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

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Figure: Overview of Connections and status LEDs

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EtherCAT Connectors

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The EtherCAT

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ports use standard Ethernet RJ45 CAT5e, M8-A or M8-D connectors depending on the motor variant. They are labeled IN and OUT as per the EtherCAT standard.

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Connector Options

Pinout


RJ45(1)M8-AM8-D

Tx+

111
Rx+322
Rx-634
Tx-243

(1) Pins 4,5,7 and 8 are connected to GND.

Example Cables

All ethernet cables are standard pinouts and are available from a variety of online suppliers or cable houses. Here are a few example cables from the Phoenix Contact NBC series

ImagePart NumberDescriptionDigikey Link

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1407353

M8-A male to RJ45

Phoenix Contact - 1407353

Digikey - 1407353

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1407349

M8-A male to M8A male

Phoenix Contact - 1407349

Digikey - 1407349

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1227562

RJ45 to RJ45

Phoenix Contact - 1227562

Digikey - 1227562
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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.

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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
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Pin #
REVC
DescriptionVoltage
REVD
Current
1 - yellowEtherCAT
PowerEtherCAT
+ Motor Control Power24V ±10%125mA max
2 - white
GND
0V
GND
-
3 - grey
GND
0V
GNDMotor Power
-
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.
  • REVC Hardware
    • Maintaining EtherCAT power and dropping motor power will not retain motor position as the the current position is evaluated on the motor controller.
  • REVD Hardware
  • Maintaining EtherCAT power and dropping 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.

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




Low Level4VHigh LevelCont. UnitUnitCont. rev current Rec Volt.Output 2
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

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ParameterMinMaxUnit

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
2 - brownIN2Digital input 2Digital input 2
3 - greenIN3Digital input 3Digital input 3
4 - yellowIN4Digital input 4-
Analog Input (0-5V)ParameterMinMaxUnit
5 - purpleA-IN5-Analog input 4ParameterMinMaxVoltage Range05V
Resolution10 bit
Digital Outputs - Sinking (output supplies 0V when asserted)ParameterMinMaxUnit

6 - blue

7 - black

OUT1

OUT2

Digital output 1

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ParameterMinMax

-

Output 2

Voltage Range0-V
Continuous Current-1A

Inductive Load

Peak

Rev Current

-0.2A

Inductive Load

Peak

Rev Voltage

-70V7 - blackOUT2-
Signal Ground (0V)ParameterMinMaxUnit
8 - redGNDGNDGNDGND

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0V0V0VVoltage Range00V
  • Colors indicated are for the

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  • standard CM1M9-8F-4000

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  •  I/O cable. 
  • For custom cable length pin-out and colors see CM1M9-8F.PDF

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.

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Link/Activity Indicator

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

ModeSolid - CML
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 Blue Mode