT Link Activity LED Green Indicator states Link Activity Condition On Yes No Port open connected Flickering Yes Yes Port open connected Off No No applicable Port closed disconnected EtherCAT Run LED Green Indicator states Slave state Condition Off INITIALI
2. Power Supply CI PNS 10 30 Voc 7 63 GND K INIT 63 COM 63 DATA K DATA Figure 3 6 ADAM 5000 ECAT power wiring Note The INIT COM DATA DATA are just for internal use 3 4 2 I O modules wiring The system uses a plug in screw terminal block for the interface between I O mod ules and field devices The following information must be considered when connect ing electrical devices to I O modules 1 2 NOOB amp The terminal block accepts wires from 0 5 mm to 2 5 mm Always use a continuous length of wire Do not combine wires to make them longer Use the shortest possible wire length Use wire trays for routing where possible Avoid running wires near high energy wiring Avoid running input wiring in close proximity to output wiring where possible Avoid creating sharp bends in the wires ve ES BIE I Figure 3 7 ADAM 5000 I O Module Terminal Block wiring Object Dictionary 4 1 Object Dictionary In industrial automation use of device profiles is a very common method to describe the functionality and parameters of the devices EtherCAT allows the use of multiple protocols for communications For acyclic data exchange EtherCAT provides mailbox communication protocols CoE SoE EoE FoE AoE Cyclic data is exchanged in Process Data Objects PDOs with fixed or configurable PDO sizes ADAM 5000 ECAT Slave Terminal uses the CAN appl
3. ADAM E5069 8 ch Relay Output Module Index Sub Index Name Range Data Type Access SDO PDO State 70x0h Oth DO1 0 255 USINT WO Rx Op Note More detail information of Object Dictionary can be referred in Chapter 5 Setting by SDO Select the slot of module which you want to diagnosis or change the setting For 4 slot ADAM 5000 ECAT the first leftmost slot number is OOh and the last rightmost slot number is 03h For example if you need to modify the setting of ADAM E5017 Al module which plug in the second slot of ADAM 5000 ECAT the Module No Index 217Fh 01h will be set to O1h Get Current Value by SDO ADAM E5017 8 ch Analog Input Module Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 3 USINT RW V Pre Op Op 2180h Oth Get Current Value 0 65535 USINT RO V Pre Op 2187h Op 2180h 02h Channel Status USINT RO V Pre Op 2187h Op 2180h 03h Channel Enable 0 255 USINT RW V Pre Op Disable Status 2180h 04h Input Range USINT RW V Pre Op 2180h 05h Integration Time USINT RW V Pre Op 2180h 06h 07h Calibration USINT RW V Pre Op ADAM E5017UH 8 ch Ultra High Speed Analog Input Module Index Sub Index Name Range Data Type Access SDO PDO State 217Fh 01h Module No 0
4. The meaning of this value is Channel Status Value Normal 00h Current Over Range 02h Current Under Range 04h Channel Burn Out 08h Channel Enable Disable Status This index sub index shows the enable disable status of each channel of ADAM E5017 module A bit of this value corresponds to a channel the MSB Most Significant Bit corresponds to the channel 7 and the LSB Least Significant Bit corresponds to the channel 0 To enable a channel the bit value is set to be 1 and on the contrary 0 for disable For example if you need to disable the channel 0 2 of ADAM E5017 Al module the value of this index must be set to F8h 11111000 Index Sub Index Object Name Range Data Type Access SDO PDO State 2180h 03h Sublndex 003 0 255 USINT RW V gt Pre Op To modify this value of enable disable status the EtherCAT state machine of slave must be switched to Pre Op mode After changing this setting be sure to switch the state machine from Pre Op back to Op mode Input Range This index sub index shows the input range of all channels of ADAM E5017 module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 04h Subindex 004 USINT RW V Pre Op To modify this value of input range the EtherCAT state machine of slave must be switched to Pre Op mode After changing this setting
5. a Advantech EtherCAT Uti So System About 9 3 5 EtherCAT Information FW 3 8 NIC 0 060000000 S8 ADAM 5000 CAT 0x2 2 ADAM E5017 80 Slave Information VG ADAM E5057S 1 Vendor Advantech ID 0x13FE UG ADAM E502463 Device Name ADAM 5000 ECAT Device Type EtherCAT Slave Device ProductCode 000015530 Revision No 0x00000000 I Serial No 0x00000000 ID No 0x2 Change ID Port A Link up Port B Loop closed Info The NIC 0 Gigabit PCI Express Network Adapter 7 is an EtherCAT network Info Start COE communication of NIC 0 successfully m ID No The ID No alias ID is defined in the EEPROM and can be modify manually For Common Motion API the lowest value of alias ID is 0x0001 and the highest is OxFFFF After changing this value press Change ID button for modifying the data in EEPROM If the slave is ADAM 5000 ECAT the last 3 digits of alias ID is assigned by 3 locate switch in the left hand side of slave When the ADAM 5000 ECAT power on the last 3 digits value of alias in EEPROM will be covered by the setting of locate switch but the digit in thousands will keep until user changes the ID manually Note Due to EhterCAT Master limitation the Change ID function will fail in the beginning It will work correctly after a while the time varies directly as the number of slaves Data Link Layer Status The status show in the middle of this tab indicates the DLL stat
6. Input Information There are little differences between ADAM E5051S and ADAM E5053S in the information block due to the channel number ay indicates the DI is in effect ON and its value is 1 indicates the DI is not in effect OFF and its value is 0 Invert If you need to invert the signal level of channels checking the Invert check box on each channel and clicking Apply Invert to apply the setting S E JD E g EE O E O s J s J S Hex The Fail Safe Value FSV of communication WDT Each DO will switch to its FSY if the module s WDT is enabled and it gets triggered FSV checked Logic High State FSV unchecked Logic Low State Apply Invert Se A Digital Filter Scale Minimum Low Signal Width The digital input filter is a feature that eliminates noise from input signals Once the digital input filter is set it stores data during each sampling and then compares the data of the input terminal state If all the input signals reach the LOW level within the filtering time use the state as the input terminal value If not use the previous value DI Filter Setting Minimum low signal width 10 65535 0 ms Maximum high signal width 10 6565535 0 ms DI Filter Disable H L 0 0 Tick 10ms The range of the digital filter time is 10 to 65535 in minimum second To disable the filter the value of this index must be set to 0 Digital Filter Scale
7. User need to enable Acm_DevEnableEvent first before checking Event 2 Enable thread for Event and call Acm_DevCheckEvent cyclically in thread 3 User need to call Acm_DevReOpen to reopen device once Event occurs But user must make sure the network reconnected before calling this API 100 6 3 API Function 6 3 1 System 6 3 1 1 Acm_GetAvailableDevs Format U32 Acm_GetAvailableDevs DEVLIST DeviceList U32 MaxEntries PU32 OutEntries Purpose Get the list of available device numbers and device names which are defined in Common Motion architecture Parameters Name Type IN OUT Description DeviceList DEVLIST IN Pointer to returned available device info list MaxEntries U32 IN Get the max devices count OutEntries PU32 OUT Return the count of available device Return Value Error Code Comments The structure of DEVLIST is typedef struct tagPT_DEVLIST DWORD DeviceNum CHAR DeviceName 50 SHORT NumOfSubDevices DEVLIST LPDEVLIST DeviceNum Device Number needed for Acm_DevOpen DeviceName Device name For example EtherCAT 0 NumOfSubDevices Display the count of connected slave modules Example DEVLIST devLst 100 101 U32 mstDevCnt 0 U32 slvDevNumber U32 deviceNumber errCde Acm GetAvailableDevs devLst 100 amp mstDevCnt if errCde SUCCESS mstDevCnt 1 for U32 i 0 i lt mstDevCnt i if devLst i dwDeviceNum gt gt 24 Adv_EtherC
8. Utility 5 1 Introduction This chapter introduces how to access ADAM 5000 ECAT through Advantech EtherCAT Utility It provides windows based application development environment for user to configure and verify ADAM 5000 ECAT function Easy to use and quick parameter setting feature help user shorten system installation and evaluation time In this chapter detail introduction about accessing ADAM 5000 ECAT via TwinCAT also be provided 5 1 1 Advantech EtherCAT Utility There are three files and one folder in the utility root folder The main executive program named Advantech EtherCAT Utility exe two dll files called aecapi dll and EtherCATClassLibrary dll which are the kernel of this utility The program WinPcap should be installed which dominates the EtherCAT network packets captured from and transmitted to ADAM 5000CAT in Windows environments Ethercat slave files folder contains the ESI EtherCAT Slave Information files From the beginning user open the utility the program might scan this folder and construct an information map to set the slave information 5 1 1 1 Main Form Right click the tree node EtherCAT or click the System button in the menu bar and click the button Scan Refresh or just click the in the toolbar It will search the network interface cards in the computer and search EtherCAT slaves connected to the NIC network interface card individually It might take times for searching each network interf
9. 0 4095 UINT WO Rx Op 04h AO 4 The x of index is a number which represent the slot number the ADAM E5024 plugs in For example if you need to get the value of ADAM E5024 AO module which plugs in the second slot of ADAM 5000 ECAT the x will be set to 1 Device 3 EtherCAT amp Device 3 Image af Device 3 Image Info Index Online Data Module OD AoE Port 0 QT Inputs Name Flags Value E Outputs 21840 Module channel 4 RO gt 0 lt HQ InfoData 2185 0 Module channel 5 RO gt 0 lt 1 18 Box 1 ADAM 5000 ECAT 2186 0 Module channel 6 RO gt 0 lt gt TxPDO Mapping 2187 0 Module channel 7 RO gt 0 lt l ADAM E5024 4000 0 Factory Test RO gt 13 lt amp L outputt 7030 0 Analog 4 Outputs RO gt 4 lt output2 7030 01 outputt ROP 0x0000 0 output3 7030 02 output2 ROP 0x0000 0 7030 03 output3 ROP 0x0000 0 output4 7030 04 output4 ROP 040000 0 RxPDO Mapping 90000 Information Data of Slot0 RO gt 0 lt westate 9010 0 Information Data of Slot1 RO gt 0 lt InfoData 9020 0 Information Data of Slot2 Ro gt 0 lt To get the data in engineering units the conversion formula are shown below Output Range Raw data units R to Engineering value E Engineering value E to Raw data units R 0 20 mA E R 20 4095 mA R E 4095 20 4 20 mA E R 16 4095 4 mA R E 4 4095 16
10. NET Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen FilePath PI8 IN Pointer to a string that saves ENI file s path Return Value Error Code Comments Before running ADAM 5000 ECAT user needs to load ENI file after Acm_DevOpen Please refer to 2 1 Basic Flow ENI file is configured by utility Example U32 deviceNumber 0x60000000 HAND deviceHandle errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return 6 3 1 5 Acm_LoadMapFile Format U32 Acm DevLoadMapFile HAND DeviceHandle PI8 FilePath Purpose Load I O mapping file in the EtherCAT network Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen FilePath PI8 IN Pointer to a string that saves I O mapping file s path 104 Return Value Error Code Comments Before calling this API function user needs to call Acm DevOpen Acm_LoadENI first Please refer to 2 1 Basic Flow ENI file is configured by utility User also need to load I O mapping file in their own program before controlling DI O and AI O This file is configured by Utility and records all physical and logical mapping relation in whole EtherCAT network If user just use the default I O mapping relationship without any modification use need not to load mapping file by this API but
11. PRU 1 Events RX1 TX0 i RX0 TX1 Host Interface aske gt Distributed Clocking Sync Managers Error handling FMMU Digital O Hardware Interfaces MII MDIO Digital I O Figure 1 7 EtherCAT Firmware Architecture PRUs also emulate EtherCAT register space in the internal shared memory With their deterministic real time processing capability the PRUs handle EtherCAT datagrams with consistent and predictable processing latency 1 2 2 Multi lO modules are just a single EtherCAT node on the network The Modular Device Profile MDP defines a modeling of structures within in a device Mainly the object dictionary structure and corresponding behavior of the entries is defined by the MDP The intention is to provide an easy way for master and configuration tools to handle the devices A modular structure can be used for all kind of devices that supports physical or logical modules There are three types e Gateways from Fieldbus to EtherCAT Extendable bus coupler with an internal backbone e Multi Axis servo drives physical modules with each axis having independent operation modes logic modules ADAM 5000 ECAT as an extendable bus main unit with an internal backplane supports the MDP and provides a basic structure for masters and configuration tools to handle slaves with complex modular structure easily MDP Device 0x1600 0x1601 AG Ox16nn 0x1A00 0x1A01 55s Ox1Ann 0x6000 0x600F 0x6010 0x601F ee Ox6nn0 0x6nnF Output E
12. The system can also be secured to the cabinet by using mounting rails see figure 3 4 If you mount the system on a rail you should also consider using end brackets at each end of the rail The end brackets help keep the system from sliding horizontally along the rail This minimizes the possibility of accidentally pulling the wiring loose If you examine the bottom of the system you will notice two small retaining clips To secure the system to a DIN rail place the system on to the rail and gently push up on the retaining clips see figure 3 5 The clips lock the system on the rail To remove the system pull down on the retaining clips lift up on the base slightly and pull it away from the rail Figure 3 4 ADAM 5000 ECAT DIN rail mounting Chapter 3 Hardware Installation Guide Figure 3 5 Secure ADAM 5000 ECAT System to a DIN rail 3 4 Wiring and Connections This section provides basic information on wiring the power supply I O units and net work connection 3 4 1 Power supply wiring Although the ADAM 5000 ECAT systems are designed for a standard industrial unregulated 24 V DC power supply they accept any power unit that supplies within the range of 10 to 30 VDC The power supply ripple must be limited to 200 mV peak to peak and the immediate ripple voltage should be maintained between 10 and 30 VDC Screw terminals Vs and GND are for power supply wiring Note The wires used should be sized at least 2 mm
13. Event Acm_DevCheckEvent Check event Acm_DevGetSlavelnfo Get the slave information according to the rotate switch on Master device Acm_DevGetErrorTable Get the error device ID list when disconnection occurs Acm DaqDiGetBit Get the bit data of specified DI channel DI Acm DaqDiGetByte Get the byte data of specified DI Port Acm DaqDiGetBytes Get the byte data of continuous DI Port Acm DaqDosetBit Set the bit data of specified DO channel Acm_DaqDoSetByte Set the byte data of specified DO port Acm_DaqDoSetBytes Set the byte data of continuous DO Port Acm_DaqDoGetBit Get the bit data of specified DO channel Acm_DaqDoGetByte Get the byte data of specified DO port Acm_DaqDoGetBytes Get the byte data of continuous DO Port Acm DaqaiGetRawData Get the binary value of an analog input channel Acm DaqaiGetVoltData Get the voltage value of an analog input channel when Al voltage inputs Acm_DagAiGetCurrData Get the current value of an analog input channel when current inputs Acm_DaqAoSetRawData Set the binary value of an analog output channel Acm_DaqAoSetVoltData Set the voltage output value of an specified analog output channel within the analog voltage output range Acm_DaqAoSetCurrData Set the current output value of a specified analog output AO channel within the analog current output range Acm_DaqAoGetRawData Get the binary output value of a specified analog output channel Acm_DaqAoGetVoltData Get the voltage output value of a specified anal
14. Purpose Get the property value belonging to signed 32 bit integer type Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen ProperylD U32 IN Property ID to query Please be noted that the type of property value must be signed 32 bit integer Value PI32 OUT Return Property value with signed 32 bit integer type Return Value 109 Error Code Comments Please be noted that Acm_GetI32Property is used to get the property value with signed 32 bit integer type User can get the detail information about the property value type in Property List Please refer to Acm_GetProperty Acm_GetU32Property Acm_GetF64Property in Property List Example Please refer to the Acm_GetU32Property example 6 3 2 4 Acm_GetF64Property Format U32 Acm_GetF64Property HAND Handle U32 PropertylD PF64 Value Purpose Get the property value belonging to double type Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen ProperyID U32 IN Property ID to query Please be noted that the type of property value must be double Value PF64 OUT Return Property value with double type Return Value Error Code Comments Please be noted that Acm_GetF64Property is used to get the property value with double type User can get the detail information about the property value type in Property List Please refer to Acm_GetU32Property Acm Getl32Property in P
15. U32 Acm SetU32Property HAND Handle U32 PropertylD U32 Value Purpose Set the property value belonging to unsigned 32 bit integer type Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen ProperyID U32 IN Property ID to set Please be noted that the type of property value must be unsigned 32 bit integer Value U32 IN Property value with unsigned 32 bit integer type Return Value Error Code Comments Please be noted that Acm_SetU32Property is used to get the property value with unsigned 32 bit integer type User can set the detail information about the property value type in Property List Please refer to Acm_SetProperty Acm Seti32Property Acm SetF64Property in Property List Example U32 deviceNumber 0x60000000 HAND deviceHandle errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm SetU32Property deviceHandle CFG MasCycleTime 1 if errCde SUCCESS 112 6 3 2 7 Acm_Setl32Property Format U32 Acm Setl32Property HAND Handle U32 ProperylD 132 Value Purpose Set the property value belonging to signed 32 bit integer type Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen ProperylD U32 IN Property ID to set Please be noted that the type of property value must be signed 32 bit integer Value PI32 OUT Property value with signed 32 bit integer type Retu
16. User Manual ADAM 5000 ECAT 4 slot Distributed High Speed I O System for EtherCAT AD ANTECH Enabling an Intelligent Planet Copyright The documentation and the software included with this product are copyrighted 2015 by Advantech Co Ltd All rights are reserved Advantech Co Ltd reserves the right to make improvements in the products described in this manual at any time without notice No part of this manual may be reproduced copied translated or transmitted in any form or by any means without the prior written permission of Advantech Co Ltd Information provided in this manual is intended to be accurate and reliable How ever Advantech Co Ltd assumes no responsibility for its use nor for any infringe ments of the rights of third parties which may result from its use Acknowledgements IBM and PC are trademarks of International Business Machines Corporation All other product names or trademarks are properties of their respective owners Product Warranty 2 years Advantech warrants to you the original purchaser that each of its products will be free from defects in materials and workmanship for two years from the date of pur chase This warranty does not apply to any products which have been repaired or altered by persons other than repair personnel authorized by Advantech or which have been subject to misuse abuse accident or improper installation Advantech assumes no liability under the terms of t
17. diagnostic ability There are six indicators on the front case of the CPU module Users can read the system status clearly including power CPU Ethernet link Communication active communication rate and more 1 2 6 Software Support Based on the EtherCAT standard Advantech provides the necessary DLL drivers and Windows Utility to configure ADAM 5000 ECAT including IO modules which are integrated on it in Window XP 7 8 Advantech also provides Common Motion IO API for users to develop their own applications under Common Motion Architecture to unify user interfaces of all Advantech motion devices Even more users also can do parameter settings via 3 rd party EtherCAT master such as TwinCAT or Acontis by ADAM 5000 ECAT ESI file to connect in customer existing EtherCAT network HE Advantech EtherCAT Version 1 0 0 2 DER Fie About iS 888 NIC 1 0460010000 Channel setting fl ADAM 5000 ECAT J NG ADAM 5024 50 2 ADAM 5017 51 2 ADAM 5017 52 2 ADAM 5024 53 flid ADAM 5000 ECAT AG ADAM 50575 5 2 ADAM 5053S 5 Gii ADAM 5000 ECAT ADAM 50565 5 ADAM 50515 S ADAM 5024 52 fil ADAM 5000 ECAT AG ADAM 50515 5 NG ADAM 5056S S 2 ADAM 5017 52 fil ADAM 5000 ECAT M ADAM 50515 5 2 ADAM 50565 5 fil ADAM 5000 ECAT NG ADAM 5056S S Ox0000 NG ADAM 50515 52 fll ADAM 5000 ECAT 0x7 The Fail Safe Value FSV of communication WDT G ADAM 50515 51 Each DO will switch to its FSV if the module s WDT is enabl
18. 0 0 Tick 10ms Output Information The information block shows the current analog output value both in engineering units and raw data The other setting such as output range of each channel will also be shown Channel Valve Raw OutputRange EO 4 000 0x0000 4 20 mA Ej 1 0 000 0x0000 0 10 Ej 2 0 000 0x0000 0 10 3 0 000 0x0000 0 10 To get the data in engineering units the conversion formula are shown below Output Raw data units R to Engineering Engineering value E to Raw data Range value E units R 0 20 mA E R 20 4095 mA R E 4095 20 4 20mA E R 16 4095 4 mA R E 4 4095 16 0 10 V E R 10 4095 V R E 4095 10 Set Value There are 4 channels in ADAM E5024 and the current value in engineering units can be set in this page Before you apply the output of current value be sure the type of output range is correct 0 000 Set current as startup Output Range The output range can be set to different type for different channel of ADAM E5024 module There are 3 type of output can be selected Selecting the channel you want to modify and choosing the properly range of output and click Apply to apply the setting If you check the All follow CHO all of the channels in this module will follow the changes of setting of channel 0 Channel index E All follow CHO Se x r Output rang
19. deviceHandle FT DaqDiMaxChan amp maxDICnt amp datalen if errCde SUCCESS 6 3 2 2 Acm_GetU32Property Format U32 Acm_GetU32Property HAND Handle U32 PropertylD PU32 Value Purpose Get the property value belonging to unsigned 32 bit integer type Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen ProperylD U32 IN Property ID to query Please be noted that the type of property value must be unsigned 32 bit integer Value PU32 OUT Return Property value with unsigned 32 bit integer type Return Value Error Code Comments Please be noted that Acm_GetU32Property is used to get the property value with unsigned 32 bit integer type User can get the detail information about the property value type in Property List Please refer to Acm_GetProperty Acm Getl32Property 108 Acm_GetF64Property in Property List Example U32 deviceNumber 0x60000000 HAND deviceHandle U32 maxDICnt errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS return errCde Acm GetU32Property deviceHandle FT DaqDiMaxChan amp maxDICnt if errCde SUCCESS 6 3 2 3 Acm_Getl32Property Format U32 Acm Getl32Property HAND Handle U32 PropertylD PI32 Value
20. 0 evtStatus CEventDlg pThreadInfo CEventDlg ThreadArg U32 errTable 100 errCnt 0 126 while pThreadInfo gt m_bInit Result Acm DevCheckEvent pThreadInfo gt deviceHandle amp evtStatus INFINITE if Result SUCCESS if evtStatus amp 0x01 Result Acm DevGetErrorTable pThreadInfo gt deviceHandle 0 errTable amp errCnt If Result 0 Acm DevReOpen pThreadInfo gt deviceHandle return 0 6 3 5 Master 6 3 5 1 Acm_DevGetSlavelnfo Format U32 Acm_DevGetSlavelnfo HAND DeviceHandle U16 RingNo U16 SlavelP PVOID pinfo Purpose Get the slave information according to the rotate switch on device Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen RingNo U16 IN Reserved It can be an arbitrary value SlavelP U16 IN Number of rotate switch on slave Range 0x001 O0xfff pinfo PVOID OUT Returned information from slave It should be a pointer to the struct type below typedef struct ADV SLAVE INFO 127 ULONG SlavelD ULONG Position ULONG VendorlD ULONG ProductID ULONG RevisionNo ULONG SerialNo char Name 256 char FwVersion 8 JADV SLAVE INFO PADV SLAVE INFO Return Value Error Code Comments This API is used to help user to get the slave information through rotate switch SlavelD Number of rotate switch in device It must the same as SlavelP Position Slave scanning
21. 0 10 V E R 10 4095 V R E 4095 10 Setting by SDO Select Slot of Module Select the slot of module which you want to diagnosis or change the setting For 4 slot ADAM 5000 ECAT the first leftmost slot number is 00h and the last rightmost slot number is O3h For example if you need to modify the setting of ADAM E5024 AO module which plug in the second slot of ADAM 5000 ECAT the Module No Index 217Fh 01h will be set to Oth Index Sub Index Name Range Data Type Access SDO PDO State 217Fh 01h Module No 0 7 USINT RW V Pre Op Op Get Current Value Setting by SDO There are 4 channels in ADAM E5024 index 2180h and its sub index are used for the setting of first channel index 2181h and its sub index are used for the setting of second channel and so on This index sub index shows the raw data of each channel of ADAM E5024 module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 01h Sublndex 001 0 4095 USINT RO V Pre Op 2183h Op To get the data in engineering units the conversion formula are shown below Output Range Raw data units R to Engineering value E Engineering value E to Raw data units R 0 20 mA E R 20 4095 mA R E 4095 20 4 20 mA E R 16 4095 4 mA R E 4 4095 16 0 10 V E R 10 4095 V R E 4095 10 Output Rang
22. 3 USINT RW V Pre Op Op 2180h Oth Get Current Value 0 65535 USINT RO V Pre Op 2187h Op 2180h 02h Channel Status USINT RO V Pre Op 2187h Op 2180h 03h Channel Enable 0 255 USINT RW V Pre Op Disable Status 2180h 04h Input Range USINT RW V Pre Op 2187h 2180h 05h Integration Time 0 USINT RO V Pre Op Op 2180h 06h 07h Calibration USINT RW V Pre Op ADAM E5024 4 ch Analog Output Module Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 3 USINT RW V Pre Op Op 2180h 01h Get Current 0 4095 USINT RO V Pre Op 2183h Value Op 2180h 02h Output Range 30 32 USINT RW V Pre Op 2183h 2180h 03h 05h Calibration USINT RW V Pre Op 2183h ADAM E5051S 16 ch Isolated Digital Input Module with LED Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 3 USINT RW V Pre Op Op 2180h O1h Get Current 0 255 USINT RO V Pre Op 2181h Value Op 2180h 02h Invert 0 255 USINT RW V Pre Op 2181h Op 2180h 03h Digital Filter 0 65535 USINT RW V Pre Op Scale Low Op 2180h 04h Digital Filter 0 65535 USINT RW V Pre Op Scale High Op ADAM E5053S 32 ch Isolated Digital Input Module Index Sub Index Name Range Data Type Acc
23. 6 3 6 1 Acm DaqDiGetBit Format U32 Acm DaqDiGetBit HAND DeviceHandle U16 DiChannel PU8 BitData Purpose Get the bit data of specified DI channel 129 He Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen DiChannel U16 IN DI channel ID Range 0 Max DI count 1 BitData PU8 OUT Return DI value Return Value Error Code Comments Get the DI value according to the specified Port Number and ChannellD This channellD can be get by calculation ChannellD Port number 8 Port Index Take the second DO in Port 3 for an example the ChannellD 3 8 2 26 User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property The DI value will be affected by CFG CH DaqDilnvertEnable CFG CH DaqDiLowFilter CFG CH DaqDiHighFilter Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm LoadENI and Acm_DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm DaqDiGetBit Example U32 deviceNumber 0x60000000 HAND deviceHandle F64 Dilnvert U16 chID DI U8 bitValue 0 rCde Acm DevOpen deviceNumber amp deviceHandle f errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return 130 errCde Acm DevLoadMapFil
24. ADAM E5056S_ provides 16 isolated digital output channels for critical environments need individual channel isolating protection Different from other ADAM E5000 I O mod ules ADAM E5056S designed with 21 pins plug terminal 16 DO ADAM E5056S ADAM E5056S GND 0 DOO DO 1 D02 D03 D04 D05 D06 D07 como GND1 DO8 D09 DO 10 DO 11 DO 12 DO 13 DO 14 DO 15 COM 1 O00000000000000000000 N A pe Figure A3 5 ADAM E5056S Module Front View 174 A 3 4 Application Wiring COM 0 for DOO DO7 COM 1 for D016 DO15 Internal External E1 5 40 Voc Figure A3 6 ADAM E5056S Module Wiring Diagram Table A3 3 Technical Specifications of ADAM E5056S Points 16 8 channel group Digital Output Open collector to 40 V 200 mA max load per channel Optical Isolation 2500 Voc Opto isolator response time 25 us Supply Voltage 5 40 Voc Power consumption 0 6 W LED Indicator On when active I O Connector Type 21 pin plug terminal ADAM E5056S0 16 ch Isolated Digital Output Module with LED The ADAM E5056S0 provides 16 channels source type isolated digital output for criti cal environments need individual channel isolating protection Addition to the source output wiring all of the specification and command sets are the same with ADAM E50568 ADAM E5056SO 16 DO ADAM E5051S0 gt NA DIO Di1 DI2 DI3
25. AO channel ID Range 0 Max AO count 1 AoData PU16 OUT Pointer to the AO binary value Return Value Error Code Comments Get the AO binary value according to the specified ChannellD User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property The AO value will be affected by CFG_CH_DaqAoRange Confirm that the property value is correct first Please refer to the Property chapter 150 Note User need call Acm_LoadENI and Acm_DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm_DaqAoGetRawData Example U32 deviceNumber 0x60000000 HAND deviceHandle U16 aoData errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C VM Mapping xml if errCde SUCCESS return 6 3 9 5 Acm_DaqAoGetVoltData Format U32 Acm_DaqAoGetVoltData HAND DeviceHandle U16 AoChannel PF32 AoData Purpose Get the voltage output value of a specified analog output channel within the analog voltage output range Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen AoChannel U16 IN AO channel ID Range 0 Max AO count 1 AoData PF32 OUT Pointer to the AO voltage
26. Access SDO PDO State hex hex Index Sublndex Object Data Type Access State Name range Table 4 2 Format of Objects Each item has the following meaning Item Description Index This is the index of the object that is expressed as a four digit hexadecimal number Sub Index This is the subindex of the object that is expressed as a two digit hexadecimal number Name This is the name of the object Range For a read only RO object this is the range of the data that you can read Fora read write RW object this is the setting range of the data Data Type UINT USINT Access This data tells if the object is read only write only or read write RO Read only WO Write only RW Read and Write SDO PDO Tx or Rx State This objects can be operate when the EtherCAT state machine of this device is in the specific state Pre Op Pre Operational Op Operational state ADAM E5000 I O modules SlotO Slot1 Slot2 Slot3 ADAM 5000 ECAT Main Unit 4 1 2 1 Assigning Input Output Modules Get Current Value by PDO The x of index is a number which represents the slot number the ADAM E5017 plugs in For 4 slot ADAM 5000 ECAT the first leftmost slot number is OOh and the last rightmost slot number is 03h For example if you need to get the value of ADAM E5017 Al module which plugs in the second slot of ADAM 5000 ECAT
27. DI 4 D5 DI6 DI7 COMO NA DI8 Dg DI 10 Di 11 DI 12 DI 13 DI 14 DI 15 COM NA Figure A3 7 ADAM E5056SO Module Front View Application Wiring External gt Internal io DO 0 DO 2 5 40 Voc DO 6 pos DO 9 DO 10 DO 11 DO 12 DO 13 IDO 14 DO 15 COM 1 N A O 10 COM 0 for DOO DO7 DO 11 COM 1 for D016 DO15 DO 12 DO 13 DO 14 DO 15 COM N A Figure A3 8 ADAM E5056SO Module Wiring Diagram Table A3 4 Technical Specifications of ADAM E5056S0 Points 16 8 ch group Digital Output Open collector to 40 V 200 mA max load per channel Optical Isolation 2500 VDC Opto isolator response time 25 us Supply Voltage 5 40 VDC Power consumption 0 6 W LED Indicator On when active I O Connector Type 21 pin plug terminal A 3 5 ADAM E5057S 32 ch Isolated Digital Output Module The ADAM E50578 provides 32 isolated digital output channels for critical environ ments need individual channel isolating protection Different from other ADAM E5000 I O modules ADAM E5057S designed with 40 pin flat cable wiring terminal 32 DO ADAM E50575 L sow oa w mano 9 10 11 12 13 14 15 Grd f Figure A3 9 ADAM E5057S Module Front View Application Wiring Y Veel ntern l Ex
28. IN AO current value Return Value Error Code Comments Set the AO current value according to the specified ChannellD User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property As the AO channel is set to current level by CFG CH DaqAoRange user can sets the output current value Error will occur when calling this API as the AO channel is 148 set to voltage level The AO value will be affected by CFG_CH_DaqAoRange Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm_LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm_DaqAoSetCurrData Example U32 deviceNumber 0x60000000 HAND deviceHandle rCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS eturn 149 6 3 9 4 Acm_DaqAoGetRawData Format U32 Acm_DaqAoGetRawData HAND DeviceHandle U16 AoChannel PU16 AoData Purpose Get the binary output value of a specified analog output channel Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen AoChannel U16 IN
29. IS INCORRECTLY REPLACED REPLACE ONLY WITH THE SAME OR EQUIVALENT TYPE RECOMMENDED BY THE MANUFACTURER DISCARD USED BATTERIES ACCORDING TO THE MANUFACTURER S INSTRUCTIONS The sound pressure level at the operator s position according to IEC 704 1 1982 is no more than 70 dB A DISCLAIMER This set of instructions is given according to IEC 704 1 Advantech disclaims all responsibility for the accuracy of any statements contained herein Understanding Your System 1 1 Introduction EtherCAT Ethernet Control Automation Technology is a high performance Ethernet based fieldbus industrial network system The protocol is standardized in IEC 61158 and apply to automation applications that need faster and more efficient communications Short data update times with precise synchronization make EtherCAT suitable for real time requirements in automation technology 1 1 1 EtherCAT Features Functional Principle In EtherCAT network master sends an Ethernet frames pass through all of the slave nodes The Standard Ethernet packet or frame is no longer received interpreted and copied as process data at every node Instead slave devices read the data addressed to them and input data are also inserted in the same time while the telegram passes through the device processing data on the fly Typically the entire network can be addressed with just one frame Slave Controller Slave Controller Slave Controller Figure 1 1 EtherCAT Function Pr
30. LSB 2LSB 1 LSB 2 LSB 2 7 mV Inputs 10 V 1 LSB 2 LSB 1 LSB 2 LSB 2 7 mV Current O 20mA 1LSB 1 LSB 1 5 LSB 2 LSB 5 3 p Inputs 4 20mA 1LSB 1LSB 1 5 LSB 2 LSB 5 3 u Appendix A ADAM E5000 IO Modules A 2 Analog Output Modules A 2 1 ADAM E5024 4 ch Analog Output Module The ADAM E5024H is a 4 channel high speed analog output module It receives its digital input through the EtherCAT interface of the ADAM 5000 ECAT from the host computer The format of the data is engineering units It then uses the D A converter controlled by the system module to convert the digital data into output signals You can specify slew rates and start up currents through the configuration software The ana log output can also be configured as current or voltage through the software utility The mod ule protects your equipment from ground loops and power surges by providing opto isolation of the D A output and transformer based isolation up to 3000 VDC Slew Rate The slew rate is defined as the slope indicated the ascending or descending rate per second of the analog output from the present to the required ADAM E5024 4 AO O ADAM E5024 10 S 10 EN N G ll S 12 S 12 S B le 13 S VO S VO S VI S vi lg V2 S V2 S V3 S Cee DOTE 080000 l Figure A2 1 ADAM E5024 Module Frontal View Application Wiring MA Output V Outpu
31. Maximum High Signal Width The digital input filter is a feature that eliminates noise from input signals Once the digital input filter is set it stores data during each sampling and then compares the data of the input terminal state If all the input signals reach the HIGH level within the filtering time use the state as the input terminal value If not use the previous value The range of the digital filter time is 10 to 65535 in minimum second To disable the filter the value DI Filter Setting Minimum low signal width 10 65535 0 ms Maximum high signal width 10 65535 0 ms DI Filter Disable H L 0 0 Tick 10ms of this index must be set to 0 Save and Load Configuration In this block you can save the all of setting of DI module by xml file and load the configuration file from previous setting to simplify the configuration procedure Save Load Configuration Load 5 1 1 4 4 Digital Relay Output Modules This page support ADAM E5056S SO 16 ch Isolated Digital Output Module with LED ADAM E5057S 32 ch Isolated Digital Output Module and ADAM E5069 Relay Output Module 8 EtherCAT S E NIC 0 Ox60000000 fill ADAM SO00 ECAT 0x2 AP ADAM E50568 80 80 i ADAM E50518 1 Mg ADAM E5024 82 Mg ADAM E5017 83 I M ES Channel setting pe EIE Erm ETE Erm Erm EXE E KJE So n a 8 BoB S The Fail Safe Value FSV of communica
32. Read end Read begin amp lt Write begin Read end amp lt Write end Figure 1 11 SyncManager 3 Buffer Mode 1 2 5 Completed set of I O modules for total solutions The ADAM 5000 ECAT Series uses a convenient backplane system Advantech s complete line of ADAM 5000 EtherCAT series modules integrates with the ADAM 5000 ECAT to support your applications Full ranges of digital module supports 10 to 30 VDC input and outputs A set of analog modules provide 12 bit resolution and programmable input and output including bipolar signal ranges For details refer to Appendix IO Modules Type New Description Main Unit ADAM 5000 ECAT EtherCAT IO Coupler Input ADAM E5051S 53S 16 32 ch Isolated Digital Input Module _ Output ADAM E5056S SO 16 ch Sink Source Type Isolated Digital Output Module pene Relay ADAM E5057S 69 32 8 ch Relay Type Isolated Digital Output Module Counter ADAM E5082 reserved 2 ch High Speed Counter Frequency Module Anal g Input ADAM E5017UH 8 ch Ultra High Speed Analog Input Module Output ADAM E5024 4 ch Analog Output Module Table 1 1 ADAM 5000 ECAT I O modules support list ADAM 5000 ECAT is designed with a high I O capacity and supports all types of digital and analog I O modules Providing four slots for any mixed modules this slave IO system handles up to 128 I O points ADAM 5000 ECAT supports ADAM 5000 ECAT not only has a higher I O capacity but it also has a smarter
33. The value of bit 1 represents the output signal is in HIGH level and 0 means the signal is in LOW level FSV The Fail Safe Value of communication WDT This index sub index shows the FSV status of each port of ADAM E5069 module Each relay output will switch to its FSV if the module s WDT is enabled and it gets triggered Index Sub Index Name Range Data Type Access SDO PDO State 2180h 02h SublIndex 002 0 255 USINT RW V Pre Op Op A bit of this value corresponds to a channel the MSB Most Significant Bit corresponds to the channel 7 and the LSB Least Significant Bit corresponds to the channel 0 To set the relay output channel to logic high state when fail occurred the bit value is set to be 1 and on the contrary 0 for disable this function Programming Guide 6 1 Introduction After completing the system configuration you can begin to plan the application program This chapter introduces programming tools Common Motion API definitions and how to use them for users to operate ADAM 5000 ECAT high speed system According to this Architecture all of functions and properties have been classified three types System Property and IO 6 1 1 ADAM 5000 ECAT Support API List Type Function Description Acm_GetAvailableDevs Get the list of available device numbers and device names Acm_DevOpen Open a specified device to get device handle Acm_De
34. This index sub index shows the channel status of each channel of ADAM E5017UH module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 02h SubIndex 002 USINT RO V Pre Op 2187h Op The meaning of this value is Channel Status Value Normal 00h Current Over Range 02h Current Under Range 04h Channel Burn Out 08h Channel Enable Disable Status This index sub index shows the enable disable status of each channel of ADAM E5017UH module A bit of this value corresponds to a channel the MSB Most Significant Bit corresponds to the channel 7 and the LSB Least Significant Bit corresponds to the channel 0 To enable a channel the bit value is set to be 1 and on the contrary 0 for disable For example if you need to disable the channel 0 2 of ADAM E5017UH Al module the value of this index must be set to F8h 11111000 Index Sub Index Object Name Range Data Type Access SDO PDO State 2180h 03h Subindex 003 0 255 USINT RW V gt Pre Op To modify this value of enable disable status the EtherCAT state machine of slave must be switched to Pre Op mode After changing this setting be sure to switch the state machine from Pre Op back to Op mode Input Range This index sub index shows the input range of each channel of ADAM E5017UH module Index Sub Index Name Range Data Type
35. Topology table Then you will see the topology status connected to this NIC Online Mapping Table Topology zaop It shows topology of master and slaves The icon of master and slaves can show information when users move the cursor on it and the page will automatically jump to the slave page which slave icon you click it Although the redundancy is supported on the ADAM 5000 ECAT that EtherCAT can work properly if the network cable be plugged in both IN or OUT port the topology may display abnormal due to incorrect wiring 5 1 1 2 3 ENI File The EtherCAT Network Information ENI contains the necessary settings to configure an EtherCAT network The XML based file contains general information about the master and the configurations of every slave device connected to the master To produce ENI file for Common Motion API press the Generate ENI file button and choose the path you want to save 5 1 1 3 Slave Page Once user chooses the slave node in the left tree node the right panel will show the slave information It contains two tables Information and FW 5 1 1 3 1 Information The information tab shows the slave information such as vendor name vendor ID device name device type product code revision number serial number and slave alias ID which defined in the EEPROM and corresponding ESI file If vendor logo described in detail in the ESI file the logo might be shown in front of the vendor name
36. accepts millivolt inputs 150mV 500mV voltage inputs 1V 5V and 10V and current input 420 mA The module provides data to the host computer in engineering units MV V or mA This module is an extremely cost effective solu tion for industrial measurement and monitoring applications Its opto isolated inputs provide 3 000 Voc of isolation between the analog input and the module protecting the module and peripherals from damage due to high input line voltage Additionally the module uses analog multiplexers with active over voltage protection The active protection circuitry assures that signal fidelity is maintained even under fault conditions that would destroy other multiplex ers This module can withstand an input voltage surge of 70 Vp p with 15 V supplies The jumpers of ADAM E5017 are designed for current input Refer to the diagram below for the locations JP1 Short the pin head by the jumpers to set the channel to be current mode ADAM E5017 Vi ET og GE V2 ly EI V2 IS A V3 v3 o V4 S V4 V5 a ve bl A ve Ky m V7 S Figure A 1 ADAM E5017 Module Front View Application Wiring S E ei 9 MO mv v ss i SO Figure A 2 Millivolt and Volt Input 163 Figure A 3 Process Current Input Note To keep measurement accuracy please short the channels that are not in use 11 18 pin header setting I1 ChO 18 Ch7
37. and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm DaqDiGetBit Example U32 deviceNumber 0x60000000 HAND deviceHandle U8 byteValueArray 3 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS 133 return Get value of portl port2 port3 errCde Acm DaqDiGetBytes deviceHandle 1 3 byteValueArray 6 3 7 Digital Output 6 3 7 1 Acm_DaqDoSetBit Format U32 Acm_DaqDoSetBit HAND DeviceHandle U16 DoChannel U8 BitData Purpose Set the bit data of specified DO channel Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen DoChannel U16 IN DO channel ID Range 0 Max DO count 1 BitData U8 IN DO value 0 or 1 Return Value Error Code Comments Get the DO value according to the specified Port Number and ChannellD This channellD can be get by calculation ChannellD Port number 8 Port Index Take the second DO in Port 3 for an example the ChannellD 3 8 2 26 User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property The DO value will be affected by CFG_CH_DaqDoFsvEnable Confirm
38. be set to 1 A bit of this value corresponds to a channel the MSB Most Significant Bit of the port Index 70x0h 01h corresponds to the channel 7 relay output 7 and the LSB Least Significant Bit corresponds to the channel 0 relay output 0 The value of bit 1 represents the output signal is in HIGH level and 0 means the signal is in LOW level Setting by SDO Select Slot of Module Select the slot of module which you want to diagnosis or change the setting For 4 slot ADAM 5000 ECAT the first leftmost slot number is 00h and the last rightmost slot number is O3h For example if you need to modify the setting of ADAM E5069 Relay module which plugs in the second slot of ADAM 5000 ECAT the Module No Index 217Fh 01h will be set to 01h Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 3 USINT RW V Pre Op Op Get Current Value by SDO There is 1 port in ADAM E5069 and consists of 8 channels This index sub index shows the raw data of ADAM E5069 module Index Sub Index Name Range Data Type Access SDO PDO State 2180h Oth Sublndex 001 0 255 USINT RO V Pre Op Op A bit of this value corresponds to a channel the MSB Most Significant Bit of the port Index 2180h 01h corresponds to the channel 7 relay output 7 and the LSB Least Significant Bit corresponds to the channel 0 relay output 0
39. in the Installed and ready to use devices node Even though the driver has been installed for TwinCAT used it is no different from normal network interface card and can still connect to Ethernet Installation of TwinCAT RT Ethernet Adapters Ethernet Adapters Update List E Installed and ready to use devices ES Compatible devices Install B Incompatible devices Local Area Connection 2 Intel 21140 Based PCI Fast Ethernet Adapter Generic 2E B Local Area Connection Intel 21140 Based PCI Fast Ethernet Adapter Generic Unbind BB Disabled devices Enable Disable I Show Bindings Hardware Installation A The software you are installing for this hardware TwinCAT RT Ethernet Intermediate Miniport Driver has not passed Windows Logo testing to verify its compatibility with Windows XP Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software that has passed Windows Logo testing Continue Anyway STOP Installation 5 1 2 2 2 Scan for ADAM 5000 ECAT devices Select I O Configuration gt I O Devices menu in the left hand side of main form click right mouse button and select Scan Devices for scan the EtherCAT devices Before scan the devices
40. module provides data to the host microprocessor in engineering units mV V or mA or two s complement format Its sampling rate depends on the data format received up to 200k Hz total Get Current Value by PDO There are 8 channels in ADAM E5017UH Specify the channel which need to diagnosis in the left hand branch of TwinCAT System Manager This index sub index shows the raw data of each channel of ADAM E5017UH module Index Sub Index Name Range Data Type Access SDO PDO State 60x0h Oth Al 1 0 65535 UINT RO Tx Op 08h Al 8 The x of index is a number which represent the slot number the ADAM E5017UH plugs in For example if you need to get the value of ADAM E5017UH Al module which plugs in the second slot of ADAM 5000 ECAT the x will be set to 1 To get the data in engineering units the conversion formula are shown below Input Range Raw data units R to Engineering value E Engineering value E to Raw data units R 4 20 mA E R 16 4095 4 mA R E 4 4095 16 10 V E R 20 4095 10 V R E 10 4095 20 0 500 mV E R 500 4095 mV R E 4095 500 0 20 mA E R 20 4095 mA R E 4095 20 0 10 V E R 10 4095 V R E 4095 10 Setting by SDO Select Slot of Module Select the slot of module which you want to diagnosis or change the setting For 4 slot ADAM 5000 ECAT the first lef
41. of ADAM 5000 ECAT There are 32 digital output channels each port composed of 8 channels To set the output value of first port DOO DO7 click on the branch Output T in the left hand side of window In the Online tab click Write button to set the value In this case the value of first port is set to OxFF which means the DOO to DO7 signals are set to HIGH level Untitled TwinCAT System Manager DER File Edit Actions View Options Help Ooo MOETE TE SN NGT EQ st GT E SYSTEM Configuration so BB Nc Configuration Variable Flags Online 5 PLC Configuration EA 1 0 Configuration Value OxFF 255 S B 1 0 Devices New Value F Device 3 EtherCAT Device 3 Image Comment amp Device 3 Image Info amp t Inputs Outputs H InfoData SFN Box 1 ADAM SO00 ECAT H f Inputs H Outputs Module 1 ADAM E5017 E Qf Analog Inputs 2 9 Module 2 ADAM E50575 l Outputs l Output 1 l Output 2 Output 3 Output 4 EG Module 4 ADAM E5024 a WeState HQ Infobata aa Mappings Local 192 168 131 65 1 1 In the branch of input module Analog Input amp Digital Input the window will show the input signals of each channel ports and user can diagnosis the input signal via the trend plot in this page 5 1 2 2 4 CoE Online Tab SDO upload amp download For ADAM 5000 ECAT
42. of Slat Module OD AoE Port 0 Value gt 0 lt gt O lt gt O lt gt 13 lt gt 8 lt 0x0000 0 0x0000 0 0x0000 0 0x0000 0 0x0000 0 00000 0 0x0000 0 0x0000 0 gt 0 lt ne To get the data in engineering units the conversion formula are shown below Input Range Raw data units R to Engineering value E Engineering value E to Raw data units R 10 V E R 20 65535 10 V R E 10 65535 20 5V E R 10 65535 5 V R E 5 65535 10 1V E R 2 65535 1 V R E 1 65535 2 500 mV E R 1000 65535 500 mV R E 500 65535 1000 150 mV E R 300 65535 150 mV R E 150 65535 300 20 mA E R 40 65535 20 mA R E 20 65535 40 4 20 mA E R 16 65535 4 mA R E 4 65535 16 Setting by SDO Select Slot of Module Select the slot of module which you want to diagnosis or change the setting For 4 slot ADAM 5000 ECAT the first leftmost slot number is 00h and the last rightmost slot number is O3h For example if you need to modify the setting of ADAM E5017 Al module which plug in the second slot of ADAM 5000 ECAT the Module No Index 217Fh 01h will be set to Oth Index Sub Index Name Range Data Type Access SDO PDO State 217Fh 01h Module No 0 7 USINT RW V Pre Op Op Get Current Value by
43. or Keep Relay Status when reset selectable by jumper Figure A4 1 ADAM E5069 Module Front View Wiring Appendix B Error Code Error Code Common Motion API 0x80000000 InvalidDevNumber 0x80000001 DevRegDataLost 0x80000002 LoadDIlFailed 0x80000003 GetProcAddrFailed 0x80000004 MemAllocateFailed 0x80000005 InvalidHandle 0x80000006 CreateFileFailed 0x80000007 OpenEventFailed 0x80000008 EventTimeOut 0x80000009 InvalidinputParam 0x8000000a PropertylDNotSupport 0x8000000b PropertylDReadOnly 0x8000008d NotSetServoComPort 0x8000008e OpenComPortFailed 0x8000008f ReadComPortTimeOut 0x80000090 SetComPortStateFailed 0x80000091 SevroTypeNotSupport 0x80000092 ReadComBufFailed 0x80000096 SlavelOUpdateError 0x80000097 NoSlaveDevFound 0x80000098 MasterDevNotOpen 0x80000099 MasterRingNotOpen 0x800000c8 InvalidDIPort 0x800000c9 InvalidDOPort 0x800000ca InvalidDOValue 0x800000cb CreateEventFailed 0x800000cc CreateThreadFailed 0x800000ef DataSizeNotCorrect 0x83000000 EC GetNICNumberFailed 0x83000001 EC GetNICInfoFailed 0x83000002 EC OpenMasterDevFailed 0x83000003 EC GetSlaveFailed 0x83000004 EC StartOpModeFailed 0x83000005 EG CloseDeviceFailed 0x83000006 EG MemallocateFailed 0x830000
44. position in network VendorID Device vendor ID ProductID Device product ID RevisionNo Device revision number SerialNo Device serial number Name Device name FwVersion Firmware version Example U32 deviceNumber 0x60000000 HAND deviceHandle U16 slvStatus 0 ADV SLAVE INFO slvInfo errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm DevGetSlavelnfo deviceHandle 0 0x001 amp slvInfo 128 6 3 5 2 Acm_DevGetErrorTable Format U32 Acm_DevGetErrorTable HAND DeviceHandle U16 RingNo PU32 ErrorTableArray PU32 ArrayElements Purpose Get the error device ID list when disconnection occurs Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen RingNo U16 IN Reserved It can be an arbitrary value ErrorTableArray PU32 OUT Disconnected devices list Please be noted that the length of list should be more than the number of disconnected devices ArrayElements PU32 IN OUT IN Length of ErrorTableArray Out number of disconnected device Return Value Error Code Comments Get the disconnected device list by this API The internal error list will be clear after calling this API successfully The error list will update when new disconnection occur The error list will keep record all disconnected devices occurred at different time Example Please refer to Acm DevCheckEvent example 6 3 6 Digital Input
45. shows the raw data of each port of ADAM E5057S module Index Sub Index Name Range Data Type Access SDO PDO State 2180h Oth SubIndex 001 0 255 USINT RO V Pre Op 2183h Op A bit of this value corresponds to a channel the MSB Most Significant Bit of the first port Index 2180h 01h corresponds to the channel 7 DO 7 and the LSB Least Significant Bit corresponds to the channel 0 DO 0 The MSB Most Significant Bit of the last port Index 2183h 01h corresponds to the channel 31 DO 31 and the LSB Least Significant Bit corresponds to the channel 24 DO 24 The value of bit 1 represents the output signal is in HIGH level and 0 means the signal is in LOW level FSV The Fail Safe Value of communication WDT This index sub index shows the FSV status of each port of ADAM E5057S module Each DO will switch to its FSV if the module s WDT is enabled and it gets triggered Index Sub Index Name Range Data Type Access SDO PDO State 2180h 02h SubIndex 002 0 255 USINT RW V Pre Op 2183h Op A bit of this value corresponds to a channel the MSB Most Significant Bit corresponds to the channel 7 and the LSB Least Significant Bit corresponds to the channel 0 To set the output channel to logic high state when fail occurred the bit value is set to be 1 and on the contrary 0 for disable this function For example if you need to set the outpu
46. the latest information about the product 2 Contact your distributor sales representative or Advantech s customer service center for technical support if you need additional assistance Please have the following information ready before you call Product name and serial number Description of your peripheral attachments Description of your software OS version application software etc A complete description of the problem The exact wording of any error messages Safety Precaution Static Electricity Follow these simple precautions to protect yourself from harm and the products from damage M To avoid electrical shock always disconnect the power from your PC chassis before you work on it Don t touch any components on the CPU card or other cards while the PC is on Disconnect power before making any configuration changes The sudden rush of power as you connect a jumper or install a card may damage sensitive electronic components Safety Instructions 10 11 12 13 14 15 16 17 18 19 20 21 22 23 Read these safety instructions carefully Keep this User Manual for later reference Disconnect this equipment from any AC outlet before cleaning Use a damp cloth Do not use liquid or spray detergents for cleaning For plug in equipment the power outlet socket must be located near the equip ment and must be easily accessible Keep this equipment away from humidity Put this equi
47. the x will be set to 1 ADAM E5017 8 ch Analog Input Module Index Sub Index Name Range Data Type Access SDO PDO State 60x0h 01h 08h Al 1 Al8 0 65535 UINT RO Tx Op ADAM E5017UH 8 ch Ultra High Speed Analog Input Module Index Sub Index Name Range Data Type Access SDO PDO State 60x0h 01h O8h Al 1 AI8 0 65535 UINT RO Tx Op ADAM E5024 4 ch Analog Output Module Index Sub Index Name Range Data Type Access SDO PDO State 70x0h 01h 04h AO 1 A0 4 0 4095 UINT WO Rx Op ADAM E5051S 16 ch Isolated Digital Input Module with LED Index Sub Index Name Range Data Type Access SDO PDO State 60x0h 01h 02h DI 1 DI2 0 255 USINT RO Tx Op ADAM E5053S 32 ch Isolated Digital Input Module Index Sub Index Name Range Data Type Access SDO PDO State 60x0h 01h 04h DI 1 DI4 0 255 USINT RO Tx Op ADAM E5056S 16 ch Isolated Digital Output Module with LED Index Sub Index Name Range Data Type Access SDO PDO State 70x0h 01h 02h DO 1 DO 2 0 255 USINT WO Rx Op ADAM E5057S 16 ch Isolated Digital Output Module with LED Index Sub Index Name Range Data Type Access SDO PDO State 70x0h 01h 04h DO 1 DO4 0 255 USINT WO Rx Op
48. to a channel the MSB Most Significant Bit of the first port Index 2180h 01h corresponds to the channel 7 DI 7 and the LSB Least Significant Bit corresponds to the channel 0 DI 0 The MSB Most Significant Bit of the second port Index 2181h 01h corresponds to the channel 15 DI 15 and the LSB Least Significant Bit corresponds to the channel 8 DI 8 The value of bit 1 represents the input signal is in HIGH level and 0 means the signal is in LOW level Invert This index sub index shows the invert status of each port of ADAM E5051S module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 02h Sublndex 002 0 255 USINT RW V Pre Op 2181h Op A bit of this value corresponds to a channel the MSB Most Significant Bit corresponds to the channel 7 and the LSB Least Significant Bit corresponds to the channel 0 To invert a digital signal of an input channel the bit value is set to be 1 and on the contrary 0 for hold the input signal For example if you need to invert the signal of channel 8 11 of ADAM E5051S DI module the value of second port Index 2181h 02h must be set to OFh 00001111 Digital Filter Scale Minimum Low Signal Width This index sub index shows the minimum low signal width of ADAM E5051S module The digital input filter is a feature that eliminates noise from input signals Once the digital input filter is set it stores data during
49. user should know the I O mapping relationship by utility All DI O are arranged by Port 1 port 8 bits in sequence User can re arrange the port number to map the real DI O in ADAM 5000 ECAT by themselves The same All Al O arranged by Channel in sequence User can re arrange the channel ID to map the real DI O in ADAM 5000 ECAT Please be noted that you should know all mapping relationship between PortNumber or ChannellD and physical DI DO AI AO Example U32 deviceNumber 0x60000000 HAND deviceHandle errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS eturn 105 6 3 1 6 Acm_DevReOpen Format U32 Acm_DevReOpen HAND DeviceHandle Purpose Reopen Device Parameters NET Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm DevOpen Return Value Error Code Comments User needs to call this API to reopen the device in the following situation 1 Slave is re connected after disconnection 2 Communication is not in OP mode 3 Any of slaves is not in OP mode Example Plese refer to the example of Acm_DevCheckEvent 106 6 3 2 Property 6 3 2 1 Acm_GetProperty Format U32 Acm_GetProperty HAND Handle U32 PropertyID PVOID Buffer PU32 Buffe
50. xml if errCde SUCCESS return errCde Acm GetMultiChannelProperty deviceHandle CFG CH DaqDiInvertEnable 0 10 dilnverArray if errCde SUCCESS 6 3 2 12 Acm SetMultiChannelProperty Format U32 Acm SetMultiChannelProperty HAND Handle U32 ProperylD U32 StartChID U32 ChCount PF64 ValueArray Purpose Set the value continuous channels assigned by start channel ID and channel count Parameters NET Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm DevOpen ProperylD U32 IN PropertylD 118 StartChID U32 IN Start channellD ChCount U32 IN Channel count ValueArray PF64 IN Value array Return Value Error Code Comments If user wants to set the DI DO property value by channel This channellD can be get by calculation ChannellD Port number 8 Port Index Take the second DO in Port 3 for an example the ChannellD 3 8 2 26 User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property User can get the detail information about the property value type in Property List Note 1 User need call Acm LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before setting Property value by this API 2 The StartChID ChCount cannot greater than total channel count Example U32 deviceNumber 0x60000000 HA
51. 07 EC InvalidNicIndex 0x83000008 EC OpenDevFailed 0x83000009 EC ReadFileFailed 0x8300000a EC GetNicInfoFailed 0x8300000b EC GetSDOFailed 0x8300000c EG InvalidParameter 0x8300000d EC GetPDOOffsetFailed 0x8300000e EG InitialMappinginfoFalied 0x8300000f EG InitResourceFailed 0x83000010 EC SetSDOFailed 0x83000011 EG InvalidPortType 0x83000012 EC SetCycleTimeFailed 0x83000013 EG InvalidAoRange 0x83000014 EC InvalidAiRange 0x83000015 EG GetSlavelnfoFaied 0x83000016 EG GetNetWorkStateFaied 0x83000017 EC RegisterEventFailed 0x83000018 EG InvalidintegrationTime 0x83000019 EC InvalidAlEnable 0x8300001a EC InvalidDIFilter 0x8300001b EG SetSlaveStateFailed 0x8300001c EG ZeroCalibrationFailed 0x8300001d EG InvalidMasterHandle 0x8300001e EC InvalidENIFile 0x8300001f EC_InvalidCaliType 0x83000020 EG SetCaliValueFailed 0x83000021 EG AOCalibrationFailed 0x83000022 EC_InvalidlOMapping 0x83000023 EC_PortlndexGreaterThanPortNum 0x83000024 EG ChannellDGreaterThanChannelNum 0x83000025 EC InputlindexGreaterThanlnputNum 0x83000026 EC OutputlindexGreaterThanOutputNum 0x83000027 EG SetEnableFailed 0x83000028 EC SetAlRangeFailed 0x83000029 EC_SetIntegrationTimeFailed 0x8300002a EC_PropertyNotSupported 0x8300002b EC_SlavelDConflicted 0x8300002c EC SpanCalibrationFailed 0x8300002d EC InvalidAiValue 0x8300002e EC InvalidAoValue 0x8300002f EC GetModuleFailed Data Transmission SDO Abort Codes Erro
52. 0x08000020 Data can not be read or written 0x08000021 Access not possible due to local control 0x08000022 Access not possible due to current device status 0x08000023 Object is not in the object dictionary AL Status Codes Error Value Description 0x0000 No error 0x0001 Unspecified error 0x0002 No Memory 0x0011 Invalid requested state change 0x0012 Unknown requested state 0x0013 Bootstrap not supported 0x0014 No valid firmware 0x0015 Invalid mailbox configuration BOOT state 0x0016 Invalid mailbox configuration PreOP state 0x0017 Invalid sync manager configuration 0x0018 No valid inputs available 0x0019 No valid outputs 0x001A Synchronization error 0x001B Sync manager watchdog 0x001C Invalid Sync Manager Types 0x001D Invalid Output Configuration 0x001E Invalid Input Configuration 0x001F Invalid Watchdog Configuration 0x0020 Slave needs cold start 0x0021 Slave needs INIT 0x0022 Slave needs PREOP 0x0023 Slave needs SAFEOP 0x0024 Invalid Input Mapping 0x0025 Invalid Output Mapping 0x0026 Inconsistent Settings 0x0027 FreeRun not supported 0x0028 SyncMode not supported 0x0029 FreeRun needs 3Buffer Mode Emergency Message Code Emergency Faulty pa 7 Error Type Faulty Manufacturer Specific Error Field Error Code Code IO module Slot ID doesn t work 0x91 5 4 z I
53. 1 COM 3 for DI12 DI15 Figure A3 2 ADAM E5051S Module Wiring Diagram Table A3 1 Technical Specifications of ADAM E5051S Point 16 4 channel group Digital Input Logic Level 0 3 V max Logic Level 1 10 to 50 V Optical Isolation 2500 Voc Opto isolator response time 25 us Over voltage Protection 70 Voc Power Consumption 0 8 W LED Indicator On when active I O Connector Type 21 pin plug terminal A 3 2 ADAM E5053S 32 ch Isolated Digital Input Module The ADAM E5053S_ provides 32 isolated digital input channels for critical environ ments need individual channel isolating protection Different from other ADAM E5000 I O modules ADAM E5053S designed with 40 pin flat cable wiring terminal 32DI ADAM E5053S Channel OL COM 1 for DIO DI15 COM 2 for DI16 DI23 Figure A3 3 ADAM E5053S Module Front View Application Wiring aL E whey ChCRCHCH Shas NNN NENEN A 10V 30V Figure A3 4 ADAM E5053S Module Wiring Diagram Table A3 2 ADAM E50538 Technical Specifications Point 32 Digital Input Logic Level 0 5 V max Logic Level 1 19 to 35 V Optical Isolation 2500 VDC Opto isolator response time 25 us Over voltage Protection 35 VDC Power Consumption 1 W max I O Connector Type 40 pin flat cable wiring terminal A 3 3 ADAM E5056S 16 ch Isolated Digital Output Module with LED The
54. 4 096 slave IDs x1 x10 x100 Communications cycle in DC Mode 250 us Min Input voltage 10 30Vpc Power consumption 2 5 W 24 VDC not including I O modules Note This depends on the specifications of the EtherCAT master and Unit configuration 1 3 2 General Specification Item Description Connectors 1 x Screw terminal for RS 485 communication 1 x DB9 M for RS 232 internal use 1 x Screw terminal for power input 2 x RJ 45 for LAN Dimensions W x H x D 231 x 110 x 75 mm Mounting DIN rail wall Atmosphere No corrosive gases Operating Temperature 10 70 C 14 158 F Storage Temperature 25 85 C 13 185 F Operating Humidity 5 95 non condensing Protection I O Module Isolation 3 000 Vpc LAN Communication 1 500 Vpc Over voltage and power reversal Certification CE FCC class A Note Equipment will operate below 30 humidity However static electricity problems occur much more frequently at lower humidity levels Make sure you take adequate precautions when you touch the equipment Consider using ground straps anti static floor coverings etc if you use the equipment in low humidity environments 1 4 ADAM 5000 ECAT Main Unit 1 4 1 Dimensions The following diagrams show the dimensions of the system unit and an I O unit All dimensions are in millimeters 339
55. ADAM E5056S SO plugs in For example if you need to get the value of ADAM E5056S SO DO module which plugs in the second slot of ADAM 5000 ECAT the x will be set to 1 A bit of this value corresponds to a channel the MSB Most Significant Bit of the first port Index 70x0h 01h corresponds to the channel 7 DI 7 and the LSB Least Significant Bit corresponds to the channel 0 DI 0 The MSB Most Significant Bit of the second port Index 70x0h 02h corresponds to the channel 15 DO 15 and the LSB Least Significant Bit corresponds to the channel 8 DO 8 The value of bit 1 represents the output signal is in HIGH level and 0 means the signal is in LOW level SS Device 3 EtherCAT Device 3 Image fa Device 3 Image Info E gt Inputs l Outputs InfoData Box 1 ADAM S00D ECAT t TxPDO Mapping l aDAM E50565 50 output1 outputz l RxPDO Mapping 4 Q WeState InfoData Setting by SDO Online Data Module OD AoE Port 0 Name Module channel 4 Module channel 5 Module channel 6 Module channel 7 Factory Test Digital 2 Outputs output1 output2 Information Data of Slot Information Data of Slott Information Nata nf Slat Value Select Slot of Module Select the slot of module which you want to diagnosis or change the setting For 4 slot ADAM 5000 ECAT the first leftmost slot number is 00h and the last rightmost slot number is O3h For example if you need to modi
56. AT deviceNumber devLst i dwDeviceNum slvDevNumber devLstli nNumOfSubdevices break 6 3 1 2 Acm_DevOpen Format U32 Acm_DevOpen U32 DeviceNumber PHAND DeviceHandle Purpose Open a specified device to get device handle Parameters Name Type IN OUT Description DeviceNumber U32 IN Device Number User can gets Device number by Acm GetAvailableDevs DeviceHandle PHAND OUT Return a pointer to the device handle Return Value Error Code Comments This function should be called firstly before any operation of the device Please be noted that Acm_DevClose should be called at the end of the program after device open successfully Example 102 U32 deviceNumber 0x60000000 HAND deviceHandle errCde Acm_DevOpen deviceNumber amp deviceHandle 6 3 1 3 Acm_DevClose Format U32 Acm_DevClose PHAND DeviceHandle Purpose Close a device Parameters Name Type IN OUT Description DeviceHandle PHAND IN A pointer to the device handle gotten by Acm_DevOpen Return Value Error Code Comments Acm_DevClose should be called at the end of the program after device open successfully Example U32 deviceNumber 0x60000000 HAND deviceHandle errCde Acm DevOpen deviceNumber amp deviceHandle errCde Acm DevClose amp deviceHandle 6 3 1 4 Acm LoadENI Format U32 Acm LoadENI HAND DeviceHandle PI8 FilePath Purpose Load ENI EtherCAT network information file 103 Parameters
57. Access SDO PDO State 2180h 04h Subindex 004 USINT RW V Pre Op 2187h To modify this value of input range the EtherCAT state machine of slave must be switched to Pre Op mode After changing this setting be sure to switch the state machine from Pre Op back to Op mode The meaning of this value is Input Range Value 4 20 mA 07h 10 V 08h 0 500 mV 43h 0 20 mA 46h 0 10 V 48h Calibration These indexes sub indexes are used to calibrate channels of ADAM E5017UH module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 06h Sublndex 006 USINT RW V Pre Op 07h Sublndex 007 This function is available only for Advantech EtherCAT Utility 5 1 2 3 3 ADAM E5024 4 ch Analog Output Module The ADAM E5024 is a 4 channel analog output module It receives its digital input from the host computer The format of the data is engineering units It then uses the D A converter controlled by the system module to convert the digital data into output signals Set Current Value by PDO There are 4 channels in ADAM E5024 Specify the channel which need to diagnosis in the left hand branch of TwinCAT System Manager This index sub index shows the raw data of each channel of ADAM E5024 module Index Sub Index Name Range Data Type Access SDO PDO State 70x0h O1h AO 1
58. I to get the property The Al value will be affected by CFG_CH_DaqAiRange CFG_CH_DaqAiMask CFG_CH_DagAilntegrationTime Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm_LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm DaqaAiGetRawData Example U32 deviceNumber 0x60000000 HAND deviceHandle USHORT aiData 0 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping xml 142 if errCde SUCCESS return 6 3 8 2 Acm DaqaAiGetVoltData Format U32 Acm_DagAiGetVoltData HAND DeviceHandle U16 AiChannel PF32 AiData Purpose Get the voltage value of an analog input channel when voltage inputs Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen AiChannel U16 IN Al channel ID Range 0 Max Al count 1 AiData PF32 OUT Pointer to the returned Al voltage value Return Value Error Code Comments Get the Al voltage value according to the specified ChannellD User should check or set the Port number and ChannellD in whole network through mapping Info in Utility before using this API to get the property As the Al channel is set to volta
59. ID 1502 PROPERTY TYPE F64 R W R W DESCRIPTION Read or set upper limit value of DI filter Range 0 65535 Note DI filter down limit value will copy to all DI as one of them has been successfully set for ADAM E5017 CFG CH DaqDoFsvEnable PROPERTY ID 1503 PROPERTY TYPE F64 R W R W DESCRIPTION Read or set DO Failure Safe Value 0 As communication error DO will be in Low Logic state 1 As communication error gt DO will be in High Logic state CFG CH DaqAiRange PROPERTY ID 1505 PROPERTY TYPE F64 R W R W DESCRIPTION Read or Set Al channel input range Value Description 10V SV Only ADAM E5017 Support 2 5V Not Support 1 25V Not Support 0 625V Not Support 1V Only ADAM E5017 Support 0 5V Only ADAM E5017 Support 0 15V Only ADAM E5017 Support 0 10V Only ADAM E5017UH Support 0 500mV Only ADAM E5017UH Support 10 15 Reserved 16 0 20 mA Only ADAM E5017UH Support 17 4 20 mA 18 20 mA Only ADAM E5017 Support Note Al range setting will copy to all channels for ADAM E5017 Oo ON OO RAON CO CFG_CH_DaqAiEnable PROPERTY ID 1506 PROPERTY F64 TYPE R W R W DESCRIPTION Enable Disable this Al 0 Disable this Al 1 Enable this Al CFG CH DaqaAilntegrationTime PROPERTY ID 1507 PROPERTY F64 TYPE R W R W DESCRIPTION R
60. INITE if Result SUCCESS if evtStatus amp 0x01 Result Acm DevGetErrorTable pThreadInfo gt deviceHandle 0 errTable amp errCnt If Result 0 Acm_DevReOpen pThreadInfo gt deviceHandle return 0 6 3 4 2 Acm_DevCheckEvent Format U32 Acm_DevCheckEvent HAND DeviceHandle PU32 MasCheckEvt U32 Millisecond Purpose Check event Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen MasCheckEvt PU32 OUT Check enabled event status Millisecond U32 IN Specify the time out value in millisecond for each checking INFINITE as usual 125 Return Value Error Code Comments This API is used to check events status only for those event enabled by Acm_DevEnableEvent User can find the disconnection event occurs by Acm_DevCheckEvent when open the disconnection check function Also user can get the information about which slaves are disconnected by Acm_DevGetErrorTable Note Check event need to open threads to call Acm_DevCheckE vent Example U32 deviceNumber 0x60000000 HAND deviceHandle U32 slvNumber oO rCde Acm DevOpen deviceNumber amp deviceHandle f errCde Success He Acm DevEnableEvent deviceHandle 1 pThreadObject AfxBeginThread AFX THREADPROC CEventDlg CheckEvtThread this THREAD PRIORITY TIME CRITICAL 0 0 NULL UINT CEventDlg CheckEvtThread LPVOID ThreadArg U32 Result
61. ND deviceHandle F64 dilnverArray 10 int i 0 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS return 119 for i 0 i lt 10 i diInverArray i 1 0 errCde Acm SetMultiChannelProperty deviceHandle CFG CH DaqDiInvertEnable 0 10 dilnverArray if errCde SUCCESS 120 6 3 3 Communication State 6 3 3 1 Acm_DevGetComStatus Format U32 Acm_DevGetComStatus HAND DeviceHandle U16 RingNo PU16 pStatus Purpose Get the communication network status Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen RingNo U16 IN Reserved It can be an arbitrary value pStatus PU16 OUT Return the communication status Bit Status 0 STATE_INIT 1 STATE_PREOP 2 STATE_SAFEOP 3 STATE_OP 4 STATE_ACK_ERR Return Value Error Code Comments This API is used to check if all the slaves in network are in OP mode Please try to call Acm_DevReOpen to re open the network if receiving not OP mode value Usually use this API in Timer to do cyclical check Example U32 deviceNumber 0x60000000 HAND deviceHandle U16 comStatus 0 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI devic
62. O channels PortO Port1 Port2 Port3 Port4 and Port5 User needs to know the port number of specified DO before access it If user wants to access DO7 DO15 in slave2 he must pass port number 3 Port number of any DO port can be defined by user Slave ID Description 0x0200 DOO DOT on ADAM E50565 50 0x0200 DOS D015 on ADAM E5056 0x0100 DOO DOT on ADAN ESOS7S 0x0100 D08 D015 on ADAM ESOSTS Ox0100 D016 D023 on ADAM ESOSTS E Almapping Al mapping sorts all Al channels in the entire network For example Slave1 8 Al channels Slave2 16 Al channels Each Al channel maps to one channellD for total 24 channels User needs to know the channellD of specified Al before access it If user wants to access the first Al in slave2 he must pass ChannellD 8 ChannellD of any Al channel can be defined by user AI Slave ID Description Byte Size Channel No 0x0200 AI Channel 5 on ADAM ESO1T 0x0200 AT Channel 6 on ADAM ESO17 0x0200 AT Channel 7 om ADAM ESO17 0x0100 AT Channel 0 on ADAM ESO17 0x0100 AI Channel 1 on ADAM ESO17 E AO mapping Al mapping sorts all Al channels in the entire network For example Slave1 4 AO channels Slave2 4 AO channels Each Al channel maps to one channellD for total 24 channels User needs to know the channellD of specified Al before access it If user wants to access the first Al in slave2 he must pass ChannellD 8 ChannellD of any Al channel can be defined by user AD Slave ID Descrip
63. Op 2180h 04h Digital Filter 0 65535 USINT RW V Pre Op Scale High Op ADAM E5053S 32 ch Isolated Digital Input Module Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 7 USINT RW V Pre Op Op 2180h O1h Get Current 0 255 USINT RO V Pre Op 2183h Value Op 2180h 02h Invert 0 255 USINT RW V Pre Op 2183h Op 2180h 03h Digital Filter USINT RW V Pre Op Scale Low Op 2180h 04h Digital Filter USINT RW V Pre Op Scale High Op ADAM E5056S SO 16 ch Isolated Digital Output Module with LED Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 7 USINT RW V Pre Op Op 2180h O1h Get Current 0 255 USINT RO V Pre Op 2181h Value Op 2180h 02h FSV 0 255 USINT RW V Pre Op 2181h Op ADAM E5057S 16 ch Isolated Digital Output Module with LED Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 7 USINT RW V Pre Op Op 2180h O1h Get Current 0 255 USINT RO V Pre Op 2183h Value Op 2180h 02h FSV 0 255 USINT RW V Pre Op 2183h Op 5 1 2 4 1 ADAM E5051S 16 ch Isolated Digital Input Module with LED The ADAM E5051S provides 16 isolated digital input channels for critical environments need individual channel isolating protection Get Current Value by PDO There are 2 ports in ADAM E5051S and each port consists of 8 chan
64. ProperylD U32 StartChID U32 ChCount PF64 ValueArray Purpose Get the value continuous channels assigned by start channel ID and channel count Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen ProperylD U32 IN PropertylD StartChID U32 IN Start channellD ChCount U32 IN Channel count ValueArray PF64 OUT Value array Return Value Error Code Comments If user wants to get the DI DO property value by channel This channellD can be get by calculation ChannellD Port number 8 Port Index Take the second DO in Port 3 for an example the ChannellD 3 8 2 26 User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property User can get the detail information about the property value type in Property List Note 1 User need call Acm_LoadENI and Acm DevLoadMapFile If user uses the 117 default mapping relationship this API need not to load first before getting Property value by this API 2 The StartChID ChCount cannot greater than total channel count Example U32 deviceNumber 0x60000000 HAND deviceHandle F64 dilnverArray 10 int i 0 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping
65. RTD signals tem perature transducers pressure transduc Convert continuous ana Analog input a l bare mod le ers load cell transducers humidity log signals into input val transducers flow transducers potentiom ues for ADAM 5000 ECAT eters Interpret ADAM 5000 Analog output Analog valves actuators chart record EGAT output to analog sig nals generally through module ers electric motor drives analog meters transducers for field devices Advantech provides more than 10 types of ADAM 5000 I O modules for various applications so far The table 2 2 will help you to select the ADAM 5000 I O modules quickly and easily Table 2 2 I O Modules Selection Guide Type Model Description di ADAM E5051S 16 ch Isolated Digital Input Module npu ADAM E5053S 32 ch Isolated Digital Input Module ADAM E5056S 16 ch Sink Type Isolated Digital Output Output Module Di H I og igita ADAM E5057S 32 ch Sink Type Isolated Digital Output Module Relay ADAM E5069 8 ch Power Relay Output Module Counter ADAM E5082 reserved 2 ch High Speed Counter Frequency Mod ule ADAM E5017 8 ch Analog Input Module Input 4 i Analog p ADAM E5017UH 8 ch Ultra High Speed Analog Input Module Output ADAM E5024 4 ch Analog Output Module 2 2 Selecting Power Supply ADAM 5000 ECAT system works under unregulated power source between 10 and 30 VDC When you arrange different I O modules on ADAM 5000 ECAT s back plant it
66. SATION The device is in state INIT Blinking PRE OPERATIONAL The device is in state PRE OPERATIONAL Single Flash SAFE OPERATIONAL The device is in state SAFE OPERATIONAL On OPERATIONAL The device is in state OPERATIONAL Flickering BOOTSTRAP The device is booting and has not yet entered the INIT state or The device is in state BOOTSTRAP Firmware download operation in progress EtherCAT Err LED Red Indicator Error Name Description Example states Off No error The device is in working condition Blinking Invalid Configuration General configuration State change commanded by error master is impossible due to register or object setting or invalid hardware configuration pin sharing violation detected by ESC Single Flash Local error Slave device application Device changes its EtherCAT has changed the EtherCAT state from OpMode to state autonomously due SafeOpError due toa to local error Error synchronization error Indicator bit is set to 1 in AL Status register Double Process Data Watchdog An application watchdog Sync Manger Watchdog Flash Timeout EtherCAT timeout has occurred timeout Watchdog Timeout System STS LED white Indicator Indicator color Description states Off White The device is not power on Blinking Green The device is in working condition Blinking Orange The device is in abnormal condition For instance 21 IO module doesn t work normal IO module mismatch with the configure set
67. SDO NOT Recommend The current value can be reached by PDO and it will also show in following object index There are 8 channels in ADAM E5017 index 2180h and its sub index are used for the setting of first channel index 2181h and its sub index are used for the setting of second channel and so on This index sub index shows the raw data of each channel of ADAM E5017 module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 01h Sublndex 001 0 65535 USINT RO V Pre Op 2187h Op To get the data in engineering units the conversion formula are shown below Input Range Raw data units R to Engineering value E Engineering value E to Raw data units R 10 V E R 20 65535 10 V R E 10 65535 20 5V E R 10 65535 5 V R E 5 65535 10 1V E R 2 65535 1 V R E 1 65535 2 500 mV E R 1000 65535 500 mV R E 500 65535 1000 150 mV E R 300 65535 150 mV R E 150 65535 300 20 mA E R 40 65535 20 mA R E 20 65535 40 4 20 mA E R 16 65535 4 mA R E 4 65535 16 Channel Status This index sub index shows the channel status of each channel of ADAM E5017 module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 02h SubIndex 002 USINT RO V Pre Op 2187h Op
68. Set the AO binary value according to the specified ChannellD User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property The AO value will be affected by CFG_CH_DaqAoRange Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm_LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm_DaqAoSetRawData Example U32 deviceNumber 0x60000000 HAND deviceHandle rCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS eturn 146 errCde Acm DaqAoSetRawData deviceHandle 0 0 6 3 9 2 Acm_DaqAoSetVoltData Format U32 Acm DaqAoSetVoltData HAND DeviceHandle U16 AoChannel F32 AoData Purpose Set the voltage output value of an specified analog output channel within the analog voltage output range Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen AoChannel U16 IN AO channel ID Range 0 Max AO count 1 AoData F32 IN AO voltage value Return Value Error Code Comments Set the AO voltage value according to the specified ChannellD U
69. SyncManager enables consistent and secure data exchanges between the EtherCAT master and the slaves generating interrupts to inform both sides of changes to protect data in the DPRAM from being accessed simultaneously If the slave uses FMMUs the SyncManagers for the corresponding data blocks are located between the DPRAM and the FMMU EtherCAT SyncManagers can operate in two modes Mailbox mode The mailbox mode implements a handshake mechanism for data exchange EtherCAT master and slave only get access to the buffer after the other one has finished its access When the sender writes the buffer the buffer is locked for writing until the receiver has read it out The mailbox mode is typically used for parameter settings and no real time exchange of data Write Mailbox Read Mailbox E age Empty eo Empty 7 Full oe Full Figure 1 10 Mailbox Mode Buffered Mode The buffered mode is typically used for cyclic data exchange because the buffered mode allows access to the communication buffer at any time for both sides EtherCAT master and slaves Note SyncManagers running in buffered mode need three times the process data size allocated in the DPRAM Note If the buffer is written faster than it is read out by the receiver old data is dropped Thus the receiver always gets the latest consistent buffer content which was written by the sender SyncManager 3 buffers Write begin gt Write end gt Read begin gt
70. Voltage Measurement Please ensure the corresponding pin header for the Channel is open before operating in this mode Current Measurement Please ensure the corresponding pin header for the Channel is short before operating in this mode i X 1 C CCA CC 1 CY C CC f m Tvs Ti Tvs2 12 TvS3 13 1V54 14 1vs5 15 Tvs 16 Tvs 17 mse 18 ce ET p FM2 Figure A 4 Locations of Jumpers Technical Specifications of ADAM E5017 Table A1 1 Technical Specifications of ADAM E5017 Analog Input Channels Eight differential Input Type mV V mA Input Range 150 mV 500 mV 1 V 5 V 10 V and 20 mA Isolation Voltage 3000 VDC Sampling Rate 10 samples sec total Analog Input Signal Limit 15 V max Max allowable voltage difference 15 V max between two connectors in a module Input Impedance 2MQ voltage input 120Q current input Bandwidth 13 1 Hz Q 50 Hz 15 72 Hz Q 60 Hz Accuracy 0 1 or better Zero Drift 1 5 V C Span Drift 25 PPM C CMR 50 60 Hz 92 dB min Power Requirements 10 to 30 VDC non regulated Power Consumption 1 2W 164 A 1 2 ADAM E5017UH 8 ch Ultra High Speed Analog Input Module The ADAM E5017UH is a 12 bit plus sign bit 8 channel analog differential input module that pro vides programmable input ranges on each channel It accepts voltage inputs 10 V and 0 10 V and current inputs 0 20 mA and 4 20 mA The module provides data to
71. ace cards When the program is finished searching the result will show and let user choose the NIC which user wants to use If it is an EtherCAT network the NIC will be labeled as EtherCAT FJ a Scan EtherCAT Network EtherCAT Gigabit PCI Express Network Adapter 7 MAC Address 64 66 B3 02 85 BC TenAsys Virtual Ethemet Adapter MAC Address 42 00 00 00 01 FF Intel R 82579LM Gigabit Network Connection MAC Address AC 22 0B 8B 18 E6 VirtualBox Host Only Ethemet Adapter MAC Address 08 00 27 00 F 74 VMware Virtual Ethemet Adapter for VMnet1 MAC Address 00 50 56 C0 00 01 VMware Virtual Ethemet Adapter for Mnet8 MAC Address 00 50 56 CO 00 08 5 1 1 2 Master Page The slaves connected to the NIC will show in the child node in the NIC node The NIC information shows in the right panel The slave will switch to Op mode automatically User can change the cycle time on the upper right corner of this panel The minimum value of cycle time is 1ms For Common Motion API the device number of this network interface card is also shown both on the upper right corner of this panel and the name of NIC node on the left on coal a9 Advantech EtherCAT Utility Version 100 M CC leie X System About 9 S S EtherCAT Online Mapping Table Topology fee ANIC 0 0x60000000 ffi ADAM 5O00 ECAT 0x2 Device Number 060000000 NIC Index 0 Cy
72. annel isolating protection Get Current Value by PDO There are 4 ports in ADAM E5053S and each port consists of 8 channels Specify the port which need to diagnosis in the left hand branch of TwinCAT System Manager This index sub index shows the raw data of each port of ADAM E5053S module Index Sub Index Name Range Data Type Access SDO PDO State 60x0h 01h Input 1 0 255 USINT RO Tx Op 04h Input 4 The x of index is a number which represent the slot number the ADAM E5053S plugs in For example if you need to get the value of ADAM E5053S DI module which plugs in the second slot of ADAM 5000 ECAT the x will be set to 1 A bit of this value corresponds to a channel the MSB Most Significant Bit of the first port Index 60x0h 01h corresponds to the channel 7 DI 7 and the LSB Least Significant Bit corresponds to the channel 0 DI 0 The MSB Most Significant Bit of the last port Index 60x0h 04h corresponds to the channel 31 DI 31 and the LSB Least Significant Bit corresponds to the channel 24 DI 24 The value of bit 1 represents the input signal is in HIGH level and 0 means the signal is in LOW level Setting by SDO Select Slot of Module Select the slot of module which you want to diagnosis or change the setting For 4 slot ADAM 5000 ECAT the first leftmost slot number is 00h and the last rightmost slot number is O3h For example if you need to modify
73. annellD U32 IN DI DO AI AO channel ID ProperylD U32 IN PropertylD Value PF64 OUT Get property value Return Value Error Code Comments If user wants to get the DI DO property value by channel 114 This channellD can be get by calculation ChannellD Port number 8 Port Index Take the second DO in Port 3 for an example the ChannellD 3 8 2 26 User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property User can get the detail information about the property value type in Property List Note User need call Acm_LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before getting Property value by Acm GetChannelProperty Example U32 deviceNumber 0x60000000 HAND deviceHandle F64 Dilnvert errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS eturn errCde Acm_GetChannelProperty deviceHandle 0 CFG CH DagDilnvertEnable amp Dilnvert if errCde SUCCESS 6 3 2 10 Acm SetChannelProperty Format U32 Acm SetChannelProperty HAND Handle U32 ChannellD U32 ProperylD F64 Value Purpose Set the DI DO AI AO channel property value 115 Parame
74. are right click on the TwinCAT icon in the system tray and choose System Manager P About TwinCAT Log View PLC Control Router System 10 PLC Properties 5 1 2 2 1 Install EtherCAT Driver The first execution of TwinCAT the network interface card driver for EtherCAT must be installed Choose the Options menu gt Show Real Time Ethernet Compatible Drivers mH TwinCAT System Manager File Edit Actions View KOSO Help Language EN GB BQ L OD NC Configuration Add Variable Type Settings PLC Configuration Delete Variable Type I O Configuration E 1 0 Devices TwinCAT System Manager g Mappings 2 11 Build 2262 Check PLC Project Changes TwinCAT NC I Open Logger Automatically v2 11 Build 2245 Open Last Used File Aime limited to 2015 1 26 Copyright BECKHOFF 1996 2011 http www beckhoff com Select Last Tree Element Generate BAK File Auto Save to Target Show full document path Compatibilty Mode not recommended for new projects Windows XP Mode Show Real Time Ethemet Compatible Devices a Reg Key 87FE 4413 37CE 1EFC Update EtherCAT Device Descriptions Local 169 254 215 195 1 1 a All of the network interface cards are listed in the Incompatible devices tree node Select the device which wants to be used for EtherCAT by TwinCAT and press the Install button in the right hand side of this form After the driver has been installed the devices will be shown
75. be sure to switch the state machine from Pre Op back to Op mode The meaning of this value is Input Range Value 10 V 08h 5 V 09h 1V OAh 500 mV OBh 150 mV OGh 20 mA ODh 4 20 mA 07h Integration Time This index sub index shows the integration time of channels of ADAM E5017 module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 05h Sublndex 005 7 USINT RW V Pre Op To modify this value of integration time the EtherCAT state machine of slave must be switched to Pre Op mode After changing this setting be sure to switch the state machine from Pre Op back to Op mode The meaning of this value is Input Range Value 60 Hz 00h 50 Hz 80h Calibration These indexes sub indexes are used to calibrate channels of ADAM E5017 module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 06h SubIndex 006 USINT RW V Pre Op 07h Sublndex 007 This function is available only for Advantech EtherCAT Utility 5 1 2 3 2 ADAM E5017UH 8 ch Ultra High Speed Analog Input Module The ADAM E5017UH is a 12 bit plus sign bit 8 channel analog differential input module that provides programmable input ranges on each channel It accepts voltage inputs 10 V and 0 10 V and current inputs 0 20 mA and 4 20 mA The
76. ble 2 4 Power Supply Specification Table Specification PWR 242 PWR 243 PWR 244 Input Voltage 90 264 VAC pai hoe 100 240 VAC Input Frequency 47 63 Hz Input 25 A 110 VAC Input Current 1 2 A max 1 4 A max 50 A 220 VAC Inrush current Short Protection Yes Output Voltage 24 VDC Output Output Current 2 1A 3A 42A Overload Protection Yes Dimension 181 mm x 113 mm x60 mm L x W x H General Operating Temperature 0 50 C 32 122 F DIN rail Mountable Yes No No Selecting Operator Interface Common Motion Utility To complete the ADAM 5000 ECAT EtherCAT Slave I O System connection with the EtherCAT master producing the EtherCAT Network Information file ENI is neces sary The ENI is created based on EtherCAT Slave Information files ESI which are provided by ADAM 5000 ECAT There are two ways to producing ENI file 1 Advantech Common Motion Utility 2 Other EtherCAT master software such as TwinCAT or Acontis Hardware Installation Guide 3 1 3 1 1 3 1 2 3 1 3 3 2 Determining the proper environment Before you start to install the ADAM 5000 ECAT system there are something needed to check Check the content of shipping box Unpack the shipping boxes and make sure that the contents include E ADAM 5000 ECAT main unit with two blank slot covers System Requirement M Host computer Computer with Atom or Core i CPU Windows XP 7 32 or 64 bit or higher versions At l
77. ce RxPDOs 0x1600 0x1601 TxPDOs 0x1A00 0x1A01 Ta Ox1Ann Input Entries 0x6000 0x600F 0x6010 0x601F Ox6nn0 0x6nnF Output Entries 0x7000 0x700F 0x7010 0x701F me Ox7nn0 0x7nnF Information 0x9000 0x900F 0x9010 0x901F Ox9nn0 0x9nnF Communication Area 0x1000 0x1FFF Device Parameter 0x1000 0x1FFF Figure 4 1 Model of a Modular Device 4 1 1 1 Process Data Objects PDOs In EtherCAT network process data is divided into segments with a maximum of 8 bytes These segments are known as process data objects PDOs which are used to cyclically transfer data PDOs are used in CoE for broadcasting high priority control and status information Receive PDOs RxPDOs and transmit PDOs TxPDOs are distinguished an input output module sends its input data with TxPDOs and receives its output data in the RxPDOs EtherCAT Slaves support PDO mapping for I O control EtherCAT Master TxPDO Salve information data RxPDO Master command data EtherCAT Slave Figure 4 2 PDOs mechanism 4 1 1 2 Service Data Objects SDOs EtherCAT Slave Terminals support SDO communications The EtherCAT master can read and write data from and to entries in the object dictionary with SDO communications to make parameter settings and monitor status 4 1 2 Object Dictionary of ADAM E5000 I O modules This section describes how objects are assigned in an EtherCAT Slave Terminal with the following format Index Sub Index Name Range Data Type
78. cle Time 1 E ms Description Gigabit PCI Express Network Adapter 7 j MAC Address 64 66 B3 02 85 BC Slave Count 1 Generate ENI file Transfer Status E Send Frame 2557 Received Frame 2557 Frame Error Corrupted 0 Timeouts 2 Unmatched 12 Info The NIC 0 Gigabit PCI Express Network Adapter 7 is an EtherCAT network Info Start COE communication of NIC 0 successfully 5 1 1 2 1 Mapping Table This page shows the physical and logical index mapping table of the slave modules Online Mapping Table Topology Output Input Other DO Slave ID Description DOO DO on ADAM E5057S 00002 DOB DO1Son ADAM ESOS7S 0x0002 DO16 D023 on ADAM E5057S 0x0002 DO24 DO31 on ADAM E5057S Slave ID Description gt Channel 0 on ADAM E5024 00002 AO Channel 1 on ADAM E5024 00002 40 Channel 2 on ADAM E5024 00002 AO Channel 3 on ADAM E5024 Import Mapping Table Export Mapping Table For Common Motion API user read writes value from to modules of slave need to specify the port channel number In this page user can specify the logical index of these module ports and channels and export the setting Then after import this setting to Common Motion API user can operate these ports and channels by the logical index 5 1 1 2 2 Topology If users want to know topology information please change to
79. d by CFG_CH_DaqDoFsvEnable Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm_LoadENI and Acm DevLoadMapFile If user uses the default 139 mapping relationship this API need not to load first before calling Acm DaqDoGetByte Example U32 deviceNumber 0x60000000 HAND deviceHandle U8 byteValue 0 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C VM Mapping xml if errCde SUCCESS return Get value of Port 1 errCde Acm DaqDoGetByte deviceHandle 1 amp byteValue 6 3 7 6 Acm_DaqDoGetBytes Format U32 Acm DaqDoGetBytes HAND DeviceHandle U16 StartPort U16 NumPort PU8 ByteDataArray Purpose Get the byte data of continuous DO Port Parameters NET Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm DevOpen StartPort U16 IN The start port number NumPort U16 IN Number of ports ByteDataArray PU8 IN DO value array Return Value 140 Error Code Comments Get the continuous DO byte value according to the specified Port Number User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property The DO value will be affected by CFG_CH_DaqDoFsvEnabl
80. d call Acm_LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm_DaqDoSetByte Example U32 deviceNumber 0x60000000 HAND deviceHandle errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS eturn set value of portl errCde Acm DaqDoSetByte deviceHandle 1 Oxff 6 3 7 3 Acm_DaqDoSetBytes Format U32 Acm_DaqDoSetBytes HAND DeviceHandle U16 StartPort U16 NumPort PU8 ByteDataArray Purpose Set the byte data of continuous DO Port Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen StartPort U16 IN The start port number 136 NumPort U16 IN Number of ports ByteDataArray PU8 IN DO value array Return Value Error Code Comments Set the continuous DO byte value according to the specified Port Number User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property The DO value will be affected by CFG_CH_DaqDoFsvEnable Confirm that the property value is correct first Please refer to the Property chapter Note 1 StartPort NumPort must less than the total port n
81. e Current value Startup value emot 0 000 0 000 Set current as startup Calibration To trim for 4 mA or 20mA click the button in the Calibration block The output range of channel must be set to 0 20mA or 4 20mA the corresponding trim button will appear Trim for 4 mA Trim for 20 m User must use accurate instrument to calibrate the module otherwise the channel value will be not accurate Save and Load Configuration In this block you can save the all of setting of AO module by xml file and load the configuration file from previous setting to simplify the configuration procedure Save Load Configuration Load 5 1 1 4 3 Digital Input Modules This page support ADAM E5051S 16 ch Isolated Digital Input Module with LED and ADAM E5053S 32 ch Isolated Digital Input Module EtherCAT Channel setting S E NIC O 0x60000000 S A ADAM 5000 ECAT 0x2 AR ADAM 5056S SO S0 pe KE ri ADAM 50515 81 i S1S S1 DI 9 f LF ADAM 5024 82 e a AG ADAM 5017 83 Yr T z T T a L eu Hex Ox55AA The Fail Safe Value FSV of communication WDT Apply FSV Each DO will switch to its FSV if the module s WDT is enabled and it gets triggered FSV checked Logic High State FSV unchecked Logic Low State DI Filter Setting Save Load Configuration Minimum low signal width 10 65535 0 ms Maximum high signal width 10 65535 0 ms r ieahle Tick Load DI Filter Disable H L 0 0 Tick 10ms
82. e Confirm that the property value is correct first Please refer to the Property chapter Note 3 StartPort NumPort must less than the total port number 4 User need call Acm LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm_DaqDoGetBytes Example U32 deviceNumber 0x60000000 HAND deviceHandle U8 byteValueArray 3 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS return Get value of portl port2 port3 errCde Acm DaqDoGetBytes deviceHandle 1 3 byteValueArray 6 3 8 Analog Input 6 3 8 1 Acm_DaqAiGetRawData Format U32 Acm_DagAiGetRawData HAND DeviceHandle U16 AiChannel PU16 AiData 141 Purpose Get the binary value of an analog input channel Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen AiChannel U16 IN Al channel ID Range 0 Max Al count 1 AiData PU16 OUT Pointer to the returned Al binary value Return Value Error Code Comments Get the Al binary value according to the specified ChannellD User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this AP
83. e This index sub index shows the output range of each channel of ADAM E5024 module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 02h Sublndex 002 30 32 USINT RW V Pre Op 2183h To modify this value of output range the EtherCAT state machine of slave must be switched to Pre Op mode After changing this setting be sure to switch the state machine from Pre Op back to Op mode The meaning of this value is Output Range Value 0 20 mA 30h 4 20 mA 31h 0 10 V 32h Calibration These indexes sub indexes are used to calibrate each channel of ADAM E5024 module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 03h Sublndex 003 USINT RW V Pre Op 2183h 05h Sublndex 005 This function is available only for Advantech EtherCAT Utility 5 1 2 4 Digital Input Output Modules ADAM E5051S 16 ch Isolated Digital Input Module with LED Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 7 USINT RW V Pre Op Op 2180h O1h Get Current 0 255 USINT RO V Pre Op 2181h Value Op 2180h 02h Invert 0 255 USINT RW V Pre Op 2181h Op 2180h 03h Digital Filter 0 65535 USINT RW V Pre Op Scale Low
84. e deviceHandle C Mapping xml if errCde SUCCESS return Get the third DI channel of Port 1 chID DI 1 8 2 errCde Acm_GetChannelProperty deviceHandle chID DI CFG CH DaqDiInvertEnable amp Dilnvert if errCde SUCCESS return if Dilnvert gt 0 Dilnvert 0 errCde Acm_SetChannelProperty deviceHandle chID DI CFG CH DaqDilInvertEnable Dilnvert errCde Acm DaqDiGetBit deviceHandle chID DI amp bitValue 6 3 6 2 Acm DaqDiGetByte Format U32 Acm DaqDiGetByte HAND DeviceHandle U16 DiPort PU8 ByteData Purpose Get the byte data of specified DI Port Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen DiPort U16 IN Port number of the specified 8 bit DI ByteData PU8 OUT Return DI Port value Return Value Error Code Comments Get the DI value according to the specified Port Number User should check or set the Port number and ChannellD in whole network through 131 Mapping Info in Utility before using this API to get the property The DI value will be affected by CFG_CH_DagDilnvertEnable CFG CH DaqDiLowFilter CFG_CH_DagqDiHighFilter Confirm that the property value is correct first Please refer to the Property chapter Note 1 DI port number must be consistent to the mapping info in Utility 2 User need call Acm LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not
85. e and tree topologies are more conducive to fieldbus applications because they require fewer connections and utilize a much simpler and more flexible cabling schema that switches and hubs are not necessary for lines or trees topology Figure 1 3 EtherCAT Topology Inexpensive industrial Ethernet cable can be used between two nodes up to 100m apart in 100BASE TX mode EtherCAT makes a pure bus or line topology with hundreds of nodes possible without the limitations Up to 65 535 devices can be connected to EtherCAT so network expansion is almost unlimited EtherCAT protocol supports individual nodes to be connected and disconnected during operation If one of slaves in network is removed the rest of the network can continue to operate normally Additionally EtherCAT also enables other communication features such as cable redundancy or even master redundancy with Hot Standby Synchronization Distributed Clocks DC mechanism is used to provide highly precise time synchronization between slaves in an EtherCAT network which is equivalent to the IEEE 1588 Precision Time Protocol standard By using distributed clocks EtherCAT is able to synchronize the time in all local bus devices within a very narrow tolerance range All EtherCAT slaves are provided with an internal clock which named as System Time tLocai Time One EtherCAT Slave usually the first slave will be used as a Reference Clock and distributes its Clock cyclically Possible misa
86. e check box in front of each AOK 600 m 0x0000 4 20 m ARK HOEK 4 20 m 4 000 m 0x0000 4 20 m 4 000 m 0x0000 4 20 m Channel Value Raw InputRange EG BEN l 0 003 m 0x0009 0 20 m AK AK 4 20 m 4 000 m 0x0000 Input Range Different from ADAM E5017 ADAM E5017UH module offers user to set input range of each channel separately There are 5 type of input can be selected Choosing the properly range of input and click Apply to apply the setting Save and Load Configuration In this block you can save the all of setting of Al module by xml file and load the configuration file from previous setting to simplify the configuration procedure Save Load Configuration 5 1 1 4 2 Analog Output Modules This page support ADAM E5024 4 ch Analog Output Module EtherCAT Channel setting a NIC 0 0x60000000 fill ADAM 5S000 ECAT 0x2 DI 8 gt E G ADAM E50568 S0 80 ADAM E50518681 i Vv DI9 ADAM E502462 x zm KJE fool ADAM E5017 83 5 j a T T T T a T Hex Ox55AA The Fail Safe Value FSY of communication WDT Apply FSY Each DO will switch to its FSV if the module s WDT is enabled and it gets triggered TSY checked Logic Ilizh State PSV unchecked Logic Low State DI Filter Setting Save Laad Configuration Minimum low signal width 10 65535 0 ms Maximum high signal width 10 65535 0 ms F S Tick Load DI Filter Disable H L
87. e property The DO value will be affected by CFG CH DaqDoFsvEnable Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm DaqDoGetBit Example U32 deviceNumber 0x60000000 HAND deviceHandle U16 chID DO U8 bitValue 0 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success 138 errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS eturn Get the third DO channel of Port 1 chID DO 1 8 2 errCde Acm DaqDoGetBit deviceHandle chID DO amp bitValue 6 3 7 5 Acm_DaqDoGetByte Format U32 Acm_DaqDoGetByte HAND DeviceHandle U16 DoPort PU8 ByteData Purpose Get the byte data of specified DO port Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen DoPort U16 IN DO Port number Range 0 Max DO count 1 ByteData PU8 OUT Return DO value Return Value Error Code Comments Get the DO value according to the specified Port number User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property The DO value will be affecte
88. eHandle C ENI xml if errCde SUCCESS return 121 errCde Acm DevGetComStatus deviceHandle 0 amp comStatus if errCde SUCCESS amp amp comStatus 0x8 6 3 3 2 Acm_DevGetSlaveStates Format U32 Acm_DevGetSlaveStates HAND DeviceHandle U16 RingNo U16 SlavelP PU16 pStatus Purpose Get the slave device status Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen RingNo U16 IN Reserved It can be an arbitrary value SlavelP U16 IN Number of rotate switch on slave Range 0x001 O0xfff pStatus PU16 OUT Return the communication status Bit Status 0 STATE_INIT 1 STATE_PREOP 2 STATE_SAFEOP 3 STATE_OP 4 STATE_ACK_ERR Return Value Error Code Comments This API is used to check the slave current status in network Please try to call Acm DevReOpen to re open the network if receiving not OP mode value Ox11 AEC SLAVE STATE ACK ERR AEC SLAVE STATE INIT 122 0x12 AEC_SLAVE_STATE_ACK_ERR AEC_SLAVE_STATE_PREOP 0x14 AEC_SLAVE_STATE_ACK_ERR AEC_SLAVE_STATE_SAFEOP 0x18 AEC_SLAVE_STATE_ACK_ERR AEC_SLAVE_STATE_OP Usually use this API in Timer to do cyclical check Example U32 deviceNumber 0x60000000 HAND deviceHandle U16 slvStatus 0 errCde Acm DevOpen deviceNumber amp deviceHandle f errCde Success pis errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS re
89. each sampling and then compares the data of the input terminal state If all the input signals reach the LOW level within the filtering time use the state as the input terminal value If not use the previous value Index Sub Index Name Range Data Type Access SDO PDO State 2180h 03h Sublndex 003 0 65535 USINT RW V Pre Op Op The range of the digital filter time is 10 to 65535 in minimum second To disable the filter the value of this index must be set to 0 Digital Filter Scale Maximum High Signal Width This index sub index shows the maximum high signal width of ADAM E5051S module The digital input filter is a feature that eliminates noise from input signals Once the digital input filter is set it stores data during each sampling and then compares the data of the input terminal state If all the input signals reach the HIGH level within the filtering time use the state as the input terminal value If not use the previous value Index Sub Index Name Range Data Type Access SDO PDO State 2180h 04h SublIndex 004 0 65535 USINT RW V Pre Op Op The range of the digital filter time is 10 to 65535 in minimum second To disable the filter the value of this index must be set to 0 5 1 2 4 2 ADAM E5053S 32 ch Isolated Digital Input Module The ADAM E5053S provides 32 isolated digital input channels for critical environments need individual ch
90. ead or Set Al setting time 0 60HZ 1 50HZ CFG_CH_DaqAoRange PROPERTY ID 1504 PROPERTY TYPE F64 R W R W DESCRIPTION Read or Set AO range Value Description RAN O 6 15 16 17 1OV Not Support 5V Not Support 2 5V Not Support 1 25V Not Support 0 625V Not Support 0 10V Reserved 0 20mA 4 20mA Appendix A ADAM E5000 IO modules A 1 A 1 1 This appendix A will discuss in detail the specifications functions and application wiring of the ADAM S5000 ECAT I O module series To organize an ADAM 5000 ECAT you need to select I O modules to interface the main unit with field devices or processes that you have previously determined Advantech provides the following types of ADAM E5000 I O modules for various applications so far Following table is the I O modules support list we provided for user s choice Analog Input Modules Analog input modules use an A D converter to convert sensor voltage current signals into digital data The digital data is then translated into engi neering units The analog input modules protect your equipment from ground loops and power surges by providing opto isolation of the A D input and transformer based isolation up to 3 000 Voc ADAM E5017 8 ch Analog Input Module The ADAM E5017 is a 16 bit 8 channel analog differential input module that provides program mable input ranges on all channels It
91. east 32 MB RAM 80MB of hard disk space available VGA color monitor Mouse or other pointing devices m 100 Mbps Ethernet Port at least 2 ports m Two Ethernet Cable with RJ 45 connector m Power supply I O modules At least one I O module is needed to use the system Prepare the required I O mod ules as the interface for a variety of field singles Installing your main unit and module When inserting modules into the system align the PC board of the module with the grooves on the top and bottom of the system Push the module straight into the sys tem until it is firmly seated in the back plane connector see figure 3 1 Once the module is inserted into the system push in the retaining clips located at the top and bottom of the module to firmly secure the module to the system see figure 3 2 Figure 3 1 Module alignment and installation Gr EE SE n Figure 3 2 Secure the module to the system 3 3 Mounting The ADAM 5000 ECAT system can be installed on a panel or on a DIN rail 3 3 1 Panel mounting Mount the system on the panel horizontally to provide proper ventilation You cannot mount the system vertically upside down or on a flat horizontal surface A standard 7 tatting screw 4 mm diameter should be used a 4 s e f a R AR AN A el AR Sig q lt PP Kr DA y Figure 3 3 ADAM 5000 ECAT panel mounting screw placement 3 3 2 DIN rail mounting
92. ed and it gets G ADAM 50565 S0 5 FSV checked Logic High State FSV unchecked Logic Low State Ai ADAM SO00 ECAT 048 DI Filter Setting Save Load Configuration R ADAM 50565 S0 5 G ADAM 50515 53 Minimum low signal width 10765535 0 ms fl ADAM 5000 ECAT 0x9 Maximum high signal width 10765535 1 ms NG ADAM 50565 S0 5 et ADAM 50515 53 DI Filter Disable H L 0 0 Tick 10ms Apply S fl ADAM 5000 ECAT Dx AG ADAM 50565 S0 51 2 ADAM 50515 53 fil ADAM 5000 ECAT 048 Info The NIC 1 Intel R Gigabit CT Desktop Adapter 3 Packet Scheduler Miniport is an EtherCAT network G ADAM 50515 52 Info Start COE communication of NIC 1 successfully AG ADAM 50565 S0 53 fl ADAM 5000 CAT OxC AG ADAM 50515 50 2 ADAM 50565 S0 51 oA ANAKLENNNAECAT NN Figure 1 12 EtherCAT Windows Utility 1 3 Technical Specification 1 3 1 System Specification Item Description Number of slot 4 Communications protocol EtherCAT Physical layer 100BASE TX IEEE 802 3 Baud rate 100Mbps Memory Flash ROM 64M SPI RAM 4G DDR3 Send receive PDO data sizes Max number of bytes fieldbus Input 1 024 bytes max Output 1 024 bytes max Mailbox data size Input 128 bytes Output 128 bytes Mailbox Emergency messages SDO requests and SDO information Node address setting range Three rotate switches for up to
93. eed to set the value of ADAM E5057S DO module which plugs in the second slot of ADAM 5000 ECAT the x will be set to 1 A bit of this value corresponds to a channel the MSB Most Significant Bit of the first port Index 70x0h 01h corresponds to the channel 7 DO 7 and the LSB Least Significant Bit corresponds to the channel 0 DOO The MSB Most Significant Bit of the last port Index 70x0h 04h corresponds to the channel 31 DO 31 and the LSB Least Significant Bit corresponds to the channel 24 DO 24 The value of bit 1 represents the output signal is in HIGH level and 0 means the signal is in LOW level Setting by SDO Select Slot of Module Select the slot of module which you want to diagnosis or change the setting For 4 slot ADAM 5000 ECAT the first leftmost slot number is 00h and the last rightmost slot number is O3h For example if you need to modify the setting of ADAM E5057S DO module which plugs in the second slot of ADAM 5000 ECAT the Module No Index 217Fh 01h will be set to 01h Index Sub Index Name Range Data Type Access SDO PDO State 217Fh 01h Module No 0 7 USINT RW V Pre Op Op Get Current Value Setting by SDO There are 4 ports in ADAM E5057S and each port consists of 8 channels Index 2180h and its sub index are used for the setting of first port index 2181h and its sub index are used for the setting of second port and so on This index sub index
94. ensure the mode of TwinCAT is in the Config Mode The current mode of TwinCAT System Manager is displayed in the lower Config Mode right corner of utility and user can switch the mode by click the button 9 to in the toolbar iA I O Configuration Mapping ak Append Device fel Import Device Roa Dorie E Paste Ctrl V A Paste with Links AltHCtl V Click OK when the HINT window appears TwinCAT System Manager HINT Not all types of devices can be found automatically The list of network interface cards will be shown in the window When there is are slave s connected to the network interface card and had been found by TwinCAT the check box of these devices will be checked 2 new I O devices found Cancel Device 3 EtherCAT Local rea Connection 2 Intel 21140 Based PCI Fast Click Yes to scan for EtherCAT slave device s TwinCAT System Manager Y Scan for boxes If the ESI files do not import into TwinCAT IO EtherCAT installation folder the warning windows will show Because of the complete EEPROM information the ADAM 5000 ECAT can be operated correctly by online description But some EtherCAT slave devices may not follow this procedure to operate therefore we still recommend user import the ESI files TwinCAT System Manager New device type found DAM 5000ECAT 147 1210 Bus Coupler Vendorld 01 3fe ProductCode 0412100008 RevisionNo Oxaa00 Use available on
95. ents 2 1 Selecting I O Module To organize an ADAM 5000 ECAT I O system you need to select I O modules to interface the main unit with field devices or processes that you have previously deter mined There are several things should be considered when you select the I O mod ules What type of I O signal is applied in your system How much I O is required to your system How will you place the main unit for concentrate the I O points of an entire process How many ADAM 5000 ECAT main units are required for distributed I O points arrangement What is the required voltage range for each I O module What isolation environment is required for each I O module What are the noise and distance limitations for each I O module Refer to table 2 1 I O as module selection guidelines Table 2 1 I O Selection Guidelines Type Application Description Selector switches pushbuttons photo Input modules sense ON Discrete input electric eyes limit switches circuit break OFF or OPENED module and block ers proximity switches level switches CLOSED signals Discrete I O module motor starter contacts relay contacts signals can be either AC or thumbwheel switches DC Output module signals Discrete output interface with ON OFF or Alarms control relays fans lights horns 5 OPENED CLOSED valves motor starters solenoids module and block I O module devices Discrete signals can be either AC or DC Thermocouple signals
96. er now requests the SAFEOP state safe operational If the slave fails during change of state it sets the error flag The current state is now displayed as ERR PREOP When the Clear Error button is pressed the error flag is cleared and the current state is displayed as PREOP again Current Indicates the current state of the EtherCAT device State Requested TE Indicates the state requested for the EtherCAT device DLL Status Indicates the DLL status data link layer status of the individual ports of the EtherCAT slave can have four different states The DLL status Status Description No Carrier Open No carrier signal is available at the port but the port is open No Carrier Closed No carrier signal is available at the port and the port is closed Carrier Open A carrier signal is available at the port and the port is open Carrier Closed A carrier signal is available at the port but the port is closed File Access over EtherCAT Download With this button a file can be written to the EtherCAT device Upload With this button a file can be read from the EtherCAT device 5 1 2 3 Analog Input Output Modules ADAM E5017 8 ch Analog Input Module Index Sub Index Name Range Data Type Access SDO PDO State 217Fh 01h Module No 0 7 USINT RW V Pre Op Op 2180
97. erty 6 4 1 1 Feature FT DaqDiMaxChan PROPERTY ID 50 PROPERTY TYPE U32 R W R DESCRIPTION Get all DI channel count in the network If user uses the default mapping relationship the Acm_DevLoadMapFile need not to load or else user should download mapfile use Acm_DevLoadMapFile before get this property FT_DaqDoMaxChan PROPERTY ID 51 PROPERTY TYPE U32 R W R DESCRIPTION Get all DO channel count in the network If user uses the default mapping relationship the Acm_DevLoadMapFile need not to load or else user should download mapfile use Acm_DevLoadMapFile before get this property FT_DaqAiMaxSingleChan PROPERTY ID 54 PROPERTY TYPE U32 R W R DESCRIPTION Get all single end Al channel count in the network If user uses the default mapping relationship the Acm_DevLoadMapFile need not to load or else user should download mapfile use Acm_DevLoadMapFile before get this property FT_DaqAiMaxDiffChan PROPERTYID 55 PROPERTY TYPE U32 R W R DESCRIPTION Get all differential Al channel count in the network If user uses the default mapping relationship the Acm_DevLoadMapFile need not to load or else user should download mapfile use Acm_DevLoadMapFile before get this property FT_DaqAoMaxChan PROPERTYID 57 PROPERTY TYPE U32 R W R DESCRIPTION Get all AO channel count in the network If
98. ess SDO PDO State 217Fh Oth Module No 0 3 USINT RW V Pre Op Op 2180h O1h Get Current 0 255 USINT RO V Pre Op 2183h Value Op 2180h 02h Invert 0 255 USINT RW V Pre Op 2183h Op 2180h 03h Digital Filter USINT RW V Pre Op Scale Low Op 2180h 04h Digital Filter USINT RW V Pre Op Scale High Op ADAM E5056S SO 16 ch Isolated Digital Output Module with LED Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 3 USINT RW V Pre Op Op 2180h O1h Get Current 0 255 USINT RO V Pre Op 2181h Value Op 2180h 02h FSV 0 255 USINT RW V Pre Op 2181h Op ADAM E5057S 16 ch Isolated Digital Output Module with LED Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 3 USINT RW V Pre Op Op 2180h O1h Get Current 0 255 USINT RO V Pre Op 2183h Value Op 2180h 02h FSV 0 255 USINT RW V Pre Op 2183h Op ADAM E5069 8 ch Relay Output Module Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 3 USINT RW V Pre Op Op 2180h O1h Get Current 0 255 USINT RO V Pre Op Value Op 2180h 02h FSV 0 255 USINT RW V Pre Op Op Note More detail information of Object Dictionary can be referred in Chapter 5
99. evOpen AoChannel U16 IN AO channel ID Range 0 Max AO count 1 AoData PF32 OUT Pointer to the AO current value Return Value Error Code Comments Get the AO current value according to the specified ChannellD User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property As the AO channel is set to current level by CFG CH DaqAoRange user can sets the output current value Error will occur when calling this API as the AO channel is set to voltage level The AO value will be affected by CFG_CH_DaqAoRange Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm_LoadENI and Acm_DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm_DaqAoGetCurrData Example U32 deviceNumber 0x60000000 HAND deviceHandle F32 aoData errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS return 153 6 4 Property 6 4 1 Device Property All properties can be read by Acm_GetProperty Acm_GetU32Property Acm Getl32Property Acm GetF64Property and be set by Acm SetProperty Acm SetU32Property Acm Seti32Property Acm SetF64Prop
100. fy the setting of ADAM E5056S SO DO module which plugs in the second slot of ADAM 5000 ECAT the Module No Index 217Fh 01h will be set to Oth Index Sub Index Name Range Data Type Access SDO PDO State 217Fh 01h Module No 0 7 USINT RW V Pre Op Op Get Current Value Setting by SDO There are 2 ports in ADAM E5056S SO and each port consists of 8 channels Index 2180h and its sub index are used for the setting of first port index 2181h and its sub index are used for the setting of second port This index sub index shows the raw data of each port of ADAM E5056S SO module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 01h Sublndex 001 0 255 USINT RO V Pre Op 2181h Op A bit of this value corresponds to a channel the MSB Most Significant Bit of the first port Index 2180h 01h corresponds to the channel 7 DO 7 and the LSB Least Significant Bit corresponds to the channel 0 DO 0 The MSB Most Significant Bit of the second port Index 2181h 01h corresponds to the channel 15 DO 15 and the LSB Least Significant Bit corresponds to the channel 8 DO 8 The value of bit 1 represents the output signal is in HIGH level and 0 means the signal is in LOW level FSV The Fail Safe Value of communication WDT This index sub index shows the FSV status of each port of ADAM E5056S SO module Each DO will switch to its FSV
101. ge level by CFG CH DaqaAiRange user can gets the Input voltage value Error will occur when calling this API as the Al channel is set to current level The Al value will be affected by CFG_CH_DaqAiRange CFG_CH_DaqAiMask CFG_CH_DagAilntegrationTime Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm_LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling 143 Acm_DagAiGetVoltData Example U32 deviceNumber 0x60000000 HAND deviceHandle F32 aiData 0 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS eturn 6 3 8 3 Acm DaqaAiGetCurrData Format U32 Acm DaqaAiGetCurrData HAND DeviceHandle U16 AiChannel PF32 AiData Purpose Get the current value of an analog input channel when current inputs Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen AiChannel U16 IN Al channel ID Range 0 Max Al count 1 AiData PF32 OUT Pointer to the returned Al current value Return Value Error Code Comments Get the Al current value according to the specified ChannellD User should check or set the Port number and Cha
102. h Oth Get Current Value 0 65535 USINT RO V Pre Op 2187h Op 2180h 02h Channel Status USINT RO V Pre Op 2187h Op 2180h 03h Channel Enable 0 255 USINT RW V Pre Op Disable Status 2180h 04h Input Range USINT RW Pre Op 2180h 05h Integration Time USINT RW V Pre Op 2180h 06h 07h Calibration USINT RW V Pre Op ADAM E5017UH 8 ch Ultra High Speed Analog Input Module Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 7 USINT RW V Pre Op Op 2180h Oth Get Current Value 0 65535 USINT RO V Pre Op 2187h Op 2180h 02h Channel Status USINT RO V Pre Op 2187h Op 2180h 03h Channel Enable 0 255 USINT RW V Pre Op Disable Status 2180h 04h Input Range USINT RW V Pre Op 2187h 2180h 06h 07h Calibration USINT RW V Pre Op ADAM E5024 4 ch Analog Output Module Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 7 USINT RW V Pre Op Op 2180h O1h Get Current Value 0 4095 USINT RO V Pre Op 2183h Op 2180h 02h Output Range 30 32 USINT RW V Pre Op 2183h 2180h 03h Calibration USINT RW V Pre Op 2183h 05h 5 1 2 3 1 ADAM E5017 8 ch Analog Input Module The ADAM E5017 is a 16 bit 8 channel analog differential input module that provides programmable input ranges on all channels It accepts millivolt i
103. his warranty as a consequence of such events Because of Advantech s high quality control standards and rigorous testing most of our customers never need to use our repair service If an Advantech product is defec tive it will be repaired or replaced at no charge during the warranty period For out of warranty repairs you will be billed according to the cost of replacement materials service time and freight Please consult your dealer for more details If you think you have a defective product follow these steps 1 Collect all the information about the problem encountered For example CPU speed Advantech products used other hardware and software used etc Note anything abnormal and list any onscreen messages you get when the problem occurs 2 Call your dealer and describe the problem Please have your manual product and any helpful information readily available 3 If your product is diagnosed as defective obtain an RMA return merchandize authorization number from your dealer This allows us to process your return more quickly 4 Carefully pack the defective product a fully completed Repair and Replacement Order Card and a photocopy proof of purchase date such as your sales receipt in a shippable container A product returned without proof of the purchase date is not eligible for warranty service 5 Write the RMA number visibly on the outside of the package and ship it prepaid to your dealer Part No 2003M50000 Edi
104. hort before operating in this mode Chuje e no oe mle 0 me oe mle 0 Dj mle 0 Chuje e pil JP1 JP2 JP3 JP4 JP5 JP6 R35 R36 R37 R38 R39 R40 R41 R42 1 C19 C12 13 14 cls Cl C17 cls spi s 1 Dig v CH R42 amp C19 Figure A 9 Locations of RC Filter Jumper Setting Note To maintain measurement accuracy please short channels not in use Table A1 2 Technical Specifications of ADAM E5017UH Analog Input Channels Eight differential Resolution 12 bits Input Type mV V mA Input Range 0 10V 10 V 4 20mA and 20 mA Isolation Voltage 3000 VDC Sampling Rate 200k samples sec single channel 50k samples sec 8 channel Analog Input Signal Limit 15 V max Max allowable voltage dif ference between two con nectors in a module 15 V max Input Impedance 2MQ voltage input 120Q current input Bandwidth 200kHz Accuracy 0 1 or better Low or high pass filter Configured by User CMR 50 60 Hz 92 dB min Power Requirements 10 to 30 VDC non regulated Power Consumption 1 75 W typical 2 2W max Signal Input Bandwidth 200kHz for both voltage and current inputs Table A1 3 ADAM E5017UH Input Sgnal Ranges Input Range Offset Offset Error Gain Error Gain Error Display Error 10 to 70 C 25 C 10 to 70 C Resolution 25 C Voltage 0 10V 1
105. ication protocol over EtherCAT CoE as the device profile This is the most commonly used EtherCAT communication protocol for acyclic data access It is also provides mechanisms to configure PDOs for cyclic data exchange ADAM 5000 ECAT also uses File Access over EtherCAT FoE to update firmware In EtherCAT several protocols are available for the application layer to implement the required specification of the product development Data is exchanged cyclically or acyclically and data sizes can be fixed or configurable There are two methods for reading and writing data to objects Process Data Object PDO and Service Data Object SDO PDOs are used for cyclic time critical data exchange while SDOs are used for non time critical communication and configuration PDOs are the primary method for communication during run time but they must be configured prior to being used PDO transmission occurs only while the EtherCAT state machine is in the OP mode and limited transactions during safe operational state SDO messages may be used any time after initialization 4 1 1 Structure of Object Dictionary Several device profiles can be applied for EtherCAT devices by using CoE ADAM 5000 ECAT Slave Terminal uses Modular Device Profile MDP which a standardized structure for the Object Dictionary OD provided by CoE is defined It is a helpful configuration mechanism for EtherCAT slave structure like ADAM 5000 ECAT usable for a large number of devices fr
106. if the module s WDT is enabled and it gets triggered Index Sub Index Name Range Data Type Access SDO PDO State 2180h 02h SublIndex 002 0 255 USINT RW V Pre Op 2181h Op A bit of this value corresponds to a channel the MSB Most Significant Bit corresponds to the channel 7 and the LSB Least Significant Bit corresponds to the channel 0 To set the output channel to logic high state when fail occurred the bit value is set to be 1 and on the contrary O for disable this function For example if you need to set the output channel 8 11 of ADAM E5056S SO DO module to logic high state when fail occurred the value of second port Index 2181h 02h must be set to OFh 00001111 5 1 2 4 4 ADAM E5057S 32 ch Isolated Digital Output Module The ADAM E5057S provides 32 isolated digital output channels for critical environments need individual channel isolating protection Set Current Value by PDO There are 4 ports in ADAM E5057S and each port consists of 8 channels Specify the port which need to diagnosis in the left hand branch of TwinCAT System Manager This index sub index shows the raw data of each port of ADAM E5057S module Index Sub Index Name Range Data Type Access SDO PDO State 70x0h O1h Output 1 0 255 USINT WO Rx Op 04h Output 4 The x of index is a number which represent the slot number the ADAM E5057S plugs in For example if you n
107. ignal Width This index sub index shows the maximum high signal width of ADAM E5053S module The digital input filter is a feature that eliminates noise from input signals Once the digital input filter is set it stores data during each sampling and then compares the data of the input terminal state If all the input signals reach the HIGH level within the filtering time use the state as the input terminal value If not use the previous value Index Sub Index Name Range Data Type Access SDO PDO State 2180h 04h Sublndex 004 USINT RW V Pre Op Op The range of the digital filter time is 10 to 65535 in minimum second To disable the filter the value of this index must be set to 0 5 1 2 4 3 ADAM E5056S SO 16 ch Isolated Digital Output Module with LED The ADAM E5056S SO provides 16 isolated digital output channels for critical environments need individual channel isolating protection Set Current Value by PDO There are 2 ports in ADAM E5056S SO and each port consists of 8 channels Specify the port which need to diagnosis in the left hand branch of TwinCAT System Manager This index sub index shows the raw data of each port of ADAM E5056S SO module Index Sub Index Name Range Data Type Access SDO PDO State 70x0h 01h Output 1 0 255 USINT WO Rx Op 02h Output 2 The x of index is a number which represent the slot number the
108. inciple Protocol Data exchange are cyclically updated between EtherCAT master and slaves Data in EtherCAT frames are transported directly within the standard IEEE 802 3 Ethernet frame using Ethertype 0x88a4 and are processed by the EtherCAT Slave Controller on the fly Each EtherCAT datagram is a command that consists of a header data and a working counter The datagram header indicates what type of access the master device would like to execute e Read write read write e Access to a specified slave device through direct addressing e Access to multiple slave devices through logical addressing Logical addressing is used for the cyclical exchange of process data The header and data are used to specify the operation that the slave must perform and the working counter is updated by the slave to let the master to know that a slave has processed the command Every EtherCAT datagram ends with a 16 Bit Working Counter WKC The Working Counter counts the number of devices that were successfully addressed by this EtherCAT datagram I I we NR FWA oring Counter CESO 10 Byte Max 1486 Byte 2 Byte Figure 1 2 EtherCAT Protocol EtherCAT datagrams are processed before receiving the complete frame In case data is invalid the frame check sum FCS is not valid and the slave will not set data valid for the local application Topology EtherCAT supports a variety of network topologies including line tree ring and star The lin
109. input1 4000 0 Factory Test RO gt 13 lt gule i ma ROP 0900 0 i i input xi EN tf kn 8010 02 input2 ROP 0400 0 uF 9000 0 Information Data of Slot0 RO gt 0 lt BG westate 9010 0 Information Data of Slott RO gt 10 lt H InfoData annn Infarmatinn Data nf Sint An sne Setting by SDO Select Slot of Module Select the slot of module which you want to diagnosis or change the setting For 4 slot ADAM 5000 ECAT the first leftmost slot number is 00h and the last rightmost slot number is O3h For example if you need to modify the setting of ADAM E5051S DI module which plugs in the second slot of ADAM 5000 ECAT the Module No Index 217Fh 01h will be set to 01h Index Sub Index Name Range Data Type Access SDO PDO State 217Fh 01h Module No 0 7 USINT RW V Pre Op Op Get Current Value by SDO NOT Recommend The current value can be reached by PDO and it will also show in following object index There are 2 ports in ADAM E50518 and each port consists of 8 channels Index 2180h and its sub index are used for the setting of first port index 2181h and its sub index are used for the setting of second port This index sub index shows the raw data of each port of ADAM E5051S module Index Sub Index Name Range Data Type Access SDO PDO State 2180h Oth Sublndex 001 0 255 USINT RO V Pre Op 2181h Op A bit of this value corresponds
110. l ADAM E5017 3 ee se JG toa Mg ADAM E5092 82 wl ADAM E5024 83 Channel Value Raw InputRange TE J vjo 0 004 mA 0x000C 0 20 m Apply mi Jodo OK 4 20 m 72 4 000 m 00000 4 20 m Enable all F 3 OOK AOK 4 20 m V 4 4 000 m 0x0000 4 20 m rF 5 AREO OROK 4 20 m v6 4 000 mA 0x0000 4 20 m W 4 000 m 0x0000 4 20 m Input Information The information block shows the current analog input value both in engineering units and raw data The other setting such as input range of each channel will also be shown Channel Value Raw InputRange Mo 0 004 m 0x000C 0 20 m Ei K AK 4 20 m W2 4 000 m 00000 4 20 m F 3 AOK AK 4 20 m W 4 4 000 m 0x0000 4 20 m E 5 AK AK 4 20 m W 6 4 000 m 0x0000 4 20 m W 4 000 m 0x0000 4 20 m To get the data in engineering units the conversion formula are shown below Input Raw data units R to Engineering Engineering value E to Raw data Range value E units R 4 20 mA E R 16 65535 4 mA R E 4 65535 16 10 V E R 20 65535 10 V R E 10 65535 20 0 500 mV E R 500 65535 mV R E 65535 500 0 20 mA E R 20 65535 mA R E 65535 20 0 10 V E R 10 65535 V R E 65535 10 Channel Enable Status In the information block user can disable the analog i channel then click Apply to apply the setting nput channel by uncheck th
111. lignments between the reference clock and the clocks of the other slaves are usually due to the following reason when a slave is switched on the internal free running register that holds the current time is reset to zero Unfortunately this action does not take place exactly at the same time in all the different slaves and this result in an initial offset totset among clocks that has to be compensated Figure 1 4 EtherCAT Distributed Clock Typically master sends a broadcast to all other slaves in the system Once receiving the message slaves will latch the value of their internal clock There are two latch values one is receiving and the other is returning back Thus the master can read all latched values and calculate the delay for each slave tpropagation Delay Delays will be stored into offset register In the following master will send a message periodically to all other slaves in EtherCAT network to make the first slave the reference clock and forcing all other slaves to set their internal clock by the calculated offset At trocai Time toffset tpropagation pelea t received System Time Because synchronization between slaves in DC mode is done by internal clocks in hardware EtherCAT guarantee the time jitter is less than 1us Figure 1 5 EtherCAT Distributed Clock Jitter Diagnosis with exact localization EtherCAT is an ultra fast I O system To reach the best high speed communication high communication accurac
112. line description instead C Apply to all Click Yes to activate the slave s TwinCAT System Manager 2 Activate Free Run After all of works are done the ADAM 5000 ECAT will be shown as a slave device of the EtherCAT master and the RUN LED in ADAM 5000 ECAT will turn to solid green than user can start to operate the device Untitled TwinCAT System Manager File Edit Actions View Options Help DSSA ma MD Dasya AAE ellela a E SYSTEM Configuration ETTET x BB Nc Configuration jeneral EtherCAT DC Process Data Slots Startup CoE Online Online BA PLC Configuration 2 BH 0 Configuration Name Box 1 ADAM 5000 E CAT ia 1 E B 1 0 Devices Type ADAM 5000 ECAT B Device 3 EtherCAT 4 Device 3 Image Comment af Device 3 Image Info H QT Inputs w Outputs H InfoData SF A Box 1 ADAM 5000 ECAT QT Inputs Disabled l Outputs I 99 Module 1 ADAM E5017 QT Analog Inputs E 9 Module 2 ADAM E50575 t L Outputs 9 Module 4 ADAM E5024 E l Analog Outputs H Westate InfoData g Mappings gt Local 192 168 131 65 1 1 Mere 5 1 2 2 3 PDO upload amp download The input and output data of the EtherCAT slave are represented as CANopen process data objects PDO In the left hand window of the TwinCAT System Manager click on the branch you wish to configure For example the ADAM E5057S DO module has been plug in the slot 1
113. may require comparable power supply Use the following steps as guidelines for selecting a power supply for your ADAM 5000 ECAT system m Refer to table 2 3 to check the power consumption of ADAM 5000 ECAT main unit and each I O module 2 2 1 Power Consumption of ADAM 5000 ECAT and IO Modules Table 2 3 Power Consumption of ADAM 5000 ECAT and IO Modules Main Unit Description Power Consumption ADAM 5000 ECAT ke High Speed I O System for 25W DI O module Description Power Consumption ADAM E5051S 16 ch Isolated Digital Input w LED Module 0 53 W ADAM E5053S 32 ch Isolated Digital Input Module 1W ADAM E5056S be ar Isolated Digital Output w 0 8 W ADAM E5057S 32 ch Isolated Digital Output Module 1W ADAM E5069 8 ch Power Relay Output w LED Module 2 2 W AI O module Description Power Consumption ADAM E5017 17UH 8 ch High speed Analog Input Module 2 2 W ADAM E5024 4 ch Analog Output Module 2 9 W m Calculate the Summary of the whole system s power consumption For example there are following items in your system ADAM 5000 ECAT 3 amp ADAM E5053S 3 amp ADAM E5017 2 amp ADAM E5056S 4 amp ADAM E50575 1 amp ADAM E5069 2 The power consumption is 2 5W 3 1W 3 2 2W 2 0 8W 4 1W 1 2 2W 2 23 5W 2 2 2 2 3 2 3 1 Select a suitable power supply from Table2 4 or other comparable power resource for system operation Power Supply Specification Table Table 2 4 Ta
114. n it There are 4 slots on ADAM 5000 ECAT so that IO modules can be flexibly combined to achieve the optimum EtherCAT slave for the application with simple wiring and space saving The features of the EtherCAT Slave are described below 1 2 1 High performance 32 bit ARM RISC Processor EtherCAT functionality is integrated into the 32 bit ARM Cortex A8 processors These devices integrate an ARM processing core with a slew of other peripherals and interfaces that make them attractive devices for building industrial automation equipment 32 bit ARM RISC Processor ARM MII x 2 Cortex A8 CPU ia UART EtherCAT PRU x 2 Shared Loe gt Memory PRU Subsystem With EtherCAT Figure 1 6 EtherCAT Slave Controller This processor integrates the programmable real time unit PRU subsystem which supports very low level interaction with the MII interfaces This processor support multiple operating frequency ranges from 300 MHz for simple applications up to 1 GHz for complex applications that require high performance and is configured with one PRU coprocessor two real time cores The PRU processes EtherCAT telegrams on the fly parses them decodes the address and executes EtherCAT commands In EtherCAT Layer 2 the PRU real time cores share the tasks of datagram processing distributed clocking address mapping error detection and handling and host interface PRU Subsystem Driver Host API EtherCAT PRU 0 Registers
115. ndicates which Slot occurs normal OxFFOO IO module mismatch with Slot ID 0x92 z 2 i the configure Indicates which Slot occurs setting 0x08 SM 2 does not support an odd address 0x09 Address of SM 2 is not supported 0x0C SM3 does not support Invalid Sync Store the Store the an odd address 7 Manager 0x01 minimum maximum Ox0D Address of SM3 is not address correct value correct value supported 0x10 SM4 does not support an odd address 0x11 Address of SM4 is not supported OxA000 i OxOA Size of SM2 is not supported I i Store the Store the Invalid Sync OxOE Size of SMG is not iy f 0x02 minimum maximum Manager size supported i correct value correct value 0x12 Size of SM4 is not supported OxOB Settings of SM2 are not supported Invalid Sync Store the Store the OxOF Settings of SM3 are not Manager 0x03 minimum maximum supported settings correct value correct value 0x13 Settings of SM4 are not supported AD ANTECH Enabling an Intelligent Planet www advantech com Please verify specifications before quoting This guide is intended for reference purposes only All product specifications are subject to change without notice No part of this publication may be reproduced in any form or by any means electronic photocopying recording or otherwise without prior written permis sion of the publisher All brand and product names are trademarks or registered t
116. nels Specify the port which need to diagnosis in the left hand branch of TwinCAT System Manager This index sub index shows the raw data of each port of ADAM E5051S module Index Sub Index Name Range Data Type Access SDO PDO State 60x0h Oth Input 1 0 255 USINT RO Tx Op 02h Input 2 The x of index is a number which represent the slot number the ADAM E5051S plugs in For example if you need to get the value of ADAM E5051S DI module which plugs in the second slot of ADAM 5000 ECAT the x will be set to 1 A bit of this value corresponds to a channel the MSB Most Significant Bit of the first port Index 60x0h 01h corresponds to the channel 7 DI 7 and the LSB Least Significant Bit corresponds to the channel 0 DI 0 The MSB Most Significant Bit of the second port Index 60x0h 02h corresponds to the channel 15 DI 15 and the LSB Least Significant Bit corresponds to the channel 8 DI 8 The value of bit 1 represents the input signal is in HIGH level and 0 means the signal is in LOW level 3 8 Device 3 EtherCAT 0 fe fa Device 3 Image Online Data Module OD AoE Port 9 Device 3 Image Info f Inputs Index Name Flags Value Outputs 21840 Module channel 4 RO gt 0 lt InfoData 2185 0 Module channel 5 RO gt 0 lt ES Box 1 ADAM 5000 ECAT 2186 0 Module channel 6 RO gt 0 lt Qf ADAM E50515 2187 0 Module channel 7 RO gt 0 lt Of
117. nnellD in whole network through mapping Info in Utility before using this API to get the property As the Al channel is set to current level by CFG CH DaqAiRange user can gets the Input current value Error will occur when calling this API as the Al channel is set to voltage level The Al value will be affected by CFG CH DaqAiRange CFG CH DaqaAiMask CFG CH DaqaAilntegrationTime Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm DaqaAiGetCurrData Example U32 deviceNumber 0x60000000 HAND deviceHandle F32 aiData 0 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS eturn 6 3 9 Analog Output 6 3 9 1 Acm_DaqAoSetRawData Format U32 Acm DaqAoSetRawData HAND DeviceHandle U16 AoChannel U16 AoData Purpose 145 Set the binary value of an analog output channel Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen AoChannel U16 IN AO channel ID Range 0 Max AO count 1 AoData U16 IN AO binary value Return Value Error Code Comments
118. nputs 150mV 500mV voltage inputs 1V 5V and 10V and current input 20 mA The module provides data to the host computer in engineering units MV V or mA Get Current Value by PDO There are 8 channels in ADAM E5017 Specify the channel which need to diagnosis in the left hand branch of TwinCAT System Manager This index sub index shows the raw data of each channel of ADAM E5017 module Index Sub Index Name Range Data Type Access SDO PDO State 60x0h Oth Al 1 0 65535 UINT RO Tx Op 08h Al 8 The x of index is a number which represent the slot number the ADAM E5017 plugs in For example if you need to get the value of ADAM E5017 Al module which plugs in the second slot of ADAM 5000 ECAT the x will be set to 1 SS Device 3 EtherCAT fa Device 3 Image s Device 3 Image Info f Inputs Outputs H InfoData FE Box 1 ADAM 5000 ECAT QT ADAM E5017 QI input1 Index 2185 0 2186 0 2187 0 4000 0 6020 0 ot innu 8020 01 Qf input3 QT input4 Qf inputs Qt input QI input Qt inputs HQT TxPDO Mapping E l RxPDO Mapping 6020 02 6020 03 6020 04 6020 05 6020 06 6020 07 6020 08 9000 0 aminn Online Data Name Module channel 5 Module channel 6 Module channel 7 Factory Test Analog 8 Inputs input1 input2 input3 input input5 input6 input inputs Information Data of Slot0 Information Nata
119. ntries 0x7000 0x700F 0x7010 0x701F aes Ox7nn0 0x7nnF Configuration Parameter 0x8000 0x800F 0x8010 0x801F Bee Ox8nn0 0x8nnF Information 0x9000 0x900F 0x9010 0x901F JE Ox9nn0 0x9nnF Communication Area 0x1000 0x1FFF Device Parameter 0x1000 0x1FFF Figure 1 8 Model of a Modular Device Mainly the object dictionary structure and corresponding behavior of the entries is defined by the MDP 1 2 3 Supports EtherCAT Free Run and Distributed Clock DC mode EtherCAT telegrams are sent by the EtherCAT master to all connected EtherCAT slaves All EtherCAT slaves perform continually synchronous asynchronous sequences of calculations and or data copying actions There are two modes for EtherCAT to do data transferring One is Free Run mode and the other is DC mode Free Run mode In Free Run mode the local cycle is triggered through a local timer interrupt and the cycle time can be modified by the master optional in order to change the timer interrupt Local cycle operates independent of the communication cycle and the slave refreshes the I O data asynchronous to the master DC mode In this mode the slave refreshes the I O data in synchronization with the communication cycle of the master Distributed Clocks are used for very precise timing requirements and for timing signals that can be generated independent of the communication cycle In this mode a mechanism called a Distributed Clock DC is used to synchronize EtherCAT communica
120. og output channel within the analog voltage output range Acm_DaqAoGetCurrData Get the current output value of a specified analog output channel within the analog current output range 96 6 1 2 I O Mapping There might be many ADAM 5000 ECAT slaves in EtherCAT network and various DI DO AI AO modules in each slave Mapping information is important for user to configure and operate these IO modules The mapping table can be separated into four parts DI mapping DO mapping Al mapping AO mapping E DI mapping DI mapping sorts all DI by 8 bit per port in the entire network For example Slave1 32 DI channels 8 bits per port total 4 ports Slave2 16 DI channels 8 bits per port total 2 ports There are totally 6 ports for 48 DI channels PortO Port1 Port2 Port3 Port4 and Port5 User needs to know the port number of specified DI before access it If user wants to access DI7 DI15 in slave2 he must pass port number 3 Port number of any DI port can be defined by user DI Slave ID Description Byte Size 0x0200 DIO DIT on ADAN ESOS1S 0x0200 DIS DI15 on ADAM E50515 0x0100 DIO DIT on ADAM E50535 0x0100 DIS DI15 on ADAM E50535 0x0100 DIi6 DIZ3 on ADAM E50535 E DO mapping DO mapping sorts all DO by 8 bit per port in the entire network For example Slave1 32 DO channels 8 bits per port total 4 ports Slave2 16 DO channels 8 bits per port total 2 ports There are totally 6 ports for 48 D
121. om very simple one to complex sub structured The modular device profile can be applied for different device types Depending on the device type the object dictionary can be static defined in ROM or dynamic defined in RAM The dynamic object dictionary can be generated automatically after power on The structure of the object dictionary is divided into several function specific areas Index Object Dictionary Area Description Value EtherCAT Communication Area Ox1000 0x1FFF Communication Area Standard communication area Object Area of the Modules 0x2000 Ox5FFF Manufacturer Specific Area 0x6000 Ox6FFF Input Area Objects that can be mapped to TxPDOs 0x7000 Ox7FFF Output Area Objects that can be mapped to RxPDOs 0x9000 Ox9FFF Information Area Scanned information from the modules Diagnostic status statistic or other OxA000 OxAFFF Reserved Area information OxBOO0 OxBFFF Reserved Area Service objects OxCOQ00 OxEFFF Reserved Area Object Area of the Device OxFOOO OxFFFF Device Area Parameters belonging to the device Table 4 1 Object Dictionary Structure Each module can occupy several objects in the function specific areas The standard defines 16 objects per module in a specific area but this number may be adapted to the device requirements In the following it will be assumed that there are 16 objects per module defined and up to 255 modules available MDP Devi
122. pment on a reliable surface during installation Dropping it or letting it fall may cause damage The openings on the enclosure are for air convection Protect the equipment from overheating DO NOT COVER THE OPENINGS Make sure the voltage of the power source is correct before connecting the equipment to the power outlet Position the power cord so that people cannot step on it Do not place anything over the power cord All cautions and warnings on the equipment should be noted If the equipment is not used for a long time disconnect it from the power source to avoid damage by transient overvoltage Never pour any liquid into an opening This may cause fire or electrical shock Never open the equipment For safety reasons the equipment should be opened only by qualified service personnel If one of the following situations arises get the equipment checked by service personnel The power cord or plug is damaged Liquid has penetrated into the equipment The equipment has been exposed to moisture The equipment does not work well or you cannot get it to work according to the user s manual The equipment has been dropped and damaged The equipment has obvious signs of breakage DO NOT LEAVE THIS EQUIPMENT IN AN ENVIRONMENT WHERE THE STORAGE TEMPERATURE MAY GO BELOW 20 C 4 F OR ABOVE 60 C 140 F THIS COULD DAMAGE THE EQUIPMENT THE EQUIPMENT SHOULD BE IN A CONTROLLED ENVIRONMENT CAUTION DANGER OF EXPLOSION IF BATTERY
123. r Value Description 0x00000000 Success 0x05030000 Toggle bit not changed 0x05040001 SDO command specifies invalid or unknown 0x05040005 Access out of memory 0x06010000 Access to this object is not supported 0x06010001 Attempt to read a Write only entry 0x06010002 Attempt to write to a Read only parameter 0x06010003 Entry can not be written because Subindex0 is not 0 0x06020000 The object is not found in the object directory 0x06040041 The object cannot be mapped into the PDO 0x06040042 The number and or length of mapped objects would exceed the PDO length 0x06040043 General parameter incompatibility 0x06040047 General internal error in device 0x06060000 Access interrupted due to hardware error 0x06070010 Data type or parameter length does not agree or are unknown 0x06070012 Data type does not agree parameter length too great 0x06070013 Data type does not agree parameter length too short 0x06090011 Sub index not present 0x06090030 General value range error 0x06090031 Value range error parameter value too great 0x06090032 Value range error parameter value too small 0x06090033 Detected Module Ident List 0xF030 and Configured Module Ident list 0xF050 does not match 0x06090036 Value is less than minimum value 0x08000000 General error
124. rLength Purpose Get the property feature property configuration property or parameter property value through assigned PropertylD Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen ProperylD U32 IN Property ID to query Buffer PVOID OUT Return Property value BufferLength PU32 IN OUT Buffer byte size for the property This value must the same as the length of inquired property or error will occur and return the actual size of the property in buffer length Return Value Error Code Comments User should pay attention on the data type and BufferLength to get the value of Property according to PropertylD If the BufferLength is not the correct size the return value will be error code DataSizeNotCorrect In this case Buffer will return the value with the size of the property in BufferLength About the detail information of PropertylD please refer to Acm GetU32Property Acm Getl32Property Acm_GetF64Property in Property List Example U32 deviceNumber 0x60000000 HAND deviceHandle U32 maxDICnt datalen 107 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C VM Mapping xml if errCde SUCCESS eturn datalen sizeof ULONG errCde Acm GetProperty
125. rademarks of their respective companies O Advantech Co Ltd 2015
126. rn Value Error Code Comments Please be noted that Acm_Setl32Property is used to get the property value with signed 32 bit integer type User can get the detail information about the property value type in Property List Please refer to Acm_SetProperty Acm_SetU32Property Acm_SetF64Property in Property List Example Please refer to the Acm_SetU32Property example 6 3 2 8 Acm_SetF64Property Format U32 Acm_SetF64Property HAND Handle U32 ProperylD F64 Value Purpose Set the property value belonging to double type 113 Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen ProperyID U32 IN Property ID to query Please be noted that the type of property value must be double Value PF64 OUT Property value with double type Return Value Error Code Comments Please be noted that Acm_SetF64Property is used to get the property value with double type User can get the detail information about the property value type in Property List Please refer to Acm_SetProperty Acm_SetU32Property Acm Getl32Property in Property List Example Please refer to the Acm_SetU32Property example 6 3 2 9 Acm_GetChannelProperty Format U32 Acm_GetChannelProperty HAND Handle U32 ChannellD U32 ProperylD PF64 Value Purpose Get the DI DO AI AO channel property value Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen Ch
127. roperty List Example Please refer to the Acm_GetU32Property example 110 6 3 2 5 Acm_SetProperty Format U32 Acm_SetProperty HAND Handle U32 PropertylD PVOID Buffer U32 BufferLength Purpose Set the property configuration property or parameter property value through assigned PropertylD Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen ProperylD U32 IN Property ID to set Buffer PVOID OUT A pointer to assigned property value BufferLength PU32 IN Buffer byte size for the property This value must the same as the length of inquired property or error will occur Return Value Error Code Comments User should pay attention that not all of properties in Property List can be set to new property value only the writable properties can be reset property value If the BufferLength is not correct the return value will be error code DataSizeNotCorrect About the detail information of PropertylD please refer to Acm_SetU32Property Acm_Setl32Property Acm SetF64Property in Property List Example U32 deviceNumber 0x60000000 HAND deviceHandle U32 cycleTime datalen errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success cycleTime 1 datalen sizeof ULONG 111 errCde Acm SetProperty deviceHandle CFG MasCycleTime amp cycleTime datalen if errCde SUCCESS 6 3 2 6 Acm SetU32Property Format
128. ser should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property As the AO channel is set to voltage level by CFG_CH_DaqAoRange user can sets the output voltage value Error will occur when calling this API as the AO channel is set to current level The AO value will be affected by CFG_CH_DaqAoRange Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm LoadENI and Acm_DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm_DaqAoSetVoltData Example U32 deviceNumber 0x60000000 HAND deviceHandle 147 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS eturn errCde Acm DaqAoSetVoltData deviceHandle 0 10 0 6 3 9 3 Acm_DaqAoSetCurrData Format U32 Acm DaqAoSetCurrData HAND DeviceHandle U16 AoChannel F32 AoData Purpose Set the current output value of a specified analog output channel within the analog current output range Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen AoChannel U16 IN AO channel ID Range 0 Max AO count 1 AoData F32
129. t Figure A2 2 Analog Output Technical Specifications of ADAM E5024 Table A2 1 Technical Specifications of ADAM E5024H Analog Output Channels Four Output Type V mA Output Range 0 20mA 4 20mA 0 10V Isolation Voltage 3000 Vdc Output Impedance 0 5 Ohms Accuracy 0 1 of FSR for current output 0 2 of FSR for voltage output Zero Drift Voltage output 30 V C Current output 0 2 A C Resolution 0 015 of FSR Span Temperature Coefficient 25 PPM C Programmable Output Slope 0 125 128 0 mA sec 0 0625 64 0 V sec Current Load Resistor 0 500 Ohms source Power Consumption 2 5W Max A 3 Digital Input Output Modules A 3 1 ADAM E5051S 16 ch Isolated Digital Input Module with LED The ADAM E5051S_ provides 16 isolated digital input channels for critical environments need individual channel isolating protection Different from other ADAM E5000 I O mod ules ADAM E5051S designed with 21 pins plug terminal ADAM E5051S 16 DI ADAM E5051S DIO Di 1 DI2 DI3 COMO DI4 DI5 DIG DI7 COM 1 DI8 DI9 DI 10 Di 11 COM2 Di 12 DI 13 DI 14 DI 15 COM 3 I OOOO00000 F Figure A3 1 ADAM E5051S Module Front View Application Wiring 5 V Internal External lo Protection Circuit DI Channel 10 50 Voc COM 0 for DIO DI3 COM 1 for DI4 DI7 COM 2 for DI8 DI1
130. t analog input value both in engineering units and raw data will show in this block The other setting such as input range and integration time of each channel will also be shown Vals Channel Valve Raw Input range Integration time D ARK ARREK 4 20 m 60Hz 1 AK AK 20 m 60Hz 2 0 001 m Ox FFE 20 mA 60Hz 3 0 002 m Ox FFC 20 m 60Hz 4 0 001 m Ox7FFE i 20 m 60Hz 5 0 001 m Ox FFE 20 m 60Hz 6 0 001 m Ox FFE 20 m 60Hz 7 0 001 m Ox FFE i 20 m 60Hz To get the data in engineering units the conversion formula are shown below Input Raw data units R to Engineering Engineering value E to Raw data Range value E units R 10 V E R 20 65535 10 V R E 10 65535 20 5V E R 10 65535 5 V R E 5 65535 10 1V E R 2 65535 1 V R E 1 65535 2 500 mV E R 1000 65535 500 mV R E 500 65535 1000 150 mV E R 300 65535 150 mV R E 150 65535 300 20mA_ E R 40 65535 20 mA R E 20 65535 40 4 20 mA E R 16 65535 4 mA R E 4 65535 16 Channel Enable Status In the Enable block in this page user can disable the analog input channel by uncheck the check box in front of each channel then click Apply to apply the setting The module sequential process input data of each channel from channel 0 to channel 7 and
131. t channel 8 11 of ADAM E5057S DO module to logic high state when fail occurred the value of second port Index 2181h 02h must be set to OFh 00001111 5 1 2 5 Relay Output Modules ADAM E5069 8 ch Relay Output Module Index Sub Index Name Range Data Type Access SDO PDO State 217Fh Oth Module No 0 3 USINT RW V Pre Op Op 2180h O1h Get Current 0 255 USINT RO V Pre Op Value Op 2180h 02h FSV 0 255 USINT RW V Pre Op Op 5 1 2 5 1 ADAM E5069 8 ch Relay Output Module The ADAM E5069 relay output module provides 8 relay channels of Form A Switches can be used to control the relays Considered to user friendly the ADAM E5069 also built with LED indicator for status reading easily And it also provides a choice to clear or keep output status when reset by adjusting a jumper Set Current Value by PDO There are 1 ports in ADAM E5069 and consists of 8 channels Specify the port which need to diagnosis in the left hand branch of TwinCAT System Manager This index sub index shows the raw data of each port of ADAM E5069 module Index Sub Index Name Range Data Type Access SDO PDO State 70x0h Oth Output 1 0 255 USINT WO Rx Op The x of index is a number which represent the slot number the ADAM E5069 plugs in For example if you need to set the value of ADAM E5069 Relay module which plugs in the second slot of ADAM 5000 ECAT the x will
132. t of ADAM E5053S module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 02h Subindex 002 0 255 USINT RW V Pre Op 2183h Op A bit of this value corresponds to a channel the MSB Most Significant Bit corresponds to the channel 7 and the LSB Least Significant Bit corresponds to the channel 0 To invert a digital signal of an input channel the bit value is set to be 1 and on the contrary 0 for hold the input signal For example if you need to invert the signal of channel 8 11 of ADAM E5053S DI module the value of second port Index 2181h 02h must be set to OFh 00001111 Digital Filter Scale Minimum Low Signal Width This index sub index shows the minimum low signal width of ADAM E5053S module The digital input filter is a feature that eliminates noise from input signals Once the digital input filter is set it stores data during each sampling and then compares the data of the input terminal state If all the input signals reach the LOW level within the filtering time use the state as the input terminal value If not use the previous value Index Sub Index Name Range Data Type Access SDO PDO State 2180h 03h Sublndex 003 USINT RW V Pre Op Op The range of the digital filter time is 10 to 65535 in minimum second To disable the filter the value of this index must be set to 0 Digital Filter Scale Maximum High S
133. ternal gt Connect to ADAM 3920R 5 LE Er os oso eS Ta Vec2 Vcc1 and GND1 is for DOOO DO15 Pee eee rae FS a iv Do QOS De HEI So Q Ne Vcc2 and GND2 is for DO16 DO31 yv a GND2 lt cc2 Figure A3 10 ADAM E5057S Module Wiring Diagram Table A3 5 ADAM E50578 Technical Specification Points 32 Digital Output Contact with ADAM 3920R Optical Isolation 2500 VDC Contact Rating 10 A 250VAC 10 A 30VDC Power Input 24 VDC Power consumption 1 W max Relay Type SPST Form A I O Connector Type 40 pin flat cable wiring terminal Please be noted that ADAM E5057S should be connected to ADAM 3920R 178 A 4 Relay Output Modules A 4 1 ADAM E5069 Relay Output Module The ADAM E5069 relay output module provides 8 relay channels of Form A Switches can be used to control the relays Considered to user friendly the ADAM E5069 also built with LED indicator for status reading easily And it also provides a choice to clear or keep output status when reset by adjusting a jumper Specifications Number of Output Channel 8 Form A Contact Rating AC 250V 5A DC 30V 5A Breakdown Voltage 750 VAC 50 60 Hz Insulation Resistance 1000MQG500VDC LED Indicator On Active Off Non active Power Consumption 0 25W typical 2 2W Max Relay response Time On 5 ms Off 5 6 ms Note Clear
134. ters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen ChannellD U32 IN DI DO AI AO channel ID ProperylD U32 IN PropertylD Value F64 IN Set Property value Return Value Error Code Comments If user wants to get the DI DO property value by channel This channellD can be get by calculation ChannellD Port number 8 Port Index Take the second DO in Port 3 for an example the ChannellD 3 8 2 26 User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property User can get the detail information about the property value type in Property List Note User need call Acm LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before getting Property value by Acm SetChannelProperty Example U32 deviceNumber 0x60000000 HAND deviceHandle errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS return 116 Invert DI errCde Acm_SetChannelProperty deviceHandle 0 CFG CH DaqDilnvertEnable 1 0 if errCde SUCCESS 6 3 2 11 Acm_GetMultiChannelProperty Format U32 Acm_GetMultiChannelProperty HAND Handle U32
135. that the property value is correct first Please refer to the Property chapter Note User need call Acm LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm_DaqDoSetBit 134 Example U32 deviceNumber 0x60000000 HAND deviceHandle U16 chID DO errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS return Set the third DO channel of Port I chID DO 1 8 2 errCde Acm DaqDoSetBit deviceHandle chID DO 1 6 3 7 2 Acm_DaqDoSetByte Format U32 Acm_DaqDoSetByte HAND DeviceHandle U16 DoPort U8 ByteData Purpose Set the byte data of specified DO port Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen DoPort U16 IN DO port number ByteData U8 IN DO value Return Value Error Code Comments Get the DO value according to the specified Port Number 135 User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property The DO value will be affected by CFG_CH_DaqDoFsvEnable Confirm that the property value is correct first Please refer to the Property chapter Note User nee
136. the EtherCAT slave supports the CANopen over EtherCAT CoE protocol The CoE Online tab in TwinCAT is displayed and this dialog lists the content of the object list of the slave SDO upload General EtherCAT DC Process Data Slots Startup CoE Online Online C Auto Update Z Single Update C Show Offline Data 1 to Start Online Data Module OD AoE 0 Index Name Flags Value A 1000 Device type MRO 0x04601389 73405321 1008 Device Name RO ADAM 5000ECAT 1009 Hardware version RO 4101 2 1004 Software Version RO 3 5 0 1010 0 Store parameters RW gt 1 lt 1011 0 Restore default parameters RW gt 1 lt 1018 0 Identity RO gt d lt 10F0 0 Backup parameter handling RO gt l lt 10F1 0 Error Setting RO gt 2 lt 16FF 0 Control PDO RO gt 1 lt 1AFF O Status PDO RO gt 1 lt 1C00 0 Sync Manager Type RO gt 4 lt 1C12 0 RxPDO Assign RO gt 5 lt 1C13 0 TxPDO Assign RO Pale 10320 SM output parameter RO gt 32 lt 10330 SM input parameter RO gt 324 2000 0 Module list generation method RO gt 3 To modify the content of an object which the access authority flag is RW double click the column of object and modify the value in the Set Value Dialog Set Yalue Dialog Boot Binary 1 Bit Size O1 8 016 O32 064 0 Object list display Column Description Index Index and sub index of the object Name Name of
137. the host microprocessor in engineering units mV V or mA or two s complement format Its sampling rate depends on the data format received up to 200k Hz total Space is reserved for 125 ohm 0 1 10 ppm resistors See Figure 9 Each input channel has 3000 Voc of optical isolation between the out side analog input line and the module protecting the module and peripherals from high input line voltages Additionally the module uses analog multiplexers with active overvoltage protec tion The active protection circuitry assures that signal fidelity is maintained even under fault conditions that would destroy other multiplexers The analog inputs can withstand a constant 70 Vp p input with 15V supplies The jumpers of ADAM E5017UH are designed for current input ADAM E5017UH i lt PPEPSS OZ O0000000000000 lt P EFE 3 Figure A 5 ADAM E5017UH Module Front View Application Wiring Figure A 7 Process Current Input AIN JP1 JP8 Enable Voltage default JP JP8 a Disable Current Cn me H F3dB 2x RnCn Ren IAA m Field Side Figure A 8 Locations of RC Filter Jumper Setting Internal JP1 JP8 pin header setting JP1 Ch0 JP8 Ch7 Voltage Measurement Please ensure the corresponding pin header for the Channel is open before operating in this mode Current Measurement Please ensure the corresponding pin header for the Channel is s
138. the link status change such as adding or deleting a slave in online mode will trigger a topology changed event And if the cable link NIC and slave are broken down this will trigger a link down event Then users will see the below dialog box said Auto rescan after 1 Sec NIC 0 Topology changed Close or Reopen a Clicking Reopen button will reload bus and Close Device will close the NIC If the link status is E topology changed or link up it will rescan this NIC automatically after three seconds 5 1 2 TwinCAT The TwinCAT software is developed by Beckhoff for operating EtherCAT device By importing the ESI EtherCAT Slave Information files to the folder of TwinCAT the ADAM 5000 ECAT can be run properly 5 1 2 1 ESI files For each EtherCAT Slave a device description the so called EtherCAT Slave Information ESI has to be delivered This is done in form of an XML file eXtensible Markup Language It describes EtherCAT specific as well as application specific features of the slave Those ESI files must be imported into TwinCAT IO EtherCAT installation folder before TwinCAT started The default path of installation folder is C TwinCAT lo EtherCAT After importing the ESI file reopen the TwinCAT and wait for the utility rebuild the EtherCAT device description cache Rebuilding EtherCAT device description cache TITT 5 1 2 2 Main Form To start TwinCAT System Manager Softw
139. the object RW The object can be read and data can be written to the object read write Flags RO The object can be read but no data can be written to the object read only P An additional P identifies the object as a process data object Value Value of the object 5 1 2 2 5 Online Tab In this Tab user can know and switch the EtherCAT state machine data link layer status of slave and upgrade firmware of ADAM 5000 ECAT by File Access over EtherCAT FoE The detail information of this tab from Beckhoff is shown below General EtherCAT DC Process Data Slots Startup CoE Online Online State Machine Current State OP Pre Op Safe Op 3 Requested State OP DLL Status Porta Carrier Open PortB NoCarrier Closed eee File Access over EtherCAT State Machine State Description Init This button attempts to set the EtherCAT device to the Init state Bootstrap This button attempts to set the EtherCAT device to the Bootstrap state Pre Op This button attempts to set the EtherCAT device to the pre operational state Safe Op This button attempts to set the EtherCAT device to the safe operational state Op This button attempts to set the EtherCAT device to the operational state Clear Error This button attempts to delete the fault display If an EtherCAT slave fails during change of state it sets an error flag Example An EtherCAT slave is in PREOP state pre operational The mast
140. the setting of ADAM E50538 DI module which plugs in the second slot of ADAM 5000 ECAT the Module No Index 217Fh 01h will be set to 01h Index Sub Index Name Range Data Type Access SDO PDO State 217Fh 01h Module No 0 7 USINT RW V Pre Op Op Get Current Value by SDO NOT Recommend The current value can be reached by PDO and it will also show in following object index There are 4 ports in ADAM E50538 and each port consists of 8 channels Index 2180h and its sub index are used for the setting of first port index 2181h and its sub index are used for the setting of second port and so on This index sub index shows the raw data of each port of ADAM E5051S module Index Sub Index Name Range Data Type Access SDO PDO State 2180h 01h SubIndex 001 0 255 USINT RO V Pre Op 2183h Op A bit of this value corresponds to a channel the MSB Most Significant Bit of the first port Index 2180h 01h corresponds to the channel 7 DI 7 and the LSB Least Significant Bit corresponds to the channel 0 DI 0 The MSB Most Significant Bit of the last port Index 2183h 01h corresponds to the channel 31 DI 31 and the LSB Least Significant Bit corresponds to the channel 24 DI 24 The value of bit 1 represents the input signal is in HIGH level and 0 means the signal is in LOW level Invert This index sub index shows the invert status of each por
141. then back to channel 0 again and again If we just enable one channel of this module the update rate will be 8 times compared to the situation which all 8 channels are enabled Therefore user can disable unused channels to speed up the update rate Enable Value he eee F Ch 4 0 001 m d i AOK 7 Ch E E j W Ch6 0 001 m Jh 3 0002 m W Ch 7 0 002 m Input Range All of channels of ADAM E5017 module use the same setting of input range There are 7 type of input can be selected Choosing the properly range of input and click Apply to apply the setting 4 20 m Integration Time The integration time is designed for filtering the noise which the frequency of the input signal is 50Hz or 60 Hz All of channels of ADAM E5017 module use the same setting of integration time There are 2 type of integration time can be selected Choosing the properly range of input and click Apply to apply the setting Save and Load Configuration In this block you can save the all of setting of Al module by xml file and load the configuration file from previous setting to simplify the configuration procedure Save Load Configuration ADAM E5017UH This page support ADAM E5017UH 8 ch Ultra High Speed Analog Input Module 5 5 EtherCAT Channel setting S S NIC 0 0x60000000 Efi ADAM 5000 CAT 0 2 Save Load Configuration v
142. ting For details refer to Emergency Messages Codes section 1 4 2 2 LED Timing Diagram 50ms ON ope OFE pt 50ms ON 200 Blinking 200ms OFF ON 1000ms Single flash i 200ms OFF ON 200ms 1000ms 200ms 200ms OFF Figure 1 15 LED indicators flash rates 1 4 3 LAN Connector Two RJ45 connectors can be set as EtherCAT port One connector is EtherCAT network IN the other one is EtherCAT network OUT 00000000000 a o o a Oo o Oo o o o oa o a 000 I bo 1 4 4 Rotate Switch ADAM 5000 ECAT uses three hexadecimal rotate switches to represent the slave ID Range 000 FFF For example if user arranges the rotate switches following the sequence 0 4 F the slave ID will be set 0 x 256 4 x 16 F x 1 79 Note Slave ID 000 is not allowed the default slave ID is 001 1 4 5 DIP Switch The DIP switch is just for internal use Please ensure the DIP switch is OFF before beginning to use ADAM 5000 ECAT 1 4 6 RS232 Two RS 232 are just for internal use 1 4 7 Basic Function Diagram SPI Flash JTAG Port SD Slot Yi Network kl FF Component ey Microprocessor RJ45 ARM aff fa I Power Convertor POWER 10V 30V Figure 1 16 Function block diagram DDR3 Local Bus DI DO Al AO Counter Selecting Your Hardware Compon
143. tion 1 Printed in Taiwan January 2015 Declaration of Conformity CE This product has passed the CE test for environmental specifications when shielded cables are used for external wiring We recommend the use of shielded cables This kind of cable is available from Advantech Please contact your local supplier for ordering information FCC Class A Note This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Opera tion of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense FM This equipment has passed the FM certification According to the National Fire Pro tection Association work sites are classified into different classes divisions and groups based on hazard considerations This equipment is compliant with the speci fications of Class I Division 2 Groups A B C and D indoor hazards Technical Support and Assistance 1 Visit the Advantech web site at www advantech com support where you can find
144. tion Byte Size Channel No 0x0200 AQ Channel 2 on ADAN ESO24 0x0200 AQ Channel 3 on ADAM ES024 0x0100 AQ Channel O on ADAM E5024 Ox0100 AD Channel 1 om ADAM E5024 0x0100 AQ Channel 2 on ADAM ES024 Note User can mapping all DI DO AI AO in whole network through Utility 6 2 Flow Charts 6 2 1 Basic Flow Start Acm DevOpeno Acm GetSlavelnfoe Acm LoadENIe Acm_DevLoadMapFile Acm GetProperty Acm SetProperty Acm_GetChannelProperty _ Acm_SetChannelProperty Read Write DIO AIO Acm DevClose D DeviceNumber need to be passed to Acm DevOpen DeviceNumber can be acquired by Acm GetAvailableDevs 2 User can check the slave information by Acm GetSlavelnfo Not necessary User need to load ENI file before operating DI O and Al O ENI file can be produced by Utility User can load mapping file produced by utility it s not necessary if user not change the default mapping index of DI O and Al O but user should know the mapping index of DI O and Al O by utility Properties of DI DO AI AO can be set by Acm GetChannelProperty Acm SetChannelProperty 6 2 2 Event Start Acm DevOpen Acm DevEnableEvento Acm_DevCheckEvent Ae No Disconnected gt rigg un ed ae Yes Thread 4 Y Acm_DevReOpen
145. tion WDT Each DO will switch to its FSV if the module s WDT is enabled and it gets triggered Hex Ox55AA Apply FSV FSV checked Logic High State FS unchecked Logic Low State DI Filter Setting Save Load Configuration Minimum low signal width 10 65535 ao ms Maximum high signal width 10 65535 0 ms DI Filter Disable HL 0 0 Tick 10ms Output Information There are little differences between each module in the information block due to the numbers of channel am QO indicates the DO is in effect ON and its value is 1 __ indicates the DO is not in effect OFF and its value is 0 FSV The Fail Safe Value of communication WDT If there are some problem to ADAM 5000 ECAT such as network disconnect each DO will switch to its fail safe value if the module s WDT is enabled If you need to enable the FSV checks the FSV check box on each channel and clicks Apply FSV to apply the setting Hex OxAA55 SS TE The Fail Safe Value FSV of communication WDT Esch DO will switch to its FS if the module s WDT is enabled and it gets triggered FSV checked Logic High State FSV unchecked Logic Low State Apply Invert Save and Load Configuration In this block you can save the all of setting of DO module by xml file and load the configuration file from previous setting to simplify the configuration procedure Save Load Configuration Load 5 1 1 4 5 Link Status Change If
146. tions The clock is shared to synchronize the master and the slaves Interruptions SyncO are generated in the slaves at precise intervals based on this clock Each slave executes I O processing at this precise time This means that all EtherCAT devices can share the same EtherCAT system time global time base for synchronization IRQ Sync1 Latch1 SPI SyncO LatchO Process Data Interface EtherCAT Address Space PDI Fuel a a si n E Time EthercaT Processing Unit EthercaT Processing Unit Unit o Figure 1 9 Interfaces of the distributed clock unit Delay Distributed Clocks Note If EtherCAT master accesses ADAM 5000 ECAT with analog input output modules there is ADC DAC limitation in the existing module hardware design and can t support read write data through local bus in specified short communication cycle time Master will not acquire the right information before data completely transferring For the low response module like A I O ADAM 5000 ECAT can dispatch write command or response prior time of data 1 2 4 Supports EtherCAT SyncManager mode EtherCAT provides a mechanism to synchronize slave memory access Because the memory of a slave can be used for exchanging data between the master and the local application without any restrictions Since both the EtherCAT network Master and the PDI Slaves access the DPRAM in the ESC the DPRAM access needs to ensure data consistency The
147. tmost slot number is 00h and the last rightmost slot number is O3h For example if you need to modify the setting of ADAM E5017UH AI module which plug in the second slot of ADAM 5000 ECAT the Module No Index 217Fh 01h will be set to 01h Index Sub Index Name Range Data Type Access SDO PDO State 217Fh 01h Module No 0 7 USINT RW V Pre Op Op Get Current Value by SDO NOT Recommend The current value can be reached by PDO and it will also show in following object index There are 8 channels in ADAM E5017UH index 2180h and its sub index are used for the setting of first channel index 2181h and its sub index are used for the setting of second channel and so on This index sub index shows the raw data of each channel of ADAM E5017 module Index Sub Index Name Range Data Type Access SDO PDO State 2180h Oth Sublndex 001 0 65535 USINT RO V Pre Op 2187h Op To get the data in engineering units the conversion formula are shown below Input Range Raw data units R to Engineering value E Engineering value E to Raw data units R 4 20 mA E R 16 4095 4 mA R E 4 4095 16 10 V E R 20 4095 10 V R E 10 4095 20 0 500 mV E R 500 4095 mV R E 4095 500 0 20 mA E R 20 4095 mA R E 4095 20 0 10 V E R 10 4095 V R E 4095 10 Channel Status
148. to load first before calling Acm DaqDiGetBit Example U32 deviceNumber 0x60000000 HAND deviceHandle U8 byteValue 0 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS return Get value of portl errCde Acm DaqDiGetByte deviceHandle 1 amp byteValue 6 3 6 3 Acm DaqDiGetBytes Format U32 Acm DaqDiGetBytes HAND DeviceHandle U16 StartPort U16 NumPort PU8 ByteDataArray Purpose Get the byte data of continuous DI Port 132 Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen StartPort U16 IN The start port number NumPort U16 IN Number of ports ByteDataArray PU8 OUT Return DI value Return Value Error Code Comments Get the continuous DI byte value according to the specified Port Number User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property The DI value will be affected by CFG_CH_DagDilnvertEnable CFG CH DaqDiLowFilter CFG_CH_DagqDiHighFilter Confirm that the property value is correct first Please refer to the Property chapter Note 1 StartPort NumPort must less than the total port number 2 User need call Acm LoadENI
149. turn errCde Acm DevGetSlaveStates masterHandle 0 0x001 amp slvState if errCde SUCCESS amp amp slvState 0x8 123 6 3 4 Event 6 3 4 1 Acm_DevEnableEvent Format U32 Acm_DevEnableEvent HAND DeviceHandle U32 MasEnableEvt Purpose Enable the event check function Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen MasEnableEvt U32 IN Eanble Event type Bit Status 0 Disconnection 1 31 Reserved Return Value Error Code Comments This API is used to enable the event check function User can find the disconnection event occurs by Acm_DevCheckEvent when open the disconnection check function Also user can get the information about which slaves are disconnected by Acm_DevGetErrorTable Note Check event need to open threads to call Acm_DevCheckE vent Example U32 deviceNumber 0x60000000 HAND deviceHandle U32 slvNumber errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success Acm DevEnableEvent deviceHandle 1 pThreadOb ject AfxBeginThread AFX THREADPROC CEventDlg CheckEvtThread this THREAD PRIORITY TIME CRITICAL 0 0 NULL 124 UINT CEventDlg CheckEvtThread LPVOID ThreadArg U32 Result 0 evtStatus CEventDlg pThreadInfo CEventDlg ThreadArg U32 errTable 100 errCnt 0 while pThreadInfo gt m bInit Result Acm DevCheckEvent pThreadInfo gt deviceHandle amp evtStatus INF
150. umber 2 User need call Acm LoadENI and Acm DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling Acm_DaqDoSetBytes Example U32 deviceNumber 0x60000000 HAND deviceHandle U8 byteValueArray 3 errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS return errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS return Set value of portl port2 port3 byteValueArray 0 Ox0f byteValueArray 1 Oxf0 byteValueArray 2 Oxff errCde Acm DaqDoSetBytes deviceHandle 1 3 byteValueArray 137 6 3 7 4 Acm DaqDoGetBit Format U32 Acm_DaqDoGetBit HAND DeviceHandle U16 DoChannel PU8 BitData Purpose Get the bit data of specified DO channel Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_DevOpen DoChannel U16 IN DO channel ID Range 0 Max DO count 1 BitData PU8 OUT Return DO value Return Value Error Code Comments Get the DO value according to the specified ChannellD This channellD can be get by calculation ChannellD Port number 8 Port Index Take the second DO in Port 3 for an example the ChannellD 3 8 2 26 User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get th
151. us data link layer status of the individual ports of the EtherCAT slave The DLL status can have two different states Status Description Link up The port is linked up and transmits the EtherCAT datagram Loop Closed The port is closed 5 1 1 3 2 FW In this tab user can know firmware version of slave and can upgrade the firmware Information FW Slave Firmware Version V0352 000 Firmware Upgrade Firmware Open Upgrade Click Open to select lastest firmware file you have acquired Clicking Upgrade will activate the downloading procedure to hardware and progress bar will show the task process 5 1 1 4 Module Page If the EtherCAT slave is ADAM 5000 ECAT the modules plug in ADAM 5000 ECAT will show in the slave tree node 5 1 1 4 1 Analog Input Modules ADAM E5017 This page support ADAM E5017 8 ch Analog Input Module 5 H EtherCAT Channel setting B S NIC 0 0x60000000 il ADAM 5000 CAT 0x2 Save Load Configuration ADAM E5017 80 ool ADAM E5057S 81 wl ADAM E5024 83 Save Load Enable Value Ch 1 Jeo Vich5 4 000 m Vjch 2 4 000 m ZCh6 4 000 m ZCh 3 4 000 m Wich 4 000 m Input Information There are 8 channels in ADAM E5017 and the current value in engineering units are shown in the Enable block in this page Switching to the Value block the curren
152. user uses the default mapping relationship the Acm_DevLoadMapFile need not to load or else user should download mapfile use Acm DevLoadMapFile before get this property 6 4 1 2 Configuration CFG_MasCycleTime PROPERTY ID 261 PROPERTY TYPE U32 R W R W DESCRIPTION Set Get the cycle time for data communication Range 1 100 uint ms Default 1 6 4 2 DI DO AI AO channel property Properties value can be gotten through Acm GetChannelProperty Acm GetMultiChannelProperty and set properties value by Acm SetChannelProperty Acm SetMultiChannelProperty Channel ID of DI DO AI AO should be passed into property All properties in this chapter user should know the DI DO port and Al AO channel mapping information by utility If user uses the default mapping relationship the Acm DevLoadMapFile need not to load or else user should download mapfile use Acm DevLoadMapFile 6 4 2 1 Configuration CFG CH DaqDilnvertEnable PROPERTY ID 1500 PROPERTY TYPE F64 R W R W DESCRIPTION Read or set DI Invert 0 Not Invert 1 Invert CFG CH DaqDiLowFilter PROPERTY ID 1501 PROPERTY TYPE F64 R W R W DESCRIPTION Read or set down limit value of DI filter Range 0 65535 Note DI filter down limit value will copy to all DI as one of them has been successfully set for ADAM E5017 CFG CH DaqDiHighFilter PROPERTY
153. vClose Close a device System Acm LoadENI Load ENI EtherCAT network information file Acm LoadMapFile Load I O mapping file in the EtherCAT network Acm DevReOpen Reopen Device Acm GetProperty Get the property value through assigned PropertylD Acm GetU32Property Get the property value belonging to unsigned 32 bit integer type Acm Getl32Property Get the property value belonging to signed 32 bit integer type Acm GetF64Property Get the property value belonging to double type Acm SetProperty Set the property value through assigned PropertylD Acm SetU32Property Set the property value belonging to unsigned 32 bit integer type Property Acm Setl32Property Set the property value belonging to signed 32 bit integer type Acm SetF64Property Set the property value belonging to double type Acm GetChannelProperty Get the DI DO AI AO channel property value Acm SetChannelProperty Set the DI DO AI AO channel property value Acm_GetMultiChannelProperty Get the value continuous channels assigned by start channel ID and channel count Acm_SetMultiChannelProperty Set the value continuous channels assigned by start channel ID and channel count Communication State Acm_DevGetComStatus Get the communication network status Acm_DevGetSlaveStates Get the slave device status 95 Acm_DevEnableEvent Enable the event check function
154. value 151 Return Value Error Code Comments Get the AO voltage value according to the specified ChannellD User should check or set the Port number and ChannellD in whole network through Mapping Info in Utility before using this API to get the property As the AO channel is set to voltage level by CFG_CH_DaqAoRange user can sets the output voltage value Error will occur when calling this API as the AO channel is set to current level The AO value will be affected by CFG_CH_DaqAoRange Confirm that the property value is correct first Please refer to the Property chapter Note User need call Acm_LoadENI and Acm_DevLoadMapFile If user uses the default mapping relationship this API need not to load first before calling DaqAoGetVoltData Example U32 deviceNumber 0x60000000 HAND deviceHandle F32 aoData errCde Acm DevOpen deviceNumber amp deviceHandle if errCde Success errCde Acm LoadENI deviceHandle C ENI xml if errCde SUCCESS eturn errCde Acm DevLoadMapFile deviceHandle C Mapping xml if errCde SUCCESS eturn 6 3 9 6 Acm_DaqAoGetCurrData Format U32 Acm DaqAoGetCurrData HAND DeviceHandle U16 AoChannel PF32 AoData Purpose Get the current output value of a specified analog output channel within the analog current output range 152 Parameters Name Type IN OUT Description DeviceHandle HAND IN The device handle gotten by Acm_D
155. y is demanded EtherCAT comprises a wide range of system inherent diagnostic features which help detect and locate system errors precisely Apart from broken wire detection and localization the protocol physical layer and topology of the EtherCAT system enable individual quality monitoring of each individual transmission segment As mentioned every EtherCAT datagram ends with a 16 bit Working Counter WKC to count the number of devices that were successfully addressed by this EtherCAT datagram Master can check the data exchange situation by WKC in the same cycle and the error frame can be detected by analyzing the nodes error counters The slave application will be executed only as the frame is received correctly The automatic evaluation of the associated error counters enables precise localization of critical network sections Bit errors during transmission are detected reliably by the analysis of the CRC Cyclic Redundancy Check check sum CRC is an error detecting code commonly used in digital networks and storage devices to detect accidental changes to raw data In addition to the error detection and localization protocol transmission physics and topology of the EtherCAT system allow an individual quality monitoring of every single transmission path There is a very effective monitoring mechanism in EtherCAT 1 2 Major Features ADAM 5000 ECAT is an EtherCAT slave that is created by mounting a group of ADAM E5000 IO series modules o

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