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ICP ECAT-2610 User manual

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ECAT-2610 EtherCAT to Modbus
RTU Gateway
User Manual
English Ver. 1.0, Dec. 2017
WARRANTY
All products manufactured by ICP DAS are warranted against
defective materials for a period of one year from the date of
delivery to the original purchaser.
WARNING
ICP DAS assumes no liability for damages consequent to the use
of this product. ICP DAS reserves the right to change this manual
at any time without notice. The information furnished by ICP
DAS is believed to be accurate and reliable. However, no
responsibility is assumed by ICP DAS for its use, nor for any
infringements of patents or other rights of third parties resulting
from its use.
COPYRIGHT
Copyright © 2017 by ICP DAS. All rights are reserved.
TRADEMARK
Names are used for identification only and may be registered
trademarks of their respective companies.
CONTACT US
If you have any questions, please feel free to contact us via email at:
[email protected], service.[email protected]
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 2 -
TABLE OF CONTENTS
PACKAGE LIST ............................................................................................................................................................ 4
MORE INFORMATION ................................................................................................................................................ 4
1. INTRODUCTION ................................................................................................................................................ 5
1.1 FEATURES .............................................................................................................................................................. 6
1.2 BLOCK DIAGRAM .................................................................................................................................................... 6
2. HARDWARE INFORMATION ............................................................................................................................. 7
2.1 APPEARANCE ......................................................................................................................................................... 7
2.2 SPECIFICATION ..................................................................................................................................................... 10
2.3 PIN ASSIGNMENTS ................................................................................................................................................ 11
EtherCAT Interface ..................................................................................................................................................... 11
COM1 (Console Port) ................................................................................................................................................. 11
COM2/COM3 (Modbus RTU) ..................................................................................................................................... 11
2.4 WIRING CONNECTIONS .......................................................................................................................................... 12
3-wire RS-232 Wiring ................................................................................................................................................. 12
4-wire RS-422 Wiring ................................................................................................................................................. 12
2-wire RS-485 Wiring ................................................................................................................................................. 12
2.5 INIT/NORMAL OPERATING MODE ............................................................................................................................ 13
2.6 DIMENSIONS ........................................................................................................................................................ 14
3. GETTING STARTED ......................................................................................................................................... 15
3.1 FACTORY DEFAULT SETTINGS ................................................................................................................................... 15
3.2 CONNECTING THE POWER AND THE HOST PC ............................................................................................................. 16
3.3 CONFIGURATION AND OPERATI ON ............................................................................................................................ 18
3.3.1 Module Status and Error Mode ........................................................................................................................ 20
4. MODBUS RTU DEVICE SETUP ........................................................................................................................ 22
4.1 CONFIGURE THE MODBUS RTU DEVICE .................................................................................................................... 23
4.2 CONFIGURING AND UPLOADING .............................................................................................................................. 26
4.3 TESTING MODBUS RTU DEVICE .............................................................................................................................. 32
5. MODBUS INFORMATION ................................................................................................................................ 36
01(0X01) READ THE STATUS OF THE COILS (READBACK DOS) ..................................................................................................... 39
02(0X02) READ THE STATUS OF THE INPUT (READ DIS) ............................................................................................................. 40
03(0X03) READ THE HOLDING REGISTERS (READBACK AOS) ...................................................................................................... 41
04(0X04) READ THE INPUT REGISTERS (READ AIS) ................................................................................................................... 42
05(0X05) FORCE A SINGLE COIL (WRITE DO) .......................................................................................................................... 43
06(0X06) PRESET A SINGLE REGISTER (WRITE AO) .................................................................................................................. 44
15(0X0F) FORCE MULTIPLE COILS (WRITE DOS) ...................................................................................................................... 45
16(0X10) PRESET MULTIPLE REGISTERS (WRITE AOS) .............................................................................................................. 46
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 3 -
6. DIAGNOSTIC OPERATION .............................................................................................................................. 47
7. DISTRIBUTED CLOCKS (DC) .......................................................................................................................... 52
7.1 MODBUS RTU TIMING .......................................................................................................................................... 52
7.2 DC CONFIGURATION AND OPERATI ON ...................................................................................................................... 59
8. OBJECT DESCRIPTION AND PARAMETERIZATION ...................................................................................... 67
8.1 STANDARD OBJECT ................................................................................................................................................ 67
8.2 SPECIFIC OBJECTS ................................................................................................................................................. 68
Input Buffer ............................................................................................................................................................... 68
Output Buffer ............................................................................................................................................................ 68
9. APPLICATIONS ................................................................................................................................................ 69
9.1 ECAT FAMILY OF ICPDAS ...................................................................................................................................... 69
9.2 ODM IS WELCOME .............................................................................................................................................. 72
APPENDIX ................................................................................................................................................................. 75
A1. HOW DO I GET THE MODBUS RTU COMMAND VIA DCON UTILITY? ...................................................................................... 75
A2. CONFIGURATION FILES REFERENCE ................................................................................................................................... 76
INIT.txt ....................................................................................................................................................................... 76
115200_N81_INIT.txt................................................................................................................................................. 77
9600_N81.txt ............................................................................................................................................................. 77
19200_N82.txt ........................................................................................................................................................... 79
38400_E81.txt ........................................................................................................................................................... 79
57600_O81.txt ........................................................................................................................................................... 79
DIO_Addr01_0/Addr01_1/DIO_Addr01_2.txt ........................................................................................................... 80
DIO_Addr01_3.txt ..................................................................................................................................................... 81
DIO_Addr01_4.txt ..................................................................................................................................................... 82
DIO_Addr01_5.txt ..................................................................................................................................................... 84
DIO_Addr01_6.txt ..................................................................................................................................................... 86
DIO_Addr01_7.txt ..................................................................................................................................................... 87
DA_Addr02_1.txt ....................................................................................................................................................... 88
DA_Addr02_2.txt ....................................................................................................................................................... 89
DA_Addr02_3.txt ....................................................................................................................................................... 90
DA_Addr02_4.txt ....................................................................................................................................................... 91
AD_Addr03_1.txt ....................................................................................................................................................... 92
AD_Addr03_2.txt ....................................................................................................................................................... 94
DIO_DA_AD_1.txt ...................................................................................................................................................... 95
A3. MANUALLY CONFIGURE AND UPLOAD ............................................................................................................................... 96
A4. SUPPORT IN ICP DAS MODBUS RTU PRODUCTS .............................................................................................................. 103
A5. REVISION HISTORY ...................................................................................................................................................... 104
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 4 -
Package List
The shipping package includes the following items:
NOTE
If any of these items is missing or damaged, please contact your local distributor for
more information. Keep the shipping materials and overall package in case you want to
ship the module back in the future.
More Information
Manual/QuickStart/Datasheet:
http://ftp.icpdas.com/pub/cd/fieldbus_cd/ethercat/slave/ecat-2000/manual/
XML Device Description (ESI):
http://ftp.icpdas.com/pub/cd/fieldbus_cd/ethercat/slave/ecat-2000/software/
FAQ:
http://www.icpdas.com/root/support/faq/faq.html
ECAT-2610 x 1
Quick Start x 1
CA-0915 Cable x 1
Software CD x 1
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 5 -
1. Introduction
Integrate your serial RS-232/422/485 based industrial devices and equipment to an EtherCAT
control system without the need for any changes to the device. Just connect, configure and it’s
finished.
The ECAT-2610 Communicator is a proven and trusted protocol converter gateway that connects
non-networked industrial devices and equipment to EtherCAT. The gateway performs an intelligent
protocol conversion and presents the serial data to the Master PLC/Controller as easily processed
I/O data.
Figure 1-1 The System diagram of EtherCAT to Modbus RTU gateway
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 6 -
1.1 Features
Powerful MCU handles efficient network traffic.
2 x RJ-45 bus interface.
Integrate RS-232/422/485 serial device to EtherCAT interface.
Allows system integrators to retro-fit older automation devices into modern EtherCAT
communication structures.
Requires no hardware or software changes to be made to the connected device.
Compatible with all PLCs with EtherCAT support.
Performs complete serial protocol conversion, no PLC function blocks required.
Supports maximum 128 input and 128 output bytes data.
Supports maximum Baud Rate 115200 bps.
1.2 Block Diagram
The block diagram of the ECAT-2610 module is given as follows:
Figure 1-2 Block Diagram of ECAT-2610
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 7 -
2. Hardware Information
2.1 Appearance
The front panel and top panel of the ECAT-2610 module contain the Modbus COM Port, PC COM
port, LEDs, Ethernet Port and power connector.
Top Panel
1.
DC Power Input Connector
The “PWR(+)” and “GND(-)” pins are used for the power supply applies to all types of ECAT-2610
module. The valid power voltage range is from +12 to +48 V
DC
.
The definition of “F.G.” (Frame Ground):
Electronic circuits are constantly vulnerable to
Electrostatic Discharge (ESD), which becomes worse in a continental climate area. ECAT-2610
module feature a new design for the frame ground, which provides a path that bypasses ESD,
resulting in an enhanced ESD protection capability and ensuring that the module is more reliable.
2.
EtherCAT Interface
ECAT-2610 module is equipped with two RJ-45 EtherCAT Interface ports. IN is EtherCAT signal input
port that connect EtherCAT Master or EtherCAT signal output of previous EtherCAT slave module，
OUT
is EtherCAT signal output that connect the next EtherCAT signal input of EtherCAT slave
module.
1. DC Power
Input Connector
2. EtherCAT Interface
Figure 2-1
Top panel of ECAT-2610
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 8 -
Front Panel
EtherCAT bus Status Indicators
Notation Color States Description
RUN Red
Off The device is in state INIT
Blinking The device is in state PRE-OPERARIONAL
Single Flash The device is in state SAFE-OPERARIONAL
On The device is in state OPERARIONAL
Link Activity
IN/OUT
Green
Off No link
Blinking Link and activity
On Link without activity
6. COM2/COM3
(Modbus RTU)
5. COM1
(Console Port)
3. EtherCAT bus Status
Indicators
4. ECAT-2610 Status
Indicators
Figure 2-2
Front panel of ECAT-2610
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 9 -
4.
ECAT-2610 Status Indicators
Notation Color States Description
Err Red
Off Normal
Blinking Error
Mode Green
Flashing for 0.3 sec DC enable
Flashing for 1 sec Normal
Flashing for 2 sec
No configuration file or configuration file
error
Flashing for 4 sec Configuration CRC error
Modbus Green
Off No Modbus Command
Flashing for 1 sec Normal
5.
COM1 (Console Port, DB9-Male)
Configuration/Diagnostic Port. The more detailed information of pin assignments for the PC COM
Port, refer to
Section 2.3 “Pin Assignments”
.
6.
COM2/COM3 (Modbus RTU)
Connect to Modbus RTU devices. The more detailed information of pin assignments for the
Modbus COM Port, refer to
Section 2.3 “Pin Assignments”
.
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 10 -
2.2 Specification
Model
ECAT-2610
Protocol
EtherCAT
Communication
RJ-45 Port
RJ-45 x 1 Distance between Stations: Max. 100 m (100BASE-TX)
Data Transfer Medium: Ethernet/EtherCAT Cable (Min.CAT 5e)
Serial Interface
RS-232
The RS-232, RS-422 and RS-485 cannot be used simultaneously
TxD, RxD, GND
TxD+, TxD-, RxD+, RxD-
Data+, Data-
RS-422
RS-485
Power Input
Redundant Input Range
+12 ~ +48 V
DC
Power Consumption
0.1 A @ 24 V
DC
Protection
Power reverse polarity protection
Connector
3-Pin Removable Terminal Block (5.08 mm)
Mechanical
Dimensions (H x W x D)
110 mm x 90 mm x 33 mm
Installation
DIN-Rail Mounting
Environment
Operating Temperature
-25 ~ +75°C
Storage Temperature
-30 ~ +80°C
Relative Humidity
10 ~ 90% RH, Non-condensing
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 11 -
2.3 Pin Assignments
EtherCAT Interface
COM1 (Console Port)
COM2/COM3 (Modbus RTU)
Pin Assignment
F.G .
GND(-)
PWR(+)
IN
OUT
Pin Assignment
Terminal
No.
- 01
RxD
02
TxD
03
-
04
GND
05
Terminal No.
Pin Assignment
COM2
TxD+/D+
TxD-/D-
RxD+
RxD-
N/A
COM3
ISO.GND
TxD
RxD
NOTE
The RS-232, RS-422 and RS-485 cannot be used
simultaneously.
Terminal
No.
Pin Assignment
06 -
07
-
08
-
09
-
EtherCAT to Modbus RTU Gateway
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2.4 Wiring Connections
3-wire RS-232 Wiring
4-wire RS-422 Wiring
2-wire RS-485 Wiring
NOTE
1. Usually, you have to connect all signal grounds of
RS-422/485 devices together to reduce
common-mode voltage between devices.
2. Twisted-pair cable must be used for the DATA+/-
wires.
3. Both two ends of the cable may require a
termination resistor connected across the two
wires (DATA+ and DATA-). Typically 120 Ω
resisters are used.
4. The Data+ and B pins are positive-voltage pins,
and Data- and A pins are negative-voltage pins in
the above figure. The B/A pins may be defined in
another way depending on devices, please check
it first.
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 13 -
2.5 Init/Normal Operating Mode
The ECAT-2610 module has two operating modes that can be selected, each of which will be
described in more detail below.
Init Mode
Init Mode should only be selected for
troubleshooting.
1. Power off the ECAT-2610 module, and connect
the ECAT-2610 to Host PC.
2. Short the TxD and RxD pins on the COM3 to Init mode.
3. Run the 7188ECAT.exe, and power on the ECAT-2610 module to verify that enter the init mode.
4. Disconnect the TxD and RxD pins on the COM3 to normal mode.
5. Erase the EEPROM and upload new configuration file to EEPROM.
6. Reboot the ECAT-2610 module to work in normal mode.
Refer to
Chapter 6 “Diagnostic Operation”
of how to perform the above procedure.
Normal Mode
Normal Mode is the default operating mode and
should be used in most cases.
EtherCAT to Modbus RTU Gateway
Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 14 -
2.6 Dimensions
The following diagrams provide the dimensions of the ECAT-2610 module and can be used as a
reference when defining the specifications for any custom enclosures. All dimensions are in
millimeters.
Left Side
Right Side
Front
Rear
Top
Bottom
EtherCAT to Modbus RTU Gateway
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3. Getting Started
This chapter provides detailed information about the Self-test process, which is used to confirm
that the ECAT-2610 is operating correctly.
3.1 Factory Default Settings
The following is an overview of the factory default settings for ECAT-2610 module:
Item
Default Settings
Reference
InTxPDO
4
Refer to Chapter 8 “Object
Description and Parameterization” for
more detail about InTxPDO and
OutRxPDO.
OutRxPDO
4
OutRxPDO[n] =InTxPDO[n]
N = 0, 1, 2, 3
Run LED
Red
Refer to Section 2.1 “Appearance” for
more detail about LED indicators.
IN LED
Flashing Green
Mode LED
Flashing Green
Baud Rate
115200
Refer to Section 4.2 “Configuring and
Uploading” for more detail about
Baud Rate, Data Format and
Command Settings.
Parity
N (None)
Stop Bit
1
Command
FF 03 00 00 00 01
InTxPDO[000]
Status_low = 0x80
Refer to Section 3.3.1 “Module Status
and Error Mode” for more detail
about status_low and status_hi.
InTxPDO[001]
Status_hi = 0xC0
EtherCAT to Modbus RTU Gateway
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3.2 Connecting the Power and the Host PC
Step 1
Connect both the IN port of ECAT-2610 module and RJ-45 Ethernet port
of Host PC.
Ensure that the network settings on the Host PC have been correctly configured and are functioning
normally. Ensure that the Windows firewall or any Anti-Virus firewall is properly configured to allow
incoming connections, or temporarily disable these functions.
NOTE
Step 2
Apply power to the ECAT-2610 module
Connect the PWR(+) pin to positive
terminal on a +12 ~ +48 V
DC
power
supply, and connect the GND(-) pin to
the negative terminal.
Connect the Host device to the
IN Port on ECAT-2610 module.
Attaching an ESC (EtherCAT Slave Controller) directly to an office network will result in network flooding, since the ESC
will reflect any frame – especially broadcast frames – back into the network (broadcast storm)
.
Figure 3-2.1
EtherCAT to Modbus RTU Gateway
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Step 3
Verify that LEDs indicator on the ECAT-2610 module is given as follows:
IN = Green Flashing
Mode = Green Flashing
RUN = Red
Run
IN
Figure 3-2.2
EtherCAT to Modbus RTU Gateway
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3.3 Configuration and Operation
NOTE
Installation of the latest XML device description(ESI)
Please ensure that you have installed the latest XML device description in TwinCAT.
This can be downloaded from the ICP DAS website
(http://ftp.icpdas.com/pub/cd/fieldbus_cd/ethercat/slave/ecat-2000/software/) and
installed according to the installation instructions.
Step 1
Install the ESI file
Copy the “ICPDAS ECAT-2610.xml” file to the Master Tools installation folder, as indicated in the
table below.
Software
Default Path
Beckhoff EtherCAT Configuration
C:\EtherCAT Configurator\EtherCAT
Beckhoff TwinCAT 3.X
C:\TwinCAT\3.x\Config\Io\EtherCAT
Beckhoff TwinCAT 2.X
C:\TwinCAT\Io\EtherCAT
Beckhoff TwinCAT 2.X is most commonly used EtherCAT Master software to operate ECAT-2610
module.
Step 2
Automatic Scanning
The EtherCAT system must be in a safe, de-energized state before the ECAT-2610 module
connected to EtherCAT network!
Switch on the operating voltage, open the TwinCAT System Manager (Config mode), and scan
in the devices (below the picture). Acknowledge all dialogs with “OK”, so that the configuration
is in “FreeRun” mode.
EtherCAT to Modbus RTU Gateway
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Step 3
Verify that status_low and status_hi of the ECAT-2610 is default settings
In the left-hand of the TwinCAT System Manager, click on the branch of the EtherCAT Box you wish
to configure. Click TxPDO to get and configure state.
NOTE
For detailed information about the status_low and status_hi of ECAT-2610, refer to
Section 3.3.1 “Module Status and Error
Mode”.
Scanning in the configuration
(I/O Devices-> right-click-> Scan Devices…)
Figure 3-2.3
In the right-hand of the windows, check
In000 is 0x80 (status_low) and In001 is
0xC0 (status_hi).
Figure 3-2.4
EtherCAT to Modbus RTU Gateway
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3.3.1 Module Status and Error Mode
The “
FF 03 00 00 00 01”
is
a special command designed to read the status_low and status_hi of
ECAT-2610 module in the default configuration file. Under this command, once power is supplied to
the ECAT-2610 module, the ECAT-2610 module will read and check the configuration file from
EEPROM. If there is any error detected that ECAT-2610 module will enter the error mode, the
details as below:
The Err LED indicator will illuminate as follows:
Check results of the Baud rate and Data Format, etc. are given in status_low as follows:
InTxPDO[00] = status_low = 0x80 (normal settings), the status_low is defined as follows:
D7 D6 D5 D4 D3 D2 D1 D0
1
0 CRC Error Delay Error
Stop Bit
Error
Parity Bit
Error
Baud Rate
Error
Debug
Mode
EEPROM CRC Error
Dealy Valid Range: 0 to 255 ms
Stop Bit Valid Range: 1, 2
Parity Bit Valid Range: N (None), E (EVEN), O (ODD)
Baud Rate Valid Range: 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200
Enter the Debug Mode: 1 (Refer to Chapter 6 “Diagnostic Operation” for more detail)
Err=Red
Err
/