twincat ec diag eng 21
DESCRIPTION
TwinCat EtherCat diagnosticsTRANSCRIPT
19.02.2009 1
New Automation Technology
EtherCAT Training
Agenda
TwinCAT & EtherCAT
§ EtherCAT Theory§ EtherCAT Features
§ Sync Units§ Hot Connect§ Distributed Clocks
§ TwinCAT Integration§ EtherCAT Setup§ EtherCAT Diagnosis
Dr. Josef PapenfortTwinCAT Product Management
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EtherCAT Training
Adresses in EtherCAT
Auto Inc Addr: The Auto Increment Address of the EtherCAT slave device. Auto-increment addressing can be used to address each slave device via its physical position in the communication ring. Auto-increment addressing is used during the start-up phase, during which the master assigns the EtherCAT Address to the slaves. The first slave in the ring has an address of 0 and for each following the addresses is decremented (0xFFFF(-1),0xFFFE(-2) etc.).
EtherCAT Addr: The fixed Address of the EtherCAT slave device. This address is set by the master during the start-up phase. To change the default value you have to check the box left to the address.
(EtherCAT specification)
EtherCAT Theory: Addresses
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EtherCAT Training
EtherCAT Theory
EtherCAT Diagnosis
§ separation from process data and bus diagnosis (helpful to make modular control architectures)
§ Process data: §Working Counter shows if process data exchange is valid or not§Working Counter for one datagram (subframe, command)
§ Bus diagnosis: CRC shows if frame is correct or not§ CRC for one frame (with one or more datagrams)
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EtherCAT Training
EtherCAT Diagnosis
§ In every cycle, synchronous with the cycle- Working Counteràchecks the reading and/or writing of process dataàreaction must be done in the application
§ Asynchronous, not in every cycle, event triggered- Master Stateà State Machine of the masterà Device state
- Slave Stateà State Machineà Link state
EtherCAT Theory: Working Counter
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EtherCAT Training
EtherCAT Theory: Working Counter
WcState
§ Variable of Type BOOL
§ Shows Working Counter State from one EtherCAT Slave § 0 (FALSE) = valid Working Counter§ 1 (TRUE) = invalid Working Counter
§ An invalid Working Counter State means that one EtherCAT Command forupdating the Inputs and Outputs has an incorrect Working Counter
§ With this EtherCAT Command more than one Slave can be addressed(every Slave in this command has the same Working Counter 1).
§ Check the Slave State to see which Slave is responsible for the Working Countererror.
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EtherCAT Training
EtherCAT Theory: Working Counter
WorkingCounter
EtherCAT datagram= Sub Frame
EtherCAT datagram= Sub Frame
SyncUnit = one datagram = one WKC = one special cyclic diagnosis information
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EtherCAT Training
EtherCAT Theory: Frames
Frames
§ Task with I/O = one Ethernet frame = one to 15 datagrams(one Ethernet frames transports up to 1480 bytes)
- If more than 15 datagrams necessary à new frame with same timing- If more than 1480 bytes à new frame with same timing
§ Default: up to 4 tasks with own I/O
- If more than 4 frames necessary à all low prio I/Os in one (or more)frames with the timing of the low prio task
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EtherCAT Training
EtherCAT Theory: CRC
Frames
§ Every Ethernet frame has a Frame Check Sequence (FCS)§ FCS has a 16bit CRC§ frames can be destroyed or damaged while running through the network§ EtherCAT Master sums CRC errors in master and in every slave§ CRC errors result from
- cabling errors- contact problems- loose contacts- not fixed connectors
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EtherCAT Training
EtherCAT Theory: CRC
Frames
frequency of occurrenceon Port A of
Slaveà
Possible Error detected!
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EtherCAT Training
EtherCAT Features
EtherCAT Features – Sync Units
§ for independent modules: a module defines a set of process datawhich is consistent and synchronized
§ combination of data from different slaves: validity of data isimportant
§ cyclic process data diagnosis for each sync unit
§ if process data in one sync unit is invalid: separate reaction ofcontrol application can be defined
§ for Multi-Task-Operation: each Task has own Sync-Unit/Frame(read/write process data in different task cycles) à reduces busload!
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step-by-Step Diagnosis
Summary
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EtherCAT Training
EtherCAT Sync UnitsBus Diagnostic
Process data-diagnostic (1 Bit)
Per datagram
Task 0
Task 1
M
EtherCAT I/O EtherCAT DrivesM
Mod
ular
Con
trol
Stru
ctur
eD
ata
Exch
ange
Phys
ical
Bus
sta
tions
Datagram 0
t
Sync Unit 1Sync Unit 2Sync Unit 3
M
Datagrams Datagram 0
Frame
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EtherCAT Training
EtherCAT Sync Units
§ Useful for applications with machine parts which can be out of order (planned orunplanned) and the rest of the machine should work. àSync Units help to structurethese applications
§ granularity depends on EtherCAT Slaves
§ Each EtherCAT Slave defines one or more process data areas which can beexchanged synchron and consistent
§ The number of independent process data areas depends on the implementationand resources of the EtherCAT Slave Controller (Sync Manager and FMMUchannels)
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EtherCAT Training
TwinCAT&EtherCAT: Overview
Sync Units
§ Automatically assigned Sync Units§ EL67xx
§ Automatically assigned Sync Units§ Hot Connect groups
§ User defined Sync Units§ collection of EtherCAT slave§ i.e. for one part of the machine or for a hot
connected part of the network
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EtherCAT Training
EtherCAT Sync Units in TwinCAT System Manager
PLC TaskStandard
NC Task
PLC TaskFast
User definedSync Unit
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EtherCAT Training
EtherCAT Sync Units in TwinCAT System Manager
Datagrams for user defined SyncUnit
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Master Settings
§ Master Configuration§ Online: Scan Devices§ Select EtherCAT Device
§ Offline: Insert EtherCAT Master Device§ Select and configure network adapter
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step-by-Step Diagnosis
Summary
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Master Settings - Adapter
Experts only:
Use Device NameInstead of GUID
Search for Not Intel-based Network Adapter
XP: GUID
CE: fixed name
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Master Settings
List of adapters
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EtherCAT Training
EtherCAT, driver installation
EtherCAT driver installationim System Manager Compatible device but not installed
Compatible device and installed
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Master Settings - EtherCAT
TasksFrames and Datagrams
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Master Settings - EtherCAT
Tasks TopologyLength of frame andWorking counter
Utilization
Commands
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EtherCAT Training
TwinCAT&EtherCAT: Setup
For Advanced users only!
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – InfoData Configuration
Configuration of Info Data
Master StartupBehavior
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – InfoData Configuration
Configuration of SlaveInfo Data Slave Checks
Slave StateMachine
Slave Configurations for all slaves in network!
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Actual Tasks
Sync Task Configuration
(max. 4 Tasks)
RepeatedFrames
(only with some Slaves!)
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Setting for Ethernet over EtherCAT (EoE)
Supplement
Later on
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Slaves
States
Masterstate
Frame Statistic
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Slave Settings
§ Slave Configuration§ Slaves Configuration§ Startup Data§ CANopen over EtherCAT§ File over EtherCAT§ Firmware Update (Bootstrap)
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step-by-Step Diagnosis
Summary
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Slave Settings – EL3102
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Slave Settings – EL3102 - EtherCATAutoincrement
address
Slave address
To fix the address
Link to web
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Slave Settings – EL3102 – EtherCAT – Advanced Settings
Rev Number compared to configured slave
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Slave Settings – EL3102 – Startup List
Add new Startup Parameter
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Slave Settings – EL3102 – CoE Online
Index/Subindex
Accessrights
Readable Parameters
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Select parameter
Updated list
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EtherCAT Training
CoE: CanOverEtherCAT (System Manager)exemple baudrate EL6001, 9600 Bauds
In the start-up tab you can configure the object. The terminal will be reconfigured automatically when a replacement occurs, more reliable for the machine (like Register Communication and KLs terminal).
0x0006 = 9600 Bauds
TwinCAT&EtherCAT: Setup
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EtherCAT Training
TwinCAT&EtherCAT: Setup
Slave Settings – EL3102 – Online
Slave state
Link state
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EtherCAT Training
EtherCAT Diagnosis
§ General Overview§ Diagnosis with TwinCAT System Manager § Diagnosis with TwinCAT Topology View§ Diagnosis with ADS § Diagnosis with PLC Library§ Advanced Diagnosis with Network Monitor
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step-by-Step Diagnosis
Summary
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
EtherCAT Diagnosis inside TwinCAT
EtherCAT MasterPort 0xFFFF
EtherCAT SlavePort=EC Address
EtherCAT SlavePort=EC Address
EtherCAT SlavePort=EC Address
ADS = Automation Device Specification
TwinCAT System Manager EtherCAT Topology View TwinCAT TcEtherCAT.lib
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EtherCAT Training
System Manager: online overview Slavestatus
Slave-CRC
Port A, B, C, (D)
Masterstatus
Framestatistic
TwinCAT&EtherCAT: Overview
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step-by-Step Diagnosis
Summary
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EtherCAT Training
EtherCAT Master/Slave States in TwinCAT System Manager
Experts only: Additional Debug Info
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EtherCAT Training
E-Bus Current Consumption
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – Process Images
Info process image
Diagnosis Info
Process images(Number depends on
number of tasks/frames)
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – Inputs
For each Frame:§ FrmXState§ FrmXWcState
X=Frame Number
Frame State
Frame Working Counter
State
Slave Count
Device State Master
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – States
EtherCAT Working Counter
Frame withDatagrams
One Framestate/Frame
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
EtherCAT Commands
Meaning
APRD Auto Increment Physical Read
NPRD Node-Addressed Physical Read
LRD Logical Read
BRD Broadcast Read
APWR Auto Increment Physical Write
NPWR Node-Addressed Physical Write
LWR Logical Write
BWR Broadcast Write
LRW Logical Read Write
ARMW Auto Increment Physical Read Multiple Write
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – Inputs - FrmXState
Bit Meaning
0 (0x0001) 1. EtherCAT command not sent
1 (0x0002) 2. EtherCAT command not sent
2 (0x0004) 3. EtherCAT command not sent
…..
14 (0x4000) 15. EtherCAT command not sent
15 (0x8000) complete frame not sent
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – Inputs - FrmXWcState
Bit Meaning
0 (0x0001) wrong working counter of 1. EtherCAT command received
1 (0x0002) wrong working counter of 2. EtherCAT command received
2 (0x0004) wrong working counter of 3. EtherCAT command received
…
14 (0x4000) wrong working counter of 15. EtherCAT command received
15 (0x8000) complete frame missing
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – Inputs - WcState
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – Inputs - WcState
No difference in information!§ Use global information in FrmXWcState or§ Use local information direct on the slave!
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – Inputs - DevState
Device State Master
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Bit Meaning
0 (0x0001) Link error detected.
1 (0x0002) I/O locked after link error (I/O reset required)
2 (0x0004) Link error (redundancy adapter)
3 (0x0008) Missing one frame (redundancy mode)
Master Diagnosis – Inputs – DevState (1/4)
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Bit Meaning
4 (0x0010) Out of send resources (I/O reset required)
5 (0x0020) Watchdog triggered
6 (0x0040) Ethernet driver (miniport) not found
7 (0x0080) I/O reset active
Master Diagnosis – Inputs – DevState (2/4)
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Bit Meaning
8 (0x0100) At least one device in 'INIT' state
9 (0x0200) At least one device in 'PRE-OP' state
10 (0x0400) At least one device in 'SAFE-OP' state
11 (0x0800) At least one device indicates an error state
Master Diagnosis – Inputs – DevState (3/4)
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Bit Meaning
12 (0x1000) DC not in sync (DC = distributed clocks)
Master Diagnosis – Inputs – DevState (4/4)
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Diagnosis – InfoData
EtherCAT Master AmsNetId
InfoData process images are not updated in every cycle§ Update on event/change§ Mappable variables§ i.e. map NetIds instead of using them directly!
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Clear Frame Statistic
Clear CRC Counter
Cyclic frames (depends on cycletime)
Acyclic frames (Mailbox)
Lost framesFlow in 1/sTotal
Rx / Tx, layer 0 CRC Intel Chipset
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Object Directory:
§ Identity§ List of conf. Slaves§ List of Slave States
§ Access via CoEà ADS
Master Identity
Configured Slaves
Slave States
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Settings – Emergency Scan
Only in Emergency Cases:
§ Only in Config Mode available!§ Checks Network and looks for
Slaves
§ Scans the network slave by slave!§ Flat List of found Slave (no
topology)§ frame statistic (tests with 10,1000
and more frames)§ Includes Link Information
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Settings – Emergency Scan
Close Ports
Slav
e 1
Slav
e 2
Slav
e 3
Slav
e 4
Slav
e n
1. Close Ports of Slave x2. Send Frame3. Get slave Identity for Slave x4. x=x+1 5. Goto 1
Slave with errorDetected!
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Slave Diagnosis – EL3102 Slave Info Data
Slave State
Slave AMS Net Id
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step-by-Step Diagnosis
Summary
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Slave Diagnosis – EL3102 + Firmware Update
WcState (1 bit)
Firmware UpdateOnly in Bootstrap State!
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Slave Diagnosis – EL3102
Slave State
State Machine
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Slave Diagnosis - State
Bit Meaning
0x___1 Slave in 'INIT' state
0x___2 Slave in 'PREOP' state
0x___3 Slave in 'BOOT' state
0x___4 Slave in 'SAFEOP' state
0x___8 Slave in 'OP' state
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Bit Meaning
0x0010 Slave signals error
0x0020 Invalid vendorId, productCode... read
Slave Diagnosis - State
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Bit Meaning
0x0100 Slave not present
0x0200 Slave signals link error
0x0400 Slave signals missing link
0x0800 Slave signals unexpected link
Slave Diagnosis - State
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Bit Meaning
0x1000 Communication port A
0x2000 Communication port B
0x4000 Communication port C
0x8000 Communication port D
Slave Diagnosis - State
Port A Port B Port A Port B
Port C1 2 2
1
31
2
3
4
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Slave Diagnosis - State
Slave State: 0x A B C D
State• INIT• PREOP• BOOT• SAFEOP• OP
Error• Slave Error• Wrong IDs
Link• not present• Link error• Missing link• unexpected link
Link• port A• port B• port C• port D
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
EtherCAT Topology View
§ graphically view to all slaves in right topology§ all diagnosistic information directy in one view§ uses ADS Interface§ detailled information on click§ ActiveX control: can also be used in your application
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step-by-Step Diagnosis
Summary
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EtherCAT Training
Configuration of EtherCAT§ TwinCAT System Manager§ for offline and online configuration of EtherCAT
TwinCAT&EtherCAT: Diagnosis
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EtherCAT Training
Graphical EtherCAT Diagnosis
TwinCAT&EtherCAT: Diagnosis
Online Slave State
Online CRC Count
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EtherCAT Training
System Manager: Online Slave Ansicht
TwinCAT&EtherCAT: Setup
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EtherCAT Training
EtherCAT Topology View: Found versus Configured Slaves
Missing Slaves
Slave Details
TwinCAT&EtherCAT: Diagnosis
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EtherCAT Training
EtherCAT Topology View ActiveX Control- Integrated in TwinCAT System Manager
TwinCAT&EtherCAT: Diagnosis
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EtherCAT Training
EtherCAT Topology View ActiveX Control- Integrated in your HMI as ActiveX Control
TwinCAT&EtherCAT: Diagnosis
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
ADS Interface to EtherCAT Master/Slave
§ Communication Interface for EtherCAT Devices
EtherCAT Master Net Id +Port (0xFFFF for Master, Slave Address for Slave) +Index Group +Index Offset =
Complete Access
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step-by-Step Diagnosis
Summary
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Net Id
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Interface
ADS Port Meaning
65535 (0xFFFF) General Ads services handled by the master directly.
0x1 - 0xFFFE (fixed address of a slave device)
This is an ADS service directed at an individual slave device. The port number is the same as the EtherCATaddress of the slave device.
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Master Interface - Example
IndexGroup
Index Offset
Meaning
0x00000003 0x00000100 Returns current state of master.
0x00000006 0x00000000 Returns the number of projected slaves.
Documentation of all ADS IndexGroup/IndexOffset: See Beckhoff InformationSystem
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Slave Interface – CANopen over EtherCAT
IndexGroup
Index Offset
Meaning
0x0000F302 Index and Subindex of an SDO (coded see InfoSystem!)
Example:0x1c120001:index = 0x1c12
subindex = 1
SDO Upload/Download Request. The object is selected with the index offset.
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Slave Interface – Servo Drive over EtherCAT
IndexGroup
Index Offset
Meaning
0x0000F420 IDN = LOWORD(0x0000yyyy)HIWORD for special attributes!
(coded see InfoSystem!)
Upload/Download IDN
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks for EtherCAT Master/Slave
§ Uses ADS Interfaces§ Same Look-and-Feel for all Functionblocks
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step-by-Step Diagnosis
Summary
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Overview
Name Meaning
FB_EcCoeSdoRead SDO(Service Data Object)-Access Read data from an EtherCAT Slave object directory (Mailbox communication necessary!)
FB_EcCoeSdoWrite SDO-Download Write to EtherCAT Slave object directory
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Overview
Name Meaning
FB_EcSoeRead Read Parameter via "Servo Drive Profile over EtherCAT“ (SoE)
(Mailbox communication necessary!)FB_EcSoeWrite Write Parameter via "Servo Drive Profile over
EtherCAT“ (SoE)
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Overview
Name Meaning
FB_EcGetAllCrcErrors Read CRC-Error Counter from all Slaves
FB_EcGetAllSlaveAddr Read EtherCAT Addresses from all Slaves
FB_EcGetAllSlaveStates Read State and Link State from all Slaves
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Overview
Name Meaning
FB_EcGetMasterState Get State from Master
FB_EcGetSlaveCount Get Number of Slaves from Master
FB_EcGetSlaveCrcError Get CRC-Error Counter from one single Slave (for all single Ports A, B, C)
FB_EcGetSlaveIdentity Get CANopen Identity from one single Slave
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Overview
Name Meaning
FB_EcGetSlaveState Get EtherCAT State and Link State from one single Slave
FB_EcReqSlaveState Request a new EtherCAT State for one single Slave
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Overview
Name Meaning
FB_EcGetConfSlave Get list of all configured EtherCAT Slaves
FB_EcGetScannedSlaves Get list of all scanned (real existing) EtherCATSlaves
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Overview
Name Meaning
FB_EcFoeOpen Opens a FileOverEtherCAT (FoE) connection
FB_EcFoeAccess Gives access to FoE connection
FB_EcFoeClose Closes a FoE connection
FB_EcFoeLoad Loads a file over a FoE connection
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EtherCAT Training
Drive as NC PTP axisTcNcDrive.lib
Drive as EtherCAT SlaveTcDrive.lib
TcEtherCAT.lib
In: CPU Net IdNC Axis Struct
In: EtherCAT Master Net IdEtherCAT Slave AddrDrive Number/Type
EtherCAT Master Net IdEtherCAT Slave AddressDrive Number/Type
TwinCAT&EtherCAT: Diagnosis
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Example
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Example
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Example
Get List of Configured Slaves and get List of Scanned (real existing) Slaves
à Possible with PLC code!
Topology View TcEtherCAT.Lib
Same functionality
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
PLC Functionblocks – Example
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Diagnosis – Step by Step
§ Check FrmXWcState for all Frames (X = 1..n) § Check Master State
§ If FrmXWcState for Frame X <> 0 then§ detailed examination necessary§ Check Slave State for all Slave § reason: § Slave Error§ check Slave
§ Link Error§ check cables
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step by Step Diagnosis
Summary
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Diagnosis Step-by-Step with System Manager
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Diagnosis Step-by-Step with System Manager
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Diagnosis Step-by-Step with System Manager
Check Slave States and CRC Counter
Slave in INIT StateWith Error
Slave in INIT StateWith wrong
VendorID/ProductID/ RevisionNo/SerialNo
Slave in INIT StateWith Comm Error
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Diagnosis Step-by-Step with System Manager
Check State of one single Slave• Slave Error?• Link Error?
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Diagnosis Step-by-Step with PLC Program
Link with PLC Variables!
Link with PLC Variable!
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Diagnosis Step-by-Step with PLC Program
Master Problem?§ wrong State?§ Link Error?§ min. one Slave with wrong State?
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Diagnosis Step-by-Step with PLC Program
Working Counter Problem?§What was the reason for this problem? § Check States of all Slaves!
One Struct for each single Slave with§ Device State and § Link State
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TwinCAT&EtherCAT: Diagnosis
Diagnosis Step-by-Step with PLC Program
Number of Slaves
Iteration over all SlavesExample: to get the Identity of every Slave
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EtherCAT Training
TwinCAT&EtherCAT: Diagnosis
Diagnosis Step-by-Step with PLC ProgramGet Identity from a Slave
EL3142-0000-0000
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EtherCAT Training
Summary
§ TwinCAT EtherCAT Master means§ Easy configuration§ Powerful diagnosis§ ADS interface (= TcEtherCAT.lib)
§ TwinCAT + EtherCAT = eXtreme Fast Control!
EtherCAT Theory
EtherCAT Features- Redundancy- Sync Units- Hot Connect- Distributed Clocks
EtherCAT Setup- Master Setup- Slave Setup
EtherCAT Diagnosis- System Manager- Ec Topology View- ADS Interface- PLC Library- Network Monitor
Step-by-Step Diagnosis
Summary
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EtherCAT Training