Process Data Transfer; Standard Mapping; Dynamic (Free) Configuration; Further Communication Objects - Lenze i950 Commissioning Manual

16.2.3

Process data transfer

Process data is cyclically transferred between the EtherCAT master and the slaves (perma-
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nent exchange of current input and output data).
The transfer of process data is time-critical.
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The process data serve to control the EtherCAT slaves.
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The process data can be directly accessed by the master. The data in the PLC, for instance,
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are directly stored in the I/O area.
The contents of the process data are defined via I/O Data mapping (definition of the Ether-
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CAT objects that are to be transmitted cyclically).
Process data is not saved in the device.
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Process data is, e. g. setpoints, actual values, control and status words.
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Configuration
The available objects can be mapped in the CiA 402 operating mode " CiA: Velocity mode
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" (0x6060 = 2) and as dynamic (free) configuration. The contents can be selected from all
mappable objects.
Standard mapping objects for the CiA 402 operating mode " CiA: Velocity mode ":
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4Standard mapping

Mapping objects for a dynamic (free) assignment:
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Mapping is executed in the master configuration and automatically transferred to the
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slave.
The data format is 0xAAAABBCC (AAAA = index, BB = subindex, CC = length).
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16.2.3.1 Standard mapping
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Standard mapping of the RPDOs in the CiA 402 operating mode " CiA: Velocity mode "
Master à slave
RPDO mapping entry 1 ( CiA: Velocity mode )
RPDO mapping entry 2 ( CiA: Velocity mode )
RPDO mapping Entry 1 (freely configurable)
Standard mapping of the TPDOs in the CiA 402 operating mode " CiA: Velocity mode "
Slave à master
TPDO mapping entry 1 ( CiA: Velocity mode )
TPDO mapping entry 2 ( CiA: Velocity mode )
TPDO mapping entry 3 ( CiA: Velocity mode )
TPDO mapping entry 1 (freely configurable)
16.2.3.2

Dynamic (free) configuration

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The freely configurable mapping objects contain an 8 bit dummy entry (0x00050008). This
ensures that each object is transferred cyclically with 16 bits.
16.2.3.3

Further communication objects

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The parameters for the implemented EtherCAT objects are described below.
16.2.3.4

Expert settings

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The sync managers are configured for the cyclic data transfer and the mailbox communica-
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tion (display in ... ).
For the communication, the I/O data mapping must be configured via ... (for RPDOs) and
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... (for TPDOs).
The basic settings for the sync managers are made via ... and ... .
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Configuring the network
4Dynamic (free) configuration
CiA: Controlword (0x6040)
CiA 402 parameter " Target velocity " (0x6042)
Not assigned.
CiA: Statusword (0x6041)
CiA 402 parameter " Velocity actual value " (0x6044)
Error code (0x603F)
Digital inputs
EtherCAT
Process data transfer
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