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Overview 

The following diagram shows an overview of all connectors and LEDs.

Figure: Overview of Connections and status LEDs

Motor Connections 





EtherCAT Connectors

The EtherCAT IN and OUT ports use standard Ethernet RJ45 CAT5e connectors.


Pin #Function
1TX+
2TX-
3RX+
4GND
5GND
6RX-
7GND
8GND

Power Connector

The power connector supplies 24V to the EtherCAT slave and the motor separately. These two can be tied together so both are off the same power supply.

The power connector is an M9 circular connector from Binder. The relevant parts numbers are


ConnectorPart NumberSupplier
Motor connector09 0081 20 04Binder
Female cable side mating connector99 0080 102 04Binder
4m power cableCM1M9-4F-4000Myostat
  • The CM1M9-4F-4000 is 24AWG with conductor resistance of 97.5Ω/km
    • The HF version with EXT-3D cable has a resistance of 91.1Ω/km


Pin #DescriptionVoltageCurrent
1 - yellowEtherCAT + Motor Control Power24V ±10%125mA max
2 - white0V-
3 - grey0V-
4 - orangeMotor Drive Power24V ±10%See individual motor ratings

Colors indicated are for the standard CM1M9-4F-4000 power cable

  • NOTE: There is no reverse polarity protection. Ensure the 24V power is connected correctly before powering the unit.
  • Maintaining EtherCAT power and switching off motor drive power will
    • retain motor position 
    • remove any ability for the motor to be driven (as power to the motor drive has been removed).

I/O Connector

  • Connecting a digital input to GND will produce a logical high on the device.
  • All digital inputs can be monitored by the EtherCAT master.
  • Inputs 2 and 3 are also connected to the motor controller. This allows them to function as inputs for embedded home routines as well as any standard CML programming when in CML mode
  • The analog input is referenced by the motor and available in CML mode
  • Output 1 is controller by the EtherCAT slave controller. It is switched on and off by the EtherCAT master
  • Output 2 can be programmed as a standard motor output and cannot be controller directly by the EtherCAT master.


ConnectorPart NumberSupplier
Motor connector09 0481 22 08
Binder
Female cable side mating connector99 0480 102 08Binder
4m I/O cableCM1M9-8F-4000Myostat


Pin #NameEtherCAT FunctionMotor FunctionSpecifications
Digital Inputs - Sourcing (supply 0V to trigger)ParameterMinMaxUnit

1 - orange

2 - brown

3 - green

4 - yellow

IN1

IN2

IN3

IN4

Digital input 1

Digital input 2

Digital input 3

Digital input 4

-

Digital input 2

Digital input 3

-

Voltage Range036V
Input ON level01.4V
Input OFF level1.436V
Continuous Current-30mA
Peak Current-0.5A
Pulse Width-1ms
Analog Input (0-5V)ParameterMinMaxUnit
5 - purpleA-IN5-Analog input 4Voltage Range05V
Resolution10 bit
Digital Outputs - Sinking (output supplies 0V when asserted)ParameterMinMaxUnit

6 - blue

7 - black

OUT1

OUT2

Digital output 1

-

-

Output 2

Voltage Range0-V
Continuous Current-1A

Inductive Load

Peak Rev Current

-0.2A

Inductive Load

Peak Rev Voltage

-70V
Signal Ground (0V)ParameterMinMaxUnit
8 - red0V0V0VVoltage Range00V

Colors indicated are for the standard CM1M9-8F-4000 I/O cable

USB Connection

The USB connector is a standard micro USB and is used to update the EtherCAT firmware. When it is plugged into a computer it will create a virtual serial port.

LEDs 

EtherCAT Status LEDs

An EtherCAT slave device is required to have LEDs indicating different states.






Link/Activity Indicator

There is a Link/Activity LED for both the IN and OUT EtherCAT ports. The table below describes the indicator conditions and their associated states

LinkActivityConditionLink/Activity Code
YesNoPort OpenOn
YesYesPort OpenFlickering
NoN/APort ClosedOff

Run Indicator

The Run indicator shows the state of the EtherCAT State Machine. The indicator states are described in the table below.

Indicator StateSlave StateDescription
OffInitialisationThe device is in state "Init"
BlinkingPre-OperationalThe device is in state "Pre-Operational"
Single FlashSafe-OperationalThe device is in state "Safe-Operational"
OnOperationalThe device is in state "Operational"
FlickeringInit or Bootstrap

The device is booting and has not yet entered the "Init" state or,
the device is in state "Bootstrap. Firmware download is in progress.

Error Indicator

The Error indicator shall show device and EtherCAT errors. Errors are as defined in the table below.

Error StateError NameDescriptionExample
On

Application controller
failure

A critial communication or application error has occured
  • Over torque error
  • Motor communication error
Double flashProcess Data Watchdog timeout/
EtherCAT watchdog timeout
An application watchdog timeout has occured

Sync Manager watchdog timeout

Single flashLocal Error

Slave device application has changed the EtherCAT state autonomously, due to local error.

Device has changed from Op to safe-op due to EtherCAT error
BlinkingInvalid ConfigurationGeneral Configuration error
FlickeringBooting ErrorInit state reached but boot error detectedApplication boot error
OffNo ErrorDevice is in working condition




System and Motor Status LED 

The system status LED provides feedback to the user on overall system status. The following states exist

LED ColourDescription
Red

Motor Error

Solid:

  • 24V motor drive power not present

Blinking

  • Motor communication error

Flashing:

  • 1 - Position error
  • 2 - Over speed error
  • 4 - Over torque error
GreenSolid - CiA402 Mode
BlueSolid - CML Mode
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