The EtherCAT master module is compatible with certain UniStream models. The master module can function as:
An EtherCAT Servo Drive motion controller that can build the motion profile, controlling up to 4 discrete axes and up to 4 cyclic synchronous axes in conjunction with Unitronics EtherCAT Servo_Drives.
When you use a Unitronics master module and drive, EtherCAT data exchange is transparent.
You can implement motion using UniLogic's Motion Control function blocks. A single UniStream can support up to 8 drives.
The gateway through which UniStream controllers can exchange data with EtherCAT devices:
- Unitronics URB EtherCAT adapter
Via an EtherCAT URB adapter, you can communicate with Unitronics URB Ethernet-based I/O modules.
- Third-party EtherCAT slave devices.
You can import a device's definition file, and exchange data via Ladder using SDO and PDO requests.
A single UniStream can support one EtherCAT master module; a module can support a total of 32 EtherCAT nodes. This includes EtherCAT Servo drives, Remote URB adapters, and third-party EtherCAT devices.
About the EtherCAT master module
You must include an EtherCAT Master Module in any UniLogic application that includes EtherCAT:
In the Solution Explorer, select Hardware Configuration>Uni-I/O and Uni-COM, and add an EtherCAT Master module.
Via Ladder, you can reset the EtherCAT Master Module and recover the EtherCAT network.
Reset EtherCAT Master Module
Include the LF in your program, and link a tag to monitor the status.
|
0 = Success 1 = In Progress -1 = Slave Disconnected -2 = EtherCAT not Configured -3 = EtherCAT module not ready -4 = EtherCAT module not connected |
Note that you can also reset the module via UniAppsUniApps.
Recover EtherCAT Network
Use this to reset the EtherCAT bus.
|
0 = Success 1 = In Progress -1 = Slave Disconnected -2 = EtherCAT not Configured -3 = EtherCAT module not ready -4 = EtherCAT module not connected |
Via UniApps, you can upgrade the module's firmware by inserting a DOK (USB flash drive) containing the desired firmware version, on the root folder of the DOK, into the module's USB port and pressing Upgrade.
The system compares the version on the DOK to the version installed in
the module. If the DOK version is higher, Installation begins; simply
follow the on-screen instructions.
Note that you can use the Force Upgrade option to override the comparing
process, and force the installation of the version on the DOK.
This can enable you to move to a lower firmware version.
If you force upgrade, and the firmware version number on the DOK is the
same as the one in the module, the firmware will be rolled back to the
currently installed version.
EtherCAT Master Module Struct
This is a system struct.
|
Parameter Name |
Data Type |
|
|
USB Flash Inserted |
BIT |
Is ON when there is a DOK in the modules USB port |
|
Module Connected |
BIT |
Turns ON when the module is physically connected to CPU |
|
Module Ready |
BIT |
Startup complete, Module is ready to start communication with the CPU |
|
Module Type |
UINT8 |
Value indicates Module type: 0 = UAC-02EC2 |
|
Initialization Status |
UINT32 |
Status indications: 0 = Not initialized 3 = Topology Mismatch: the order of the EtherCAT elements in the project' Hardware Configurations does not match the order in which they are physically connected to the controller 5 = Initialized successfully Other codes= Internal |
|
Current Firmware Version |
STRING-ASCII |
Indicates the firmware version currently installed in the module. |
|
Inserted Image Version |
STRING-ASCII |
Indicates the firmware version on the connected DOK |
|
Average cycles between diagnostics packages |
UINT32 |
Statistics |
|
Average time between diagnostics packages |
UINT32 |
Statistics |
|
PI Send Errors Count |
UINT32 |
Statistics |
|
PI Receive Errors Count |
UINT32 |
Statistics |
|
Wrong Working Counter Frames |
UINT32 |
Statistics |
|
Slave Response Time; |
UINT32 |
Statistics |
|
Light all LEDs up |
BIT |
Internal |
|
Average Cycle Time |
UINT32 |
Internal |
|
Min Cycle Time |
UINT32 |
Internal |
|
Max Cycle Time |
UINT32 |
Internal |
|
Communication Active |
BIT |
ON when communication between CPU and module is ok |
|
Diagnostics Mode |
BIT |
ON when module is in motion diagnostics mode |
|
Reserved |
UINT32f0...821 |
|
|
Master Bus OK |
BIT |
ON when Bus is OK |
|
Mandatory> slave is in wrong state |
BIT |
|
|
Mandatory slave is offline |
BIT |
|
|
Hot-connect slave is in wrong state |
BIT |
|
|
Hot-connect slave is offline |
BIT |
|
|
ViolationTimeCntr |
UINT32 |
Internal |
|
EtherCat master state |
UINT32 |
Internal |
