EtherCAT Module (RMC200)

EtherCAT MainDevice with Redundancy Port

The ECAT module provides EtherCAT MainDevice functionality, allowing control of electric motor drives and communication with other EtherCAT subordinate devices such as sensors and actuators. With two RJ-45 ports, the ECAT module supports cable redundancy.

The ECAT module is supported by all RMC200 bases and may only be installed in slot 2 (the slot immediately to the right of the CPU).

For more details on EtherCAT features supported by the RMC200, see EtherCAT Overview.

Note: The ECAT module must not be removed while the RMC200 is on, or the CPU will reset. Remove power first from the RMC200, then remove the ECAT module.

Part Number

The part number of the ECAT module is R200-ECAT.

Setting up the ECAT module

The ECAT module requires Ethernet cable meeting at least CAT 5, with RJ45 connectors. For details on EtherCAT and how to create and use an EtherCAT network, see EtherCAT Overview.

Specifications

EtherCAT Interface
Ports

2 ports:
ECAT1: Main port
ECAT2: Redundancy port
Supported Topologies Linear, ring, and star
Hardware Interface IEEE 802.3 for 100BASE-T (twisted pair)
Data Rate 100 Mbps
Duplex Full Duplex
Features Auto-negotiation, Auto-crossover (MDI/MDI-X)
Connectors RJ-45 (2)
Cable CAT5. CAT5e or CAT6, UTP or STP
Cycle Times 250 µs minimum
Distributed Clock Subordinate devices that support DC on the network are synchronized with the motion loop of the RMC200
Power
Max Power Dissipation 2.0 W

LEDs

Light Bar

State Description
Off No power to the RMC200 or the module was not inserted when the RMC200 powered up.
Blue The module was recognized at power-up.

Net LED

This LED reflects the overall state of the EtherCAT network.

State Description
Off

No Configuration or Module not Expected

One of the following conditions:

  1. No EtherCAT configuration is loaded

  2. No EtherCAT module expected (i.e., ECAT module was not plugged in at startup)

Fast Flashing Green

(10 x per sec)

Network Startup/Transition

Configuration is present and the module is performing one of the following tasks as part of starting the network:

  1. Starting up the ECAT module

  2. Configuration being loaded

  3. Transitioning slaves to Init, Pre-Op, Safe-Op, or Op

  4. Synchronizing DC (if enabled)

Flashing Green

(2 x per sec)

Network not in Op state

The network has a configuration loaded and has no errors, but the current master state is not Op.

Steady Green

Network in Op state

The network has a configuration loaded and has no errors, the requested master state is Op, and all slaves are in Op mode.

Flashing Red

Network error

One of the following has occurred:

  1. Link down (only or both links)

  2. Bus mismatch

  3. Unable to promote network and all slaves to desired state

  4. DC fault

  5. The master is in Op state, but one or more slaves are not in Op state.

Steady Red

Module error

One of the following has occurred:

  1. EtherCAT master module fault

  2. Module was expected at startup but was inserted after startup (i.e., hot insert is not supported)

CR (Cable Redundancy) LED

This LED reflects the state of the Cable Redundancy feature.

State Description
Off

Cable Redundancy disabled

Cable Redundancy is disabled or the bus is not yet active.

Steady Green

Cable Redundancy enabled, ring closed

Cable Redundancy is enabled and the ring is closed.

Flashing Red

Cable Redundancy enabled, ring broken

Cable Redundancy is enabled and the ring is broken.

L/A1 and L/A2 (Link/Activity) LED

These two LEDs reflect the Link/Activity states of the MAIN and REDUNDANCY ports respectively:

State Description
Off

Link down

The Ethernet link is down.

Flashing Green

Link up, activity

The Ethernet link is up, and activity is detected.

Steady Green

Link up, idle

The Ethernet link is up, but no activity is detected.

 

See Also

RMC200 Overview | EtherCAT Overview

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