G
EtherCAT network adapter
GN-9386
User manual
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 1 of (44)
GN-9386 User Manual
G
DOCUMENT CHANGE SUMMARY
REV.
PAGES
REMARKS
DATE
Editor
1.00
New Document
2018/7/30
1.01
First release
2019/01/29
NJL
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 2 of (44)
GN-9386 User Manual
G
Contents
1. Important Notes ............................................................................................................................................................. 5
1.1. Safety Instruction .............................................................................................................................. 6
1.1.1. Symbols .............................................................................................................................................................. 6
1.1.2. Safety Notes ..................................................................................................................................................... 6
1.1.3. Certification ....................................................................................................................................................... 6
2. Environment Specification ........................................................................................................................................... 7
3. General Description ....................................................................................................................................................... 8
3.1. GN-9386 Specification ..................................................................................................................... 8
3.2. GN-9386 Wiring Diagram................................................................................................................. 9
3.3. GN-9386 LED Indicator .................................................................................................................. 10
3.3.1. LED Indicator .................................................................................................................................................. 10
3.3.2. MOD(Module Status LED) ........................................................................................................................ 10
3.3.3. RUN(Current Running Status LED) ....................................................................................................... 10
3.3.4. ERROR(Error State LED) ....................................................................................................................... 11
3.3.5. IOS LED(Extension Module Status LED) ....................................................................................... 11
3.3.6. Field Power, System Power LED(Field Power, System Power Status LED) ............... 11
3.3.7. Indicator states and flash rates .......................................................................................................... 12
3.4. GN-9386 Electrical Interface......................................................................................................... 13
3.4.1. RJ-45 Socket ................................................................................................................................................ 13
3.4.2. DIP Swit ch ..................................................................................................................................................... 13
3.4.3. RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide .................................................... 14
3.5. EtherCAT ID Type Setup ............................................................................................................... 14
3.5.1. Hot Connection On TwinCAT .............................................................................................................. 14
3.6. I/O Process Image Map .................................................................................................................. 17
3.6.1. Example of Input Process Image (Input Register) Map ......................................................... 18
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 3 of (44)
GN-9386 User Manual
G
3.6.2. Example of Output Process Image (Output Register) Map ................................................. 19
4. Dimension ........................................................................................................................................................................ 21
4.1. GN-9386 ............................................................................................................................................. 21
5. EtherCAT Basics ............................................................................................................................................................. 22
5.1. EtherCAT Protocol .......................................................................................................................... 22
5.2. EtherCAT State Machine ............................................................................................................... 22
5.3. EtherCAT Mailbox ........................................................................................................................... 24
5.4. CoE Interface .................................................................................................................................... 26
5.4.1. Parameter management in the EtherCAT system .................................................................... 26
5.4.2. Communication Objects ........................................................................................................................ 27
6. MODBUS Interface ....................................................................................................................................................... 29
6.1. MODBUS Interface Register/Bit Map ......................................................................................... 29
6.2. Supported MODBUS Function Codes ....................................................................................... 30
6.2.1. 8 (0x08) Diagnostics ................................................................................................................................. 32
6.2.2. Error Response ........................................................................................................................................... 33
6.3. MODBUS Special Register Map .................................................................................................. 34
6.3.1. Adapter Identification Special Register (0x1000, 4096) ......................................................... 34
6.3.2. Adapter Information Special Register (0x1100, 4352) ............................................................ 35
6.3.3. Expansion Slot Information Special Resister (0x2000, 8192) ............................................ 36
6.4. Supported MODBUS Function Codes ....................................................................................... 38
7. TROUBLE SHOOTING .................................................................................................................................................. 39
APPENDIX A ....................................................................................................................................................................... 41
A.1. Product List ..................................................................................................................................... 41
A.2. Glossary............................................................................................................................................ 43
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 4 of (44)
GN-9386 User Manual
G
Warning!
Caution!
1. Important Notes
Solid state equipment has operational characteristics differing from those of electromechanical equipment.
Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls describes some
important differences between solid state equipment and hard-wired electromechanical devices.
Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons
responsible for applying this equipment must satisfy themselves that each intended application of this
equipment is acceptable.
In no event will CREVIS be responsible or liable for indirect or consequential damages resulting from the use
or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular installation, CREVIS cannot assume responsibility
or liability for actual use based on the examples and diagrams.
If you don’t follow the directions, it could cause a personal injury, damage to the equipment or
explosion
Do not assemble the products and wire with power applied to the system. Else it may cause an electric
arc, which can result into unexpected and potentially dangerous action by field devices. Arching is
explosion risk in hazardous locations. Be sure that the area is non-hazardous or remove system power
appropriately before assembling or wiring the modules.
Do not touch any terminal blocks or IO modules when system is running. Else it may cause the unit to an
electric shock or malfunction.
Keep away from the strange metallic materials not related to the unit and wiring works should be
controlled by the electric expert engineer. Else it may cause the unit to a fire, electric shock or
malfunction.
If you disobey the instructions, there may be possibility of personal injury, damage to equipment
or explosion. Please follow below Instructions.
Check the rated voltage and terminal array before wiring. Avoid the circumstances over 55℃ of
temperature. Avoid placing it directly in the sunlight.
Avoid the place under circumstances over 85% of humidity.
Do not place Modules near by the inflammable material. Else it may cause a fire.
Do not permit any vibration approaching it directly.
Go through module specification carefully, ensure inputs, output connections are made with the
specifications. Use standard cables for wiring.
Use Product under pollution degree 2 environment.
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 5 of (44)
GN-9386 User Manual
G
1.1. Safety Instruction
1.1.1. Symbols
Identifies information about practices or circumstances that can cause an explosion
in a hazardous environment, which may lead to personal injury or death property
damage or economic loss.
Identifies information that is critical for successful application and understanding of
the product.
Identifies information about practices or circumstances that can lead to personal
injury, prop ert y dam age, or ec onomic loss.
Attentions help you to identity a hazard, avoid a hazard, and recognize
the consequences.
1.1.2. Safety Notes
The modules are equipped with electronic components that may be destroyed by
electrostatic discharge. When handling the modules, ensure that the environment
(persons, workplace and packing) is well grounded. Avoid touching conductive
components, e.g. G-BUS Pin.
1.1.3. Certification
c-UL-us UL Listed Industrial Control Equipment, certified for U.S. and Canada
See UL File E235505
FCC, Reach, RoHS- II, China RoHS
CE Certificate
EN 61000-6-2; Industrial Immunity
EN 61000-6-4; Industrial Emissions
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 6 of (44)
GN-9386 User Manual
G
Environment Specification
Operating Te mperature
-40℃~70℃
UL Temperature
-20℃~60℃
Storage Temperature
-40℃~85℃
Relative Humidity
5% ~ 90% non-condensing
Mounting
DIN rail
General Specification
Shock Operating
IEC 60068-2-27
Vibration resistance
Sine Vibration (Based on IEC 60068-2-6)
- Test time : 1hrs for each test
EMC resistance burst/ESD
EN 61000-6-2 : 2005
EN 61000-6-4/ALL : 2011
Installation Pos. / Protect. Class
Variable/IP20
Product Certifications
CE, UL
2. Environment Specificati o n
- 5 ~ 25Hz : ±1.6mm
- 25 ~ 300Hz : 4g
- Sweep Rate : 1 Oct/min, 20 Sweeps
Random Vibration (Based on IEC 60068-2-64)
- 10 ~ 40 Hz : 0.0125 g
- 40 ~ 100 Hz : 0.0125 → 0.002 g
- 100 ~ 500 Hz : 0.002 g
- 500 ~ 2000 Hz : 0.002 → 1.3 x 10
2
/Hz
2
/Hz
2
/Hz
-4g2
/Hz
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 7 of (44)
GN-9386 User Manual
G
3. General Description
3.1. GN-9386 Specification
Items Specification
Communication Interface Specification
Adapter Type Slave Node (EtherCAT)
Max. Expansion Slot 63 slots
I/O Data Size Max 128 bytes each slot
Max. Network Node 65535
Baud Rate 100Mbps
Bus Connection 2 x RJ-45
Mac Address / IP Address Not needed
Other Serial Port RS232 for MODBUS/RTU, Touch Panel or I/O Guide(Crevis Soft ware)
Node : 1 (Fixed)
Serial Configuration
(RS232)
Baud Rate : 115200 (Fixed)
Data bit : 8 (Fixed)
Parity bit : No parity (Fixed)
Stop bit : 1 (Fixed)
6 Status LEDs
1 Green/Red, Module Status (MOD)
Indicator
Module Location Starter module left side of G-Series system
Field Power Detection About 14Vdc
General Specification
System Power
Power Dissipation 70mA @ 24Vdc
Current for I/O Module 1.5A @ 5Vdc
Isolation
Field Power
1 Green, Network Status (RUN)
1 Red, Error Status (ERROR)
1 Green/Red Expansion I/O Module Statsus (IOS)
1 Green, System Power Status
1 Green, Field Power Status
Supply voltage : 24Vdc nominal
Supply voltage range : 15~32Vdc
Protection : Output current limit (Min. 1.5A)
Reverse polarity protection
System power to internal logic : Non-Isolation
System power I/O driver : Isolation
Supply voltage : 24Vdc typical (Max. 32Vdc)
* Field Power Range is different depending on IO Module series.
Refer to IO Module`s Specification.
Weight 167g
Module Size 54mm x 99mm x 70mm
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 8 of (44)
GN-9386 User Manual
G
3.2. GN-9386 Wiring Diagram
Pin No. Signal Description Signal Description Pin No.
0 System Power, 24V System Power, Ground 1
2 System Power, 24V System Power, Ground 3
4 F.G F.G 5
6 Field Power, Ground Field Power, Ground 7
8 Field Power, 24V Field Power, 24V 9
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 9 of (44)
GN-9386 User Manual
G
Status
LED
Not Powered
OFF
Normal, Operational
Green
Device in Standby
Flashing Green
Minor Fault
Flashing Red
Unrecoverable Fault
Red
Status
LED To ind icate
Init OFF State of the EtherCAT State Machine: INIT = Initialization.
Pre
Blinking
State of the EtherCAT State Machine: PREOP =
Safe
Single Flash
State of the EtherCAT State Machine: SAFEOP = Safe
Initialization or Bootstrap
Flashes
State of the EtherCAT State Machine: BOOT = Bootstrap (Update
of the coupler firmware)
Operational
ON State of
3.3. GN-9386 LED Indicator
3.3.1. LED Indicator
LED No. LED Function / Description LED Color
MOD Module Status Green/Red
RUN Current Running Status Green
ERROR Error Status (EtherCAT) Red
IOS Extension Module Status Green/Red
System Power System Power Enable Green
Field Power Field Power Enable Green
3.3.2. MOD(Module Status LED)
To indicate
power is not supplied to the unit.
The unit is operating in normal condition.
The EEPROM parameter is not initialized yet.
Serial Number is zero value (0x00000000)
The unit has occurred recoverable fault in self-testing.
- EEPROM checksum fault.
The unit has occurred unrecoverable fault in self-testing.
- Firmware fault
3.3.3. RUN(Current Running Status LED)
-Operation
-Operation
the EtherCAT State Machine: Operational.
Pre-Operation.
-Operation.
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 10 of (44)
GN-9386 User Manual
G
Status
LED
To indicate
3.3.4. ERROR(Error State LED)
No Error OFF No Error.
Invalid Configuration Blinking Invalid Configuration.
3.3.5. IOS LED(Extension Module Status LED)
Status LED To indicate
Not Powered OFF Device has no expansion module or may not be powered.
Internal Bus On-line,
Do not Exchanging I/O
Internal Bus Connection,
Run Exchanging I/O
Internal Bus Connection Fault
during Exchanging I/O
Expansion Configuration
Failed
Flashing
Green
Green Exchanging I/O data.
Red
Flashing
Red
Internal Bus is normal but does not exchanging I/O data.
(Passed the expansion module configuration)
One or more expansion module occurred in fault state.
- Changed expansion module configuration.
- Internal Bus communication failure.
- Mismatch vendor code be tw een ad apter and expansion module.
Failed to initialize expansion module.
- Detect invalid expansion module ID.
- Overflow Input/Output size.
- No expansion module.
- Too many expansion module.
- Initial protocol failure.
3.3.6. Field Power, System Power LED(Field Power, System Power Status LED)
Status LED To indicate
Not supplied field, system power OFF Not supplied 24Vdc field power, 5Vdc system power.
Supplied field, system power Green Supplied 24Vdc field power, 5Vdc system power.
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 11 of (44)
GN-9386 User Manual
G
LED ON
Constantly ON
3.3.7. Indicator states and flash rates
LED OFF Constantly OFF.
LED flickering
LED blinking
LED single flash
LED double flash
LED triple flash
Equal ON and OFF times with a frequency of approximately 10 Hz: ON for approximately
50ms and OFF for approximately 50ms.
Equal ON and OFF times with a frequency of approximately 2, 5Hz: ON for approximately
200ms followed by OFF for approximately 200ms.
One short flash (approximately 200ms) followed by a long OFF phase
(approximately 1000ms)
A sequence of two short flashes (approximately 200ms), separated by an OFF phase
(approximately 200ms).
The sequence is finished by a long OFF phase (approximately 1000ms)
A sequence of three short flashes (approximately 200ms), separated by an OFF phase
(approximately 200ms).
The sequence is finished by a long OFF phase (approximately 1000ms)
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 12 of (44)
GN-9386 User Manual
G
3.4. GN-9386 Electrical Interface
3.4.1. RJ-45 Socket
RJ-45 Signal Name Description
1 TD+ Transmit +
2 TD- Transmit 3 RD+ Receive +
4 -
5 -
6 RD- Receive 7 -
8 -
Case Shield
Shielded RJ-45 Socket
3.4.2. DIP Switch
DIP Pole# Description
1 IdentificationValue DIP bit#0
2 IdentificationValue DIP bit#1
3 IdentificationValue DIP bit#2
4 IdentificationValue DIP bit#3
5 IdentificationValue DIP bit#4
6 IdentificationValue DIP bit#5
7 IdentificationValue DIP bit#6
8 IdentificationValue DIP bit#7
9 Not Used
10 Not Used
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 13 of (44)
GN-9386 User Manual
G
3.4.3. RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide
Pin# Signal Name Description
1 Reserved ---2 TXD RS232 TXD
3 RXD RS232 RXD
4 GND RS232 GND
3.5. EtherCAT ID Type Setup
3.5.1. Hot Connection On TwinCAT
Hot connection function c an be used to remove a node from a preconf igured Configuration or change the
location of nodes and flexible.This featur e is avai labl e only Ethercat ID Type in TwinCAT.
The user can use the external Dip Switch settings of the Adapter Identification Value.
For an example of using an external Dip Switch ( Refer to 2.4.2. )
Ex) node 1 (Min)
Ex) node 255 (Max)
-series GN-9386 EtherCAT Rev. 1.01.docx
Page 14 of (44)
Loading...