Lenze EtherCAT Controller-based Automation - Manual (Page 25)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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4 The Lenze automation system with EtherCAT
4.2 Required hardware components
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4.2.2 The Lenze Controller - the central component
[4-3] Example: EtherCAT bus system with 3231 C controller as gateway and i700 servo inverter
The Lenze Controller is the central component in the EtherCAT bus system:
• The controller is the EtherCAT master.
• The Lenze Controllers have an EtherCAT interface "on-board".
• The controller acts as an EtherCAT gateway in order to enable access to the field devices from
the Engineering PC via Ethernet and EtherCAT.
• The devices are interconnected successively in line. For correct operation, it is necessary that the
physical sequence of the EtherCAT field devices matches the bus topology created in »PLC
Designer«.
Otherwise the system will not become "Operational". (An error message indicates which slave
(product code) is expected at what position.)
• Each EtherCAT slave has two EtherCAT ports.
In contrast to Ethernet, one port is assigned as input, the other one as output.
The inputs (IN) and outputs (OUT) must be correctly wired to each other
• A bus termination at the last slave is not required since the bus system at the last slave is
terminated automatically.