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List of All Tested EtherCAT Devices
#1
This is a somewhat generic question. How can I determine EtherCAT master/slave compatibility? If I have a master that says it is EtherCAT, and a slave drive that says it is EtherCAT, is it that simple? What EtherCAT drives has Delta Tau tested with the PowerPMAC? Does a 3rd party verify compatibility?
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#2
Delta Tau is a regular participant at the EtherCAT North America plugfest to help insure interoperability with various slave modules, both I/O and drives. In addition, many drives are kept at Delta Tau's facility from various manufactures for testing.

At the moment we have tested the following slave devices under Power PMAC EtherCAT master control:

Servo Drives:

ABB ACSM1-04AM-02A5-4 with FECA-01 EtherCAT module
ABB ACS800
Copley Accelnet Plus Drive
Copley Xenus Plus Drive
CT Digitax ST
CT Unidrive M
Danaher S70301-US Drive
Emerson DST1204 Drive
Kollmorgen AKD P00606-NAEC-0000
Lenze i700
LTI ServoOne
Omron R88D-KN02L-ECT Drive
Sanyo Denki - SanMotion RS2E01AOKA4
Servotronix CDHD
Technosoft IPOS4808 VX-CAT
Yaskawa SGDV Drive with SGDV-OCA01A EtherCAT module

IO modules:

ABB CI512-ETHCAT IO module
Beckhoff EK1100 EtherCAT coupler with added ELxxxx IO modules
Omron GX-xD16x1/OC1601 EtherCAT IO Module
Sina Sattari
Hardware Engineering Manager
Delta Tau Data Systems, Inc.
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#3
Delta Tau is adding the following EtherCAT I/O device.
  • ACC-52EC, ECAT I/O Module is general purpose EtherCAT input/output (I/O) peripheral device.


IO modules (REVISED):
Delta Tau ACC-52EC, ECAT I/O Module
ABB CI512-ETHCAT IO module
Beckhoff EK1100 EtherCAT coupler with added ELxxxx IO modules
Omron GX-xD16x1/OC1601 EtherCAT IO Module
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#4
Updated List of EtherCAT Devices

Servo Drives:
ABB ACSM1-04AM-02A5-4 with FECA-01 EtherCAT module
ABB E180 and ABB ACS800 Drives
Copley Accelnet Plus AEP Drive
Copley Accelnet Plus BE2 Dual Axis Drive
Copley Xenus Plus XEL Drive
CT Emerson Digitax DST1204 Drive
CT Unidrive M, Drive
Danaher S70301-US, Drive
Delta ASDA-A2-E
Elmo DC Drive (CS Pos, CS Vel, CS Torq Modes)
HIWIN D2 1023-E-C4, w/Ecat Module, Drive
Kollmorgen AKD P00606-NAEC-0000, Drive
Kollmorgen AKD P00607-NBEC-0000, Drive
Lenze i700, Drive
LS Mecapion L7NA002B (E-Motion)
LTI ServoOne
Mitsubishi MR-J4-10TM & -40TM, Drives
Omron R88D-KN02L-ECT Drive
Omron R88D-KN01L-ECT Drive
Omron R88D-1SN01L-ECT Drive
Panasonic MBDHT2110B01, Drive
Panasonic MCDHT3520B01, Drive
Sanyo Denki - SanMotion RS2E01AOKA4, Drive
Servotronix CDHD, Drive
Technosoft IPOS4808 VX-CAT, Drive
Yaskawa SGDV Drive with SGDV-OCA01A EtherCAT module
Yaskawa SGDVII Drive

IO modules:
ABB CI512-ETHCAT, IO module
Beckhoff EK1100 EtherCAT coupler w/ EL1008, EL2008 IO Modules
Delta Tau ACC-52ECx 16/16, IO Module
Micro-Epsilon's ConfocalDT (see setup document in link found in Post #10 of this thread)
Omron GX-ID1621 EtherCAT, IO Module
Omron GX-OD1621 EtherCAT, IO Module
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#5
Is there a more recent list of EtherCAT devices?

I'm interested if any LinMot drives have been tested with the Power PMAC - specifically, the E1250-EC-UC or the E1250-SE-UC.
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#6
This is a helpful list. Thank you.

I just want to add that Micro-Epsilon's Confocal DT also works with Power PMAC on EtherCAT.
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#7
(03-16-2017, 12:48 PM)Clopedandle Wrote: This is a helpful list. Thank you.

I just want to add that Micro-Epsilon's Confocal DT also works with Power PMAC on EtherCAT.

I am curious, which EtherCAT Master Stack were you using Acontis, or EtherLab? Was it a 460/465, or the new uPPMAC?
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#8
Hey Michael,
It was a 460 Power UMAC CPU if I recall correctly, so I think the older EtherCAT stack (I forget the name, whether Etherlabs or Acontis).
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#9
CURRENTLY:
* 460/465 based systems use the EtherLab EtherCAT Master Stack
* uPPMAC and IPC use the Acontis EtherCAT Master Stack

Does the Micro-Epsilon's ConfocalDT connect as an EtherCAT I/O device?

Provide some of the details and I may add it to the list above.
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#10
Yep it connects as an I/O device. Believe it or not I actually wrote an app note on that already. I think it's here:

http://forums.deltatau.com/filedepot/dow...20PMAC.pdf
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#11
Hi,
I am facing problems with Ethercat Between Delta Tau Power Clipper and Kollmorgen AKD-P00607-NBCC-E000 Drive.
Still in testing phase. The Actual motor position does not update continuously.
I have not enabled the drive. If I rotate the motor with my hand the position does not update.
But If I deactivate and activate the Ethercat the position gets updated. Am I missing anything or is it a bug.
Firmware Version is 2.2.0.39.
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#12
Please contact our Tech Support department for further information. AKD drives typically require initialization of various EtherCAT objects. The setup depends upon which EtherCAT stack and mode that you are using.

EtherCAT Modes ($6060)
0 No mode change/no mode assigned
1 Profile position mode
2 Velocity mode
3 Profile velocity mode
4 Torque profile mode
5 reserved
6 Homing mode
7 Interpolated position mode
8 Cyclic sync position mode
9 Cyclic sync velocity mode
10 Cyclic sync torque mode

Delta Tau supports the Cyclic Synchronous modes e.g. (8, 9, 10), and homing mode (6). We have on occasion observed customers use Profile modes despite the fact that we do not support them.

You may need to contact AKD to see which modes the firmware version you are using supports. If forced to use a Profile mode then setting the profile boundaries to their maximum/most aggressive slopes will imitate the corresponding Cyclic Synchronous mode. That will need to be done within the AKD using the Kollmorgen setup software. You will need to contact Kollmorgen support for guidance on that subject.

If you are using the Etherlab Stack try the following, see attachment for info on the ecatsdo( ) and ecattypedsdo( ) commands.
// AKD EtherCAT Drive in position 0
// Add the following items to your ecatactivate0.cfg file:
l0 = ecatsdo(0,0,$1601,0,0,0)
l0 = ecatsdo(0,0,$1602,0,0,0)
l0 = ecatsdo(0,0,$1603,0,0,0)
l0 = ecatsdo(0,0,$1a01,0,0,0)
l0 = ecatsdo(0,0,$1a02,0,0,0)
l0 = ecatsdo(0,0,$1a03,0,0,0)
l0 = ecatsdo(0,0,$1c12,0,0,0)
l0 = ecatsdo(0,0,$1c13,0,0,0)

note: l0 = ecatsdo(0,0,$6060,0,8,0) and a couple more entries should already be in the ecatactivate0.cfg file.


Attached Files
.pdf   ecatsdoCommand_R1_2.pdf (Size: 469.69 KB / Downloads: 45)
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#13
(07-03-2017, 02:40 AM)manjunathk Wrote: Hi,
I am facing problems with Ethercat Between Delta Tau Power Clipper and Kollmorgen AKD-P00607-NBCC-E000 Drive.
Still in testing phase. The Actual motor position does not update continuously.
I have not enabled the drive. If I rotate the motor with my hand the position does not update.
But If I deactivate and activate the Ethercat the position gets updated. Am I missing anything or is it a bug.
Firmware Version is 2.2.0.39.

Same here, along with various bus crashes, dropped frames and overall PMAC Clipper non-responsive.
Firmware 2.1.0.39 (unable to update Power PMAC Clipper past that version due to boot-up crash).
Etherlab stack.
CPU command returns PowerPC,APM86xxx
Sys.CPUType = 4
Serial C0C0DVG1
Part #4-4050JA0-330-010000
Variant Code 101F

Drive I am using is AKD-P00306-NBEC-0069 HW Rev. D with latest AKD Firmware 01-16-00-002 and ESI definition from http://www.kollmorgen.com/en-us/products...16-00-002/

I have been able to get live position updates but still unable to command motor moves under either default startup config from XML (Interpolation Position Mode) nor Cyclic Position or Cyclic Torque modes.
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#14
Please contact our technical support group at support@deltatau.com with this issue and we can help get you going.
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#15
someone is it working with NX Modules (Omron)?

the Ethercat configuration into the "System Setup" only load the Ethercat Coupler file (NX-ECC20x) but when i try to load the modules files nothing happend.

I tried load the ESI file into the "ESI MANAGER" of "EC-Engenier" and when i load the NX-Modules.XML file the system says that the file is invalid.

My Ethercat Configuration is:

NX-ECC203 (Version 1.5) / DA2605 / EC0132 / EC0132 / ID5442 / OD5121
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#16
We have tested with most of the NX couplers specifically the ECC203.

Please note that you do not load the "Modules" file, just the "Coupler".

What PMAC platform are you using?
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#17
I have had the most success by including all relevant ESI files (for all modules and also for the coupler) in a single folder, then either adding that full folder through the ESI manager or selecting the coupler (with all other devices in the same location).

When doing that, I've always been able to successfully append the modules onto the coupler (or scan the network and detect them properly).


Attached Files Image(s)
   
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#18
(12-13-2017, 06:53 AM)CVillaleiva Wrote: someone is it working with NX Modules (Omron)?

the Ethercat configuration into the "System Setup" only load the Ethercat Coupler file (NX-ECC20x) but when i try to load the modules files nothing happend.

I tried load the ESI file into the "ESI MANAGER" of "EC-Engenier" and when i load the NX-Modules.XML file the system says that the file is invalid.

My Ethercat Configuration is:

NX-ECC203 (Version 1.5) / DA2605 / EC0132 / EC0132 / ID5442 / OD5121
Assuming that you are using a PowerPMAC with the Acontis ethercat stack (CK3Eor NY512) you should see the NX coupler and the modules when you scan your network. If you do not check to be sure that you have loaded the correct Omron NX_Modules.xml file into EC Engineer. If you have Sysmac Studio loaded it will be found at:

C:\Program Files (x86)\OMRON\Sysmac Studio\IODeviceProfiles\EsiFiles\SystemEsiFiles

Make sure that your Sysmac Studio is up to date.
Davis Gentry
Advanced Motion Applications Engineer
Omron Automation and Safety
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#19
I have had success with the following devices on the CK3E Acontis Stack:

AKD-P02407-NBCC (running in Torque Mode, also mapped the servo drive brake control over the network)
AKD-C01007-CBEC (power distribution module for AKD distributed drives)
AKD-N00307-DFEC (AKD Distributed drive, Torque Mode)
AKD-N00607-DFEC (AKD Distributed drive, Torque Mode)
AKD-N01207-DFEC (AKD Distributed drive, Torque Mode)

Kistler Type 5074A - 4 channel industrial charge amplifier, limited to 1khz bus frequency.
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#20
(07-16-2018, 08:16 AM)MDustan Wrote: I have had success with the following devices on the CK3E Acontis Stack:

AKD-P02407-NBCC (running in Torque Mode, also mapped the servo drive brake control over the network)
AKD-C01007-CBEC (power distribution module for AKD distributed drives)
AKD-N00307-DFEC (AKD Distributed drive, Torque Mode)
AKD-N00607-DFEC (AKD Distributed drive, Torque Mode)
AKD-N01207-DFEC (AKD Distributed drive, Torque Mode)

Kistler Type 5074A - 4 channel industrial charge amplifier, limited to 1khz bus frequency.

Thank-you for the input.
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