BONFIGLIOLI Vectron ACTIVE CUBE Series Manual page 4

5.2 Disassembly ........................................................................................................... 24
6 Connector assignment ................................................................................................. 25
7 RUN-LED ....................................................................................................................... 26
8 Cable lengths ................................................................................................................ 26
9 Setting the node address ............................................................................................. 26
10 Operational behaviour on bus failure .......................................................................... 26
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11 EtherCAT overview ..................................................................................................... 27
11.1 Communication Objects ..................................................................................... 27
11.2 Application Objects ............................................................................................ 27
11.3 Function SDO ...................................................................................................... 28
11.3.1 Error code table ....................................................................................................... 28
11.4 PDO Function ...................................................................................................... 29
11.5 Emergency Function ........................................................................................... 29
11.6 Synchronization (Distributed Clocks) ................................................................. 29
11.7 NMT Functions .................................................................................................... 30
11.7.1 NMT Statemachine ................................................................................................... 30
11.8 OS Synchronization ............................................................................................ 31
11.9 Fault Reset .......................................................................................................... 32
12 Objects ......................................................................................................................... 33
12.1 Objects tabular overview ................................................................................... 33
12.1.1 Communication objects ............................................................................................. 33
12.1.2 Manufacturer objects ................................................................................................ 35
12.1.3 Device profile objects ............................................................................................... 37
12.2 Communication Objects (0x1nnn) ..................................................................... 41
12.2.1 0x1000/0 Device Type .............................................................................................. 41
12.2.2 0x1001/0 Error Register ............................................................................................ 42
12.2.3 0x1008/0 Manufacturer Device Name ........................................................................ 43
12.2.4 0x1009/0 Manufacturer Hardware Version ................................................................. 43
12.2.5 0x100A/0 Manufacturer Software Version .................................................................. 43
12.2.6 0x1010/n Store Parameters ....................................................................................... 43
12.2.7 0x1011/n Restore default Parameters ........................................................................ 44
12.2.8 0x1018/n Identity Object .......................................................................................... 44
12.2.9 0x1600/n, 0x1601/n, 0x1602/n, RxPDO Mapping Parameter ....................................... 45
12.2.10 0x1A00/n, 0x1A01/n, 0x1A02/n, TxPDO Mapping Parameter ................................... 46
12.3 Manufacturer objects (0x2nnn) - Parameter access ......................................... 47
12.3.1 Handling of data sets/cyclic writing of the parameters ................................................ 47
12.3.2 Handling of index parameters/cyclic writing ............................................................... 48
12.3.2.1 Example Writing an index parameter .................................................................. 49
12.3.2.2 Example Reading an index parameter ................................................................. 49
12.4 Manufacturer objects (0x3000 ... 0x5FFF) ......................................................... 50
12.4.1 0x3001/0 Digital In actual value ................................................................................ 50
12.4.2 0x3002/0 Digital Out actual value .............................................................................. 50
12.4.3 0x3003/0 Digital Out set values ................................................................................. 51
12.4.4 0x3004/0 Boolean Mux ............................................................................................. 52
12.4.5 0x3005/0 Boolean DeMux ......................................................................................... 53
4 CM-EtherCAT 07/13