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 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.

Connector Options

• RJ45
  

  • Amphenol - RJHSE538B02

• M8-A Female
  

  • TE Connectivity - T4041017041-000‎
• M8-D Female

Pinout

^{(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

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

• 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

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.

• Colors indicated are for the standard CM1M9-8F-4000 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.

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

Run Indicator

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

Error Indicator

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

System and Motor Status LED 

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