Lust ServoOne - Installation and Cabling; Mounting and Connection of Ethercat

User Manual CANopen/EtherCAT
15
[Chapter 3]
3 Mounting and Connection
of EtherCAT
3.1 Installation and cabling
Setup of the EtherCAT network
In an EtherCAT network there is always one EtherCAT master (e. g. an industrial PC)
and a variable number of slaves (e. g. servo controller, bus terminals etc.). Each Ether
-
CAT slave has two Ethernet ports. Slave to slave cabling is thus possible. All EtherCAT
users are generally put together in a line with the master at the beginning of the circuit.
On the last slave in the line the second Ethernet port remains open.
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24 V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24 V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
one
Ser vo
56
x
3
x
1
x
2
x
4
x
5
1 2 34 5 6 7 8
x
19
s
4
x
15
x
16
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24 V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24 V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
one
Ser vo
56
x
3
x
1
x
2
x
4
x
5
1 2 34 5 6 7 8
x
19
s
4
x
15
x
16
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24 V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24 V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
one
Ser vo
56
x
3
x
1
x
2
x
4
x
5
1 2 34 5 6 7 8
x
19
s
4
x
15
x
16
IPC
Figure EtherCAT connection
IN and OUT socket (RJ-45 input/output)
Each EtherCAT slave has two RJ-45 sockets. The upper port (X15) is the (IN) input and
the lower port (X16) is the (OUT) output of the slave. The incoming cable (from the
direction of the master) is connected using the IN port, the outgoing cable is connected
to the next slave using the OUT port. The OUT port remains blank for the last slave in
the series. In the case of a slave an open output leads internally to a logical short circuit
of the transmit (Tx) and receive (Rx) cables. For this reason every EtherCAT network can
be regarded as a logical ring in terms of its topology.
Figure EtherCAT option
T
y
p
e
:
In
:
O
u
t
:
3
5
6
3
3
L
a
h
n
a
u
w
w
w
.
lu
s
t
-
t
e
c
.
d
e
M
a
d
e
in
G
e
r
m
a
n
y
U
S
C
L
IS
T
E
D
In
d
.
Co
n
t
.
E
q
.
1
9
B
B
SN.
:
S
O
A
8
4
.0
0
6
.0
0
0
0
.0
0
0
0
.0
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23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD0
6
ISD0
5
ISD0
4
ISD0
3
ISD0
2
ISD0
1
ISD0
0
+
24
V
D
GN
D
RS
H
RS
H
EN
P
O
OSD02
OSD01
OS
D00
ISA1
-
ISA1
+
ISA0
-
ISA0
+
+2
4
V
DGND
A
C
H
T
U
N
G
W
A
R
N
IN
G
K
o
n
d
e
n
s
a
t
o
r
e
n
e
n
t
-
l
a
d
e
z
e
i
t
>
3
m
i
n
.
B
e
t
r
i
e
b
s
a
n
l
e
i
t
u
n
g
b
e
a
c
h
t
e
n
!
C
a
p
a
c
i
t
o
r
d
i
s
c
h
a
r
g
e
t
i
m
e
>
3
m
i
n
.
P
a
y
a
t
t
e
n
t
i
o
n
t
o
t
h
e
o
p
e
r
a
t
i
o
n
m
a
n
u
a
l
!
o
n
e
S
e
r
v
o
5
6
x
3
x
1
x
2
x
4
x
5
x
1
0
x
9
x
6
x
7
x
8
x
1
1
L
1
L
2
L
3
ϑ
-
ϑ
+
ϑ-
ϑ+
ϑ
-
ϑ
+
ϑ-
ϑ+
x
1
5
x
1
6
AC
H
TUN
G
WA
R
NING
Ko
n
dens
at
o
rene
n
t-
ladeze
it > 3
min.
Be
t
riebsanleit
un
g
beac
ht
e
n!
Capa
citor discha
rg
e
time > 3
m
in
.
Pa
y
atte
ntion
to th
e
oper
at
i
on
manual
!
x
15
x
16
upper RJ-45 port = input
lower RJ-45 port = output