galil ethernet or ethercat motion control webinar january 26, 2016
TRANSCRIPT
January 26, 2016
Ethernet or EtherCAT for Motion Control Choosing the Right Network for Your Applications
Matt Klint Applications Engineer Galil Motion Control
Speakers Texas Instruments & Ethernet POWERLINK Standardization Group
Matt Klint Applications Engineer Galil Motion Control
Meet The Presenter
Thank You To Our Exclusive Sponsors
Agenda • Introduction
• About Galil
• Solutions • Motion Control Systems • Centralized vs. Distributed • Ethernet • EtherCAT • Examples
• Galil EtherCAT Hardware • DMC-500x0 EtherCAT Master • RIO-574x0 EtherCAT IO
• Summary • Decision points for EtherCAT or Ethernet
• Q&A
About Galil Established Reputation and long History of Success
• Founded in 1983 by Dr. Jacob Tal and Wayne Baron
• Introduced the 1st microprocessor based servo controller • Profitable for over 120 consecutive quarters • Over 750,000 motion controllers and PLCs delivered
Excellent Engineering Support and Service • Worldwide network of factory trained reps & distributors • Support team with over 100 years combined motion control experience • Online support tools at www.galil.com
Motion Control System
Component Function Command Position An ideal reference generated by the Motion Controller Actual Position Encoder feedback position Error Difference between the commanded and actual positions Kp, Kd, Ki PID Filter gains that translate measured error into a control signal Control Signal Works to correct the measured error via negative feedback
Centralized Control
• All components in close proximity
• Servo control, IO are all monitored and controlled from the same hardware
• Motion can be synchronized and coordinated with changes in IO states
• Examples: o CNC Machine o Semiconductor Inspection o Pick and Place Machine
HMI/PC Motion
Controller Servo Drives
PLC
Distributed Control
• Coordination (motion or triggering IO) is left to each node to manage and report back to the central ‘master’ node
• Communication delays between nodes and the master can lead to race conditions, indeterminate states etc.
• Best for plant/process control and monitoring
PLC
PLC
PLC
Switch
Motion Controller
Servo Drives
EtherCAT and Ethernet • Ethernet
• Designed to move large amounts of data through many different nodes • Able to route data to and from billions of separate addresses allowing
communication across vast networks • Large overhead involved in encapsulating, routing and formatting data • Software handles extraction and processing of data
• EtherCAT • Uses standard Ethernet hardware, CAT5 cabling and Network Interface Cards
(NIC) • Streamlines Ethernet communication at the hardware level • Data processing on slave devices is handled “on the fly” via FPGA or ASIC,
minimizing latency • Initial setup and configuration required
Ethernet – What’s on the Wire? An Ethernet frame contains:
• Ethernet Header • Destination Address: 6 bytes • Source Address: 6 bytes • EtherType: 2 bytes, 0x0800 specifies IPv4.
• Ethernet Data • Payload: 46 – 1500 bytes
• CRC (Checksum): 4 bytes
Standard Ethernet Frame (Packet)
Ethernet Physical Layout
Host PC or HMI
Motor +
Encoder CAT5 Ethernet Cable
Drive
Drive
Motion Controller
Motor +
Encoder
Motor +
Encoder
Drive
• Communication between motion controller and PC is over Ethernet
• Motion Commands are relayed to the drives analog signals
EtherCAT Communication
• Based on CANopen, specifically COE (CAN Over Ethernet)
• Standard CAT5 Cabling • FPGAs for fast data processing • Data formatting must be configured prior
to operation • Multiple modes of operation • IO Supported • Distributed Clock allows for tightly
coordinated actions • Likened to a ‘data train’, each drive takes
data off the train, places data on the train
Slave 1 Slave 2 Slave 3 Slave 4 Master
EtherCAT – What’s on the Wire? An EtherCAT frame is very similar to an Ethernet frame:
• Ethernet Header • EtherType 0x08A4 specifies EtherCAT
• EtherCAT Header • Data Length: 11 bits • Reserved: 1 bit • Protocol type: 4 bits (0x01 indicates CoE, CAN over EtherCAT)
• EtherCAT Data: 46 – 1496 bytes • Working Counter: 2 bytes • CRC (Checksum): 4 bytes
EtherCAT Frame (Packet)
EtherCAT Network Layout
I/O Module
EtherCAT Master
EtherCAT Drive 1
EtherCAT Drive 2
EtherCAT Drive 3
Motor/ Encoder
Motor/ Encoder
Motor/ Encoder
CAT5 Ethernet Cable
The DMC-500x0 EtherCAT Master • Includes all the features of our flagship
DMC-40x0 series controller with the addition of EtherCAT drive support for up to 8 axes in Cyclic Synchronous Position and Torque Modes
• Only motion controller in the industry with the ability to mix and match local and EtherCAT drives
• Easily configurable and designed with compatibility and flexibility in mind
• Multiple drive vendors supported
• Compatible with Galil’s entire line of internal servo and stepper motor amplifiers
The RIO-574x0 EtherCAT I/O Slave
Features • 16 high power, 500mA sourcing,
optoisolated digital outputs • 16 Optoisolated digital inputs • 8 x Programmable analog inputs • 8 x Programmable analog outputs
Fully Functional EtherCAT Slave • EtherCAT Conformance Tested • Supports Distributed Clock • Programmable Analog IO ranges • Field Upgradeable Firmware
Conformance Tested
DMC Code Examples
Commanding movement on a local axis
Commanding movement on an EtherCAT axis and reading EtherCAT IO
Why Choose? • The DMC-500x0 can accommodate a multitude of interfaces and
communication buses:
o EtherCAT
o Ethernet
o TCP Modbus
o RS-232/USB
• This versatility makes selecting the best drives and IO for your application a
much simpler process. If design considerations change down stream,
developers are not locked into a particular hardware platform. This is in stark
contrast to many EtherCAT only controllers on the market.
DMC-500x0 Hardware Layout DMC-50070
EtherCAT Drive 1
EtherCAT Drive 2
EtherCAT Drive 3
Servo Motor
Servo Motor
Servo Motor
RIO-57420 Analog & Digital IO
Stepper Motor
Servo Motor
Servo Motor
Stepper Motor
Stepper Driver
Stepper Driver
Compatible EtherCAT Drives Currently Supported Drives & IO
• AMC DZEANTU Series
• Copley XenusPLUS XEL-230-36
• LS Mecapion Pegasus and L7NA Series
• Panasonic Minas A5B
• Sanyo-Denki SANMOTION RS2A01A0KA4
• Yaskawa Sigma-5 Series
• Delta Electronics ASD-A2 Series
• Galil RIO-574x0 IO
• VIPA IO
For devices not listed, please contact a Galil
Applications Engineer to discuss your application
Summary
• The EtherCAT protocol is gaining traction as a robust and efficient solution to
demanding, large scale automation applications
• The higher cost of EtherCAT controllers and drives is partly offset by the use of
pre existing, easily attainable hardware and simplified wiring
• Although Ethernet control can not technically be referred to as ‘real time’, for
many applications it is more than sufficient
• For centralized control schemes, analog servo control signals will continue to be
the most cost effective option
Please submit your questions regarding any part of this presentation or about
EtherCAT in general at this time
Additionally, please contact Galil’s dedicated Applications Engineering team anytime
with additional questions or comments:
Q & A
1 (916) 626-0101 [email protected] www.galil.com
Questions? Joanna Keel
Marketing & Membership Manager Motion Control & Motor Association
[email protected] +1-734-994-6088
www.MotionControlOnline.org
Thank you to our exclusive sponsors:
Matt Klint Applications Engineer Galil Motion Control
[email protected] Galil Engineering Support
1-800-377-6329 [email protected]
Electromate Contact 1-877-737-8698
[email protected] www.electromate.com