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3 Mounting and Connection of EtherCAT 3.1 Installation and cabling IN and OUT socket (RJ-45 input/output) Each EtherCAT slave has two RJ-45 sockets. The upper port (X15) is the input (IN) and the lower port (X16) is the output (OUT) of the slave. The incoming cable (from the direction of the master) is connected using the IN port, and the outgoing cable is connected to the next slave using the OUT port. The OUT port remains blank for the last slave in the series. An open output on a slave leads internally to a logical short circuit of the transmit (Tx) and receive (Rx) cables. For this reason every EtherCAT network can be regarded as a logical ring in terms of its topology. 3 L Setup of the EtherCAT network 2 L 1 L x 11 ϑϑ+ ϑ ϑ+ - ϑϑ+ ϑ ϑ+ - 10 x x x 8 9 x x In an EtherCAT network there is always one EtherCAT master (e.g. an industrial PC) and a variable number of slaves (e.g. servo controller, bus terminals etc). Each EtherCAT slave has two Ethernet ports. Slave to slave cabling is thus possible. All EtherCAT users are generally connected in a line with the master at the beginning of the circuit. On the last slave in the line the second Ethernet port remains open. 7 6 56 Ser ovnoe x1 x2 IPC x3 REL REL ISD SH ISD 06 ISD 05 ISD 04 ISD 03 ISD 02 ISD 01 ISD 00 +24 V DGND 56 Servo x1 one x1 one 12 RS 11 H RS 10 H EN 9 PO OSD0 2 8 OS 7 D01 OS 6 D00 ISA 15 ISA 1+ 4 ISA 03 ISA 0+ 2 +2 1 4V DGND x4 56 56 Servo 24 23 22 21 20 19 18 17 16 15 14 13 x5 3563 www 3 Lahn Mad .lust au e in -tec Germ .de any x1 one LIS Ind. e: SO A84 In: US TE h1 Typ C Servo .00 6.0 000 .00 Ou 00. t: D Cont . Eq.19B 0 B x15 SN h1 x2 x2 x2 x3 x3 x3 x4 x4 x4 x15 REL 24 12 23 11 ISDSH 22 10 ISD06 21 9 ISD05 20 8 ISD04 19 7 ISD03 18 6 ISD02 17 5 ISD01 16 4 ISD00 15 3 +24 V 14 2 DGND 13 1 REL RSH RSH ENPO OSD02 OSD01 OSD00 ISA1ISA1+ ISA0ISA0+ +24 V DGND WARNING Capacitor discharge time > 3 min. Pay attention to the operation manual! Fig. 3.1 EtherCAT connection x16 1 2 3 4 5 6 7 8 G G NIN G x16 h1 x15 s4 s4 x19 ACHTUNG Kondensatorenentladezeit > 3 min. Betriebsanleitung beachten! Fig. 3.2 EtherCAT option WARNING WARNING Capacitor discharge time > 3 min. Pay attention to the operation manual! UN WA R NIN x4 x19 ACHTUNG Kondensatorenentladezeit > 3 min. Betriebsanleitung beachten! NG WAR x16 h1 x15 s4 x19 HT nd en lade sato Bet zeit rene rie > 3 ntbsan m le in. beac itung hten Cap ! acito r Pay tim discha rg at e oper tent > 3 m e atio ion to in. n m th anuae l! HTU nd en lad satore Be ezeit ne trie > ntbsa 3 mi nle n. beachitung ten ! pacit or Pay tim disch arg att e operaentio> 3 mi e tion n to n. ma the nu al! Ca x5 x4 h1 x15 RSH RSH ENPO OSD02 OSD01 OSD00 ISA1ISA1+ ISA0ISA0+ +24 V DGND x5 x4 ACHTUNG 24 12 23 11 ISDSH 22 10 ISD06 21 9 ISD05 20 8 ISD04 19 7 ISD03 18 6 ISD02 17 5 ISD01 16 4 ISD00 15 3 +24 V 14 2 DGND 13 1 REL x5 Kondensatorenentladezeit > 3 min. Betriebsanleitung beachten! REL 1 2 3 4 5 6 7 8 RSH RSH ENPO OSD02 OSD01 OSD00 ISA1ISA1+ ISA0ISA0+ +24 V DGND 1 2 3 4 5 6 7 8 24 12 23 11 ISDSH 22 10 ISD06 21 9 ISD05 20 8 ISD04 19 7 ISD03 18 6 ISD02 17 5 ISD01 16 4 ISD00 15 3 +24 V 14 2 DGND 13 1 REL AC Ko AC Ko REL .: x16 Capacitor discharge time > 3 min. Pay attention to the operation manual! x16 Upper RJ-45 port = input Lower RJ-45 port = output CANopen/EtherCAT for ServoOne User Manual [ Section 3 ] 15
