Fieldbus PCI-Card
SAFE-OPERATIONAL
Input 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.
OPERATIONAL
In 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 communication
Fieldbus interface
Fig. 71 RJ45 female layout
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination
5 Termination
6 RD-
7 Termination
8 Termination
17.2.3 Network Setup
The only setup needed on the robot controller is the amount of used IO. No IP address is used on
EtherCAT. Instead the addressing is made by the EtherCAT master and the address depends on
where 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 an
incoming port to an outgoing port by HW assistance. If a node is last on the network it sends the
telegrams back on the inport.
If the slave shall detect lost connection with the master, the Synch Manager Watchdog (SM
Watchdog) has to be enabled by the master. See Fig. 72 Settings for recommended configuration of
SM Watchdog (register 420 h = 1000) and the Multiplier (register 400h = 2498), resulting in 100 ms
watchdog. Fig. 72 Settings is a screen shot from Beckhoff’s System Manager. The HMS support
website 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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