Process Data Transfer - Lenze i55AE125B Manual

9.10.7

Process data transfer

Process data are cyclically transferred between the EtherCAT master and the slaves (per-
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manent 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 are not saved in the device.
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Process data are, 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 (P301.00) = 2) and as dynamic (free) configuration. The contents can be selected
from all mappable objects.
Mapping objects for the CiA 402 operating mode "CiA: Velocity mode":
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and 0x1603:002 (RPDOs),
Mapping objects for a dynamic (free) assignment:
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0x1A05:001 ... 0x1A05:016
The freely configurable mapping objects contain an 8 bit dummy entry (0x00050008). This
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ensures that each object is transferred cyclically with 16 bits.
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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Standard mapping of the RPDOs in the CiA 402 operating mode "CiA: Velocity mode"
Master à slave
0x1603:001 RPDO mapping entry 1 (CiA: Velocity mode)
0x1603:002 RPDO mapping entry 2 (CiA: Velocity mode)
0x1605:001 RPDO mapping Entry 1 (freely configurable)
Standard mapping of the TPDOs in the CiA 402 operating mode "CiA: Velocity mode"
Slave à master
0x1A03:001 TPDO mapping entry 1 (CiA: Velocity mode)
0x1A03:002 TPDO mapping entry 2 (CiA: Velocity mode)
0x1A03:003 TPDO mapping entry 3 (CiA: Velocity mode)
0x1A05:001 TPDO mapping entry 1 (freely configurable)
Expert settings
The sync managers are configured for the cyclic data transfer an the mailbox communica-
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tion (display in 0x1C00:001
For the communication, the I/O data mapping must be configured via
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0x1C12:000 ... 0x1C12:002
The basic settings for the sync managers are made via
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0x1C33:001 ... 0x1C33:005.
In the following, the EtherCAT objects are described (Mapping-Objekt-Index), that can be
assigned to process data.
The objects can only be accessed via the EtherCAT network.
Parameter Name / value range / [default setting]
0x1603:001 RPDO4 mapping parameter: Application object 1
• Read only
• From version 02.00
0x1603:002 RPDO4 mapping parameter: Application object 2
• Read only
• From version 02.00
0x1A03:001 ... 0x1A03:003
0x1605:001
(TPDOs)
... 0x1C00:004).
(for RPDOs) and 0x1C13:000
0x1C32:001
Configuring the network
0x1603:001
(TPDOs)
... 0x1605:016 (RPDOs),
CiA: Controlword (0x6040)
CiA 402 parameter "Target velocity"
Not assigned.
CiA: Statusword (0x6041 (P780.00))
CiA 402 parameter "Velocity actual value"
Error code (0x603F (P150.00))
Digital inputs
... 0x1C13:002 (for TPDOs).
... 0x1C32:005 and
Info
Predefined mapping entry of CiA: Controlword (0x6040) for the CiA 402
operating mode "CiA: Velocity mode" (0x60400010).
Predefined mapping entry of "CiA: Target velocity" für den "Velocity
Mode" (0x60420010).
EtherCAT
Process data transfer
(0x6042 (P781.00))
(0x6044 (P783.00))
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