ICP DAS USA ECAT-2610 User manual

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

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

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

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

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

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

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

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

Front Panel

3.

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

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

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

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

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

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

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

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

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

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

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

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

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

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ICP DAS USA ECAT-2610 User manual

ICP DAS USA ECAT-2610 User manual

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