Advantech PCM-26R1EC User manual

User Manual

PCM-26R1EC

EtherCAT Master mPCIe Card

PCM-26R1EC User Manual ii

The documentation and software included with this product are copyrighted 2022 to

Advantech Co., Ltd. All rights are reserved. Advantech Co., Ltd. reserves the right to

make improvements on the products described herein at any time without notice. No

part of this manual may be reproduced, copied, translated, or transmitted in any form

or by any means without prior written permission from Advantech Co., Ltd. The infor-

mation provided in this manual is intended to be accurate and reliable. However,

Advantech Co., Ltd. assumes no responsibility for its use, nor for any infringement of

the rights of third parties, which may result from its use.

Acknowledgments

IBM and PC are trademarks of International Business Machines Corporation.

All other product names and trademarks are the property of their respective owners.

Product Warranty (2 years)

Advantech warrants to you, the al purchaser, that this product will be free from

defects in materials and workmanship for 2 years from the date of purchase.

This warranty does not apply to products that have been repaired or altered by per-

sons other than repair personnel authorized by Advantech, nor does it apply to prod-

ucts that have been subject to misuse, abuse, accident, or improper installation.

Under the terms of this warranty, Advantech assumes no liability for consequences

arising from such events.

Because of Advantech’s high quality-control standards and rigorous testing, most of

our customers never need to use our repair service. If an Advantech product is defec-

tive, it will be repaired or replaced at no charge during the warranty period. For out-

of-warranty repairs, you will be billed according to the cost of replacement materials,

service time, and freight. Please consult your dealer for more details.

If you believe that you have a defective product, follow these steps:

1. Collect all the information about the problem encountered (e.g., CPU speed,

Advantech products used, other hardware and software used, etc.). Note any-

thing abnormal and list any on-screen messages that appear when the problem

occurs.

2. Call your dealer and describe the problem. Please have your manual, product,

and any helpful information readily available.

3. If your product is diagnosed as defective, obtain a return merchandize authori-

zation (RMA) number from your dealer. This allows us to process your return

more quickly.

4. Carefully pack the defective product, a fully completed Repair and Replacement

Order Card, and proof of purchase date (e.g., a photocopy of your sales receipt)

in a shippable container. A product returned without proof of the purchase date

is not eligible for warranty service.

5. Write the RMA number clearly on the outside of the package and ship it prepaid

to your dealer.

Part No. 2004R1EC00 Edition 1

Printed in Taiwan June 2022

iii PCM-26R1EC User Manual

Declaration of Conformity

This product has passed the CE test for environmental specifications when shielded

cables are used for external wiring. We recommend using shielded cables. This type

of cable is available from Advantech. Please contact your local supplier for ordering

information.

FCC Class A

This equipment has been tested and found to comply with the limits for a Class A dig-

ital device, pursuant to Part 15 of the FCC rules. These limits are designed to provide

reasonable protection against harmful interference when the equipment is operated

in a commercial environment. This equipment generates, uses, and can radiate

radio-frequency energy and, if not installed and used in accordance with the instruc-

tion manual, may cause harmful interference to radio communications. Operation of

this equipment in a residential area is likely to cause harmful interference in which

case the user will be required to correct the interference at his or her own expense.

This equipment has passed FM certification. According to the National Fire Protec-

tion Association, work sites are classified into different classes, divisions, and groups

on the basis of hazard considerations. This equipment complies with the specifica-

tions of Class I, Division 2, Groups A, B, C, and D indoor hazards.

Technical Support and Assistance

1. Visit the Advantech website at www.advantech.com/support for the latest infor-

mation about this product.

2. Should you require additional assistance, contact your distributor, sales repre-

sentative, or Advantech's customer service center for technical support. Please

have the following information ready before you call:

–Product name and serial number

–Description of your peripheral attachments

–Description of your software (OS, version, application software, etc.)

–A complete description of the problem

–The exact wording of any error messages

Safety Precaution - Static Electricity

Follow these simple precautions to protect yourself from harm and the products from

damage.

To avoid electrical shock, always disconnect the power from your PC chassis

before you work on it. Do not touch any components on the CPU card or other

cards while the PC is on.

Disconnect the power before making any configuration changes. The power spike

that occurs as you connect a jumper or insert a card may damage sensitive electronic

components.

PCM-26R1EC User Manual iv

Safety Instructions

1. Read these safety instructions carefully.

2. Retain this user manual for later reference.

3. Disconnect the equipment from any AC outlet before cleaning. Use a damp

cloth. Do not use liquid or spray detergents for cleaning.

4. For plug-in equipment, the power socket must be located near the equipment

and be easily accessible.

5. Keep the equipment away from humidity.

6. Place the equipment on a reliable surface during installation. Dropping it or let-

ting it fall may cause damage.

7. The openings on the enclosure are for ventilation. To protect the equipment

from overheating, do not cover the openings.

8. Ensure that the power source voltage is correct before connecting the equip-

ment to the power outlet.

9. Position the power cord so that people cannot step on it. Do not place anything

over the power cord.

10. Please pay attention to any cautions and warnings noted on the equipment.

11. If the equipment is not used for a long time, disconnect it from the power source

to prevent damage from transient overvoltage.

12. Never pour any liquid into the openings. This may cause fire or electrical shock.

13. Never open the equipment. For safety reasons, the equipment should be

opened only by qualified service personnel.

14. If one of the following situations arises, have the equipment checked by service

personnel:

–The power cord or plug is damaged.

–Liquid has penetrated into the equipment.

–The equipment has been exposed to moisture.

–The equipment does not work well, or you cannot get it to work according to

the user manual.

–The equipment has been dropped and damaged.

–The equipment shows obvious signs of breakage.

15. Do not store this equipment in an environment where the temperature may go

below -20°C (-4°F) or above 60°C (140°F). This could damage the equipment.

The equipment should be kept in a controlled environment.

16. CAUTION! The battery may explode if it is incorrectly replaced. Replace only

with the same or equivalent type recommended by the manufacturer, and dis-

card used batteries in accordance with the manufacturer's instructions.

17. In accordance with IEC 704-1:1982, the sound pressure level at the operator's

position does not exceed 70 dB (A).

DISCLAIMER: These instructions are given in accordance with IEC 704-1. Advant-

ech disclaims all responsibility for the accuracy of any statements contained herein.

v PCM-26R1EC User Manual

Contents

Chapter 1 Introduction..........................................1

1.1 EtherCAT Introduction............................................................................... 2

1.1.1 EtherCAT ...................................................................................... 2

Figure 1.1 The Functional Principle of EtherCAT ........................ 2

Figure 1.2 The EtherCAT Protocol .............................................. 3

Figure 1.3 EtherCAT Topology .................................................... 3

Figure 1.4 EtherCAT Distributed Clock........................................ 4

Figure 1.5 EtherCAT Distributed Clock Jitter............................... 5

1.2 PCM-26R1EC Features ............................................................................ 5

1.3 Specifications............................................................................................ 6

1.3.1 EtherCAT ...................................................................................... 6

1.3.2 General ......................................................................................... 6

Chapter 2 Installation............................................7

2.1 Unpacking ................................................................................................. 8

2.2 Driver Installation ...................................................................................... 8

2.3 Hardware Installation ................................................................................ 9

Chapter 3 Hardware ............................................11

3.1 Overview of the PCM-26R1EC ............................................................... 12

Table 3.1: Connectors and Switches......................................... 12

3.2 Dimension ............................................................................................... 13

3.3 LAN Port (CN56)..................................................................................... 13

PCM-26R1EC User Manual vi

Chapter 1

1Introduction

PCM-26R1EC User Manual 2

1.1 EtherCAT Introduction

EtherCAT is a high-performance, Ethernet-based fieldbus industrial network system.

The protocol is standardized in IEC 61158 and applies to automation applications

requiring faster and more efficient communications. Short data update times with pre-

cise synchronization make EtherCAT suitable for applications requiring real-time

automation.

1.1.1 EtherCAT

1.1.1.1 The Functional Principle of EtherCAT

EtherCAT is a real-time, high-speed, and flexible Ethernet-based protocol. In an Eth-

erCAT network, the master node sends Ethernet frames via all of the slave nodes.

Under the EtherCAT protocol, standard Ethernet packets or frames are no longer

received, interpreted, or copied as process data at every node. Instead, slave

devices read only the data addressed to them, and the input data are inserted simul-

taneously as the telegram passes through the device, thus processing data “on the

fly.” Typically, the entire network can be addressed with just one frame. Compared

with other Ethernet-based communication protocols, EtherCAT is more efficient in uti-

lizing the available full-duplex bandwidth.

Figure 1.1 The Functional Principle of EtherCAT

1.1.1.2 The EtherCAT Protocol

Data exchanges are cyclically updated between EtherCAT master and slave nodes.

Data in EtherCAT frames are transported directly within the standard IEEE 802.3

Ethernet frame by using Ethertype 0x88a4, and they are processed by the EtherCAT

slave controller on the fly. Each EtherCAT datagram is a command comprising a

header, data, and a working counter (WKC). The datagram header indicates what

type of access the master device requires:

Read, write, read/write

Access to a specified slave device through direct addressing

Access to multiple slave devices through logical addressing

Logical addressing is used for the cyclical exchange of process data. The header and

data are used to specify the operation that the slave must perform, and the WKC is

updated by the slave to inform the master that a slave has processed the command.

3 PCM-26R1EC User Manual

Chapter 1 Introduction

Every EtherCAT datagram ends with a 16-bit WKC, indicating the number of devices

that were successfully addressed by each EtherCAT datagram.

Figure 1.2 The EtherCAT Protocol

EtherCAT datagrams are processed before the complete frame is received. In cases

where the data are invalid, the frame check sum is not valid and the slave will not set

the data as valid for local applications.

1.1.1.3 Topologies Supported by EtherCAT

EtherCAT supports various network topologies, including line, tree, ring, and star

topologies. The line and tree topologies are more conducive to fieldbus applications

because they require fewer connections and utilize a much simpler and more flexible

cabling schema, rendering switches and hubs necessary for these topologies.

Figure 1.3 EtherCAT Topology

Industrial Ethernet cables (up to 100 m in length) can be used between two nodes in

100BASE-TX mode. EtherCAT makes a pure bus or line topology with hundreds of

nodes possible. In fact, up to 65535 devices can be connected to EtherCAT, so net-

work expansion is virtually unlimited.

EtherCAT supports individual nodes to be connected and disconnected during opera-

tion. If one of the slaves in the network is removed, the rest of the network can con-

tinue to operate normally. EtherCAT also enables other communication features such

as cable redundancy or even master redundancy with hot standby.

PCM-26R1EC User Manual 4

1.1.1.4 Synchronization With EtherCAT

A distributed clock mechanism is used to provide highly precise time synchronization

between slaves in an EtherCAT network, which is equivalent to the Precision Time

Protocol defined in the IEEE 1588 standard. By using distributed clocks, EtherCAT

can synchronize the time in all local bus devices within a very narrow tolerance

range. All EtherCAT slaves are provided with an internal clock named as system time

(tLocal Time). One EtherCAT slave, usually the first slave, will be used as a reference

clock, and this slave cyclically distributes its clock time to other slaves.

Misalignment between the reference clock and clocks of the other slaves usually

occurs because when a slave is switched on, the internal free-running register that

holds the current time is reset to zero. This action does not occur at the same time in

all slaves, resulting in an initial offset (toffset) among clocks. This offset must be com-

pensated for.

Figure 1.4 EtherCAT Distributed Clock

Typically, the master sends a broadcast to all other slaves in the system. Once the

message has been received, the slaves latch the value of their internal clock twice:

once when the message is received and once when the message is returned. Thus,

the master can read all latched values and calculate the delay for each slave (tPropa-

gation Delay). Delays are stored in an offset register. Subsequently, the master sends a

message periodically to all other slaves in the EtherCAT network to make the first

slave the reference clock and force all other slaves to account for the calculated off-

set by setting their internal clock.

∆t = (tLocal Time + tOffset - tPropagation Delay) - tReceived System Time

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