YASKAWA NX100 Instruction Manual
Also see for MOTOMAN DX100: InstructionsInstructionsInstructionsInstruction manualInstruction manual
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Fieldbus PCI-CardCardSAFE-OPERATIONALInput I/O data (PDOs) can be sent from the module to the master in the SAFE-OPERATIONAL state.No data communication from the master to the module.OPERATIONALIn OPERATIONAL state all kinds of communication are allowed, input I/O data from slave to master,output I/O data from master to slave as well as SDO communicationFieldbus interface1 8Fig. 71 RJ45 female layoutPin RJ45(Female) Signal1 TD+2 TD-3 RD+4 Termination5 Termination6 RD-7 Termination8 Termination17.2.3 Network SetupThe only setup needed on the robot controller is the amount of used IO. No IP address is used onEtherCAT. Instead the addressing is made by the EtherCAT master and the address depends onwhere the slave is on the EtherCAT network.EtherCAT network can have any topology, but, unlike many other Ethernet based fieldbuses,standard network switches cannot be used. An EtherCAT slave forwards a telegram directly from anincoming port to an outgoing port by HW assistance. If a node is last on the network it sends thetelegrams back on the inport.If the slave shall detect lost connection with the master, the Synch Manager Watchdog (SMWatchdog) has to be enabled by the master. See Fig. 72 Settings for recommended configuration ofSM Watchdog (register 420 h = 1000) and the Multiplier (register 400h = 2498), resulting in 100 mswatchdog. Fig. 72 Settings is a screen shot from Beckhoff’s System Manager. The HMS supportwebsite has a guide showing how to set up a Beckhoff PLC for AnyBus-S EtherCAT.Page 78 Reg.No. ME00107EN-02 |
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