B&R X20IF10G3-1 Communication module EtherCAT slave

Module description

The interface module is equipped with an EtherCAT interface. This allows the B&R system (I/O modules,

POWERLINK, etc.) to be connected to systems from other manufacturers and makes it possible to quickly

and easily transfer data in both directions.

The interface is equipped with 2 RJ45 connections. Both connections result in an integrated switch. This

makes it easy to implement daisy chain cabling.

Functions:

• EtherCAT slave

• Error monitoring

EtherCAT

EtherCAT is an Ethernet-based fieldbus developed by Beckhoff. This protocol is suitable for both hard and

soft real-time requirements in automation technology.

Error monitoring

The status of the module and fieldbus is monitored. An error code is returned if an error occurs.

EtherCAT

EtherCAT is an Ethernet-based fieldbus developed by Beckhoff. This protocol is suitable for both hard

and soft real-time requirements in automation technology. In addition to a ring structure, which becomes

logically necessary because of the summation frame telegram used, the EtherCAT technology also phys

ically supports topologies such as line, tree, star (limited) and combinations of these topologies. B&R's

X20BC80G3 (expandable bus controller module) and X20HB88G0 (standalone junction base module) are

available for implementing these topologies.

EtherCAT slave devices take the data designated for them from a telegram as it is passing through the

device. Input data is also added to the telegram as it is passing through.

Master systems without FoE (File access over EtherCAT) support require an appropriate configuration tool

to transfer the configuration (optional).

Error codes

The module returns an error code if an error occurs. A complete list of all error codes in PDF format is avail

able in under item "Communication_Error" in section "Communication / Fieldbus systems / Support with

FDT/DTM / Diagnostic functions / Diagnostics on the runtime system / Master diagnostics" in Automation

Help.

Supported protocols and functions

Supported protocols:

• File access over EtherCAT (FoE object)

• Complete access (supported since firmware version 18)

° Enabled: Objects are read or written with all existing subindices.

° Disabled: Objects are only read or written with the specific subindex.

Additional supported functions:

• 32-bit "distributed clocks" function

Unsupported functions:

• Reading and writing a logical memory area (LRW)

Firmware

The module comes with preinstalled firmware. The firmware is part of the Automation Studio project. The

module is automatically brought up to this level.

A hardware upgrade must be performed to upgrade the firmware included in Automation Studio (see Help

"Project management - Workspace - Upgrades" in Automation Help).

The EtherCAT interface

From an Ethernet standpoint, the EtherCAT bus is simply a single large Ethernet station. This "station" re

ceives and transmits Ethernet telegrams. The station does not include an Ethernet controller with down

stream microprocessor, however, but rather a large number of EtherCAT slaves. These slaves process the

incoming telegrams during the cycle and extract the relevant payload data or add it and then forward the

telegram to the next EtherCAT slave. The last EtherCAT slave then returns the now fully processed telegram

so that it will be sent back to the master by the first slave as a kind of response telegram. This procedure

utilizes the fact that Ethernet deals separately with transfers in separate directions (Tx and Rx lines) and

operates in full-duplex mode.

The telegrams are processed in a continuous process. While the telegrams are already being sent on, de

layed by just a few bits, the slave recognizes certain commands for itself and executes them accordingly.

Processing takes place in the hardware and is therefore independent of the response times of the slave.

Each station has an addressable memory area of 64 kB, within which it is possible to read, write or write

and read simultaneously. Several EtherCAT commands can be embedded within an Ethernet telegram, each

of which addresses individual stations and/or memory areas.