Leuze electronic MSI 400 Series Manual page 5

10.3 CANopen configuration of the gateway - which data are transferred ................................. 121
10.4 NMT - network management ............................................................................................. 122
10.5 SYNC .................................................................................................................................. 123
10.6 Emergency.......................................................................................................................... 123
10.7 Node guarding .................................................................................................................... 127
10.8 PDO communication ........................................................................................................... 128
10.9 SDO communication ........................................................................................................... 131
10.10 SDO object directory........................................................................................................... 132
10.11 Guarding protocols ............................................................................................................. 138
10.12 Error objects........................................................................................................................ 140
10.13 CANopen diagnostic examples........................................................................................... 142
10.14 Diagnosis and troubleshooting ........................................................................................... 145
11 EtherCAT Gateway............................................................................................ 149
11.1 Interfaces and operation ..................................................................................................... 149
11.2 EtherCAT basics ................................................................................................................. 151
11.3 EtherCAT state machine..................................................................................................... 154
11.4 Bus topology and cabling.................................................................................................... 155
11.5 Data transferred into the network ....................................................................................... 156
11.5.1 Data set 1 ........................................................................................................................ 156
11.5.2 Data set 2 ........................................................................................................................ 161
11.5.3 Data set 3 ........................................................................................................................ 162
11.6 Data received from the network .......................................................................................... 164
11.7 Configuring an EtherCAT network ...................................................................................... 165
11.8 EtherCAT configuration of the gateway - how the data are transferred.............................. 165
11.9 Diagnostic LEDs on the gateway and troubleshooting ....................................................... 168
12 Technical data ................................................................................................... 171
12.1 Modbus TCP, PROFINET IO and EtherNet/IP gateway ..................................................... 171
12.2 EtherCAT gateway.............................................................................................................. 171
12.3 PROFIBUS DP.................................................................................................................... 171
12.4 CANopen gateways ............................................................................................................ 171
12.5 Technical data for supply circuit ......................................................................................... 172
12.6 General technical data ........................................................................................................ 172
12.7 Dimensional drawings......................................................................................................... 173
12.7.1 Controller module ............................................................................................................ 173
12.7.2 CANopen and PROFIBUS gateways (old housing) ........................................................ 175
12.7.3 EtherCAT gateway .......................................................................................................... 176
13 Order data.......................................................................................................... 177
13.1 Hardware modules and accessories................................................................................... 177
13.2 Modules for contact expansion ........................................................................................... 178
Leuze electronic MSI 400
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