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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List of All Tested EtherCAT Devices
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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.
10-29-2014, 07:56 AM
Delta Tau is adding the following EtherCAT I/O 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
02-10-2015, 11:43 AM
(This post was last modified: 03-20-2017, 10:28 AM by masher.
Edit Reason: Add I/O device to list
)
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
03-14-2017, 04:26 PM
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.
03-16-2017, 12:48 PM
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.
03-17-2017, 08:03 AM
03-17-2017, 10:30 AM
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).
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.
03-20-2017, 10:03 AM
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
07-03-2017, 02:40 AM
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.
07-05-2017, 08:55 AM
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.
09-08-2017, 05:37 AM
(This post was last modified: 09-08-2017, 05:51 AM by dougjr17.
Edit Reason: Additional details added
)
(07-03-2017, 02:40 AM)manjunathk Wrote: Hi, 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.
09-08-2017, 02:30 PM
Please contact our technical support group at support@deltatau.com with this issue and we can help get you going.
12-13-2017, 06:53 AM
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
12-13-2017, 11:02 AM
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?
12-18-2017, 12:37 PM
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).
01-23-2018, 12:40 PM
(12-13-2017, 06:53 AM)CVillaleiva Wrote: someone is it working with NX Modules (Omron)?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
07-16-2018, 08:16 AM
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.
07-17-2018, 04:51 PM
(07-16-2018, 08:16 AM)MDustan Wrote: I have had success with the following devices on the CK3E Acontis Stack: Thank-you for the input.
10-25-2019, 07:40 AM
Has there been success or testing with the KEB Automation drive products? Fought with there F6K drive, sent back for testing(nothing wrong), and OEM gave up on product. The F6K would power-up ok and the ECat LED's would come to life like normal until CK3E would attempt to enable ECat then drive ECat LED would go red and the slave could be seen during an "ecat reset" but never goes to PreOp state. The CK3E error is $98110024. One note about the KEB drives: They don't have the ability to set address through hardware, it bases its address on where its plugged in the chain.
01-03-2020, 03:17 PM
Power PMAC will support any I/O slave with a valid ESI file conforming to the EtherCAT standard. Your local Omron Technical Center should be able to help you with this.
01-28-2020, 08:39 PM
#4
Elmo DC Drive (CS Pos, CS Vel, CS Torq Modes) ↑ I want to know why only Elmo DC Drive especialy write three control methods
01-29-2020, 08:43 AM
Power PMAC in general only supports Cyclic Synchronous Position, Velocity, and Torque modes for any slave drives.
01-29-2020, 05:38 PM
Thank you answer me.
I know Power PMAC supports CS Pos, CS Vel, CS Torq so that I thought it don't have to bother writing same as other servo drive.
02-11-2020, 01:34 AM
This list was last updated 3 years ago in 2017
I wonder if you have any updates Thanks Or Hirshfeld SW Control Engineer FFRobotics https://www.linkedin.com/in/orhirshfeld/ (02-10-2015, 11:43 AM)masher Wrote: Updated List of EtherCAT Devices |
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