Lenze ETCxxxxx User Manual
EDSTCXX
./Y2
Ä./Y2ä
Hardware Manual
ETC Motion Control
L
ETCxxxxx
DIN rail modules and PCI card
l
© 2006 Lenze Drive Systems GmbH, Hans−Lenze−Straße 1, D−31855 Aerzen
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive
Systems GmbH.
All information given in this documentation has been selected carefully and complies with the hardware and software
described. Nevertheless, deviations cannot be ruled out. We do not take any responsibility or liability for damages which might
possibly occur. Necessary corrections will be included in subsequent editions.
Contents i
1 Preface and general information 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 About this Manual 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 For which products is the manual valid? 6 . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Legal regulations 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Technical data 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General data and operating conditions 8 . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Rated data 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Standard device 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Power supply unit 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.3 Bus termination module 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.4 Input module 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.5 Output module 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.6 Analogue module 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Device description 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 System overview 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1 Examples for an automation system 14 . . . . . . . . . . . . . . . . . . . . .
3.1.2 Layout example for an ETC island 16 . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3 Set node address 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Control in top hat rail design (ETCHx) 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Serial interface 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 CAN interface 22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3 Ethernet interface 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.4 Watchdog (WDOG) 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Control as PCI insert card (ETCPx) 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Serial interface 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 CAN interface 29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Configuration and Watchdog 30 . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Module 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1 Power supply unit 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2 Bus termination module 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.3 Input module 37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.4 Output module 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.5 Analogue module 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EDSTCXX EN 2.0
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Contentsi
4 Mechanical installation 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Control and module for top hat rail mounting (ETCHx) 47 . . . . . . . . . . . . . .
4.1.1 Control ETCHx 49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2 Module ETCHx 50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.3 Dismantling of control and module ETCHx 51 . . . . . . . . . . . . . . . . .
4.2 Control in PCI design (ETCPx) 52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Installing the PCI card in the PC 52 . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Electrical installation 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Installation according to EMC (installation of a CE−typical drive system) 53
5.2 CAN installation instructions 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Cable types for the CAN Bus 56 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Relationship between cable length and transfer rate 56 . . . . . . . .
5.2.3 Stub cables 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Initial switch−on 58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Troubleshooting and fault elimination 59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Status display 59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Error management 62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Module replacement 64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Battery replacement 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Index 68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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EDSTCXX EN 2.0
Preface and general information
1 Preface and general information
The ETC Motion Control as the leading element of automation is together
with the Lenze drive controllers and motors an optimal system solution for
the control of movements.
In the ETC system both compact controls for installation on top hat rails and
PC insert cards are available. In both hardware designs either a NC or a MC
core can be supplied. The programming of the NC is carried out in accordance
with DIN 66025 (G code), that of MC in accordance with PLCOpen. Both
controls also include a PLC with is programmed in accordancd with 61131−3.
The control system is complemented by the corresponding I/O
subassemblies.
The communication with the drives via CAN or to the PC level via Ethernet
TCP/IP is also integrated into the ETC.
About this Manual
1
1.1
1.1 About this Manual
Target group
Contents
Further information
This manual is intended for all those who plan, install, program or
commission the ETC Motion Control System under the "NC" operating
system.
The ETC device manual contains information on the following topics:
ƒ Technical data
ƒ Structure and function of the system components including interface
ƒ Mounting, connecting and maintaining system components
This manual is complemented by the software manuals "MC operating
system" and "NC operating system", which provide important information
for the programmer and commissioner.
I Tip!
description
Current documentation and software updates concerning Lenze
products can be found on the Internet in the "Services &
Downloads" area under
http://www.Lenze.com
EDSTCXX EN 2.0
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1
1.2
Preface and general information
For which products is the manual valid?
1.2 For which products is the manual valid?
Standard device
ETC xx 0 xx 1A 10
Product
Version
HM = top hat rail, MC core
PM = PCI insert card, MC core
HC = DIN rail, CNC core
PC = PCI insert card, CNC core
ETCHx0xx
Number of axes
02 = 2 axes
04 = 4 axes
08 = 8 axes
12 = 12 axes
Hardware version
Modules
Software version ETCPx0xx
ETCH xxxx 1A 10
Product
N003 = power supply unit
T000 = bus termination module
I008 = 8 dig. inputs
I016 = 16 dig. inputs
U008 = 8 dig. outputs
U016 = 16 dig. outputs
A022 = 2 analogue inputs and outputs
each
ETCHxxxx
Hardware version
Software version
6
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EDSTCXX EN 2.0
1.3 Legal regulations
Preface and general information
Legal regulations
1
1.3
Marking
Manufacturer
CE conformity
Application as intended
The components of the ETC Motion Control System are clearly marked by the
contents of the nameplate.
Lenze Drive Systems GmbH, Postfach 101352, D−31763 Hameln
Compliant with EC Directive "Electromagnetic compatibility"
Components of the ETC Motion Control System
ƒ must only be operated under the operating conditions described in the
ETC Hardware Manual.
ƒ are not approved for the use in explosive environments.
ƒ comply with the protection requirements of the EC Directive "Low
voltage".
ƒ are no machines in the sense of the EC Directive "Machines".
ƒ are no household appliances, as components they are intended for
industrial use only.
The downstream user is responsible for ensuring that the EC Directives are
complied with in machine use.
Any other use shall be deemed inappropriate!
Liability
Warranty
The information, data and notes in this manual were up to date at the time
of printing. No claims for the modification of systems and components that
have already been supplied may be made on the basis of the specifications,
illustrations and descriptions in this manual.
No liability is accepted by Lenze as to the suitability of any of the procedures
or circuit recommendations included here.
The information in this manual describe the properties of the products
without guaranteeing them. No liability will be accepted for damage or
disturbance caused by:
ƒ ignoring this manual
ƒ unauthorised alterations to the components of the ETC Motion Control
System
ƒ operating errors and incorrect working on or with the ETC Motion
Control System
See terms of sales and delivery of Lenze Drive Systems GmbH.
Report any claims under warranty to Lenze immediately on discovery of the
defect or fault. The warranty is void in all cases where liability cannot be
established.
EDSTCXX EN 2.0
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2
2.1
Technical data
General data and operating conditions
2 Technical data
2.1 General data and operating conditions
Type
Labelling and approval CE (compliance with the EMC Directive)
Climatic conditions
Storage 1 K3 per IEC/EN 60721−3−2
Temperature −20 °C ... +60 °C; D
Transport 2 K3 per IEC/EN 60721−3−2
Temperature −20 °C ... +60 °C; D
Operation
Atmospheric pressure 860 hPa to 1060 hPa
Rel. humidity 8 % ... 80 % (non condensing)
Vibration resistance
Shock (10 ms) max. 5 G
Vibration (5 ... 100 Hz) max. 0.5 G
Noise immunity EN50082−1 = severity 3
Noise emission EN50082−2 = limit value B
Packaging Dustproof packaging
Protection category IP20 IP00
Installation position vertical −
Installation clearances top and bottom 80 mm −
1)
Temperature −0 °C ... +50 °C; D
above 1000 m site altitude permissible temperature reduced by 1 K/300 m
1)
At maximum load, vertical installation and sufficient convection
ETCHx ETCPx
= 20 K/h
max
= 20 K/h
max
3 K3 per IEC/EN 60721−3−2
= 10 K/h
max
8
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EDSTCXX EN 2.0
Technical data
Rated data
Standard device
2.2 Rated data
2.2.1 Standard device
Type ETCHx ETCPx
Use Control (top hat rail design) Control (PCI insert card)
Weight 235 g 300 g
Dimensions (W x H x D) 100 x 45 x 115 mm 130 x 23 x 190 mm
Supply voltages:
Feed (external) typ. 24 V DC
5 V DC output on ME bus typ. 5.0 V, min. 4.75 V, max. 5.25 V DC
24 V DC output on ME bus typ. 24 V, min. 18 V, max. 32 V DC
Power loss max. 3 W
Power recovery up to max. ±32 V possible at the connection terminals
Potential isolation:
to CAN via optocoupler
to process level via optocoupler
Fuse:
24 V DC output on ME bus Front panel fuse
5 V DC output Short−circuit proof via DC/DC converter
Protection:
Feed against polarity reversal
5 V and 24 V supply against short circuit and polarity reversal
2
2.2
2.2.1
EDSTCXX EN 2.0
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2
2.2
2.2.2
Technical data
Rated data
Power supply unit
2.2.2 Power supply unit
Type
Use Power supply module
Weight 150 g
Dimensions (H x W x D) 99 mm x 22.5 mm x 114.5 mm
Supply voltages:
Feed (external) typ. 24 V DC
5 V DC output on ME bus typ. 5.0 V DC (4.75 ... 5.25 V DC)
24 V DC output on ME bus typ. 24 V DC (18 ... 32 V DC)
Power cunsumption at max.
output current:
Feed 18 V DC max. 3.2 A
Feed 24 V DC max. 2.9 A
Feed 32 V DC max. 2.7 A
Output current
5 V DC output on ME bus max. 3.0 A
24 V DC output on ME bus max. 2.0 A
Power loss max. 83 W
Power recovery up to max. ±32 V possible at the connection terminals
Potential isolation
between 5 V DC output and
24 V DC input
Fuse:
24 V DC output on ME bus Front panel fuse
5 V DC output Short−circuit proof via DC/DC converter
Protection
Feed against polarity reversal
5 V and 24 V supply against short circuit and polarity reversal
ETCHN003
500 V
2.2.3 Bus termination module
Type
Use Termination module or transfer module for internal CAN Bus (CAN1)
Weight 90 g
Dimensions (H x W x D) 99 x 17.5 x 114.5 mm
ETCHT000
10
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EDSTCXX EN 2.0
2.2.4 Input module
Technical data
Rated data
Input module
2
2.2
2.2.4
Type ETCHI008
Use 8 channel input module 16 channel input module
Weight 120 g 215 g
Dimensions (H x W x D) 99 x 22.5 x 114.5 mm 99 x 45.0 x 114.5 mm
Switching voltage of the inputs typ. 24 V DC (18 ... 32 V DC) via ME bus
Logical voltage typ. 5V DC ( 4.75 ... 5.25 V DC) via ME bus
Power loss typ. 3.0 W typ. 4.7 W
Input type digital current drawing inputs
Voltages of state "1" 11.0 to 32.0 V DC
Voltages of state "0" −3 to +5 V DC
Min. input current per channel 3 mA
Max. input current per channel 12 mA
Max. switching frequency at the
input
Input indication per input one LED, connected in series to the input terminal
Electrical isolation the inputs are connected via the joint earthing potential
24 V DC PTC thermistor
Logic component SMD time−lag fuse 500 mA
Power recovery up to max. +32 V at one input/output terminal possible
Protection Feed protected against polarity reversal.
Potential isolation 500 V DC (between logic component and input terminal)
approx. 250 Hz
ETCHI016
EDSTCXX EN 2.0
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2
2.2
2.2.5
Technical data
Rated data
Output module
2.2.5 Output module
Type ETCHU008
Use
Weight 145 g 215 g
Dimensions (H x W x D) 99 x 22.5 x 114.5 mm 99 x 45.0 x 114.5 mm
Supply voltages:
Supply voltage outputs typ. 24 V DC (18 ... 32 V DC) external feed
Supply voltage control typ. 24 V DC (18 ... 32 V DC) via ME bus
Logical voltage typ. 5.0 V DC (4.75 ... 5.24 V DC) via ME bus
Power loss:
4 outputs switched on typ. 1.0 W −
8 outputs switched on typ. 1.8 W typ. 1.5 W
16 outputs switched on − typ. 3.0 W
Outputs:
Switching voltage typ. 24 V DC (18 ... 32 V DC) external feed
Load characteristic resistive, inductive, capacitive
Continuous current per
channel
Current per channel for 1 sec 700 mA
Voltage drop for switch max. 400 mV at 500 mA
Min. voltage at the output
terminals
Parallel switching of several
outputs
Switching frequency of the
switches
Restart automatically after short circuit (with control present)
Short circuit peak current transient 4.0 A per channel (limited in the switch)
automatic restart current
with sustained short circuit
at output
Output indication on LED per output at the switch output
Initial state witch missing
control switched off by
Intermediate storage of the
control signal
Electrical isolation The output earth conductors are connected to each other
Fuse:
Switch Per 4 outputs each time−lag Microfuse 4 A; optionally pluggable
Switch triggering SMD time−lag fuse 500 mA
Logic component SMD time−lag fuse 500 mA
Power recovery up to max. + 32 V DC at one output terminal possible
Potential isolation 500 V DC (between logic component and input terminal)
Protection l The outputs are protected against overheating, short circuit and polarity reversal up to
±32 V DC.
l Additional fire protection with 4 A fuse. Suppressor diode (36 V) parallel to each switch
output.
l Series diode between switch output and output terminal.
l RESET trigger with drop in logical voltage.
Semiconductor switch against 24 V DC (High Side Switches)
8 channel output module 16 channel output module
max. 500 mA
Supply voltage – 1.0 V (at full load 0.5 A)
possible
max. 250 Hz at resistive load
3.0 A pulsed (with control present) switched off
logical component
no
ETCHU016
12
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EDSTCXX EN 2.0
2.2.6 Analogue module
Technical data
Rated data
Analogue module
2
2.2
2.2.6
Type
Use 2 channel analogue input/output module, 0 V or −10 V ... +10 V
Weight 125 g
Dimensions (H x W x D) 99 x 22.5 x 114.5 mm
Supply voltages:
Control voltage (sensor feed) typ. 24 V DC (18 ... 32 V DC) feed via ME bus
Logical voltage typ. 24 V DC (18 ... 32 V DC) feed via ME bus
Power loss max. 6.2 W
Input:
Input impedance > 500 kOhm
Measuring range
(switchable)
Voltage at the input max. 32 V
Resolution 12 Bit
Conversion method successive approximation
Value of the LSB 2.5 mV for measuring range 0 ... 10 V or
5 mV for measuring range −10 V ... +10 V
Inaccuracy max. 50 mV for measuring range 0 ... 10 V or max. 100 mV for measuring range −10 V ... +10 V
Scanning frequency 205 Hz
Filters analogue low−pass filter of 1st degree with a limiting frequency of 30 Hz, digital configurable
Permitted sensor types Active and passive sensors
Sensor feed, sensor current 10 V regulated, max. 10 mA
Permitted connection cables Shielded cables; shield placed before the module
Output:
Output range (switchable) 0 ... 10 V or −10 ... +10 V
max. 0 ... 10.238 V or −10.238 V ... +10.238 V
Output current max. 2 mA
Min. load 5 kOhm
Resolution 12 Bit
Value of the LSB 2.5 mV or 5 mV
Inaccuracy max. 50 mV or 100 mV
Output rate min. 10 ms continually, min. 5 ms continually (digital input filter switched off)
Filters analogue low−pass filter of 1st degree with a limiting frequency of approx. 730 Hz
Permitted connection cables Shielded cables, shield placed before the module
Power recovery max. ±32 V at an input/output terminal
Potential isolation 500 V DC between ME bus and input/output terminals
Fuse:
Logic component SMD time−lag fuse 500 mA
System voltage SMD time−lag fuse 1500 mA
Protection l 24 V system voltage is protected by a definite plug−in direction in the housing.
l 5 V bus voltage is protected by a definite plug−in direction in the housing.
l Sensor supply is protected against short circuit, overcurrent and negative feed
l Current and voltage inputs (optional) are protected against voltages up to 32 V
l Input protection via high resistance voltage dividers
l Protection of the sensor feed via series diodes and active current limitation
l ESD protection via Transil diodes at PE
l Output protection via passive current limitation
l Series and parallel diodes, short−circuit proof
l ESD protection via Transil diodes at PE
ETCHA022
0 ... 10 V or –10 V ... +10 V
low−pass filter
EDSTCXX EN 2.0
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3
3.1
3.1.1
Device description
System overview
Examples for an automation system
3 Device description
3.1 System overview
3.1.1 Examples for an automation system
Ethernet
ETCHx
CAN1
ETCHN003
ETC-System Components
ETCHT000
ETCHx / ETCPx
IPC with ETCPx
ECS/MCS-System Drives HMI I/O-System IP20
CAN2
CAN-I/O
ETCM001
The core of the automation system is the ETC control in the top hat rail design
(ETCHx) or as PCI insert card (ETCPx).
The top hat rail design ETCHx is normally used in a so−called ETC island
(¶ 16); it communicates via Ethernet with the applications on the IPC (or
standard PC).
The ETCPC is inserted into the IPC (or standard PC) and communicates with
the applications via the PCI bus.
Both designs have two separate CAN busses:
14
ƒ At CAN1 bus (or also ME bus) the I/O modules and any operating
components are connected. Third party devices must comply with teh
DS401 profile of the CANopen specification.
ƒ The drives (e.g. the ECS compact servo) are connected to the connection
for the Motion CAN bus (CAN2) at the front plate. External drives must
comply with the profile DS402 of the CANopen specification and in
particular support the "Interpolated Position Mode".
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EDSTCXX EN 2.0
Device description
System overview
Examples for an automation system
To carry out its allocated control function the ETC control needs various
programs which are transferred from the IPC (or standard PC):
ƒ Operating system or firmware of the control (e.g. ETCHC.rsc)
ƒ PLC programs (e.g. SPSDummy.prg)
ƒ CNC programs; i.e. cycle and DIN programs (e.g. 9000.zyk or
Nikolaus.din)
3.1
3.1.1
3
IPC
The ETC control is operated and maintained via the IPC (or standard PC). The
following applications might run on it:
ƒ Windows 2000 or XPoperating system
ƒ Terminal program (e.g. HyperTerminal) for establishing the Ethernet
connection between IPC and ETCHx control and for the configuration of
the ETCHx control via the monitor interface (e.g. firmware update). This
is not required for the ETCPx.
ƒ ETC−MMI gateway as communications program between Windows
applications and the ETC control.
ƒ Lenze ETC−MMI for the configuration, operation and monitoring of the
ETC control and for creating CNC programs.
ƒ CoDeSys development environment for the creation and testing of PLC
programs.
) Note!
An external keyboard is required at the IPC for commissioning. It
is not required for normal operation.
EDSTCXX EN 2.0
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3
3.1
3.1.2
Device description
System overview
Layout example for an ETC island
3.1.2 Layout example for an ETC island
ETCHN003
10
ETCHx004
ETCHI016
ETCHI008
ETCHT000
2345
ETCM002
0 Serial interface (RS232)
1 Watchdog (e.g. for emergency stop chain)
2 Ethernet
3 Motion CAN bus (CAN2)
4 24 V supply
5 ME bus (CAN1)
ETCHN003: Power supply unit for the supply of the ETC island and ME bus
connection
ETCHx004: ETC Motion Control for 4 axes (control)
ETCHIxxx: Input module with 16 or 8 digital inputs
ETCHT000: ME bus terminator module
) Note!
To terminate the ME bus DIP switch 1 must be set to ON at both
the power supply unit ETCHN003 and the bus terminator
module ETCHT000.
16
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EDSTCXX EN 2.0
Control
CAN Master
Device description
System overview
Layout example for an ETC island
CAN bus terminated
3
3.1
3.1.2
1. isolated system
max. CAN bus length
2. isolated system 3. isolated system
ETC024
Several ETCHx islands can be connected to form a complete system. Please
note the maximum permissible cable length per CAN level dependent on the
Baud rate (¶ 56). The maximum number of modules in one ETCHx island is
limited by the following constraints.
CAN Bus max. 127 modules
Module address max. 16 modules of the same type
Power supply
unit
In practice the capacity of the power supply unit is the decisive factor for
the maximum number of modules in an island. The current consumption of
the individual modules both via the 24 V and the 5 V supply is relevant and
must be taken into account.
Typically 15 modules can be supplied with one power supply unit
ETCHN003.
The power consumption of the individual modules fromthe 5 V voltage
produced in the power supply unit is shown in the following table.
EDSTCXX EN 2.0
The figure for "typ." refers to the 24 V supply voltage and with a high signal
being present at half the digital inputs and outputs.
The figure for "max." refers to the 32 V supply voltage and an operating state
with maximum power consumption.
Module
ETCHU008 95 mA 180 mA 15 mA 30 mA 30 mA 80 mA
ETCHU016 130 mA 240 mA 25 mA 55 mA 60 mA 160 mA
ETCHI008 70 mA 90 mA 90 mA 105 mA − −
ETCHI016 90 mA 120 mA 145 mA 175 mA − −
ETCHA022 150 mA 160 mA 60 mA 80 mA − −
5 V internal bus 24 V internal bus 24 V external (no load)
typ. max. typ. max. typ. max.
ETCHU008/016: Outputs fed externally.
ETCHI008/016: Eingänge intern gespeist.
The ampacity of the cables and plug−in connectors of the internal system bus
is at least 8 A (per cable). The direct plug−in connections between housing
and PCB can accept a load of 3 A.
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3.1
3.1.3
Device description
System overview
Set node address
3.1.3 Set node address
Every ETCHx I/O module in a line represents a separate node at CAN1 bus and
must be set up with a unique node address.
ETC025
The node address is set via a front Hex switch (4 low value address bits) and
via permanently wirded bridges within the housing (3 high value address
bits). This means that a maximum of 16 modules are possible within a
module type.
) Note!
Some modules have internal codings switches instead of the
permanently wired bridges for the optional modification of the
high value address bits.
Module type High value
address bits
permanently
wired
CAN Bus Master −− −− 00 0
−− −− −− 01 H…0 FH 1 ... 15
ETCHU 10 H 0…FH 10 H…1 FH 16 ... 31
20 H 0…FH 20 H…2 FH 32 ... 47
ETCHA 30 H 0…FH 30 H…3 FH 48 ... 63
40 H 0…FH 40 H...4 FH 64 ... 79
ETCHI 50 H 0…FH 50 H…5 FH 80 ... 95
60 H 0…FH 60 H ... 6 FH 96 ... 111
70 H 0…FH 70 H ... 7 FH 112 ... 127
Low value
address bits
adjustable at
the front
Adjustable
node address
(hex)
Adjustable
node address
(decimal)
) Note!
All modules at the CAN bus must have a different node address.
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EDSTCXX EN 2.0
3.2 Control in top hat rail design (ETCHx)
Device description
Control in top hat rail design (ETCHx)
3
3.2
Description
Features
Elements
The ETCHx is a control for top hat rail assembly. Up−to−date communication
interfaces like Ethernet TCP/IP for networking and PC−MMI connection and
dual CANopen for the connection of field bus terminals or digital drive
amplifiers make the ETCHX ideal for use in machines with a distributed
control structure.
The connection to other modules is via the integrated ME bus.
ƒ 32 Bit MPC 555 Microcontroller
ƒ 4 MByte SRAM (with battery buffer; of which 12 KByte are available to
the PLC as remanent variable memory)
ƒ 2 MB Flash PROM
ƒ 2 CAN interfaces, 2 serial interfaces
ƒ 1 Ethernet TCP/IP interface
ƒ Watchdog
Designation Function
0 RS232 1st serial interface
1 ME bus Supply of the connected
4
modules and CAN1 bus for I/O
modules
0
5
2 CAN2 CAN2 bus for drives and
2nd RS232 interface
6
1
2
3 Functional earth (PE)
7
4 reset initialise control
8
5 LED 1 Status indication
3
6 WDOG Watchdog output
7 LED 2 Ethernet communication
8 Ethernet TCP/IP interface
ETC003
The control includes a battery for the SRAM.
The CAN1 interface is only present on the internal "ME bus". It can be
connected either to the power supply unit ETCHN003 or the bus termination
module ETCHT000.
EDSTCXX EN 2.0
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3
3.2
Device description
Control in top hat rail design (ETCHx)
Organisation of memory
4 MByte static SRAM (32 Bit RAM) and 2 MB Flash PROM are available.
ETCHC: The firmware has a memory requirement of 1 ... 1.5 MB SRAM and
1 MB Flash PROM. This means that the user has 2.5 ... 3 MB SRAM and 1 MB
Flash PROM available. This is sufficient for e.g. typically 128 NC sentences
(preprocessing buffer), 512 kB PLC program, 128 kB PLC data and 1 MB SPV
memory (DIN program memory).
ETCHM: The firmware has a memory requirement of 1 MB SRAM and 1 MB
Flash PROM. This means that the user has 3 MB SRAM and 1 MB Flash PROM
available. Verfügung. This is sufficient for e.g. typically 2000 kB PLC program
and 1000 kB PLC data.
The memory allocation can be configured by the user.
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EDSTCXX EN 2.0
Device description
Control in top hat rail design (ETCHx)
Serial interface
3
3.2
3.2.1
3.2.1 Serial interface
Connector allocation RS 232
(9−pole D−Sub pin)
The subassembly features two serial interfaces of the RS232 standard. The
signals of the first serial interface are connected to the RS232 plug
connector, and those of the second interface to the free contacts of the CAN2
plug connector. There are no hardware handshake signals for the second
interface.
The PLC programming environment and that of the internal monitors is
operated with 115 kBaud via the "RS232 connector. A client−specific PLC
program can control both interfaces.
1
6
RS232
9
5
ETC029
Pin Signal Pin Signal
1nc 6 DSR
2 RxD 7 RTS
3 TxD 8 CTS
4 DTR 9 nc
5 GND
Connector allocation (9−pole
D−Sub pin)
1
6
CAN2
9
5
Pin Signal Pin Signal
1 RxD 2 6
2 7
3 8 TxD 2
4 GND 9
5
) Note!
Use shielded cables and connector shells from metal or
metallised plastic for connecting the serial interfaces. The cable
shield must be connected conductively to both sides of the
connector shell.
ETC030
EDSTCXX EN 2.0
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