Copley EtherCAT用户指南

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"Copley Ethercat User Guide 是一本关于Copley公司EtherCAT技术的用户指南，适用于Copley的特定型号驱动器，包括AEM、AE2等。该手册的内容自特定固件版本起有效，并提及了EtherCAT是Beckhoff Automation GmbH的注册商标。此外，还警告了第三方未经许可不得复制文档内容。" 本文档，即《Copley EtherCAT用户指南》，主要针对使用Copley Controls公司的 EtherCAT 技术的伺服和步进驱动器。以下是详细的知识点： 1. **关于本手册**： - **标题与编号**：手册的标题为16-01450 Revision 00，表明这是一个修订版本。 - **修订历史**：手册提供了修订记录，帮助用户了解内容的更新和改进。 - **概述与范围**：这部分可能详细介绍了手册涵盖的主题和适用的Copley驱动器系列。 - **评论**：可能包含用户反馈或对先前版本的注释。 - **文档有效性**：指出文档中的信息适用于特定的固件版本，用户需要确保驱动器的固件是最新的。 2. **Copley Controls EtherCAT Plus Servo & Stepper Drives**： - 这部分深入讨论了Copley如何在其伺服和步进驱动器中实现和利用EtherCAT通信协议。 - 可能包括了驱动器的硬件接口、配置步骤、网络设置和故障排查。 3. **相关文档**： - 用户指南通常会列出其他必要的或补充的文档，如快速启动指南、技术规格书或API参考手册，以帮助用户全面理解产品。 4. **商标与专利**： - **EtherCAT**：是Beckhoff Automation GmbH的注册商标，是一种实时工业以太网技术，广泛用于自动化设备中。 - **Windows**：微软公司的注册商标，可能在Copley的驱动器软件中有所应用，例如通过Windows操作系统进行驱动器的配置和监控。 - **Copley的其他商标**：如Copley ASCII Interface、CVM等，都是Copley Controls公司独有的技术或产品名称。 5. **版权和法律事项**： - 文档中的所有内容受版权保护，第三方未经授权不得复制或以任何形式传播，以免侵犯权利人的权益。 6. **内容结构**： - 通常，用户指南会有详细的目录，列出了各个章节，如系统配置、操作指南、故障排除和维护等内容，便于用户查找所需信息。《Copley EtherCAT用户指南》是一个全面介绍如何使用Copley EtherCAT驱动器的参考资料，包含了必要的技术细节、操作指南和注意事项，是理解和操作Copley EtherCAT驱动系统的关键工具。

EtherCAT User Guide 16-01450 Rev 00

Page 16

3.4 Elements of an EtherCAT Network

3.4.1 EtherCAT Master Software

Fully featured masters typically incorporate the following elements:

 Bus-scanning for network toplogy

 ESI file usage for device configuration during scanning

(Typically, but not all masters use ESI files)

 Device initialization via Mailbox (SDO) commands

 Distributed Clocks (DC) for synchronization over the network

 Cylical synchronous PDO commands from the real-time kernel

 Real-time kernel with multiple tasks operating at different cycle times

 NC (Numerical Control) for motion-control (trajectory generation, PID, virtual drives)

 PLC for overall control (IEC 61131 multi-language programming environment)

3.4.2 EtherCAT Master Stacks

Stacks are a class of EtherCAT masters that provide a user’s application software a connection to the EtherCAT

network. The user then develops their own higher level control program with features designed for their

particular applications. Master Stacks may rely on Beckhoff’s Configuration Tool software that uses the ESI files

from the EtherCAT slave manufacturer to scan the network and produce an ENI (EtherCAT Network

Information) file. The result is a high level language interface between the user’s application and the physical

layer of the network.

3.4.3 EtherCAT Configuration Tool

Beckhoff software that generates ENI (EtherCAT Network Information) files based on the ESI (EtherCAT Slave

Information) files, and the slaves discovered after scanning the network. ENI files describe the network

topology, initialization (SDO) commands for each device, and cyclic (PDO) commands. Used most often by

masters that don’t use ESI files and don’t have the ability to scan the network for slaves. ENI files are in XML

format as are ESI files.

3.4.4 EtherCAT Physical Layer

Copley EtherCAT Plus Panel drives all use the Ethernet 100BASE-TX layer which use CAT5 (or higher) standard

Ethernet cables and RJ45 connectors on the drives. EtherCAT Plus Modules which are designed for mounting on

the user’s PC board can mount on Development Kits which are equipped with the same RJ45 connectors. All of

the EtherCAT Plus Products have internal magnetics for isolation from the network and PHYs that manage the

reception and transmission of EtherCAT frames.

3.4.5 EtherCAT Slave Controllers (ESC)

Copley EtherCAT Plus drives implement the ESC as an IP Core in the FPGA which also contains

a DSP (Digital Signal Processor) which is the control core of the drive.

3.4.6 EtherCAT EEPROM

Implemented as a virtual EEPROM in the FPGA, it contains some basic information about the drive which master

software may use.

EtherCAT User Guide 16-01450 Rev 00

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3.4.7 Application Layer Host Controller (a Copley EtherCAT Plus drive)

The part of the EtherCAT Plus Drive firmware that handles the EtherCAT tasks:

 EtherCAT State Machine (ESM) that manages the INIT, PREOP, SAFEOP, and OP states

 PDO data transmit/receive

 Mailbox data exchange (CoE, FoE)

3.4.8 ESI (EtherCAT Slave Information) File

The Modular Device Profile is defined in ETG5001-1:

Aka “modules and slots”. Works with EtherCAT masters that support this feature. These contain complete

SDO, PDO, and Object Dictionaries for each axis (see below) in addition to the MDP objects.

There are two types of ESI files provided for each EtherCAT Plus drive:

 Flat: No MDP, and these no MDP objects in the file. These follow the CiA DS-301 CANopen standard in

which PDOs for Axis B are offset by 0x40 from Axis A PDOs. And, the Object Dictionary for Axis B is offset

by 0x800 from the Object Dictionary of Axis A.

 Slots: With MDP, aka “modules and slots”. Works with EtherCAT masters that support this feature.

These contain complete SDO, PDO, and Object Dictionaries for each axis (see below) in addition

to the MDP objects.

This graphic shows the ESI file folders after un-zipping the ecatxml.zip folder from the Copley web-site:

3.4.9 Cabling and Connectivity

The physical layer of an EtherCAT network that uses copper cabling is 100BASE-TX. Also called Fast Ethernet,

it uses CAT5 (or higher rated) cables and has a transmission rate of 100 Mbit/sec. Maximum cable length

allowed between nodes is 100 metre. The delay through a 100 m cable is about 0.52 usec.

In the context of many industrial networks, this is not a significant delay that affects performance.

Connections can be line, tree, or star. Unlike CANopen, no terminators are required. And, the master interface

hardware is a commonly available NIC (Network Interface Card).

If the cabling is connected in a ring, then two NICs can be used to provide redundancy and identify the location

of a break in the network so it can be located and corrected quickly.

3.5 States

The State of something is the answer to the question “What is it doing?”

An EtherCAT system consists of three basic components, each of which have states:

 Master RT (Real Time) kernels: Start, Stop, Config

 Network:

 Slaves: Init, Pre-Op, Safe-Op, Op

EtherCAT User Guide 16-01450 Rev 00

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3.6 Inside the EtherCAT Drive

3.6.1 From the Network to the Drive

This diagram shows how the EtherCAT function operates in the drive. The PHY is the PHYsical connection

between the network and the ESC (EtherCAT Slave Controller) which is implemented in an FPGA. Data in the

ESC is either SDO (Service Data Objects) or PDO (Process Data Objects). SDOs are usually sent at

asynchronous time intervals (green) and are used for PDO mapping and setting mode of operation most of the

time. They also support FoE (File over EtherCAT). PDO data is exchanged synchronously (yellow) at a rate

determined by the cyclic task in the master.

3.6.2 EtherCAT Network Slaves Don’t Think

EtherCAT using standard Ethernet cabling produces a control network that moves data at high speed and

enables tight synchronization of the devices operating on the network. Here’s how it works.

On some networks, a data frame is received, processed by the device’s control core, and then re-transmitted.

This processing or “thinking” take time, a lot of it relatively speaking. And, because all slaves see the same data

at about the same time (I.e. CANopen), a frame has to be sent to each slave individually. This adds up to a lot

of network traffic every time it’s desired to update all the slaves.

In EtherCAT, each node has an EtherCAT Slave Controller (ESC) that works together with a network PHY

(PHYsical layer) chip. Next, the EtherCAT frame typically contains all of the process for all of the slaves, not just

one. As the frame passes through the slave, the ESC identifies the data for the slave. Incoming data is stripped

from the frame and deposited in dual-port RAM. Outgoing data is deposited in the frame in the section reserved

for the slave. All of this is done in hardware without any computation by the slave. The in/out transit time for

the frame to move through the slave is fast, less than 1 microsecond.

After the slave data is exchanged, it can begin the computations to process the incoming data. But all of this is

“off-line” from the viewpoint of the network and does not impose any delays on the actual data transmission

over the network.

EtherCAT User Guide 16-01450 Rev 00

Page 20

3.6.3 EtherCAT Time

As Albert Einstein discovered… time is relative. Any discussion of time has to begin with how and where it’s

measured. All of the devices on an EtherCAT network have digital control cores and each of those has a clock.

Each of those clocks measures time based on quartz crystal oscillators and it’s practically a certainty that none

of the clocks measure time exactly the same. Viewed from any point in the network, master or slave, all of the

“other” clocks appear to be running fast or slow.

Next, commands from the master to the network typically travel over copper cabling that has intrinsic delays

because electric signals travel slower than the speed of light. And, there is the time that it takes for an

EtherCAT frame to enter the slave device. Given all of this, how is it possible for devices on a network to set all

their clocks to the same time? And, once that’s done how can they all synchronize their operation when multiple

axes are product multi-dimensional vector motions?

3.6.4 Synchronization Overview

Timing and synchronization in an EtherCAT network takes three forms:

Freerun

Slaves run ‘free’ with no connection to the timing of the master or other slaves. They may have internal tasks

that don’t require a connection to the master. Freerun is used before the real-time kernel is activated. The

master will query the slaves on the network, reading their status and CoE objects but will not transmit data to

the slaves.

Sync-Manager Synchronization

The slave reacts to telegrams from the master, receiving or transmitting data from sync managers.

The timing can vary based on the master’s timing which depends on the host computer’s CPU clock.

Other tasks that may have higher priority in the operating system affect the timing of the sync managers and

laptops constantly “throttle” the CPU clock to save power. This is the sync-mode that results when the real-time

kernel is activated but Distributed Clocks are not enabled. PDO are reading/writing to the slaves and the

network is fully “up” and running. But, the time between cyclic data transfers will have jitter and delays due to

cabling will occur.

Distributed Clocks (DC)

The master designates a slave as the reference clock then adjusts the clocks of other slaves so that they

operate in-sync. Cabling and network delays are compensated for. Current, velocity, and position loops in the

drives are all synchronized within nanoseconds of each other. Jitter in the real-time kernel will not affect the

slave synchronization as long as it does not exceed the update rate of the cyclic data and skip one data cycle,

falling into the next.

Control System Timing and Process Data

With the network wired, DC configured, the master running, and all the slaves synchronized, the foundation has

been laid to do some real motion control. Moving motors in CANopen was commonly done with the “profile”

modes for position, velocity, and current. With these modes, parameters describing the motion are first

configured. When bit 4 of the Control Word 0x6040 is toggled the drive starts to produce the motion without

any further commands from the master. Completion of the profile move is shown by the status of bits in the

Status Word 0x6041.

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