Software; Fundamentals Of The Ethercat Interface Connection; Ethercat Configuration (Eeprom); Mailbox Communication - KEB COMBICOM Instruction Manual

Software

3. Software
3.1

Fundamentals of the EtherCAT interface connection

The KEB F5 EtherCAT operator contains a EtherCAT slave controller for time-critical operations of the EtherCat
communication. By using this EtherCAT controller it is guaranteed that basic communication is compatible to the
EtherCAT specification.
3.1.1 EtherCAT Configuration (EEPROM)
All values are saved in intel format (LSbyte first) into the EEPROM. The following table only lists the main features
of the KEB-F5-EtherCAT-EEPROM.
Byte Offset
0
2
4

3.1.2 Mailbox communication

The KEB
parameters of the FI control and the operator can be read out or preset itself via this mailbox by using the CANo-
verEtherCAT.
Buffer size of the receive mailbox
Buffer size of the transmit mailbox
Supported mailbox protocols
Supported CoE services

3.1.2.1 Parameter addressing by 16 bit index plus 8 bit subindex

The following table shows parameter grouping according to [2]:
1.Index Last index
1000h
2000h
5F00h
6000h
(*1): The KEB parameter address can be found in the application manual of the used FI.

3.1.2.2 Set-addressing with subindex

For KEB parameters (Index = 2000h...5FFFh) the subindex is used for set-addressing. Thereby the following
coding is used:
Subindex
0
1
2
4
8
16
32
64
128
By use of this bit-coding it is possible to address more than one parameter-set simultaneously. However this
should not be used for parameter-reading, because an error message is returned if not all values in the addressed
GB - 8
Description
PDI-Control
PDI-Config
SyncImpulseLength
F5 EtherCAT operator
Description
1FFFh Communication parameter according to [2]
5E00h Parameter of the FI control with index = KEB-Parameter-Address + 2000h(*1). The
subindex is used for set-addressing
5FFFh Parameter of the EtherCAT operator
9FFFh Device profile parameters according to [4]
Description
Indirect set-addressing: The set to be addressed depends on the value of parameter Fr.09 in
the FI control.
Direct addressing of set 0
Direct addressing of set 1
Direct addressing of set 2
Direct addressing of set 3
Direct addressing of set 4
Direct addressing of set 5
Direct addressing of set 6
Direct addressing of set 7
supports the
Minimum
16 Byte
Minimum
16 Byte
CANoverEtherCAT(CoE)
Initiate SDO download expedited in server mode,
Initiate SDO upload expedited in server mode,
Emergency as client
Value
0009h
0400h
000Ah
mailbox communication.
Maximum
50 Byte
Maximum
50 Byte
All