Contents
CONTENTS........................................................................................................................................................................................ 5
1. ETHERCAT INTRODUCTION ............................................................................................................................................. 7
1.1 INTRODUCTION........................................................................................................................................................................... 7
1.2 SYSTEM CONFIGURATIONS ............................................................................................................................................................ 8
1.3 DATA TRANSITION ....................................................................................................................................................................... 8
1.4 ETHERCAT TOOL: TWINCAT......................................................................................................................................................... 9
2. PRODUCT OVERVIEW ................................................................................................................................................... 10
2.1 NAMING RULE.......................................................................................................................................................................... 10
2.2 DIMENSION ............................................................................................................................................................................. 10
2.3 207-D522-NN SPECIFICATIONS.................................................................................................................................................. 11
2.4 CONNECTION ........................................................................................................................................................................... 12
2.4.1 Switch Description......................................................................................................................................12
2.4.2 LED Description .........................................................................................................................................13
2.4.3 EtherCAT Communication..........................................................................................................................16
2.4.4 Power Connector......................................................................................................................................... 17
2.4.5 207-D522-NN – Pin Definition...................................................................................................................18
2.5 SIGNAL CIRCUIT ........................................................................................................................................................................ 20
3. TWINCAT 3 OPERATION................................................................................................................................................ 21
3.1 INSTALL THE ESI DEVICE DESCRIPTION........................................................................................................................................... 21
3.2 CREATE THE ETHERCAT DEVICE ................................................................................................................................................... 22
3.3 SCAN THE ETHERCAT DEVICE ...................................................................................................................................................... 24
4. ETHERCAT BASIC INFORMATION................................................................................................................................... 31
4.1 SYMBOLS AND ABBREVIATIONS .................................................................................................................................................... 31
4.2 DATA TYPES ............................................................................................................................................................................. 32
4.3 SPECIFICATION LIST.................................................................................................................................................................... 33
4.4 ESM (ETHERCAT STATE MACHINE).............................................................................................................................................. 34
5. PROCESS DATA OBJECTS (PDOS) ................................................................................................................................... 36
5.1 TXPDO LIST [SLAVE TRANSMITS DATA TO MASTER]......................................................................................................................... 36
5.1.1 32-Ch. Digital Inputs (6000h) .....................................................................................................................36
5.2 RXPDO LIST [MASTER TRANSMITS DATA TO SLAVE]......................................................................................................................... 37
5.2.1 32-Ch. Digital Outputs (7000h) ..................................................................................................................37
6. SERVICE DATA OBJECTS (SDOS)..................................................................................................................................... 38
