How it Works
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EtherCAT
User Manual
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Bronkhorst EtherCAT User Manual

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Instruction manual
EtherCAT® slave interface
for digital multibus
Mass Flow / Pressure instruments
Doc. no.: 9.17.063J Date: 17-12- 2014
ATTENTION
Not following the guidelines could result in personal injury and/or damage to the equipment.
Head Office: Nijverheidsstraat 1a, NL-7261 AK Ruurlo, The Netherlands, Tel. +31 573 458800, info@bronkhorst.com
BRONKHORST®
Important information. Discarding this information could cause injuries to people or
Instrument or installation.
Disclaimer
The information in this manual has been reviewed and is believed to be wholly reliable. No responsibility, however, is assumed for inaccuracies. The material in this manual is for information purposes only, and is subject to change without notice.
Bronkhorst High-Tech B.V. December 2011
Symbols
damage to the
Helpful information. This information will facilitate the use of this instrument.
Additional info available on the internet or from your local sales representative.
Warranty
Bronkhorst products are warranted against defects in material and workmanship for a period of three years from the date of shipment provided they are used in accordance with the ordering specifications and not subjected to abuse or physical damage. Products that do not operate properly during this period may be repaired or replaced at no charge. Repairs are normally warranted for one year or the balance of the original warranty, whichever is the longer.
See also paragraph 9 of the Conditions of sales:
http://www.bronkhorst.com/files/corporate_headquarters/sales_conditions/en_general_terms_of_sales.pdf
The warranty includes all initial and latent defects, random failures, and undeterminable internal causes.
It excludes failures and damage caused by the customer, such as contamination, improper electrical hook-up, physical shock etc.
Re-conditioning of products primarily returned for warranty service that is partly or wholly judged non-warranty may be charged for.
Bronkhorst High-Tech B.V. or affiliated company prepays outgoing freight charges when any party of the service is performed under warranty, unless otherwise agreed upon beforehand, however, if the product has been returned collect to our factory or service center, these costs are added to the repair invoice. Import and/or export charges, foreign shipping methods/carriers are paid for by the customer.
Page 2 EtherCAT interface 9.17.063
BRONKHORST®
Table of contents
1 GENERAL PRODUCT INFORMATION ................................................................................................. 4
1.1 INTRODUCTION ................................................................................................................................................ 4
1.2 MULTIBUS TYPES .............................................................................................................................................. 4
1.2.1 References to other applicable documents ................................................................................................. 5
1.2.2 Manuals and user guides: ........................................................................................................................... 5
1.2.3 Technical Drawings: .................................................................................................................................... 5
1.2.4 Software tooling: ........................................................................................................................................ 5
1.3 SHORT FORM START-UP ..................................................................................................................................... 6
2 FUNDAMENTALS OF ETHERCAT ........................................................................................................ 7
2.1 ETHERCAT STATE MACHINE ............................................................................................................................... 8
3 INSTALLATION ................................................................................................................................. 9
3.1 INSTRUMENT OVERVIEW .................................................................................................................................... 9
3.2 PIN ASSIGNMENT ............................................................................................................................................. 9
3.3 CONNECTION CABLES .......................................................................................................................................10
3.4 ETHERCAT CONNECTION...................................................................................................................................10
3.5 ROUTING AND SHIELDING THE BUS CABLE ..............................................................................................................11
3.6 BUS TERMINATION ..........................................................................................................................................11
3.7 SECOND ADDRESS SETUP ...................................................................................................................................11
4 PROTOCOLS .................................................................................................................................. 12
4.1 CAN APPLICATION LAYER OVER ETHERCAT (COE) ..................................................................................................12
4.1.1 Object Dictionary ...................................................................................................................................... 12
4.1.1.1 Object Dictionary in device description file (ESI) ....................................................................................................12
4.1.1.2 Generated Object Dictionary ..................................................................................................................................13
4.2 PROCESS DATA (PDO) .....................................................................................................................................13
5 DEVICE PROFILE DS-404 SUPPORT .................................................................................................. 14
6 DIAGNOSTICS ................................................................................................................................ 15
6.1 ETHERCAT STATUS INDICATOR ...........................................................................................................................15
6.1.1 Run indicator ............................................................................................................................................. 15
6.1.2 Error indicator ........................................................................................................................................... 15
7 SERVICE ........................................................................................................................................ 16
APPENDIX A: OBJECT DICTIONARY ........................................................................................................ 17
APPENDIX B: SI UNIT AND PREFIX SPECIFICATION ................................................................................. 23
APPENDIX C: NON-SI UNIT SPECIFICATION ............................................................................................ 24
Page 3 EtherCAT interface 9.17.063
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1 GENERAL PRODUCT INFORMATION

1.1 INTRODUCTION

Ethernet for Control Automation Technology (EtherCAT) is an open high performance Ethernet-based field bus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. Bronkhorst
Typical automation networks are characterized by short data length per node, typically less than the minimum payload of an Ethernet frame. Using one frame per node per cycle therefore leads to low bandwidth utilization and thus to poor overall network performance. EtherCAT therefore takes a different approach, called "processing on the fly".
With EtherCAT, the Ethernet packet or frame is no longer received, then interpreted and copied as process data at every node. The EtherCAT slave devices read the data addressed to them while the telegram passes through the device. Similarly, input data are inserted while the telegram passes through. The frames are only delayed by a fraction of a microsecond in each node, and many nodes - typically the entire network - can be addressed with just one frame.
Short cycle times can be achieved since the host microprocessors in the slave devices are not involved in the processing of the Ethernet packets to transfer the process images. All process data communication is handled in the slave controller hardware. Combined with the functional principle this makes EtherCAT a high performance distributed I/O system: Process data exchange with 1000 distributed digital I/O takes about 30 µs, which is typical for a transfer of 125 byte over 100Mb/s Ethernet. Data for and from 100 servo axis can be updated with up to 10 kHz. Typical network update rates are 1–30 kHz, but EtherCAT can be used with slower cycle times, too, if the DMA load is too high on your PC.
1)
Bronkhorst: This includes Bronkhorst High-Tech B.V. , Bronkhorst Cori-Tech B.V. and
M+W Instruments GmbH.
2)
EtherCAT®: EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation

1.2 MULTIBUS TYPES

In 2000 Bronkhorst developed their first digital instruments according to the “multibus” principle. The basic pc-board on the instrument contained all of the general functions needed for measurement and control, including alarm, totalizing and diagnostic functions. It had analog I/O-signals and also an RS232 connection as a standard feature. In addition to this there is the possibility of integrating an interface board with DeviceNet™, Profibus-DP FLOW-BUS protocol. The first generation (MBC-I) was based on a 16 bit Fujitsu controller. It was superseded in 2003 by the Multibus type 2 (MBC-II). This version was also based on the 16 bit Fujitsu controller but it had several improvements to the MBC-I. One of them is the current steering of the valve. It reduced heat production and improved control characteristics. The latest version Multibus controller type 3 (MBC3) is introduced in 2011. It is build around a 72MHz 32 bit NXP ARM controller. It has AD and DA controllers on board which makes it possible to measure noise free and control valves without delays. The internal control loop runs 6 times faster compared to the MBC-II therefore control stability has improved significantly. It also has several improved functions like reverse voltage protection, inrush current limitation and overvoltage protection.
MBC3 instruments can be recognised by the “MBC3” placed on lower left side of the instrument label (see example).
1)
implemented EtherCAT2) on its instruments.
GmbH, Germany.
®
, Modbus or
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BRONKHORST®
RS232 interface with
Bronkhorst High-Tech
Bronkhorst Cori-Tech
Bronkhorst Cori-Tech
Bronkhorst High-Tech
Document 9.17.022
Document 9.17.050
Document 9.17.044
Document 9.17.023
Document 9.17.024
Document 9.17.025
Document 9.17.026
Document 9.17.035
Document 9.17.027
General instructions
Instrument type based
Operational instructions
Field bus specific
information
Document 9.17.031
M+W Instruments
Document 9.17.063

1.2.1 References to other applicable documents

Manuals and guides for digital instruments are modular. General instructions give information about the functioning and installation of instruments. Operational instructions explain the use of the digital instruments features and parameters. Field bus specific information explains the installation and use of the field bus installed on the instrument.

1.2.2 Manuals and user guides:

General instructions digital Mass Flow / Pressure
General instructions CORI-FLOW
General instructions mini CORI-FLOW
General instructions digital LIQUI-FLOW L30
Instruction manual MASS-STREAM D-6300
Operational instructions
for digital multibus
Mass Flow / Pressure
instruments
FLOW-BUS interface
PROFIBUS–DP interface
DeviceNet interface
Modbus interface
FLOW-BUS protocol
EtherCAT interface

1.2.3 Technical Drawings:

Hook-up diagram laboratory-style EtherCAT (document nr. 9.16.098)

1.2.4 Software tooling:

Flowfix FlowDDE
All these documents can be found at:
http://www.bronkhorst.com/en/downloads
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BRONKHORST®
Bit 0 of object 0x6425:01 "CO Control Byte" should be 1 to activate the PID controller (bit 0 = controller
See APPENDIX A: OBJECT DICTIONARY, description of 0x6425 "CO Control byte".
START
Install device description
file
Bronkhorst provides an EtherCAT device description file (xml format). This file provides the master with information about the instrument to aid with its configuration. The device description file should be placed in the directory specified by the master. E.g. when using T C:\TwinCAT\Io\EtherCAT.
Start application
Start the master application.
Add optional objects
Optional: add objects to the PDO mapping objects 0x1700 and/or 0x1B00.
Download configuration
Master Op mode
The master application indicates to run in Op mode
Instrument Op mode
The instrument’s status led indicates to run in Op mode
Ready
Set the master application to download the configuration and activate it.

1.3 SHORT FORM START-UP

All necessary settings for this module are already performed at Bronkhorst. To follow next steps carefully is the quickest way to get this module operational in your own EtherCAT environment.
winCAT this could be
on/off).
The PID controller is activated by default, but because this object is included in the process data (PDO), the value 0 can be written by the EtherCAT master after entering the operational state.
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2 FUNDAMENTALS OF ETHERCAT

The EtherCAT protocol transports data directly within a standard Ethernet frame without changing its basic structure. When the master controller and slave devices are on the same subnet, the EtherCAT protocol merely replaces the Internet Protocol (IP) in the Ethernet frame.
Data is communicated between master and slaves in the form of process data objects (PDOs). Each PDO has an address to one particular slave or multiple slaves, and this “data and address” combination (plus the working counter for validation) makes up an EtherCAT telegram. One Ethernet frame can contain multiple telegrams, and multiple frames may be necessary to hold all the telegrams needed for one control cycle.
Several Device Profiles and Protocols can co-exist side by side With some real-time protocols, the master controller sends a data packet and must wait for the process data to be interpreted and copied at every slave node. However, this method of determinism may be difficult to sustain because the master controller must add and manage a certain amount of processing time and jitter per slave. EtherCAT technology overcomes these system limitations by processing each Ethernet frame on the fly. For example, suppose the Ethernet frame is a moving train, and the EtherCAT telegrams are train cars. The bits of PDO data are people in the cars who can be extracted or inserted by the appropriate slaves. The whole “train” passes through all the slave devices without stopping, and the end slave sends it back through all the slaves again.
In the same way, when device 1 encounters the Ethernet packet sent by the master, it automatically begins streaming the packet to device 2, all while reading and writing to the packet with only a few nanoseconds delay. Because the packet continues passing from slave to slave to slave, it could exist in multiple devices at the same time. What does this mean practically? Let’s say you have 50 slave devices, and different data is sent to each slave. For non-EtherCAT implementations, this may mean sending out 50 different packets. For EtherCAT, one long packet that touches all slaves is sent, and the packet contains 50 devices worth of data. However, if all the slaves need to receive the same data, one short packet is sent, and the slaves all look at the same part of the packet as it is streaming through, optimizing the data transfer speed and bandwidth.
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2.1 ETHERCAT STATE MACHINE

The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be sent by the EtherCAT master to the device in each state, particularly during the boot-up of the slave.
A distinction is made between the following states:
• Init
• Pre-Operational
• Safe-Operational
• Operational
• Bootstrap
The regular state of each EtherCAT slave after boot-up is the Operational state.
Init
After power-on the EtherCAT slave is in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication
Pre-Operational (Pre-Op)
During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly. In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU channels and PDO mapping or the sync manager PDO assignment.
Safe-Operational (Safe-Op)
During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager channels for process data communication are correct. Before it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP-RAM areas of the EtherCAT slave controller (ECSC). In Safe-Op state mailbox and process data communication is possible, although the slave keeps its outputs in a safe state, while the input data are updated cyclically.
Operational (Op)
Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output data. In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox communication is possible.
Bootstrap
In the Bootstrap state the slave firmware can be updated. The Bootstrap state can only be reached via the Init state. In the Bootstrap state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no other mailbox communication and no process data communication
.
Bronkhorst EtherCAT instruments do not support the Bootstrap state.
Page 8 EtherCAT interface 9.17.063
1 8

3 INSTALLATION

RJ45 Connector
Receptacle
Pin number
Description
STATUS led
Manual Interface
switches

3.1 INSTRUMENT OVERVIEW

BRONKHORST®
(see 9.17.023)
Link/Activity led
Second Address
EtherCAT IN
EtherCAT OUT

3.2 PIN ASSIGNMENT

1 Transmit +
2 Transmit -
3 Receive +
4 Not used
5 Not used
6 Receive -
Page 9 EtherCAT interface 9.17.063
7 Not used
8 Not used
BRONKHORST®
RJ45 FTP CAT.5e cable
RJ45 shielded connectors
FTP cable
SFTP cable
CAT.5e cables are available with a wire of:
24AWG (wire diameter 0.205mm2, with a resistance of 86 Ohm/km).

3.3 CONNECTION CABLES

Ethernet patch or crossover FTP or SFTP cables in CAT5e quality can be used as the connection cables. Lengths of 0.15 to 100 m are permitted for an EtherCAT network.
If you want to make the cables yourself, be sure to select a suitable crimp tool. Afterwards check the quality with a cable tester to avoid transmission problems.
26AWG (wire diameter 0.140mm2, with a resistance of 137 Ohm/km).
More information about cat.5e cables can be found at::
http://en.wikipedia.org/wiki/Category_5_cable

3.4 ETHERCAT CONNECTION

The Bronkhorst instruments are equipped with a linear bus structure with two RJ45 connectors. The EtherCAT master is connected (via EtherCAT slaves, if necessary) with a shielded, twisted pair, cable to “EtherCAT IN” (RJ45). Other EtherCAT instruments are connected via “EtherCAT OUT” (RJ45).
According to IEC 802.3 the maximum cable length for 100 MBaud Ethernet is 100m (100BaseT), e.g. between two instruments.
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BRONKHORST®
In case of fluctuations in the ground potential, a compensating current may flow via the bilaterally
equipotential bonding in such a case.

3.5 ROUTING AND SHIELDING THE BUS CABLE

Only use shielded cables and connection elements that also meet the requirements of category 5, class 2 according to IEC11801, edition 2.0.
Correct shielding of the bus cable attenuates electrical interference that may occur in industrial environments. The following measures ensure the best possible shielding:
• Manual tighten the mounting screws on the connectors, modules, and equipotential bonding conductors.
• Use only connectors with a metal housing or a metalized housing.
• Connect the shielding in the connector over a wide surface area.
• Apply the shielding of the bus cables on both ends.
• Route signal and bus cables in separate cable ducts. Do not route them parallel to power cables (motor leads)
• Route the signal cable and the corresponding equipotential bonding, if necessary, close to each other using
the shortest possible route.
• Route the bus cable closely along existing grounding surfaces.
connected shield that is also connected to the protective earth (PE). Make sure you supply adequate

3.6 BUS TERMINATION

A bus terminator (e.g. using bus terminating resistors) is not necessary. If no follow-up unit is connected to an EtherCAT unit, this is automatically detected.

3.7 SECOND ADDRESS SETUP

EtherCAT supports the use of a Second Address. Bronkhorst instruments have 3 rotary switches, with which a Second Address can be set in the range of 0 – 4095 (0xFFF). This value of the rotary switches will be copied to the Configured Station Alias register (address 0x0012:0x0013) at instrument start-up.
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4 PROTOCOLS

Bronkhorst instruments support the following parts of EtherCAT: CAN application layer over EtherCAT (CoE) and Process Data (PDO).

4.1 CAN APPLICATION LAYER OVER ETHERCAT (COE)

Bronkhorst High-Tech B.V. instruments support the CAN application layer over EtherCAT (CoE) protocol. This protocol enables the exchange of data between master and slave application over EtherCAT using CANopen® objects. These objects are described in the Object Dictionary. The SDO protocol is used to access (read or write) the objects in the Object Dictionary.

4.1.1 Object Dictionary

The Object Dictionary consists of 2 parts:
• objects described in the device description file.
• objects generated by the instrument itself for the parameters as described in document 9.17.023.
4.1.1.1 Object Dictionary in device description file (ESI)
The objects described in the device description file are mandatory objects. These objects are listed in Appendix A: Object Dictionary. For some objects additional information about the use in Bronkhorst High-Tech B.V. instruments can be found here as well.
The current EtherCAT ESI file can be downloaded from:
http://www.bronkhorst.com/en/products/accessories/software_tools/
Page 12 EtherCAT interface 9.17.063
BRONKHORST®
4.1.1.2 Generated Object Dictionary
All available parameters in Bronkhorst instruments are described in 9.17.023. These parameters are accessed by means of a process / process parameter number combination. For a selection of these parameters objects are generated and added to the Object Dictionary at instrument startup (in the range 0x2000 – 0x3000). The mapping from process / process parameter number combination to objects is done in the following way:
object index = 0x2000 + process number subindex = process parameter number + 1 subindex channel 1 = process parameter number + 1 subindex channel 2 = process parameter number + 1 + 100 subindex channel 3 = process parameter number + 1 + 200 etc.
The sub-indexes for channel 2 and up are only applicable for multi-channel systems.
Example: DDE parameter 8: Measure has process / process parameter number combination 1 / 0. So this parameter is mapped to object index 0x2001 (= 0x2000 + 1) and subindex 1 (= 0 + 1).
For the following DDE parameters (among others) objects are generated: 8 Measure 9 Setpoint 10 Setpoint slope 21 Capacity 24 Fluid number 92 Serial number 205 fMeasure 206 fSetpoint

4.2 PROCESS DATA (PDO)

The Process Data are organized in process data objects (PDO), which are transferred using the efficient means of EtherCAT.
Objects from the Object Dictionary, which can be mapped to the PDO, can be added to the PDO Map before activating the configuration. It is possible to add 20 objects to the RxPDO Map (0x1700) and 20 objects to the TxPDO Map (0x1B00).
Which objects from the the Object Dictionary can be mapped to the PDO, can be found in Appendix A: Object Dictionary.
All objects in the range 0x2000 – 0x3000 can be mapped to the PDO, except the ones containing strings.
Page 13 EtherCAT interface 9.17.063
BRONKHORST®
Prefix
Numerator
Denominator
reserved
31 24
23 16
15 8
7 0
Prefix
Numerator
Denominator
reserved
0x00
0x02
0x03
0x00
Prefix
Numerator
Denominator
reserved
0xFD
0xC0
0x47
0x00

5 DEVICE PROFILE DS-404 SUPPORT

Bronkhorst instruments support the mandatory objects from the controller function block from CiA (draft) DS 404 V1.2, Measurement Devices and Closed Loop Controllers. These objects (0x6400 – 0x7405) are also listed in Appendix A: Object Dictionary
Object 0x6406 contains a representation of the unit for current value and setpoint. This representation is based on ETG.1004 EtherCAT Unit specification, which only contains SI units (see Appendix B: SI Unit AND Prefix Specification). Bronkhorst instruments support a lot of non-SI units, which are described in Appendix C: Non-SI Unit Specification.
The unit is represented by an unsigned32 value with the following meaning:
Examples:
kg/s is represented by
with
Prefix = 0x00 means no prefix Numerator = 0x02 means kg Denominator = 0x03 means s
mln/min is represented by
with
Prefix = 0xFD means 10 Numerator = 0xC0 means ln Denominator = 0x47 means min
-3
= milli
Page 14 EtherCAT interface 9.17.063
BRONKHORST®
Indicator state
Definition
on
The indicator is constantly on
off
The indicator is constantly off
blinking
The indicator is repeatedly on for 200 ms and off for 200 ms
single flash
The indicator is repeatedly on for 200 ms and off for 1000 ms
The indicator shows repeatedly a sequence of two short flashes (200
(1000 ms)
EtherCAT state
Indicator state (green)
Init
off
Pre-Operational
blinking
Safe-Operational
single flash
Operational
on
Error state
Indicator state (red)
No error
off
•
request for state change to an unknown state
blinking
• invalid SyncManager configuration
single flash
Application watchdog timeout (e.g. when EtherCAT communication cable is removed)
double flash

6 DIAGNOSTICS

6.1 ETHERCAT STATUS INDICATOR

Bronkhorst instruments contain an EtherCAT two color status led: green and red. The led indicates the actual EtherCAT run state (green) and the actual error state (red). The status led has several indicator states, which are applicable for both green and red. They are described in the table below.
double flash

6.1.1 Run indicator

6.1.2 Error indicator

invalid state change commanded by master (e.g. from Init to Operational)
• request for state change to an unsupported state (e.g.
Bootstrap)
•
invalid mailbox configuration
•
ms), separated by an off phase (200 ms), followed by a long off phase
Page 15 EtherCAT interface 9.17.063
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7 SERVICE

For current information on Bronkhorst and service addresses please visit our website:
Do you have any questions about our products? Our Sales Department will gladly assist you selecting the right product for your application. Contact sales by e-mail:
For after-sales questions, our Customer Service Department is available with help and guidance. To contact CSD by e­mail:
No matter the time zone, our experts within the Support Group are available to answer your request immediately or ensure appropriate further action. Our experts can be reached at:
http://www.bronkhorst.com
sales@bronkhorst.com
support@bronkhorst.com
+31 573 45 88 39
Page 16 EtherCAT interface 9.17.063
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Index
Sub
Index
Description
Data Type
Access
PDO
mapping
0x1000
Device Type
1
Unsigned32
RO
No
0x1008
Manufacturer Device Name
Visible String
RO
No
0x1009
Manufacturer Hardware Version
Visible String
RO
No
0x100A
Manufacturer Software Version
Visible String
RO
No
0x1018
0
Identity
Unsigned8
RO
No
1
Vendor ID 2
Unsigned32
RO
No
2
Product Code
Unsigned32
RO
No
3
Revision Number
Unsigned32
RO
No
4
Serial Number
Unsigned32
RO
No
0x1601
0
CO RxPDO Map
Unsigned8
RO
No
1
Mapped Object 1
Unsigned32
RO
No
2
Mapped Object 2
Unsigned32
RO
No
3
Mapped Object 3
Unsigned32
RO
No
0x1700
0
RxPDO Map
Unsigned8
RW
No
1
Mapped Object 1
Unsigned32
RW
No
2
Mapped Object 2
Unsigned32
RW
No
:
20
Mapped Object 20
Unsigned32
RW
No
0x1A01
0
CO TxPDO Map
Unsigned8
RO
No
1
Mapped Object 1
Unsigned32
RO
No
2
Mapped Object 2
Unsigned32
RO
No
3
Mapped Object 3
Unsigned32
RO
No
0x1B00
0
TxPDO Map
Unsigned8
RW
No
1
Mapped Object 1
Unsigned32
RW
No
2
Mapped Object 2
Unsigned32
RW
No
:
20
Mapped Object 20
Unsigned32
RW
No
0x1C00
0
SyncManager Communication Type
Unsigned8
RO
No
1
Communication Type SM0
Unsigned8
RO
No
2
Communication Type SM1
Unsigned8
RO
No
3
Communication Type SM2
Unsigned8
RO
No
4
Communication Type SM3
Unsigned8
RO
No
0x1C12
0
SyncManager 2 PDO Assignment
Unsigned8
RW
No
1
PDO Mapping Table 0
Unsigned16
RW
No
2
PDO Mapping Table 1
Unsigned16
RW
No
0x1C13
0
SyncManager 3 PDO Assignment
Unsigned8
RW
No
1
PDO Mapping Table 0
Unsigned16
RW
No
2
PDO Mapping Table 1
Unsigned16
RW
No

APPENDIX A: OBJECT DICTIONARY

The sub-indexes 2 and up are only applicable for multi-channel systems.
1
Device Type = 0x00100194; this means that the controller function block of device profile DS-404 is implemented.
2
Bronkhorst High-Tech B.V. Vendor ID is 1387 (0x0000056B)
Page 17 EtherCAT interface 9.17.063
BRONKHORST®
Index
Sub
Index
Description
Data Type
Access
PDO
mapping
0x6400
0
CO Effective current value Xeff
Unsigned8
RO
No
1
CO Effective current value Xeff 1
Float
RW
Possible
2
CO Effective current value Xeff 2
Float
RW
Possible
3
CO Effective current value Xeff 3
Float
RW
Possible
0x6401
0
CO Effective setpoint Weff
Unsigned8
RO
No
1
CO Effective setpoint Weff 1
Float
RO
Possible
2
CO Effective setpoint Weff 2
Float
RO
Possible
3
CO Effective setpoint Weff 3
Float
RO
Possible
0x6402
0
CO Setpoint W
Unsigned8
RO
No
1
CO Setpoint W 1
Float
RW
Possible
2
CO Setpoint W 2
Float
RW
Possible
3
CO Setpoint W 3
Float
RW
Possible
0x6403
0
CO 2nd Setpoint W2
Unsigned8
RO
No
1
CO 2nd Setpoint W2 1
Float
RW
Possible
2
CO 2nd Setpoint W2 2
Float
RW
Possible
3
CO 2nd Setpoint W2 3
Float
RW
Possible
0x6404
0
CO Lower setpoint limit W0
Unsigned8
RO
No
1
CO Lower setpoint limit W0 1
Float
RO
No
2
CO Lower setpoint limit W0 2
Float
RO
No
3
CO Lower setpoint limit W0 3
Float
RO
No
0x6405
0
CO Upper setpoint limit W100
Unsigned8
RO
No
1
CO Upper setpoint limit W100 1
Float
RO
No
2
CO Upper setpoint limit W100 2
Float
RO
No
3
CO Upper setpoint limit W100 3
Float
RO
No
0x6406
0
CO Physical unit current value / setpoint
Unsigned8
RO
No
1
CO Physical unit current value / setpoint 1
Unsigned32
RW
No
2
CO Physical unit current value / setpoint 2
Unsigned32
RW
No
3
CO Physical unit current value / setpoint 3
Unsigned32
RW
No
0x6407
0
CO Decimal digits current value / setpoint
Unsigned8
RO
No
1
CO Decimal digits current value / setpoint 1
Unsigned8
RW
No
2
CO Decimal digits current value / setpoint 2
Unsigned8
RW
No
3
CO Decimal digits current value / setpoint 3
Unsigned8
RW
No
0x6410
0
CO Effective controller output Y
Unsigned8
RO
No
1
CO Effective controller output Y 1
Unsigned16
RO
Possible
2
CO Effective controller output Y 2
Unsigned16
RO
Possible
3
CO Effective controller output Y 3
Unsigned16
RO
Possible
0x6415
0
CO Physical unit controller output
Unsigned8
RO
No
1
CO Physical unit controller output 1
Unsigned32
RO
No
2
CO Physical unit controller output 2
Unsigned32
RO
No
3
CO Physical unit controller output 3
Unsigned32
RO
No
0x6420
0
CO Setpoint switch W/W2
Unsigned8
RO
No
1
CO Setpoint switch W/W2 1
Boolean
RW
No
2
CO Setpoint switch W/W2 2
Boolean
RW
No
3
CO Setpoint switch W/W2 3
Boolean
RW
No
Page 18 EtherCAT interface 9.17.063
BRONKHORST®
Index
Sub
Index
Description
Data Type
Access
PDO
mapping
0x6421
0
CO Automatic / manual mode A/M
Unsigned8
RO
No
1
CO Automatic / manual mode A/M 1
Boolean
RW
No
2
CO Automatic / manual mode A/M 2
Boolean
RW
No
3
CO Automatic / manual mode A/M 3
Boolean
RW
No
0x6422
0
CO Controller on / off
Unsigned8
RO
No
1
CO Controller on / off 1
Boolean
RW
No
2
CO Controller on / off 2
Boolean
RW
No
3
CO Controller on / off 3
Boolean
RW
No
0x6423
0
CO Controller mode
Unsigned8
RO
No
1
CO Controller mode 1
Unsigned8
RW
Possible
2
CO Controller mode 2
Unsigned8
RW
Possible
3
CO Controller mode 3
Unsigned8
RW
Possible
0x6425
0
CO Control byte
Unsigned8
RO
No
1
CO Control byte 1
Unsigned8
RW
Possible
2
CO Control byte 2
Unsigned8
RW
Possible
3
CO Control byte 3
Unsigned8
RW
Possible
0x6427
0
CO Status word
Unsigned8
RO
No
1
CO Status word 1
Unsigned16
RO
Possible
2
CO Status word 2
Unsigned16
RO
Possible
3
CO Status word 3
Unsigned16
RO
Possible
0x7400
0
CO Effective current value Xeff (INT)
Unsigned8
RO
No
1
CO Effective current value Xeff (INT) 1
Unsigned16
RW
Possible
2
CO Effective current value Xeff (INT) 2
Unsigned16
RW
Possible
3
CO Effective current value Xeff (INT) 3
Unsigned16
RW
Possible
0x7401
0
CO Effective setpoint Weff (INT)
Unsigned8
RO
No
1
CO Effective setpoint Weff (INT) 1
Unsigned16
RO
Possible
2
CO Effective setpoint Weff (INT) 2
Unsigned16
RO
Possible
3
CO Effective setpoint Weff (INT) 3
Unsigned16
RO
Possible
0x7402
0
CO Setpoint W (INT)
Unsigned8
RO
No
1
CO Setpoint W (INT) 1
Unsigned16
RW
Possible
2
CO Setpoint W (INT) 2
Unsigned16
RW
Possible
3
CO Setpoint W (INT) 3
Unsigned16
RW
Possible
0x7403
0
CO 2nd Setpoint W2 (INT)
Unsigned8
RO
No
1
CO 2nd Setpoint W2 (INT) 1
Unsigned16
RW
Possible
2
CO 2nd Setpoint W2 (INT) 2
Unsigned16
RW
Possible
3
CO 2nd Setpoint W2 (INT) 3
Unsigned16
RW
Possible
0x7404
0
CO Lower setpoint limit W0 (INT)
Unsigned8
RO
No
1
CO Lower setpoint limit W0 (INT) 1
Unsigned16
RO
No
2
CO Lower setpoint limit W0 (INT) 2
Unsigned16
RO
No
3
CO Lower setpoint limit W0 (INT) 3
Unsigned16
RO
No
0x7405
0
CO Upper setpoint limit W100 (INT)
Unsigned8
RO
No
1
CO Upper setpoint limit W100 (INT) 1
Unsigned16
RO
No
2
CO Upper setpoint limit W100 (INT) 2
Unsigned16
RO
No
3
CO Upper setpoint limit W100 (INT) 3
Unsigned16
RO
No
Page 19 EtherCAT interface 9.17.063
hexadecimal value
decimal value
percent value
0xFC18
-1000
-100.0%
:::
:::
:::
0xFE0C
-500
-50.0%
:::
:::
:::
0x0000
0
0.0%
:::
:::
:::
0x1F4
500
50.0%
:::
:::
:::
0x3E8
1000
100.0%
control byte
Mode
TRUE
DDE parameter 12 control mode = 0 (controller active)
FALSE
DDE parameter 12 control mode = 12 (setpoint 0%)
control byte
Mode
0x80
manufacturer specific controller type
:::
:::
0xFF
manufacturer specific controller type
Nr.
Mode
Instrument action
0
Controlling
Control at setpoint value
3
Valve closed
No controller action, valve is closed
4
Controller Idle
No controller action, valve remains its position
8
Valve purge
No controller action, valve is fully open
More available control modes can be found in
http://www.bronkhorst.com/en/downloads/instruction_manuals/
Object 0x6410: CO Effective controller output Y
0x6422 CO Control On/Off
0x6423 CO Controller mode
BRONKHORST®
Bronkhorst High-Tech B.V. instruments only support range 0x80h – 0x96. It is used as follows:
0x80: DDE parameter 12 control mode = 0 0x81: DDE parameter 12 control mode = 1 0x82: DDE parameter 12 control mode = 2 Etc.
Essential control modes:
“Operation instructions digital instruments” (document nr. 9.17.023).
Page 20 EtherCAT interface 9.17.063
0x6425 CO Control byte
MSB LSB
7 4
3
0
Value
Meaning
0
disable function
1
enable function
MSB LSB
Net
Over-
Data
valid
Optimization
Setpoint
Manual
Self-
Controller
15 11
10 9 8
7 5
4 3 2 1 0
Value
Meaning
0
not valid (not occurred)
1
valid (occurred)
Index
Sub
Index
Description
DDE parameter
0x6400
0
CO Effective current value Xeff
-
1
CO Effective current value Xeff
fMeasure
0x6401
0
CO Effective setpoint Weff
- 1 CO Effective setpoint Weff
fSetpoint
0x6402
0
CO Setpoint W
- 1 CO Setpoint W
fSetpoint
0x6403
0
CO 2nd Setpoint W2
- 1 CO 2nd Setpoint W2
-
0x6404
0
CO Lower setpoint limit W0
- 1 CO Lower setpoint limit W0
Capacity 0% (read only)
0x6405
0
CO Upper setpoint limit W100
- 1 CO Upper setpoint limit W100
Capacity (read only)
0x6406
0
CO Physical unit current value / setpoint
- 1 CO Physical unit current value / setpoint
-
0x6407
0
CO Decimal digits current value / setpoint
- 1 CO Decimal digits current value / setpoint
-
0x6410
0
CO Effective controller output Y
-
1
CO Effective controller output Y
Valve output (scaled to % as described above)
BRONKHORST®
Reserved
Self-optimalisation is not supported (is always 0)
0x6427 CO Status word
reserved
The following objects are mapped to the following DDE parameters:
overload
Setpoint switch
load
not
reserved
Manual Mode
error
Self-optimisation
switch
Mode
Controller on / off
optimization
on / off
Page 21 EtherCAT interface 9.17.063
BRONKHORST®
Index
Sub
Index
Description
DDE parameter
0x6415
0
CO Physical unit controller output
- 1 CO Physical unit controller output
-
0x6420
0
CO Setpoint switch W/W2
- 1 CO Setpoint switch W/W2
-
0x6421
0
CO Automatic / manual mode A/M
- 1 CO Automatic / manual mode A/M
-
0x6422
0
CO Controller on / off
- 1 CO Controller on / off
- (is described above)
0x6423
0
CO Controller mode
- 1 CO Controller mode
Control mode
0x6425
0
CO Control byte
- 1 CO Control byte
- (is described above)
0x6425
0
CO Status word
- 1 CO Status word
- (is described above)
0x7400
0
CO Effective current value Xeff (INT)
- 1 CO Effective current value Xeff (INT)
fMeasure 3
0x7401
0
CO Effective setpoint Weff (INT)
- 1 CO Effective setpoint Weff (INT)
fSetpoint 5
0x7402
0
CO Setpoint W (INT)
- 1 CO Setpoint W (INT)
fSetpoint 5
0x7403
0
CO 2nd Setpoint W2 (INT)
- 1 CO 2nd Setpoint W2 (INT)
-
0x7404
0
CO Lower setpoint limit W0 (INT)
- 1 CO Lower setpoint limit W0 (INT)
Capacity 0% (read only) 5
0x7405
0
CO Upper setpoint limit W100 (INT)
- 1 CO Upper setpoint limit W100 (INT)
Capacity (read only) 5
The value of object 0x6407:01 CO Decimal digits current value / set point is determined and optimized automatically during instrument power-up.
5
Examples:
fMeasure = 1.15 ln/min object 0x6407:01 CO Decimal digits current value / set point = 3 object 0x7401:01 CO Effective current value Xeff = 1.15 x (10 x 10 x 10) = 1150
object 0x6407:01 CO Decimal digits current value / set point = 4 object 0x7402:01 CO Setpoint W (INT) = 22500 fSetpoint = 22500 / (10 x 10 x 10 x 10) = 2.25 ln/min
3
Integer16 value scaled with the value of object 0x6407:01
5
Integer16 value scaled with the value of object 0x6407:01
Page 22 EtherCAT interface 9.17.063
BRONKHORST®
SI Unit Specification
Name
Symbol
Notation index (hex)
Index
Description
Kilogram
kg
0x02
0x402
Mass
Second
s
0x03
0x403
Time
Kelvin
K
0x05
0x405
Temperature
Pascal
Pa
0x22
0x422
Pressure
Degree Celcius
o
C
0x2D
0x42D
Temperature
Litre
l
0x44
0x444
Volume
Minute
min
0x47
0x447
Time
Hour
h
0x48
0x448
Time
Bar
bar
0x4E
0x44E
Pressure
Cubic metre
m3 0x59
0x459
Volume
Prefix Specification
Prefix
Symbol
Factor
Notation Index
reserved
-
-
0x13 – 0x7F
exa
E
10
18
0x12
1017
0x11
1016
0x10
peta
P
1015
0x0F
1014
0x0E
1013
0x0D
tera
T
1012
0x0C
1011
0x0B
1010
0x0A
giga
G
109
0x09
108
0x08
107
0x07
mega
M
106
0x06
105
0x05
104
0x04
kilo
k
103
0x03
hecto
h
102
0x02
deca
da
101
0x01
100
0x00
deci
d
10-1
0xFF
centi
c
10-2
0xFE
milli
m
10-3
0xFD
10-4
0xFC
10-5
0xFB
micro
μ
10-6
0xFA
10-7
0xF9
10-8
0xF8
nano
n
10-9
0xF7
10
-10
0xF6
10
-11
0xF5
pico
p
10
-12
0xF4
10
-13
0xF3
10
-14
0xF2
femto
f
10
-15
0xF1
10
-16
0xF0
10
-17
0xEF
atto
a
10
-18
0xEE
reserved
-
-
0xED – 0x80

APPENDIX B: SI UNIT AND PREFIX SPECIFICATION

Page 23 EtherCAT interface 9.17.063
BRONKHORST®
Name
Symbol
Notation index (hex)
Index
Description
gram-force per square centimetre
gf/cm2
0xA0
0x4A0
pressure
pound-force per square inch
psi
0xA1
0x4A1
pressure
torr pressure
torr
0xA2
0x4A2
pressure
standard atmosphere pressure
atm
0xA3
0x4A3
pressure
meter of water pressure
mH2O
0xA4
0x4A4
pressure
inch of water pressure
“H2O
0xA5
0x4A5
pressure
feet of water pressure
ftH2O
0xA6
0x4A6
pressure
meter of mercury pressure
mHg
0xA7
0x4A7
pressure
inch of mercury pressure
“Hg
0xA8
0x4A8
pressure
cubic centimetre
cc
0xB0
0x4B0
volume
cubic millimetre
mm3
0xB1
0x4B1
volume
cubic centimetre
cm3
0xB2
0x4B2
volume
cubic foot per hour
cfh
0xB3
0x4B3
volume
cubic foot per minute
cfm
0xB4
0x4B4
volume
cubic foot per second
cfs
0xB5
0x4B5
volume
litre (normal)
ln
0xC0
0x4C0
volume (normal flow)
cubic centimetre (normal)
ccn
0xC1
0x4C1
volume (normal flow)
cubic millimetre (normal)
mm3n
0xC2
0x4C2
volume (normal flow)
cubic centimetre (normal)
cm3n
0xC3
0x4C3
volume (normal flow)
cubic metre (normal)
m3n
0xC4
0x4C4
volume (normal flow)
standard cubic foot per hour
scfh
0xC5
0x4C5
volume (normal flow)
standard cubic foot per minute
scfm
0xC6
0x4C6
volume (normal flow)
standard cubic foot per second
scfs
0xC7
0x4C7
volume (normal flow)
standard cubic centimetre per minute
sccm
0xC8
0x4C8
volume (normal flow)
standard litre per minute
slm
0xC9
0x4C9
volume (normal flow)
litre (standard)
ls
0xD0
0x4D0
volume (standard flow)
cubic centimetre (standard)
ccs
0xD1
0x4D1
volume (standard flow)
cubic millimetre (standard)
mm3s
0xD2
0x4D2
volume (standard flow)
cubic centimetre (standard)
cm3s
0xD3
0x4D3
volume (standard flow)
cubic metre (standard)
m3s
0xD4
0x4D4
volume (standard flow)

APPENDIX C: NON-SI UNIT SPECIFICATION

Page 24 EtherCAT interface 9.17.063
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