EtherCAT-TwinCAT故障排查手册.pdf
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EtherCAT 故障排查手册
一、
EtherCAT
及
TwinCAT
概述 ............................................ 2
1.1 EtherCAT 介绍 ............................................................................................................. 2
1.2 EtherCAT 通讯机制介绍 ............................................................................................... 3
1.3 TwinCAT 介绍 ............................................................................................................... 5
二、
EtherCAT
模块硬件诊断
.......................................................................................... 7
2.1 CX5020 模块介绍及硬件诊断 ....................................................................................... 7
2.2 EK1100 模块介绍及硬件诊断 ....................................................................................... 8
2.3 BK1250 模块介绍及硬件诊断 ....................................................................................... 9
三、
EtherCAT
软件诊断方法
........................................................................................ 11
3.1 WorkingCounter 的作用和 Sync unit 同步单元设置 .................................................... 11
3.1.1 WorkingCounter 的作用 .................................................................................... 11
3.1.2 同步单元设置原则 ............................................................................................ 11
3.1.3 同步单元的监测 ............................................................................................... 11
3.2 EtherCAT 主站的状态字诊断 ...................................................................................... 13
3.2.1 Frame State ..................................................................................................... 13
3.2.2 Frame Working Counter State ......................................................................... 13
3.2.3 Slave Count 和 CfgSlaveCount ....................................................................... 13
3.2.4 Device State Master ........................................................................................ 13
3.3 EtherCAT 从站状态字诊断 ......................................................................................... 14
3.4 通过 Tcsyslog 进行故障排查 ....................................................................................... 15
3.4.1 开通 FTP 功能 .................................................................................................. 15
3.4.2 开启 TcSyslog(故障记录文件功能) .........................................
错误
!
未定义书签。
3.4.3 通过 FTP 功能把 tcsyslog.txt 文件拷出 ............................................................ 16
3.4.4 查看并分析 TcSysLog 文件 .............................................................................. 17
3.5 CRC、change count 和 Online state 诊断 ................................................................. 17
3.5.1 CRC 与 change count ...................................................................................... 17
3.5.2 Online State 诊断............................................................................................. 18
3.6 EtherCAT 拓扑图 ........................................................................................................ 20
3.7 Emergency Scan ........................................................................................................ 21
四、典型的失效模式分类
.................................................................................................. 22
4.1 PLC 到通讯模块的连接失效 ....................................................................................... 22
4.2 模块与模块间的连接失效............................................................................................ 22
4.3 光电交换机的连接失效 .............................................................................................. 24
五、
EtherCAT
故障处理
.................................................................................................. 28
5.1 更换故障模块 .............................................................................................................. 28
5.2 CF 卡数据备份 ........................................................................................................... 29
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