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Related Manuals for HMS EtherCAT Slave
Summary of Contents for HMS EtherCAT Slave
- Page 1 X-gateway Interface Addendum EtherCAT Slave Rev. 1.02 HMS Industrial Networks AB Germany + 49 - 721 - 96472 - 0 ge-sales@hms-networks.com Japan + 81 - 45 - 478 -5340 jp-sales@hms-networks.com Sweden + 46 - 35 - 17 29 20 sales@hms-networks.com U.S.A...
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Page 3: Table Of Contents
Important User Information ......................P-1 Related Documents..........................P-2 Document History ..........................P-2 Conventions & Terminology......................P-3 Support ..............................P-3 Chapter 1 About the EtherCAT Slave Interface General Description..........................1-1 Features..............................1-1 External View ............................1-2 EtherCAT Interface Status LEDs ....................1-2 Connectors and Switches........................1-2... -
Page 4: Preface
For further information, documentation etc., please visit the HMS website, ‘www.anybus.com’. Important User Information The data and illustrations found in this document are not binding. We, HMS Industrial Networks AB, reserve the right to modify our products in line with our policy of continuous product development. The information in this document is subject to change without notice and should not be considered as a com- mitment by HMS Industrial Networks AB. -
Page 5: Related Documents
About This Document P-2 Related Documents Document Author Anybus X-gateway User Manual Anybus-S EtherCAT Fieldbus Appendix EtherCAT Slave Interface, Installation Sheet Document History Summary of Recent Changes (v1.00... 1.02) Change Page(s) Added chapter ‘Installation and Configuration’ Corrected RxPDO and TxPDO numbers and object associations Misc. -
Page 6: Conventions & Terminology
Bulleted lists provide information, not procedural steps • The term ‘X-gateway’ refers to the Anybus X-gateway • The term ‘Slave Interface’ refers to the EtherCAT Slave interface for the Anybus X-gateway. • The term ‘user manual’ refers to the Anybus X-gateway User Manual. •... -
Page 7: About The Ethercat Slave Interface
About the EtherCAT Slave Interface General Description The EtherCAT Slave Interface for the Anybus X-gateway implements CANopen over EtherCAT, and exchanges up to 512 bytes of data in each direction. The interface acts as a slave node, which means it can be accessed by an EtherCAT master, but it will not initiate communication by itself. -
Page 8: External View
About the EtherCAT Slave Interface 1-2 External View EtherCAT Interface Status LEDs Colour Indication (Top mounted EtherCAT Interface) L/A 1 No link sensed on port 1 (no power) Green Link sensed on port 1 Green, flickering Exchanging packets on port 1... -
Page 9: Installation And Configuration
Installation and Configuration Gateway Config Interface The Gateway Config Interface features the following EtherCAT-specific settings: --------------------------------------------------- Change configuration --------------------------------------------------- EtherCAT Slave (Upper) Input PDO size (bytes): Output PDO size (bytes): Input SDO size (bytes): Output SDO size (bytes): Offline option (+/-):... -
Page 10: Data Exchange
• 3-2 “Output Data (EtherCAT to Gateway)” • 4-2 “Manufacturer Specific Objects” (4-2 “Input Buffer” & 4-3 “Output Buffer”) The EtherCAT Slave Interface uses a fixed PDO mapping as follows: Corresponding Object Gateway Memory TxPDO 1A00h Index 2000h, sub-index 1...128 Input Data, bytes 0... -
Page 11: Input Data (Gateway To Ethercat)
Input Data (Gateway to EtherCAT) Depending on the actual gateway configuration and how it has been set up to operate, parts of the data produced by the EtherCAT Slave Interface may be used to represent status information (i.e. Status Word, Live List etc.). -
Page 12: Canopen Object Dictionary Implementation
Chapter 4 CANopen Object Dictionary Implementation Standard Objects General Information The standard object dictionary is implemented in accordance with the DS301 specification (v4.02). Object Entries Index Object Name Sub-Index Description Type Access Notes 1000h Device Type Device Type 0000 0000h (No profile) 1008h Manufacturer Manufacturer device Visible... -
Page 13: Manufacturer Specific Objects
Input byte 0385 Input byte 0511 Note: The EtherCAT Slave Interface will only create the number of objects and sub-indexes needed to hold the specified data size (e.g. for a configuration which uses 130 byte of input data (PDO+SDO), the Slave Interface creates Object Index 2000h, Sub-Index 00h... -
Page 14: Output Buffer
Note 1: For consistency reasons, PDO data will be read-only when accessed acyclically. Note: The EtherCAT Slave Interface will only create the number of objects and sub-indexes needed to hold the specified data size (e.g. for a configuration which uses 130 byte of output data (PDO+SDO), the Slave Interface creates Object Index 2100h, Sub-Index 00h... -
Page 15: Appendix A Technical Specification
Appendix A Technical Specification Network Interface Details General Information The EtherCAT Slave Interface acts as a full EtherCAT slave device with the following properties: General Properties • Full EtherCAT slave device • 4 FMMU channels (can be used freely by the EtherCAT master for any purpose.) •... -
Page 16: Ethercat Connector Pinout
Technical Specification A-2 EtherCAT Connector Pinout Signal Notes Normally left unused; to ensure signal integrity, these pins are internally tied together and terminated to PE via a filter circuit. Normally left unused; to ensure signal integrity, these pins are internally tied together and terminated to PE via a filter circuit.
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