Control Technology Corp. CTC’s EtherCAT Master with Turck I/O Blocks This document discusses capabilities and setup information when using the CTC EtherCAT Master with Turck I/O Blocks. CTC’s EtherCAT master combined with Turck I/O blocks form an unbeatable combination for ease of use and cost/performance. Auto-Configuration Simplifies Programming Device Monitoring Using EtherCAT Explorer When equipped with a model M3-41 EtherCAT Master module, the CTC model 5300 controller will automatically recognize and configure Turck I/O blocks that are connected via a Turck BL20E-GW-EC EtherCAT coupler. This eliminates what can be one of the most time-consuming aspects of setting up an EtherCAT network, greatly simplifying the process of system configuration. Programming is then a simple matter. In the QuickBuilder programming environment, EtherCAT I/O devices appear identical to local I/O, with the same commands used to control them. Part of the QuickBuilder environment is a powerful diagnostic and monitoring tool for EtherCAT networks – the EtherCAT Explorer. For each EtherCAT master present in a controller, the EtherCAT Explorer shows each of the EtherCAT nodes identified by that master, along with any drives or I/O points contained within that node. Select one of the connected devices in EtherCAT Explorer to see a detailed list of parameters associated with that I/O device. You can also view a log of communications transactions sent across the network. This provides a powerful network diagnostic capability and a detailed window into the functioning of the devices in your system. EtherCAT Explorer, in the QuickBuilder Programming Environment, provides a detailed view of the I/O on an EtherCAT network. Powerful I/O Options Programming in QuickBuilder Used as Machine I/O - EtherCAT I/O is mapped as Controller I/O in QuickBuilder, as if it were plugged into the controller rack. The CTC model 5300 controller is programmed with QuickBuilder, a comprehensive graphical programming environment. The advanced instructions are programmed using Motion Sequence Blocks (MSBs, such as the one circled in red in the illustration), which are automatically downloaded to the appropriate EtherCAT Master module for local execution. This greatly increases performance while still allowing intensive communication with the main controller program. Example: // Turn on output#1 O1_ClampPart = On; // Check the end of travel limit if I7_ExtendLimit == Made then goto Retract; PLS Outputs (Programmable Limit Switch) - Set and Clear Outputs based on axis positions. Example: //Output will turn on when axis feedback position count is within 100000-250000 or 1750000-3000000 pls 1 using fposc on 100000 to 250000, on 1750000 to 3000000; PWM Outputs (Pulse-Width-Modulated) - Send pulses with timed states for On and Off. Example: //Set PWM on output#2 – 125 ms ON 1000 ms OFF for 5000 cycles Flowchart in a QuickBuilder program, showing a Motion Sequence Block named Slide. pwm output 1002 on 125 off 1000 cycles 5000; Pulse Outputs - Automatic generation of pulses Example: //turn out#2 (+1000=remote I/O) on for 500 ms pulse_ext 1002 for 500; Software (Pulse) Counters - Automatic counting of input transitions // Set the first counter to count pulses on in#25 (+1000=remote I/O) set mapped input 1 to input 1025 count rising; Step Editor in a QuickBuilder program, showing commands for a program step called 'step1'. For More Information Contact CTC at: • [email protected] • (888) 818-2600 • www.ctc-control.com For information about Turck I/O blocks, refer to their website at www.turck-usa.com. Product names are or may be trademarks of their respective owners. Copyright © 2014 Control Technology Corporation • All Rights Reserved • www.ctc-control.com • Doc. No. 960-534108-001
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