Table of Contents
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1.
System overview ............................................................................................ 4
1.1
References .................................................................................................................. 4
1.2
Connecting In and Out ............................................................................................... 4
2.
Setup in the PLC ............................................................................................ 5
2.1
Copy Device Description File ................................................................................... 5
2.2
Scan the EtherCAT slave devices ............................................................................ 6
3.
Process Data Object (PDO) Configuration .................................................... 11
3.1
Input PDO Modules ................................................................................................... 11
3.1.1
Default Inputs: AT 1 ........................................................................................... 11
3.1.2
Input: Following distance S-0-0189 ................................................................. 11
3.1.3
Input: DC bus voltage S-0-0380 ....................................................................... 11
3.1.4
Input: State Var P-1-2914 .................................................................................. 11
3.1.5
Input: X4 Inputs P-1-3205 .................................................................................. 11
3.2
Output PDO Modules ................................................................................................ 12
3.2.1
Default Outputs: MDT 1 ..................................................................................... 12
3.2.2
Output: Velocty command value S-0-0036 ..................................................... 12
3.3
Typical Startup Telegrams ...................................................................................... 12
3.4
Adding Parameters or Variables to the PDO data by UPID ................................. 12
4.
Asynchronous Configuration Protocol SoE .................................................. 15
4.1
Communication SoE Profile Area ........................................................................... 15
4.2
Generic LinMot SoE Parameter Mapping ............................................................... 15
5.
EtherCAT SoE Parameters ............................................................................ 16
5.1
Parameters ................................................................................................................ 16
5.1.1
EtherCAT/Dis-/Enable ....................................................................................... 16
5.1.2
EtherCAT/Station Alias/Alias Address Source ............................................... 16
5.1.3
EtherCAT/Station Alias/Alias Address Parameter ......................................... 16
5.1.4
EtherCAT/Station Alias/Alias Address Parameter Mask ............................... 17
5.1.5
5.1.6
EtherCAT/Connection Timeout/Timeout Behavior ........................................ 17
6.
Connecting to the EtherCAT Network ........................................................... 18
6.1
Pin Assignment of the Connectors X17-X18 ......................................................... 18
NTI AG / LinMot
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